diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt deleted file mode 100755 index 78f8001..0000000 --- a/GPU_version/vio/depth_filter_log.txt +++ /dev/null @@ -1,636 +0,0 @@ -[22:29:46.549] New key frame -[22:29:46.550] BA loop run -[22:29:46.552] init error: -nan -[22:29:46.557] end error: -nan -[22:29:46.660] New key frame -[22:29:46.660] BA loop run -[22:29:46.662] init error: -nan -[22:29:46.667] end error: -nan -[22:29:46.763] New key frame -[22:29:46.763] BA loop run -[22:29:46.766] init error: -nan -[22:29:46.771] end error: -nan -[22:29:46.865] New key frame -[22:29:46.865] BA loop run -[22:29:46.867] init error: -nan -[22:29:46.872] end error: -nan -[22:29:46.962] New key frame -[22:29:46.962] BA loop run -[22:29:46.964] init error: -nan -[22:29:46.969] end error: -nan -[22:29:47.066] New key frame -[22:29:47.066] BA loop run -[22:29:47.068] init error: -nan -[22:29:47.072] end error: -nan -[22:29:47.159] New key frame -[22:29:47.159] BA loop run -[22:29:47.161] init error: -nan -[22:29:47.165] end error: -nan -[22:29:47.254] New key frame -[22:29:47.254] BA loop run -[22:29:47.256] init error: -nan -[22:29:47.259] end error: -nan -[22:29:47.352] New key frame -[22:29:47.353] BA loop run -[22:29:47.355] init error: -nan -[22:29:47.367] end error: -nan -[22:29:47.517] New key frame -[22:29:47.517] BA loop run -[22:29:47.518] init error: -nan -[22:29:47.527] end error: -nan -[22:29:47.693] New key frame -[22:29:47.693] BA loop run -[22:29:47.695] init error: -nan -[22:29:47.720] end error: -nan -[22:29:47.868] New key frame -[22:29:47.868] BA loop run -[22:29:47.869] init error: -nan -[22:29:47.903] end error: -nan -[22:29:48.044] New key frame -[22:29:48.044] BA loop run -[22:29:48.046] init error: -nan -[22:29:48.081] end error: -nan -[22:29:48.309] New key frame -[22:29:48.309] BA loop run -[22:29:48.310] init error: -nan -[22:29:48.611] end error: -nan -[22:29:48.612] New key frame -[22:29:48.612] BA loop run -[22:29:48.613] init error: 15.914324 -[22:29:49.243] end error: 0.029411 -[22:29:49.245] New key frame -[22:29:49.245] BA loop run -[22:29:49.246] init error: 11.262837 -[22:29:49.655] end error: 0.003359 -[22:29:50.503] New key frame -[22:29:50.504] BA loop run -[22:29:50.504] init error: 3.479064 -[22:29:50.505] end error: 0.000004 -[22:31:18.793] New key frame -[22:31:18.793] BA loop run -[22:31:18.794] init error: 11696.693108 -[22:31:18.794] end error: 2.302663 -[22:31:18.888] New key frame -[22:31:18.888] BA loop run -[22:31:18.888] init error: 1239.227021 -[22:31:18.889] end error: 0.000000 -[22:31:19.000] New key frame -[22:31:19.000] BA loop run -[22:31:19.000] init error: 4602.244432 -[22:31:19.001] end error: 0.000004 -[22:31:19.097] New key frame -[22:31:19.097] BA loop run -[22:31:19.097] init error: 753.876451 -[22:31:19.097] end error: 0.364979 -[22:31:19.187] New key frame -[22:31:19.188] BA loop run -[22:31:19.188] init error: 489.018266 -[22:31:19.188] end error: 0.000001 -[22:31:19.385] New key frame -[22:31:19.385] BA loop run -[22:31:19.385] init error: 4919.827797 -[22:31:19.386] end error: 1.670606 -[22:31:19.504] New key frame -[22:31:19.504] BA loop run -[22:31:19.504] init error: 1674659.415647 -[22:31:19.505] end error: 89.302075 -[22:31:19.590] New key frame -[22:31:19.590] BA loop run -[22:31:19.591] init error: 3310.529731 -[22:31:19.591] end error: 10.137941 -[22:31:19.694] New key frame -[22:31:19.694] BA loop run -[22:31:19.694] init error: 1774.557852 -[22:31:19.694] end error: 0.001622 -[22:31:19.879] New key frame -[22:31:19.879] BA loop run -[22:31:19.879] init error: 11939.450031 -[22:31:19.880] end error: 3.465171 -[22:31:19.988] New key frame -[22:31:19.988] BA loop run -[22:31:19.989] init error: 16959.020042 -[22:31:19.989] end error: 7.031975 -[22:31:20.087] New key frame -[22:31:20.087] BA loop run -[22:31:20.087] init error: 1291.617951 -[22:31:20.088] end error: 0.535589 -[22:31:20.174] New key frame -[22:31:20.174] BA loop run -[22:31:20.174] init error: 1090.877340 -[22:31:20.175] end error: 0.000000 -[22:31:20.308] New key frame -[22:31:20.308] BA loop run -[22:31:20.308] init error: 514.202902 -[22:31:20.308] end error: 0.000000 -[22:31:20.375] New key frame -[22:31:20.375] BA loop run -[22:31:20.375] init error: 55999.137403 -[22:31:20.376] end error: 0.292111 -[22:31:20.577] New key frame -[22:31:20.577] BA loop run -[22:31:20.578] init error: 457.175767 -[22:31:20.578] end error: 0.000000 -[22:31:20.806] New key frame -[22:31:20.806] BA loop run -[22:31:20.806] init error: 70.463540 -[22:31:20.806] end error: 0.000000 -[22:31:20.869] New key frame -[22:31:20.869] BA loop run -[22:31:20.870] init error: 96.801227 -[22:31:20.870] end error: 0.000000 -[22:31:21.020] New key frame -[22:31:21.020] BA loop run -[22:31:21.021] init error: 79.855318 -[22:31:21.022] end error: 0.000000 -[22:31:21.140] New key frame -[22:31:21.140] BA loop run -[22:31:21.141] init error: 66.740565 -[22:31:21.142] end error: 0.000000 -[22:31:21.242] New key frame -[22:31:21.242] BA loop run -[22:31:21.242] init error: 506.780274 -[22:31:21.243] end error: 0.000000 -[22:31:21.341] New key frame -[22:31:21.341] BA loop run -[22:31:21.341] init error: 54.567235 -[22:31:21.342] end error: 0.000000 -[22:31:21.447] New key frame -[22:31:21.447] BA loop run -[22:31:21.448] init error: 1.458657 -[22:31:21.448] end error: 0.000000 -[22:31:21.697] New key frame -[22:31:21.697] BA loop run -[22:31:21.697] init error: 11.303527 -[22:31:21.698] end error: 0.000000 -[22:31:21.804] New key frame -[22:31:21.804] BA loop run -[22:31:21.805] init error: 2.341826 -[22:31:21.805] end error: 0.000000 -[22:31:22.017] New key frame -[22:31:22.017] BA loop run -[22:31:22.017] init error: 0.283735 -[22:31:22.017] end error: 0.000000 -[22:31:22.106] New key frame -[22:31:22.106] BA loop run -[22:31:22.106] init error: 0.335039 -[22:31:22.106] end error: 0.000000 -[22:31:22.205] New key frame -[22:31:22.205] BA loop run -[22:31:22.205] init error: 1.167879 -[22:31:22.206] end error: 0.000000 -[22:31:22.332] New key frame -[22:31:22.332] BA loop run -[22:31:22.332] init error: 4.548102 -[22:31:22.333] end error: 0.000000 -[22:31:22.438] New key frame -[22:31:22.438] BA loop run -[22:31:22.439] init error: 81.310648 -[22:31:22.440] end error: 0.000000 -[22:31:22.557] New key frame -[22:31:22.557] BA loop run -[22:31:22.558] init error: 68.456043 -[22:31:22.559] end error: 0.000000 -[22:31:22.658] New key frame -[22:31:22.658] BA loop run -[22:31:22.659] init error: 153.170832 -[22:31:22.660] end error: 0.000000 -[22:31:22.753] New key frame -[22:31:22.753] BA loop run -[22:31:22.754] init error: 332.802449 -[22:31:22.755] end error: 0.000000 -[22:31:22.846] New key frame -[22:31:22.846] BA loop run -[22:31:22.847] init error: 75.240345 -[22:31:22.848] end error: 0.000000 -[22:31:22.934] New key frame -[22:31:22.934] BA loop run -[22:31:22.935] init error: 104.424590 -[22:31:22.935] end error: 0.000000 -[22:31:23.027] New key frame -[22:31:23.027] BA loop run -[22:31:23.028] init error: 284.629228 -[22:31:23.029] end error: 0.000000 -[22:31:23.133] New key frame -[22:31:23.133] BA loop run -[22:31:23.134] init error: 13.221286 -[22:31:23.134] end error: 0.000000 -[22:31:23.221] New key frame -[22:31:23.221] BA loop run -[22:31:23.222] init error: 15.573307 -[22:31:23.222] end error: 0.000000 -[22:31:23.313] New key frame -[22:31:23.313] BA loop run -[22:31:23.313] init error: 11.081408 -[22:31:23.314] end error: 0.000000 -[22:31:23.426] New key frame -[22:31:23.426] BA loop run -[22:31:23.427] init error: 155.448072 -[22:31:23.428] end error: 0.000000 -[22:31:23.520] New key frame -[22:31:23.520] BA loop run -[22:31:23.520] init error: 312.553095 -[22:31:23.521] end error: 0.000000 -[22:31:23.709] New key frame -[22:31:23.709] BA loop run -[22:31:23.709] init error: 65.996668 -[22:31:23.710] end error: 0.000000 -[22:31:23.809] New key frame -[22:31:23.809] BA loop run -[22:31:23.809] init error: 4739.644774 -[22:31:23.810] end error: 0.000000 -[22:31:23.911] New key frame -[22:31:23.911] BA loop run -[22:31:23.912] init error: 140.378159 -[22:31:23.912] end error: 0.000000 -[22:31:24.016] New key frame -[22:31:24.016] BA loop run -[22:31:24.017] init error: 56.065433 -[22:31:24.018] end error: 0.000000 -[22:31:24.111] New key frame -[22:31:24.111] BA loop run -[22:31:24.111] init error: 115.625364 -[22:31:24.112] end error: 0.000000 -[22:31:24.208] New key frame -[22:31:24.208] BA loop run -[22:31:24.208] init error: 501.796825 -[22:31:24.209] end error: 0.000000 -[22:31:24.311] New key frame -[22:31:24.311] BA loop run -[22:31:24.312] init error: 491.890705 -[22:31:24.312] end error: 0.000000 -[22:31:24.425] New key frame -[22:31:24.425] BA loop run -[22:31:24.426] init error: 212.894163 -[22:31:24.426] end error: 0.000000 -[22:31:24.517] New key frame -[22:31:24.517] BA loop run -[22:31:24.518] init error: 1748.696713 -[22:31:24.519] end error: 0.000000 -[22:31:24.609] New key frame -[22:31:24.609] BA loop run -[22:31:24.609] init error: 38.487453 -[22:31:24.610] end error: 0.000000 -[22:31:24.715] New key frame -[22:31:24.715] BA loop run -[22:31:24.716] init error: 117.109507 -[22:31:24.717] end error: 0.000000 -[22:31:24.834] New key frame -[22:31:24.835] BA loop run -[22:31:24.835] init error: 126.315516 -[22:31:24.836] end error: 0.000000 -[22:31:24.940] New key frame -[22:31:24.941] BA loop run -[22:31:24.941] init error: 2278.071738 -[22:31:24.942] end error: 0.000000 -[22:31:25.032] New key frame -[22:31:25.032] BA loop run -[22:31:25.033] init error: 292.094638 -[22:31:25.034] end error: 0.000000 -[22:31:25.131] New key frame -[22:31:25.131] BA loop run -[22:31:25.131] init error: 18.046504 -[22:31:25.132] end error: 0.000000 -[22:31:25.221] New key frame -[22:31:25.222] BA loop run -[22:31:25.222] init error: 15.136323 -[22:31:25.223] end error: 0.000000 -[22:31:25.320] New key frame -[22:31:25.320] BA loop run -[22:31:25.320] init error: 29.173001 -[22:31:25.321] end error: 0.000000 -[22:31:25.600] New key frame -[22:31:25.600] BA loop run -[22:31:25.601] init error: 310.140433 -[22:31:25.602] end error: 0.000000 -[22:31:25.721] New key frame -[22:31:25.721] BA loop run -[22:31:25.721] init error: 333.454276 -[22:31:25.723] end error: 0.000000 -[22:31:25.804] New key frame -[22:31:25.804] BA loop run -[22:31:25.805] init error: 35.690842 -[22:31:25.805] end error: 0.000000 -[22:31:26.052] New key frame -[22:31:26.052] BA loop run -[22:31:26.053] init error: 908.831586 -[22:31:26.054] end error: 0.000000 -[22:31:26.240] New key frame -[22:31:26.241] BA loop run -[22:31:26.241] init error: 3100.573611 -[22:31:26.242] end error: 0.000000 -[22:31:26.337] New key frame -[22:31:26.337] BA loop run -[22:31:26.338] init error: 7.552827 -[22:31:26.339] end error: 0.000000 -[22:31:26.423] New key frame -[22:31:26.423] BA loop run -[22:31:26.424] init error: 49.923934 -[22:31:26.424] end error: 0.000000 -[22:31:26.532] New key frame -[22:31:26.532] BA loop run -[22:31:26.533] init error: 56.848491 -[22:31:26.533] end error: 0.000000 -[22:31:26.656] New key frame -[22:31:26.657] BA loop run -[22:31:26.657] init error: 79.941534 -[22:31:26.658] end error: 0.000000 -[22:31:26.767] New key frame -[22:31:26.767] BA loop run -[22:31:26.768] init error: 122.897459 -[22:31:26.769] end error: 0.000000 -[22:31:26.875] New key frame -[22:31:26.875] BA loop run -[22:31:26.875] init error: 156.469338 -[22:31:26.876] end error: 0.000000 -[22:31:27.006] New key frame -[22:31:27.006] BA loop run -[22:31:27.007] init error: 156.802705 -[22:31:27.008] end error: 0.000000 -[22:31:27.109] New key frame -[22:31:27.109] BA loop run -[22:31:27.110] init error: 164.251649 -[22:31:27.111] end error: 0.000000 -[22:31:27.216] New key frame -[22:31:27.216] BA loop run -[22:31:27.217] init error: 131.059494 -[22:31:27.217] end error: 0.000000 -[22:31:27.325] New key frame -[22:31:27.325] BA loop run -[22:31:27.326] init error: 23.877881 -[22:31:27.326] end error: 0.000000 -[22:31:27.437] New key frame -[22:31:27.437] BA loop run -[22:31:27.437] init error: 4.858615 -[22:31:27.438] end error: 0.000000 -[22:31:27.565] New key frame -[22:31:27.565] BA loop run -[22:31:27.566] init error: 9.295936 -[22:31:27.566] end error: 0.000000 -[22:31:27.717] New key frame -[22:31:27.717] BA loop run -[22:31:27.718] init error: 18.324338 -[22:31:27.719] end error: 0.000000 -[22:31:27.877] New key frame -[22:31:27.877] BA loop run -[22:31:27.878] init error: 65.885126 -[22:31:27.879] end error: 0.000000 -[22:31:28.029] New key frame -[22:31:28.029] BA loop run -[22:31:28.030] init error: 1293.317479 -[22:31:28.031] end error: 0.000000 -[22:31:28.185] New key frame -[22:31:28.185] BA loop run -[22:31:28.185] init error: 99.517714 -[22:31:28.186] end error: 0.000000 -[22:31:28.334] New key frame -[22:31:28.334] BA loop run -[22:31:28.335] init error: 93.715354 -[22:31:28.336] end error: 0.000000 -[22:31:28.453] New key frame -[22:31:28.453] BA loop run -[22:31:28.453] init error: 110.644783 -[22:31:28.455] end error: 0.000000 -[22:31:28.569] New key frame -[22:31:28.569] BA loop run -[22:31:28.570] init error: 226.273434 -[22:31:28.571] end error: 0.000000 -[22:31:28.694] New key frame -[22:31:28.694] BA loop run -[22:31:28.695] init error: 103.323064 -[22:31:28.696] end error: 0.000000 -[22:31:28.813] New key frame -[22:31:28.814] BA loop run -[22:31:28.814] init error: 96.069307 -[22:31:28.815] end error: 0.000000 -[22:31:28.938] New key frame -[22:31:28.938] BA loop run -[22:31:28.939] init error: 121.023193 -[22:31:28.940] end error: 0.000000 -[22:31:29.050] New key frame -[22:31:29.050] BA loop run -[22:31:29.050] init error: 158.295558 -[22:31:29.051] end error: 0.000000 -[22:31:29.179] New key frame -[22:31:29.179] BA loop run -[22:31:29.180] init error: 277.136099 -[22:31:29.181] end error: 0.000000 -[22:31:29.300] New key frame -[22:31:29.300] BA loop run -[22:31:29.301] init error: 607.852927 -[22:31:29.302] end error: 0.000000 -[22:31:29.458] New key frame -[22:31:29.458] BA loop run -[22:31:29.458] init error: 63.952124 -[22:31:29.459] end error: 0.000000 -[22:31:29.594] New key frame -[22:31:29.594] BA loop run -[22:31:29.595] init error: 37.939308 -[22:31:29.596] end error: 0.000000 -[22:31:29.765] New key frame -[22:31:29.765] BA loop run -[22:31:29.766] init error: 24.319269 -[22:31:29.767] end error: 0.000000 -[22:31:30.086] New key frame -[22:31:30.086] BA loop run -[22:31:30.086] init error: 22.954792 -[22:31:30.088] end error: 0.000000 -[22:31:30.217] New key frame -[22:31:30.217] BA loop run -[22:31:30.217] init error: 39.346060 -[22:31:30.218] end error: 0.000000 -[22:31:30.368] New key frame -[22:31:30.368] BA loop run -[22:31:30.368] init error: 23.493694 -[22:31:30.370] end error: 0.000000 -[22:31:30.523] New key frame -[22:31:30.523] BA loop run -[22:31:30.523] init error: 42.977544 -[22:31:30.524] end error: 0.000000 -[22:31:30.846] New key frame -[22:31:30.846] BA loop run -[22:31:30.847] init error: 2383.585825 -[22:31:30.848] end error: 0.000000 -[22:31:31.004] New key frame -[22:31:31.004] BA loop run -[22:31:31.004] init error: 244.533693 -[22:31:31.005] end error: 0.000000 -[22:31:31.151] New key frame -[22:31:31.151] BA loop run -[22:31:31.151] init error: 131.799398 -[22:31:31.152] end error: 0.000000 -[22:31:31.314] New key frame -[22:31:31.314] BA loop run -[22:31:31.314] init error: 106.001946 -[22:31:31.315] end error: 0.000000 -[22:31:31.454] New key frame -[22:31:31.454] BA loop run -[22:31:31.455] init error: 254.228714 -[22:31:31.456] end error: 0.000000 -[22:31:31.610] New key frame -[22:31:31.610] BA loop run -[22:31:31.610] init error: 219.203953 -[22:31:31.611] end error: 0.000000 -[22:31:31.776] New key frame -[22:31:31.776] BA loop run -[22:31:31.777] init error: 332.295279 -[22:31:31.778] end error: 0.000000 -[22:31:31.915] New key frame -[22:31:31.915] BA loop run -[22:31:31.915] init error: 388.566147 -[22:31:31.916] end error: 0.000000 -[22:31:32.033] New key frame -[22:31:32.033] BA loop run -[22:31:32.033] init error: 226.490780 -[22:31:32.034] end error: 0.000000 -[22:31:32.168] New key frame -[22:31:32.168] BA loop run -[22:31:32.168] init error: 497.479135 -[22:31:32.169] end error: 0.000000 -[22:31:32.318] New key frame -[22:31:32.318] BA loop run -[22:31:32.319] init error: 181.703451 -[22:31:32.320] end error: 0.000000 -[22:31:32.454] New key frame -[22:31:32.454] BA loop run -[22:31:32.455] init error: 225.129429 -[22:31:32.456] end error: 0.000000 -[22:31:32.592] New key frame -[22:31:32.592] BA loop run -[22:31:32.593] init error: 309.249447 -[22:31:32.594] end error: 0.000000 -[22:31:32.725] New key frame -[22:31:32.725] BA loop run -[22:31:32.725] init error: 251.550786 -[22:31:32.726] end error: 0.000000 -[22:31:32.847] New key frame -[22:31:32.847] BA loop run -[22:31:32.847] init error: 263.837745 -[22:31:32.848] end error: 0.000000 -[22:31:32.968] New key frame -[22:31:32.968] BA loop run -[22:31:32.968] init error: 315.848235 -[22:31:32.969] end error: 0.000000 -[22:31:33.113] New key frame -[22:31:33.113] BA loop run -[22:31:33.114] init error: 240.650402 -[22:31:33.115] end error: 0.000000 -[22:31:33.252] New key frame -[22:31:33.252] BA loop run -[22:31:33.252] init error: 362.639353 -[22:31:33.254] end error: 0.000000 -[22:31:33.396] New key frame -[22:31:33.396] BA loop run -[22:31:33.396] init error: 317.858584 -[22:31:33.397] end error: 0.000000 -[22:31:33.528] New key frame -[22:31:33.528] BA loop run -[22:31:33.528] init error: 379.217499 -[22:31:33.529] end error: 0.000000 -[22:31:33.669] New key frame -[22:31:33.669] BA loop run -[22:31:33.669] init error: 159.891671 -[22:31:33.670] end error: 0.000000 -[22:31:33.791] New key frame -[22:31:33.791] BA loop run -[22:31:33.791] init error: 152.547726 -[22:31:33.792] end error: 0.000000 -[22:31:33.924] New key frame -[22:31:33.924] BA loop run -[22:31:33.925] init error: 470.502243 -[22:31:33.925] end error: 0.000000 -[22:31:34.374] New key frame -[22:31:34.374] BA loop run -[22:31:34.375] init error: 836.765949 -[22:31:34.376] end error: 0.000000 -[22:31:34.612] New key frame -[22:31:34.612] BA loop run -[22:31:34.612] init error: 618.659793 -[22:31:34.613] end error: 0.000000 -[22:31:34.858] New key frame -[22:31:34.858] BA loop run -[22:31:34.858] init error: 14268.603933 -[22:31:34.859] end error: 0.000000 -[22:31:35.073] New key frame -[22:31:35.073] BA loop run -[22:31:35.073] init error: 759.093617 -[22:31:35.074] end error: 0.000000 -[22:31:35.196] New key frame -[22:31:35.196] BA loop run -[22:31:35.197] init error: 399.800171 -[22:31:35.197] end error: 0.000000 -[22:31:35.316] New key frame -[22:31:35.316] BA loop run -[22:31:35.316] init error: 380.208476 -[22:31:35.317] end error: 0.000000 -[22:31:35.574] New key frame -[22:31:35.574] BA loop run -[22:31:35.574] init error: 359.733781 -[22:31:35.575] end error: 0.000000 -[22:31:35.682] New key frame -[22:31:35.682] BA loop run -[22:31:35.683] init error: 413.198884 -[22:31:35.684] end error: 0.000000 -[22:31:35.805] New key frame -[22:31:35.806] BA loop run -[22:31:35.806] init error: 476.467141 -[22:31:35.807] end error: 0.000000 -[22:31:35.930] New key frame -[22:31:35.930] BA loop run -[22:31:35.931] init error: 376.075532 -[22:31:35.932] end error: 0.000000 -[22:31:36.046] New key frame -[22:31:36.046] BA loop run -[22:31:36.046] init error: 490.398950 -[22:31:36.047] end error: 0.000000 -[22:31:36.337] New key frame -[22:31:36.337] BA loop run -[22:31:36.337] init error: 270.851463 -[22:31:36.338] end error: 0.000000 -[22:31:36.465] New key frame -[22:31:36.465] BA loop run -[22:31:36.466] init error: 265.473990 -[22:31:36.467] end error: 0.000000 -[22:31:36.566] New key frame -[22:31:36.566] BA loop run -[22:31:36.566] init error: 1090.064832 -[22:31:36.567] end error: 0.000000 -[22:31:36.764] New key frame -[22:31:36.764] BA loop run -[22:31:36.765] init error: 225.202629 -[22:31:36.765] end error: 0.000000 -[22:31:36.907] New key frame -[22:31:36.907] BA loop run -[22:31:36.907] init error: 18.103024 -[22:31:36.908] end error: 0.000000 -[22:31:37.038] New key frame -[22:31:37.039] BA loop run -[22:31:37.039] init error: 31.446433 -[22:31:37.040] end error: 0.000000 -[22:31:37.203] New key frame -[22:31:37.203] BA loop run -[22:31:37.204] init error: 22.914176 -[22:31:37.205] end error: 0.000000 -[22:31:37.345] New key frame -[22:31:37.345] BA loop run -[22:31:37.345] init error: 8.200829 -[22:31:37.346] end error: 0.000000 -[22:31:37.513] New key frame -[22:31:37.513] BA loop run -[22:31:37.514] init error: 19.818339 -[22:31:37.515] end error: 0.002712 -[22:31:37.651] New key frame -[22:31:37.651] BA loop run -[22:31:37.652] init error: 44.120608 -[22:31:37.652] end error: 0.000000 -[22:31:37.766] New key frame -[22:31:37.766] BA loop run -[22:31:37.766] init error: 25.558753 -[22:31:37.767] end error: 0.000000 -[22:31:37.884] New key frame -[22:31:37.884] BA loop run -[22:31:37.884] init error: 4.360590 -[22:31:37.885] end error: 0.000000 -[22:32:21.678] New key frame -[22:32:21.678] BA loop run -[22:32:21.678] init error: 0.650481 -[22:32:21.679] end error: 0.000000 diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt deleted file mode 100755 index 3421bf1..0000000 --- a/GPU_version/vio/frame_handler_log.txt +++ /dev/null @@ -1,6895 +0,0 @@ -[22:29:39.811] Init: frame zero: 0.000000, 0.000000 0.000000 -[22:29:39.811] Init: Selected first frame. -[22:29:39.811] frame process finished the id is: 0 the obs is:0 -[22:29:39.844] Init: px average disparity is:0.128987 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:39.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:39.844] frame process finished the id is: 1 the obs is:0 -[22:29:39.932] Init: px average disparity is:0.146777 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:39.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:39.932] frame process finished the id is: 2 the obs is:0 -[22:29:40.046] Init: px average disparity is:0.133348 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:40.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:40.046] frame process finished the id is: 3 the obs is:0 -[22:29:40.141] Init: px average disparity is:0.150950 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:40.141] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:40.141] frame process finished the id is: 4 the obs is:0 -[22:29:40.245] Init: px average disparity is:0.139174 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:40.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:40.245] frame process finished the id is: 5 the obs is:0 -[22:29:40.340] Init: px average disparity is:0.139629 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:40.340] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:40.340] frame process finished the id is: 6 the obs is:0 -[22:29:40.453] Init: px average disparity is:0.139252 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:40.453] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:40.453] frame process finished the id is: 7 the obs is:0 -[22:29:40.531] Init: px average disparity is:0.120287 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:40.531] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:40.532] frame process finished the id is: 8 the obs is:0 -[22:29:40.647] Init: px average disparity is:0.137119 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:40.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:40.647] frame process finished the id is: 9 the obs is:0 -[22:29:40.751] Init: px average disparity is:0.146241 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:40.751] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:40.751] frame process finished the id is: 10 the obs is:0 -[22:29:40.847] Init: px average disparity is:0.130477 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:40.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:40.847] frame process finished the id is: 11 the obs is:0 -[22:29:40.962] Init: px average disparity is:0.127678 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:40.962] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:40.962] frame process finished the id is: 12 the obs is:0 -[22:29:41.031] Init: px average disparity is:0.118913 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:41.031] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:41.031] frame process finished the id is: 13 the obs is:0 -[22:29:41.148] Init: px average disparity is:0.137408 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:41.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:41.148] frame process finished the id is: 14 the obs is:0 -[22:29:41.258] Init: px average disparity is:0.133591 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:41.258] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:41.258] frame process finished the id is: 15 the obs is:0 -[22:29:41.350] Init: px average disparity is:0.139097 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:41.350] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:41.350] frame process finished the id is: 16 the obs is:0 -[22:29:41.445] Init: px average disparity is:0.160779 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:41.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:41.445] frame process finished the id is: 17 the obs is:0 -[22:29:41.551] Init: px average disparity is:0.170569 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:41.551] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:41.551] frame process finished the id is: 18 the obs is:0 -[22:29:41.651] Init: px average disparity is:0.163941 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:41.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:41.651] frame process finished the id is: 19 the obs is:0 -[22:29:41.750] Init: px average disparity is:0.133163 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:41.750] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:41.750] frame process finished the id is: 20 the obs is:0 -[22:29:41.848] Init: px average disparity is:0.139712 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:41.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:41.848] frame process finished the id is: 21 the obs is:0 -[22:29:41.949] Init: px average disparity is:0.136047 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:41.949] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:41.949] frame process finished the id is: 22 the obs is:0 -[22:29:42.052] Init: px average disparity is:0.134349 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:42.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:42.052] frame process finished the id is: 23 the obs is:0 -[22:29:42.148] Init: px average disparity is:0.150379 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:42.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:42.148] frame process finished the id is: 24 the obs is:0 -[22:29:42.250] Init: px average disparity is:0.131816 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:42.250] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:42.250] frame process finished the id is: 25 the obs is:0 -[22:29:42.348] Init: px average disparity is:0.147024 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:42.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:42.348] frame process finished the id is: 26 the obs is:0 -[22:29:42.451] Init: px average disparity is:0.155163 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:42.451] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:42.451] frame process finished the id is: 27 the obs is:0 -[22:29:42.550] Init: px average disparity is:0.143544 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:42.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:42.550] frame process finished the id is: 28 the obs is:0 -[22:29:42.652] Init: px average disparity is:0.155050 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:42.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:42.652] frame process finished the id is: 29 the obs is:0 -[22:29:42.751] Init: px average disparity is:0.131050 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:42.751] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:42.751] frame process finished the id is: 30 the obs is:0 -[22:29:42.852] Init: px average disparity is:0.146707 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:42.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:42.853] frame process finished the id is: 31 the obs is:0 -[22:29:42.959] Init: px average disparity is:0.179822 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:42.959] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:42.959] frame process finished the id is: 32 the obs is:0 -[22:29:43.053] Init: px average disparity is:0.143172 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:43.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:43.053] frame process finished the id is: 33 the obs is:0 -[22:29:43.148] Init: px average disparity is:0.156109 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:43.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:43.148] frame process finished the id is: 34 the obs is:0 -[22:29:43.253] Init: px average disparity is:0.141525 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:43.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:43.253] frame process finished the id is: 35 the obs is:0 -[22:29:43.257] Odometry x=0.000000, y=0.000000, theta=-0.000000 -[22:29:43.350] Init: px average disparity is:0.131302 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:43.350] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:43.350] frame process finished the id is: 36 the obs is:0 -[22:29:43.353] Odometry x=0.000206, y=0.010213, theta=-0.000602 -[22:29:43.457] Init: px average disparity is:0.149645 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:43.457] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:43.457] frame process finished the id is: 37 the obs is:0 -[22:29:43.461] Odometry x=0.000459, y=0.018472, theta=-0.000446 -[22:29:43.553] Init: px average disparity is:0.337739 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:43.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:43.553] frame process finished the id is: 38 the obs is:0 -[22:29:43.554] Odometry x=0.000722, y=0.026456, theta=-0.000203 -[22:29:43.659] Init: px average disparity is:2.022175 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:43.659] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:43.659] frame process finished the id is: 39 the obs is:0 -[22:29:43.660] Odometry x=0.001163, y=0.034377, theta=-0.002904 -[22:29:43.752] Init: px average disparity is:3.634055 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:43.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:43.753] frame process finished the id is: 40 the obs is:0 -[22:29:43.758] Odometry x=0.001546, y=0.042260, theta=0.001144 -[22:29:43.853] Init: px average disparity is:4.836632 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:43.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:43.853] frame process finished the id is: 41 the obs is:0 -[22:29:43.853] Odometry x=0.001514, y=0.050482, theta=0.001863 -[22:29:43.954] Odometry x=0.001923, y=0.058204, theta=0.002357 -[22:29:43.966] Init: px average disparity is:5.845915 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:43.966] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:43.966] frame process finished the id is: 42 the obs is:0 -[22:29:44.049] Odometry x=0.002205, y=0.066324, theta=0.003334 -[22:29:44.061] Init: px average disparity is:6.631210 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:44.061] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:44.061] frame process finished the id is: 43 the obs is:0 -[22:29:44.152] Odometry x=0.002469, y=0.074288, theta=0.003446 -[22:29:44.157] Init: px average disparity is:7.902816 ,While minimum is: 10.000000 KLT tracked : 1199 -[22:29:44.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:44.157] frame process finished the id is: 44 the obs is:0 -[22:29:44.256] Odometry x=0.002636, y=0.082421, theta=0.004189 -[22:29:44.259] Init: px average disparity is:8.776532 ,While minimum is: 10.000000 KLT tracked : 1196 -[22:29:44.259] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:44.259] frame process finished the id is: 45 the obs is:0 -[22:29:44.355] Odometry x=0.002875, y=0.090299, theta=0.004940 -[22:29:44.453] Odometry x=0.002950, y=0.098519, theta=0.004423 -[22:29:44.469] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:10.073582 ,While minimum is: 10.000000 KLT tracked: 1194 -[22:29:44.469] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:44.469] frame process finished the id is: 46 the obs is:0 -[22:29:44.555] Odometry x=0.003077, y=0.106405, theta=0.005418 -[22:29:44.572] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:12.226250 ,While minimum is: 10.000000 KLT tracked: 1194 -[22:29:44.572] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:44.572] frame process finished the id is: 47 the obs is:0 -[22:29:44.652] Odometry x=0.003165, y=0.114653, theta=0.005002 -[22:29:44.674] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:14.088211 ,While minimum is: 10.000000 KLT tracked: 1192 -[22:29:44.674] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:44.674] frame process finished the id is: 48 the obs is:0 -[22:29:44.755] Odometry x=0.003559, y=0.122258, theta=0.006651 -[22:29:44.775] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:13.732805 ,While minimum is: 10.000000 KLT tracked: 1185 -[22:29:44.775] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:44.775] frame process finished the id is: 49 the obs is:0 -[22:29:44.854] Odometry x=0.003649, y=0.130452, theta=0.005742 -[22:29:44.878] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:16.942181 ,While minimum is: 10.000000 KLT tracked: 1181 -[22:29:44.878] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:44.878] frame process finished the id is: 50 the obs is:0 -[22:29:44.951] Odometry x=0.004059, y=0.138640, theta=0.009493 -[22:29:44.982] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:18.100313 ,While minimum is: 10.000000 KLT tracked: 1179 -[22:29:44.982] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:44.982] frame process finished the id is: 51 the obs is:0 -[22:29:45.054] Odometry x=0.003937, y=0.147247, theta=0.005942 -[22:29:45.085] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:19.611920 ,While minimum is: 10.000000 KLT tracked: 1171 -[22:29:45.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:45.085] frame process finished the id is: 52 the obs is:0 -[22:29:45.156] Odometry x=0.003849, y=0.155136, theta=0.007395 -[22:29:45.188] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:21.604423 ,While minimum is: 10.000000 KLT tracked: 1171 -[22:29:45.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:45.188] frame process finished the id is: 53 the obs is:0 -[22:29:45.255] Odometry x=0.003977, y=0.163230, theta=0.006257 -[22:29:45.291] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:24.119373 ,While minimum is: 10.000000 KLT tracked: 1171 -[22:29:45.291] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:45.291] frame process finished the id is: 54 the obs is:0 -[22:29:45.354] Odometry x=0.004008, y=0.170860, theta=0.009584 -[22:29:45.394] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:26.085986 ,While minimum is: 10.000000 KLT tracked: 1170 -[22:29:45.394] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:45.395] frame process finished the id is: 55 the obs is:0 -[22:29:45.452] Odometry x=0.004196, y=0.178935, theta=0.014666 -[22:29:45.498] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:28.405195 ,While minimum is: 10.000000 KLT tracked: 1170 -[22:29:45.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:45.498] frame process finished the id is: 56 the obs is:0 -[22:29:45.554] Odometry x=0.004185, y=0.186698, theta=0.009891 -[22:29:45.601] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:28.600199 ,While minimum is: 10.000000 KLT tracked: 1170 -[22:29:45.601] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:45.601] frame process finished the id is: 57 the obs is:0 -[22:29:45.653] Odometry x=0.004320, y=0.194897, theta=0.011928 -[22:29:45.705] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:29.552938 ,While minimum is: 10.000000 KLT tracked: 1169 -[22:29:45.705] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:45.705] frame process finished the id is: 58 the obs is:0 -[22:29:45.751] Odometry x=0.004671, y=0.202666, theta=0.012093 -[22:29:45.809] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:24.658105 ,While minimum is: 10.000000 KLT tracked: 1146 -[22:29:45.809] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:45.809] frame process finished the id is: 59 the obs is:0 -[22:29:45.853] Odometry x=0.004905, y=0.210779, theta=0.011341 -[22:29:45.913] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:20.368301 ,While minimum is: 10.000000 KLT tracked: 1128 -[22:29:45.913] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:45.913] frame process finished the id is: 60 the obs is:0 -[22:29:45.958] Odometry x=0.004880, y=0.218750, theta=0.007411 -[22:29:46.018] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:18.269363 ,While minimum is: 10.000000 KLT tracked: 1115 -[22:29:46.018] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:46.018] frame process finished the id is: 61 the obs is:0 -[22:29:46.058] Odometry x=0.005018, y=0.227125, theta=0.008846 -[22:29:46.124] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:18.661362 ,While minimum is: 10.000000 KLT tracked: 1110 -[22:29:46.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:46.124] frame process finished the id is: 62 the obs is:0 -[22:29:46.152] Odometry x=0.005166, y=0.234853, theta=0.010688 -[22:29:46.228] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:18.782348 ,While minimum is: 10.000000 KLT tracked: 1110 -[22:29:46.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:46.228] frame process finished the id is: 63 the obs is:0 -[22:29:46.255] Odometry x=0.005330, y=0.243378, theta=0.008854 -[22:29:46.334] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:20.075326 ,While minimum is: 10.000000 KLT tracked: 1110 -[22:29:46.334] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:46.334] frame process finished the id is: 64 the obs is:0 -[22:29:46.355] Odometry x=0.005464, y=0.251102, theta=0.009853 -[22:29:46.440] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:21.072621 ,While minimum is: 10.000000 KLT tracked: 1110 -[22:29:46.440] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[22:29:46.440] frame process finished the id is: 65 the obs is:0 -[22:29:46.454] Odometry x=0.005700, y=0.259250, theta=0.008004 -[22:29:46.549] Init finished: Homography RANSAC (inlier) is:235 ,While 50 inliers minimum required. px average disparity is:23.656138 ,While minimum is: 10.000000 KLT tracked: 1109 -[22:29:46.549] Init: distance between the first and current frame is x:0.005711 ,z=0.267053,angle between two frames: 0.014150 -[22:29:46.549] Init: Selected Second frame. The number of features: 235 depth mean:-0.265117 min:-0.265117 -[22:29:46.550] frame process finished the id is: 66 the obs is:235 -[22:29:46.553] Odometry x=0.005711, y=0.267053, theta=0.014150 -[22:29:46.656] Odometry x=0.005890, y=0.274773, theta=0.007828 -[22:29:46.659] After Reprojection Map nMatches:169 ,distance between ekf and vo x:-0.000096 ,z=0.000117,angle between two frames:0.015018 -[22:29:46.659] n deleted obs = 31 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =138 error init =0.010545 error end=0.010545 -[22:29:46.659] After pose optimization, distance between ekf and vo x:-0.000096 ,z=0.000117,angle between two frames:0.015018 -[22:29:46.659] Update EKF and 3D points the number of feature in the new frame: 138 and number of obs: 138 -[22:29:46.660] need key frame pitch dis: 0.012441 translation dif:0.273744 -[22:29:46.660] Choose frame as a key frame Scene Depth mean:-0.271695 ,depth min:-0.271695 -[22:29:46.660] frame process finished the id is: 67 the obs is:138 -[22:29:46.753] Odometry x=0.006078, y=0.282311, theta=0.014368 -[22:29:46.763] After Reprojection Map nMatches:128 ,distance between ekf and vo x:-0.000051 ,z=-0.000076,angle between two frames:0.001380 -[22:29:46.763] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =107 error init =0.011689 error end=0.011689 -[22:29:46.763] After pose optimization, distance between ekf and vo x:-0.000051 ,z=-0.000076,angle between two frames:0.001380 -[22:29:46.763] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107 -[22:29:46.763] need key frame pitch dis: 0.014667 translation dif:0.287036 -[22:29:46.763] Choose frame as a key frame Scene Depth mean:-0.284892 ,depth min:-0.284892 -[22:29:46.763] frame process finished the id is: 68 the obs is:107 -[22:29:46.856] Odometry x=0.005872, y=0.292946, theta=0.012060 -[22:29:46.864] After Reprojection Map nMatches:105 ,distance between ekf and vo x:-0.000089 ,z=0.000058,angle between two frames:0.001494 -[22:29:46.864] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =88 error init =0.006774 error end=0.006774 -[22:29:46.864] After pose optimization, distance between ekf and vo x:-0.000089 ,z=0.000058,angle between two frames:0.001494 -[22:29:46.864] Update EKF and 3D points the number of feature in the new frame: 88 and number of obs: 88 -[22:29:46.865] need key frame pitch dis: 0.015623 translation dif:0.290570 -[22:29:46.865] Choose frame as a key frame Scene Depth mean:-0.288400 ,depth min:-0.288400 -[22:29:46.865] frame process finished the id is: 69 the obs is:88 -[22:29:46.958] Odometry x=0.006206, y=0.290504, theta=0.015623 -[22:29:46.961] After Reprojection Map nMatches:88 ,distance between ekf and vo x:-0.000026 ,z=0.000058,angle between two frames:0.002413 -[22:29:46.961] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =79 error init =0.003858 error end=0.003858 -[22:29:46.961] After pose optimization, distance between ekf and vo x:-0.000026 ,z=0.000058,angle between two frames:0.002413 -[22:29:46.961] Update EKF and 3D points the number of feature in the new frame: 79 and number of obs: 79 -[22:29:46.962] need key frame pitch dis: 0.016257 translation dif:0.295922 -[22:29:46.962] Choose frame as a key frame Scene Depth mean:-0.293714 ,depth min:-0.293714 -[22:29:46.962] frame process finished the id is: 70 the obs is:79 -[22:29:47.054] Odometry x=0.006291, y=0.302644, theta=0.017014 -[22:29:47.065] After Reprojection Map nMatches:78 ,distance between ekf and vo x:-0.000077 ,z=-0.000117,angle between two frames:0.002238 -[22:29:47.065] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =63 error init =0.008095 error end=0.008095 -[22:29:47.065] After pose optimization, distance between ekf and vo x:-0.000077 ,z=-0.000117,angle between two frames:0.002238 -[22:29:47.065] Update EKF and 3D points the number of feature in the new frame: 63 and number of obs: 63 -[22:29:47.066] need key frame pitch dis: 0.017341 translation dif:0.302267 -[22:29:47.066] Choose frame as a key frame Scene Depth mean:-0.300014 ,depth min:-0.300014 -[22:29:47.066] frame process finished the id is: 71 the obs is:63 -[22:29:47.153] Odometry x=0.006350, y=0.310558, theta=0.017451 -[22:29:47.158] After Reprojection Map nMatches:63 ,distance between ekf and vo x:-0.000087 ,z=0.000063,angle between two frames:0.004310 -[22:29:47.159] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.012209 error end=0.012209 -[22:29:47.159] After pose optimization, distance between ekf and vo x:-0.000087 ,z=0.000063,angle between two frames:0.004310 -[22:29:47.159] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45 -[22:29:47.159] need key frame pitch dis: 0.018384 translation dif:0.315401 -[22:29:47.159] Choose frame as a key frame Scene Depth mean:-0.313050 ,depth min:-0.313050 -[22:29:47.159] frame process finished the id is: 72 the obs is:45 -[22:29:47.253] After Reprojection Map nMatches:45 ,distance between ekf and vo x:-0.000015 ,z=0.000085,angle between two frames:0.003850 -[22:29:47.253] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 error init =0.003438 error end=0.003438 -[22:29:47.254] After pose optimization, distance between ekf and vo x:-0.000015 ,z=0.000085,angle between two frames:0.003850 -[22:29:47.254] Update EKF and 3D points the number of feature in the new frame: 38 and number of obs: 38 -[22:29:47.254] need key frame pitch dis: 0.022346 translation dif:0.316958 -[22:29:47.254] Choose frame as a key frame Scene Depth mean:-0.314595 ,depth min:-0.314595 -[22:29:47.254] frame process finished the id is: 73 the obs is:38 -[22:29:47.255] Odometry x=0.006056, y=0.316900, theta=0.022346 -[22:29:47.352] After Reprojection Map nMatches:38 ,distance between ekf and vo x:-0.000065 ,z=0.000005,angle between two frames:0.000951 -[22:29:47.352] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.018160 error end=0.018160 -[22:29:47.352] After pose optimization, distance between ekf and vo x:-0.000065 ,z=0.000005,angle between two frames:0.000951 -[22:29:47.352] Update EKF and 3D points the number of feature in the new frame: 34 and number of obs: 34 -[22:29:47.352] need key frame pitch dis: 0.027100 translation dif:0.318963 -[22:29:47.352] Choose frame as a key frame Scene Depth mean:-0.316576 ,depth min:-0.316576 -[22:29:47.352] frame process finished the id is: 74 the obs is:34 -[22:29:47.358] Odometry x=0.006047, y=0.318905, theta=0.027100 -[22:29:47.454] Odometry x=0.005476, y=0.327699, theta=0.024646 -[22:29:47.516] After Reprojection Map nMatches:34 ,distance between ekf and vo x:-0.000135 ,z=0.000150,angle between two frames:0.006930 -[22:29:47.516] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.026685 error end=0.026685 -[22:29:47.516] After pose optimization, distance between ekf and vo x:-0.000135 ,z=0.000150,angle between two frames:0.006930 -[22:29:47.516] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 -[22:29:47.517] need key frame pitch dis: 0.028205 translation dif:0.323299 -[22:29:47.517] Choose frame as a key frame Scene Depth mean:-0.320878 ,depth min:-0.320878 -[22:29:47.517] frame process finished the id is: 75 the obs is:25 -[22:29:47.556] Odometry x=0.006247, y=0.323239, theta=0.028205 -[22:29:47.654] Odometry x=0.006142, y=0.331970, theta=0.025882 -[22:29:47.693] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.000026 ,z=0.000104,angle between two frames:0.000313 -[22:29:47.693] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.024117 error end=0.024117 -[22:29:47.693] After pose optimization, distance between ekf and vo x:0.000026 ,z=0.000104,angle between two frames:0.000313 -[22:29:47.693] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18 -[22:29:47.693] need key frame pitch dis: 0.025988 translation dif:0.327337 -[22:29:47.693] Choose frame as a key frame Scene Depth mean:-0.324892 ,depth min:-0.324892 -[22:29:47.693] frame process finished the id is: 76 the obs is:18 -[22:29:47.754] Odometry x=0.006360, y=0.327276, theta=0.025988 -[22:29:47.854] Odometry x=0.006889, y=0.336071, theta=0.019107 -[22:29:47.868] After Reprojection Map nMatches:18 ,distance between ekf and vo x:-0.000038 ,z=0.000049,angle between two frames:0.000955 -[22:29:47.868] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.003175 error end=0.003175 -[22:29:47.868] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000049,angle between two frames:0.000955 -[22:29:47.868] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 -[22:29:47.868] need key frame pitch dis: 0.020913 translation dif:0.331925 -[22:29:47.868] Choose frame as a key frame Scene Depth mean:-0.329450 ,depth min:-0.329450 -[22:29:47.868] frame process finished the id is: 77 the obs is:15 -[22:29:47.952] Odometry x=0.005716, y=0.331876, theta=0.020913 -[22:29:48.044] After Reprojection Map nMatches:15 ,distance between ekf and vo x:-0.000076 ,z=0.000057,angle between two frames:0.001789 -[22:29:48.044] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.000894 error end=0.000894 -[22:29:48.044] After pose optimization, distance between ekf and vo x:-0.000076 ,z=0.000057,angle between two frames:0.001789 -[22:29:48.044] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13 -[22:29:48.044] need key frame pitch dis: 0.017664 translation dif:0.333960 -[22:29:48.044] Choose frame as a key frame Scene Depth mean:-0.331472 ,depth min:-0.331472 -[22:29:48.044] frame process finished the id is: 78 the obs is:13 -[22:29:48.050] Odometry x=0.005765, y=0.333910, theta=0.017664 -[22:29:48.149] Odometry x=0.006015, y=0.343456, theta=0.016524 -[22:29:48.215] After Reprojection Map nMatches:13 ,distance between ekf and vo x:-0.000062 ,z=0.000085,angle between two frames:0.001365 -[22:29:48.215] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.112896 error end=0.112896 -[22:29:48.215] After pose optimization, distance between ekf and vo x:-0.000062 ,z=0.000085,angle between two frames:0.001365 -[22:29:48.215] frame process finished the id is: 78 the obs is:13 -[22:29:48.252] Odometry x=0.007126, y=0.351567, theta=0.011168 -[22:29:48.309] After Reprojection Map nMatches:13 ,distance between ekf and vo x:-0.000285 ,z=-0.000021,angle between two frames:0.005217 -[22:29:48.309] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.001948 error end=0.001948 -[22:29:48.309] After pose optimization, distance between ekf and vo x:-0.000285 ,z=-0.000021,angle between two frames:0.005217 -[22:29:48.309] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 -[22:29:48.309] need key frame pitch dis: 0.017923 translation dif:0.353337 -[22:29:48.309] Choose frame as a key frame Scene Depth mean:0.552054 ,depth min:-0.350703 -[22:29:48.309] frame process finished the id is: 80 the obs is:12 -[22:29:48.354] Odometry x=0.007299, y=0.353262, theta=0.017923 -[22:29:48.450] Odometry x=0.006801, y=0.362577, theta=0.021106 -[22:29:48.504] After Reprojection Map nMatches:19 ,distance between ekf and vo x:-0.000222 ,z=0.000339,angle between two frames:0.000497 -[22:29:48.558] Odometry x=0.006582, y=0.370812, theta=0.009438 -[22:29:48.612] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.001562 error end=0.001562 -[22:29:48.612] After pose optimization, distance between ekf and vo x:-0.000222 ,z=0.000339,angle between two frames:0.000497 -[22:29:48.612] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 -[22:29:48.612] need key frame pitch dis: 0.011875 translation dif:0.359743 -[22:29:48.612] Choose frame as a key frame Scene Depth mean:0.542583 ,depth min:-0.357050 -[22:29:48.612] frame process finished the id is: 81 the obs is:15 -[22:29:48.655] Odometry x=0.007221, y=0.359671, theta=0.011875 -[22:29:48.755] Odometry x=0.007326, y=0.368135, theta=-0.001010 -[22:29:48.825] After Reprojection Map nMatches:13 ,distance between ekf and vo x:-0.000063 ,z=0.000104,angle between two frames:0.000215 -[22:29:48.850] Odometry x=0.008171, y=0.376375, theta=0.012165 -[22:29:48.950] Odometry x=0.008171, y=0.376375, theta=0.012165 -[22:29:49.056] Odometry x=0.006914, y=0.384374, theta=0.013279 -[22:29:49.150] Odometry x=0.007040, y=0.394980, theta=0.012856 -[22:29:49.243] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.000174 error end=0.000174 -[22:29:49.243] After pose optimization, distance between ekf and vo x:-0.000063 ,z=0.000104,angle between two frames:0.000215 -[22:29:49.243] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13 -[22:29:49.244] need key frame pitch dis: 0.015177 translation dif:0.370454 -[22:29:49.245] Choose frame as a key frame Scene Depth mean:0.470261 ,depth min:-0.587905 -[22:29:49.245] frame process finished the id is: 82 the obs is:13 -[22:29:49.261] Odometry x=0.006413, y=0.370399, theta=0.015177 -[22:29:49.359] Odometry x=0.005652, y=0.379104, theta=0.001341 -[22:29:49.453] Odometry x=0.004436, y=0.387271, theta=0.011885 -[22:29:49.522] After Reprojection Map nMatches:10 ,distance between ekf and vo x:-0.000486 ,z=0.000054,angle between two frames:0.000456 -[22:29:49.560] Odometry x=0.003793, y=0.395757, theta=0.002410 -[22:29:49.652] Odometry x=0.002280, y=0.403825, theta=0.014603 -[22:29:49.655] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.002980 error end=0.002980 -[22:29:49.655] After pose optimization, distance between ekf and vo x:-0.000486 ,z=0.000054,angle between two frames:0.000456 -[22:29:49.655] frame process finished the id is: 82 the obs is:13 -[22:29:49.753] Odometry x=0.000879, y=0.411502, theta=0.004262 -[22:29:49.838] After Reprojection Map nMatches:10 ,distance between ekf and vo x:-0.004556 ,z=-0.000329,angle between two frames:0.009288 -[22:29:49.838] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.005021 error end=0.004649 -[22:29:49.838] After pose optimization, distance between ekf and vo x:-0.009334 ,z=-0.000881,angle between two frames:0.002431 -[22:29:49.838] frame process finished the id is: 82 the obs is:13 -[22:29:49.853] Odometry x=-0.000634, y=0.420480, theta=0.014596 -[22:29:49.933] After Reprojection Map nMatches:10 ,distance between ekf and vo x:0.000331 ,z=-0.002664,angle between two frames:0.022959 -[22:29:49.933] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.065147 error end=0.065147 -[22:29:49.933] After pose optimization, distance between ekf and vo x:0.000331 ,z=-0.002664,angle between two frames:0.022959 -[22:29:49.933] frame process finished the id is: 82 the obs is:13 -[22:29:49.955] Odometry x=-0.001906, y=0.428785, theta=0.007439 -[22:29:50.022] After Reprojection Map nMatches:10 ,distance between ekf and vo x:-0.001095 ,z=-0.001709,angle between two frames:0.015411 -[22:29:50.022] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.012713 error end=0.012665 -[22:29:50.022] After pose optimization, distance between ekf and vo x:-0.007204 ,z=-0.003684,angle between two frames:0.010028 -[22:29:50.022] frame process finished the id is: 82 the obs is:13 -[22:29:50.058] Odometry x=-0.003450, y=0.437373, theta=0.015319 -[22:29:50.108] After Reprojection Map nMatches:13 ,distance between ekf and vo x:-0.005805 ,z=-0.016081,angle between two frames:0.618209 -[22:29:50.108] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.007430 error end=0.007430 -[22:29:50.108] After pose optimization, distance between ekf and vo x:-0.005805 ,z=-0.016081,angle between two frames:0.618209 -[22:29:50.108] frame process finished the id is: 82 the obs is:13 -[22:29:50.152] Odometry x=-0.004270, y=0.445094, theta=0.008681 -[22:29:50.198] After Reprojection Map nMatches:13 ,distance between ekf and vo x:-0.014588 ,z=0.022278,angle between two frames:0.791749 -[22:29:50.198] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.042670 error end=0.033614 -[22:29:50.198] After pose optimization, distance between ekf and vo x:-0.313452 ,z=0.087445,angle between two frames:1.320536 -[22:29:50.198] frame process finished the id is: 82 the obs is:13 -[22:29:50.252] Odometry x=-0.005329, y=0.453981, theta=0.015476 -[22:29:50.301] After Reprojection Map nMatches:13 ,distance between ekf and vo x:0.015131 ,z=-0.016212,angle between two frames:0.364056 -[22:29:50.301] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.006700 error end=0.006633 -[22:29:50.302] After pose optimization, distance between ekf and vo x:0.030440 ,z=0.043773,angle between two frames:0.321870 -[22:29:50.302] frame process finished the id is: 82 the obs is:13 -[22:29:50.353] Odometry x=-0.006294, y=0.462085, theta=0.007540 -[22:29:50.403] After Reprojection Map nMatches:13 ,distance between ekf and vo x:0.000011 ,z=-0.002282,angle between two frames:0.149030 -[22:29:50.403] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.014798 error end=0.014798 -[22:29:50.403] After pose optimization, distance between ekf and vo x:0.000386 ,z=0.000958,angle between two frames:0.147455 -[22:29:50.403] frame process finished the id is: 82 the obs is:13 -[22:29:50.458] Odometry x=-0.007293, y=0.470561, theta=0.015684 -[22:29:50.503] After Reprojection Map nMatches:13 ,distance between ekf and vo x:-0.000252 ,z=0.006747,angle between two frames:0.060865 -[22:29:50.503] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000713 error end=0.000713 -[22:29:50.503] After pose optimization, distance between ekf and vo x:-0.000252 ,z=0.006747,angle between two frames:0.060865 -[22:29:50.503] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 -[22:29:50.503] need key frame pitch dis: 0.010222 translation dif:0.477019 -[22:29:50.503] Choose frame as a key frame Scene Depth mean:0.388216 ,depth min:-2.021925 -[22:29:50.503] frame process finished the id is: 91 the obs is:12 -[22:29:50.550] Odometry x=-0.008287, y=0.476947, theta=0.010222 -[22:29:50.613] After Reprojection Map nMatches:17 ,distance between ekf and vo x:0.000300 ,z=-0.000235,angle between two frames:0.000008 -[22:29:50.614] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.012141 error end=0.012141 -[22:29:50.614] After pose optimization, distance between ekf and vo x:0.000300 ,z=-0.000235,angle between two frames:0.000008 -[22:29:50.614] frame process finished the id is: 91 the obs is:12 -[22:29:50.654] Odometry x=-0.009669, y=0.485713, theta=0.018746 -[22:29:50.708] After Reprojection Map nMatches:1 ,distance between ekf and vo x:-0.000647 ,z=0.004464,angle between two frames:0.000141 -[22:29:50.708] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 -[22:29:50.708] After pose optimization, distance between ekf and vo x:-0.000647 ,z=0.004464,angle between two frames:0.000141 -[22:29:50.708] frame process finished the id is: 91 the obs is:12 -[22:29:50.754] Odometry x=-0.011024, y=0.492127, theta=0.017116 -[22:29:50.806] After Reprojection Map nMatches:1 ,distance between ekf and vo x:-0.004956 ,z=0.014862,angle between two frames:0.000291 -[22:29:50.806] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000022 error end=0.000022 -[22:29:50.806] After pose optimization, distance between ekf and vo x:-0.004839 ,z=0.014798,angle between two frames:0.000296 -[22:29:50.806] frame process finished the id is: 91 the obs is:12 -[22:29:50.852] Odometry x=-0.012593, y=0.500396, theta=0.026316 -[22:29:50.908] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.003329 ,z=-0.011035,angle between two frames:0.000252 -[22:29:50.908] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000001 error end=0.000001 -[22:29:50.908] After pose optimization, distance between ekf and vo x:0.003377 ,z=-0.011027,angle between two frames:0.000249 -[22:29:50.908] frame process finished the id is: 91 the obs is:12 -[22:29:50.954] Odometry x=-0.013967, y=0.507842, theta=0.014314 -[22:29:51.005] After Reprojection Map nMatches:1 ,distance between ekf and vo x:-0.004368 ,z=0.001784,angle between two frames:0.000199 -[22:29:51.005] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000024 error end=0.000024 -[22:29:51.005] After pose optimization, distance between ekf and vo x:-0.004368 ,z=0.001784,angle between two frames:0.000199 -[22:29:51.005] frame process finished the id is: 91 the obs is:12 -[22:29:51.053] Odometry x=-0.015439, y=0.516681, theta=0.022811 -[22:29:51.105] After Reprojection Map nMatches:1 ,distance between ekf and vo x:-0.012321 ,z=-0.001088,angle between two frames:0.000801 -[22:29:51.105] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000047 error end=0.000047 -[22:29:51.105] After pose optimization, distance between ekf and vo x:-0.011533 ,z=-0.001340,angle between two frames:0.000764 -[22:29:51.105] frame process finished the id is: 91 the obs is:12 -[22:29:51.151] Odometry x=-0.015954, y=0.524587, theta=0.010344 -[22:29:51.207] After Reprojection Map nMatches:1 ,distance between ekf and vo x:-0.001254 ,z=0.006484,angle between two frames:0.000178 -[22:29:51.207] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.049216 error end=0.046476 -[22:29:51.207] After pose optimization, distance between ekf and vo x:0.406701 ,z=-0.242255,angle between two frames:0.015928 -[22:29:51.207] frame process finished the id is: 91 the obs is:12 -[22:29:51.253] Odometry x=-0.017244, y=0.532211, theta=0.016747 -[22:29:51.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.293] frame process finished the id is: 91 the obs is:12 -[22:29:51.356] Odometry x=-0.018578, y=0.539994, theta=0.015311 -[22:29:51.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.393] frame process finished the id is: 91 the obs is:12 -[22:29:51.456] Odometry x=-0.019614, y=0.547537, theta=0.014600 -[22:29:51.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.493] frame process finished the id is: 91 the obs is:12 -[22:29:51.557] Odometry x=-0.020439, y=0.554554, theta=0.016260 -[22:29:51.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.595] frame process finished the id is: 91 the obs is:12 -[22:29:51.655] Odometry x=-0.021725, y=0.562761, theta=0.017195 -[22:29:51.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.692] frame process finished the id is: 91 the obs is:12 -[22:29:51.750] Odometry x=-0.023205, y=0.569981, theta=0.018409 -[22:29:51.789] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.789] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.789] frame process finished the id is: 91 the obs is:12 -[22:29:51.852] Odometry x=-0.024838, y=0.577753, theta=0.018428 -[22:29:51.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.891] frame process finished the id is: 91 the obs is:12 -[22:29:51.960] Odometry x=-0.026097, y=0.584943, theta=0.023214 -[22:29:51.989] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.989] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:51.989] frame process finished the id is: 91 the obs is:12 -[22:29:52.055] Odometry x=-0.026097, y=0.584943, theta=0.023214 -[22:29:52.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.091] frame process finished the id is: 91 the obs is:12 -[22:29:52.155] Odometry x=-0.026207, y=0.593860, theta=0.031903 -[22:29:52.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.191] frame process finished the id is: 91 the obs is:12 -[22:29:52.255] Odometry x=-0.027109, y=0.602044, theta=0.049096 -[22:29:52.297] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.297] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.297] frame process finished the id is: 91 the obs is:12 -[22:29:52.353] Odometry x=-0.028927, y=0.609285, theta=0.037135 -[22:29:52.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.391] frame process finished the id is: 91 the obs is:12 -[22:29:52.456] Odometry x=-0.030589, y=0.617535, theta=0.047480 -[22:29:52.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.490] frame process finished the id is: 91 the obs is:12 -[22:29:52.557] Odometry x=-0.031889, y=0.625939, theta=0.033599 -[22:29:52.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.592] frame process finished the id is: 91 the obs is:12 -[22:29:52.658] Odometry x=-0.033724, y=0.632923, theta=0.045918 -[22:29:52.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.690] frame process finished the id is: 91 the obs is:12 -[22:29:52.761] Odometry x=-0.034221, y=0.641069, theta=0.040528 -[22:29:52.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.791] frame process finished the id is: 91 the obs is:12 -[22:29:52.854] Odometry x=-0.036038, y=0.648387, theta=0.038425 -[22:29:52.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.893] frame process finished the id is: 91 the obs is:12 -[22:29:52.953] Odometry x=-0.036708, y=0.656256, theta=0.043281 -[22:29:52.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:52.990] frame process finished the id is: 91 the obs is:12 -[22:29:53.055] Odometry x=-0.038321, y=0.662886, theta=0.036235 -[22:29:53.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.090] frame process finished the id is: 91 the obs is:12 -[22:29:53.153] Odometry x=-0.039637, y=0.671225, theta=0.043060 -[22:29:53.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.189] frame process finished the id is: 91 the obs is:12 -[22:29:53.256] Odometry x=-0.041046, y=0.678935, theta=0.043568 -[22:29:53.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.289] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.289] frame process finished the id is: 91 the obs is:12 -[22:29:53.354] Odometry x=-0.042296, y=0.687055, theta=0.043288 -[22:29:53.389] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.389] frame process finished the id is: 91 the obs is:12 -[22:29:53.454] Odometry x=-0.043785, y=0.694900, theta=0.038135 -[22:29:53.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.490] frame process finished the id is: 91 the obs is:12 -[22:29:53.556] Odometry x=-0.044521, y=0.701990, theta=0.048820 -[22:29:53.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.592] frame process finished the id is: 91 the obs is:12 -[22:29:53.651] Odometry x=-0.046038, y=0.710458, theta=0.041303 -[22:29:53.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.691] frame process finished the id is: 91 the obs is:12 -[22:29:53.756] Odometry x=-0.047354, y=0.718504, theta=0.051449 -[22:29:53.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.791] frame process finished the id is: 91 the obs is:12 -[22:29:53.854] Odometry x=-0.049183, y=0.726324, theta=0.046506 -[22:29:53.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.892] frame process finished the id is: 91 the obs is:12 -[22:29:53.952] Odometry x=-0.049321, y=0.733861, theta=0.048338 -[22:29:53.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:53.992] frame process finished the id is: 91 the obs is:12 -[22:29:54.053] Odometry x=-0.049675, y=0.741873, theta=0.051195 -[22:29:54.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.089] frame process finished the id is: 91 the obs is:12 -[22:29:54.157] Odometry x=-0.050917, y=0.749670, theta=0.059347 -[22:29:54.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.194] frame process finished the id is: 91 the obs is:12 -[22:29:54.252] Odometry x=-0.052542, y=0.757768, theta=0.046081 -[22:29:54.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.293] frame process finished the id is: 91 the obs is:12 -[22:29:54.351] Odometry x=-0.054178, y=0.766001, theta=0.052223 -[22:29:54.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.391] frame process finished the id is: 91 the obs is:12 -[22:29:54.454] Odometry x=-0.055860, y=0.773399, theta=0.044136 -[22:29:54.496] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.496] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.496] frame process finished the id is: 91 the obs is:12 -[22:29:54.556] Odometry x=-0.057424, y=0.781210, theta=0.051354 -[22:29:54.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.592] frame process finished the id is: 91 the obs is:12 -[22:29:54.658] Odometry x=-0.058920, y=0.789013, theta=0.046978 -[22:29:54.696] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.696] frame process finished the id is: 91 the obs is:12 -[22:29:54.752] Odometry x=-0.060305, y=0.798065, theta=0.055369 -[22:29:54.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.792] frame process finished the id is: 91 the obs is:12 -[22:29:54.854] Odometry x=-0.061789, y=0.804642, theta=0.049618 -[22:29:54.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.892] frame process finished the id is: 91 the obs is:12 -[22:29:54.961] Odometry x=-0.063149, y=0.812530, theta=0.060095 -[22:29:54.994] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.994] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:54.994] frame process finished the id is: 91 the obs is:12 -[22:29:55.059] Odometry x=-0.063324, y=0.820408, theta=0.051970 -[22:29:55.097] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.098] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.098] frame process finished the id is: 91 the obs is:12 -[22:29:55.152] Odometry x=-0.064398, y=0.828201, theta=0.064662 -[22:29:55.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.189] frame process finished the id is: 91 the obs is:12 -[22:29:55.254] Odometry x=-0.066176, y=0.835659, theta=0.058006 -[22:29:55.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.290] frame process finished the id is: 91 the obs is:12 -[22:29:55.356] Odometry x=-0.067654, y=0.844328, theta=0.066455 -[22:29:55.389] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.389] frame process finished the id is: 91 the obs is:12 -[22:29:55.449] Odometry x=-0.068511, y=0.850806, theta=0.059349 -[22:29:55.494] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.494] frame process finished the id is: 91 the obs is:12 -[22:29:55.559] Odometry x=-0.069490, y=0.857824, theta=0.066119 -[22:29:55.588] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.588] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.588] frame process finished the id is: 91 the obs is:12 -[22:29:55.659] Odometry x=-0.070723, y=0.864447, theta=0.061341 -[22:29:55.689] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.689] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.689] frame process finished the id is: 91 the obs is:12 -[22:29:55.753] Odometry x=-0.072441, y=0.872945, theta=0.058607 -[22:29:55.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.793] frame process finished the id is: 91 the obs is:12 -[22:29:55.851] Odometry x=-0.074257, y=0.881164, theta=0.062249 -[22:29:55.887] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.887] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.887] frame process finished the id is: 91 the obs is:12 -[22:29:55.955] Odometry x=-0.075970, y=0.889096, theta=0.064890 -[22:29:55.986] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.987] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:55.987] frame process finished the id is: 91 the obs is:12 -[22:29:56.051] Odometry x=-0.077917, y=0.897986, theta=0.060555 -[22:29:56.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.089] frame process finished the id is: 91 the obs is:12 -[22:29:56.155] Odometry x=-0.078686, y=0.904203, theta=0.068176 -[22:29:56.185] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.185] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.185] frame process finished the id is: 91 the obs is:12 -[22:29:56.256] Odometry x=-0.080083, y=0.912515, theta=0.063413 -[22:29:56.285] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.285] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.285] frame process finished the id is: 91 the obs is:12 -[22:29:56.357] Odometry x=-0.080772, y=0.920014, theta=0.061907 -[22:29:56.384] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.384] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.384] frame process finished the id is: 91 the obs is:12 -[22:29:56.457] Odometry x=-0.082236, y=0.928078, theta=0.074296 -[22:29:56.551] Odometry x=-0.083768, y=0.936575, theta=0.067910 -[22:29:56.607] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.607] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.607] frame process finished the id is: 91 the obs is:12 -[22:29:56.656] Odometry x=-0.084585, y=0.943565, theta=0.064995 -[22:29:56.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.690] frame process finished the id is: 91 the obs is:12 -[22:29:56.755] Odometry x=-0.084661, y=0.951289, theta=0.063004 -[22:29:56.787] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.787] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.787] frame process finished the id is: 91 the obs is:12 -[22:29:56.856] Odometry x=-0.084996, y=0.959244, theta=0.057531 -[22:29:56.888] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.888] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.888] frame process finished the id is: 91 the obs is:12 -[22:29:56.958] Odometry x=-0.085763, y=0.967012, theta=0.062297 -[22:29:56.989] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.989] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:56.989] frame process finished the id is: 91 the obs is:12 -[22:29:57.055] Odometry x=-0.084868, y=0.975137, theta=0.069265 -[22:29:57.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.089] frame process finished the id is: 91 the obs is:12 -[22:29:57.153] Odometry x=-0.085650, y=0.983159, theta=0.061833 -[22:29:57.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.190] frame process finished the id is: 91 the obs is:12 -[22:29:57.254] Odometry x=-0.086834, y=0.990934, theta=0.071209 -[22:29:57.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.289] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.289] frame process finished the id is: 91 the obs is:12 -[22:29:57.355] Odometry x=-0.085965, y=0.999166, theta=0.066739 -[22:29:57.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.391] frame process finished the id is: 91 the obs is:12 -[22:29:57.454] Odometry x=-0.086934, y=1.007450, theta=0.076511 -[22:29:57.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.491] frame process finished the id is: 91 the obs is:12 -[22:29:57.559] Odometry x=-0.087534, y=1.014167, theta=0.069954 -[22:29:57.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.592] frame process finished the id is: 91 the obs is:12 -[22:29:57.653] Odometry x=-0.087826, y=1.021950, theta=0.073268 -[22:29:57.689] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.689] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.689] frame process finished the id is: 91 the obs is:12 -[22:29:57.749] Odometry x=-0.088410, y=1.029577, theta=0.067231 -[22:29:57.788] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.788] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.788] frame process finished the id is: 91 the obs is:12 -[22:29:57.854] Odometry x=-0.088815, y=1.037263, theta=0.079127 -[22:29:57.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.890] frame process finished the id is: 91 the obs is:12 -[22:29:57.957] Odometry x=-0.087943, y=1.045908, theta=0.068396 -[22:29:57.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:57.990] frame process finished the id is: 91 the obs is:12 -[22:29:58.055] Odometry x=-0.088300, y=1.053321, theta=0.072006 -[22:29:58.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.091] frame process finished the id is: 91 the obs is:12 -[22:29:58.157] Odometry x=-0.090145, y=1.061614, theta=0.080282 -[22:29:58.193] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.193] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.193] frame process finished the id is: 91 the obs is:12 -[22:29:58.256] Odometry x=-0.089904, y=1.068517, theta=0.082357 -[22:29:58.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.289] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.289] frame process finished the id is: 91 the obs is:12 -[22:29:58.360] Odometry x=-0.090900, y=1.076560, theta=0.081138 -[22:29:58.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.392] frame process finished the id is: 91 the obs is:12 -[22:29:58.449] Odometry x=-0.090859, y=1.084803, theta=0.075739 -[22:29:58.497] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.497] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.497] frame process finished the id is: 91 the obs is:12 -[22:29:58.560] Odometry x=-0.090198, y=1.093495, theta=0.077709 -[22:29:58.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.590] frame process finished the id is: 91 the obs is:12 -[22:29:58.666] Odometry x=-0.091408, y=1.101823, theta=0.067335 -[22:29:58.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.693] frame process finished the id is: 91 the obs is:12 -[22:29:58.754] Odometry x=-0.091518, y=1.109321, theta=0.070286 -[22:29:58.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.791] frame process finished the id is: 91 the obs is:12 -[22:29:58.858] Odometry x=-0.092095, y=1.118379, theta=0.067038 -[22:29:58.888] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.888] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.888] frame process finished the id is: 91 the obs is:12 -[22:29:58.956] Odometry x=-0.092849, y=1.125960, theta=0.075528 -[22:29:58.996] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.996] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:58.996] frame process finished the id is: 91 the obs is:12 -[22:29:59.055] Odometry x=-0.092871, y=1.133787, theta=0.070333 -[22:29:59.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.093] frame process finished the id is: 91 the obs is:12 -[22:29:59.157] Odometry x=-0.093802, y=1.141650, theta=0.076373 -[22:29:59.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.191] frame process finished the id is: 91 the obs is:12 -[22:29:59.260] Odometry x=-0.094423, y=1.149835, theta=0.071641 -[22:29:59.295] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.295] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.295] frame process finished the id is: 91 the obs is:12 -[22:29:59.349] Odometry x=-0.094645, y=1.157502, theta=0.074593 -[22:29:59.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.393] frame process finished the id is: 91 the obs is:12 -[22:29:59.453] Odometry x=-0.095384, y=1.165577, theta=0.074883 -[22:29:59.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.492] frame process finished the id is: 91 the obs is:12 -[22:29:59.552] Odometry x=-0.096266, y=1.174408, theta=0.078145 -[22:29:59.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.593] frame process finished the id is: 91 the obs is:12 -[22:29:59.651] Odometry x=-0.097510, y=1.182801, theta=0.070260 -[22:29:59.689] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.689] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.689] frame process finished the id is: 91 the obs is:12 -[22:29:59.756] Odometry x=-0.097532, y=1.190371, theta=0.067551 -[22:29:59.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.790] frame process finished the id is: 91 the obs is:12 -[22:29:59.852] Odometry x=-0.097659, y=1.198698, theta=0.069638 -[22:29:59.888] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.888] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.888] frame process finished the id is: 91 the obs is:12 -[22:29:59.952] Odometry x=-0.097798, y=1.206727, theta=0.067337 -[22:29:59.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:29:59.990] frame process finished the id is: 91 the obs is:12 -[22:30:00.057] Odometry x=-0.098529, y=1.214519, theta=0.070783 -[22:30:00.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.091] frame process finished the id is: 91 the obs is:12 -[22:30:00.152] Odometry x=-0.099047, y=1.221739, theta=0.064641 -[22:30:00.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.190] frame process finished the id is: 91 the obs is:12 -[22:30:00.253] Odometry x=-0.098853, y=1.230591, theta=0.069850 -[22:30:00.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.292] frame process finished the id is: 91 the obs is:12 -[22:30:00.358] Odometry x=-0.099689, y=1.238173, theta=0.071296 -[22:30:00.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.390] frame process finished the id is: 91 the obs is:12 -[22:30:00.455] Odometry x=-0.099411, y=1.247115, theta=0.067125 -[22:30:00.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.493] frame process finished the id is: 91 the obs is:12 -[22:30:00.555] Odometry x=-0.100327, y=1.254578, theta=0.073905 -[22:30:00.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.592] frame process finished the id is: 91 the obs is:12 -[22:30:00.653] Odometry x=-0.101090, y=1.263526, theta=0.074104 -[22:30:00.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.692] frame process finished the id is: 91 the obs is:12 -[22:30:00.755] Odometry x=-0.102112, y=1.271413, theta=0.078507 -[22:30:00.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.790] frame process finished the id is: 91 the obs is:12 -[22:30:00.857] Odometry x=-0.103811, y=1.280349, theta=0.073751 -[22:30:00.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.891] frame process finished the id is: 91 the obs is:12 -[22:30:00.955] Odometry x=-0.104010, y=1.287812, theta=0.074168 -[22:30:00.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:00.991] frame process finished the id is: 91 the obs is:12 -[22:30:01.052] Odometry x=-0.104815, y=1.296231, theta=0.065135 -[22:30:01.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.092] frame process finished the id is: 91 the obs is:12 -[22:30:01.159] Odometry x=-0.104373, y=1.304552, theta=0.069610 -[22:30:01.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.190] frame process finished the id is: 91 the obs is:12 -[22:30:01.255] Odometry x=-0.105469, y=1.312084, theta=0.066511 -[22:30:01.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.291] frame process finished the id is: 91 the obs is:12 -[22:30:01.356] Odometry x=-0.105808, y=1.320503, theta=0.069107 -[22:30:01.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.392] frame process finished the id is: 91 the obs is:12 -[22:30:01.449] Odometry x=-0.106480, y=1.329381, theta=0.066443 -[22:30:01.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.492] frame process finished the id is: 91 the obs is:12 -[22:30:01.563] Odometry x=-0.106092, y=1.337355, theta=0.064358 -[22:30:01.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.593] frame process finished the id is: 91 the obs is:12 -[22:30:01.654] Odometry x=-0.106846, y=1.345601, theta=0.062656 -[22:30:01.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.690] frame process finished the id is: 91 the obs is:12 -[22:30:01.755] Odometry x=-0.106849, y=1.352781, theta=0.064983 -[22:30:01.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.791] frame process finished the id is: 91 the obs is:12 -[22:30:01.854] Odometry x=-0.107860, y=1.361653, theta=0.065893 -[22:30:01.889] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.889] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.889] frame process finished the id is: 91 the obs is:12 -[22:30:01.955] Odometry x=-0.108260, y=1.369542, theta=0.067181 -[22:30:01.988] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.988] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:01.988] frame process finished the id is: 91 the obs is:12 -[22:30:02.059] Odometry x=-0.109411, y=1.377205, theta=0.073479 -[22:30:02.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.089] frame process finished the id is: 91 the obs is:12 -[22:30:02.159] Odometry x=-0.109323, y=1.385855, theta=0.071543 -[22:30:02.193] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.193] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.193] frame process finished the id is: 91 the obs is:12 -[22:30:02.253] Odometry x=-0.110520, y=1.394173, theta=0.077201 -[22:30:02.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.293] frame process finished the id is: 91 the obs is:12 -[22:30:02.352] Odometry x=-0.110465, y=1.402410, theta=0.070550 -[22:30:02.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.393] frame process finished the id is: 91 the obs is:12 -[22:30:02.453] Odometry x=-0.110751, y=1.411355, theta=0.075821 -[22:30:02.495] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.495] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.496] frame process finished the id is: 91 the obs is:12 -[22:30:02.552] Odometry x=-0.110379, y=1.419738, theta=0.075381 -[22:30:02.589] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.589] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.589] frame process finished the id is: 91 the obs is:12 -[22:30:02.653] Odometry x=-0.110739, y=1.427614, theta=0.079667 -[22:30:02.688] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.688] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.688] frame process finished the id is: 91 the obs is:12 -[22:30:02.753] Odometry x=-0.112148, y=1.436389, theta=0.073959 -[22:30:02.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.790] frame process finished the id is: 91 the obs is:12 -[22:30:02.851] Odometry x=-0.112816, y=1.443810, theta=0.077274 -[22:30:02.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.891] frame process finished the id is: 91 the obs is:12 -[22:30:02.952] Odometry x=-0.113831, y=1.452765, theta=0.072512 -[22:30:02.996] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.996] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:02.996] frame process finished the id is: 91 the obs is:12 -[22:30:03.056] Odometry x=-0.113762, y=1.460744, theta=0.074477 -[22:30:03.088] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.088] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.088] frame process finished the id is: 91 the obs is:12 -[22:30:03.151] Odometry x=-0.114661, y=1.468745, theta=0.068840 -[22:30:03.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.189] frame process finished the id is: 91 the obs is:12 -[22:30:03.254] Odometry x=-0.114441, y=1.477186, theta=0.072422 -[22:30:03.288] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.288] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.288] frame process finished the id is: 91 the obs is:12 -[22:30:03.354] Odometry x=-0.115549, y=1.485058, theta=0.087430 -[22:30:03.400] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.400] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.400] frame process finished the id is: 91 the obs is:12 -[22:30:03.459] Odometry x=-0.116292, y=1.492936, theta=0.074296 -[22:30:03.498] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.498] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.498] frame process finished the id is: 91 the obs is:12 -[22:30:03.553] Odometry x=-0.116301, y=1.501700, theta=0.078126 -[22:30:03.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.590] frame process finished the id is: 91 the obs is:12 -[22:30:03.654] Odometry x=-0.116243, y=1.509897, theta=0.078851 -[22:30:03.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.694] frame process finished the id is: 91 the obs is:12 -[22:30:03.758] Odometry x=-0.116981, y=1.517511, theta=0.079759 -[22:30:03.794] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.794] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.794] frame process finished the id is: 91 the obs is:12 -[22:30:03.853] Odometry x=-0.116198, y=1.524469, theta=0.082880 -[22:30:03.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.892] frame process finished the id is: 91 the obs is:12 -[22:30:03.951] Odometry x=-0.117813, y=1.531998, theta=0.078199 -[22:30:03.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:03.992] frame process finished the id is: 91 the obs is:12 -[22:30:04.050] Odometry x=-0.119548, y=1.539536, theta=0.077024 -[22:30:04.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.092] frame process finished the id is: 91 the obs is:12 -[22:30:04.153] Odometry x=-0.120353, y=1.547026, theta=0.087071 -[22:30:04.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.194] frame process finished the id is: 91 the obs is:12 -[22:30:04.250] Odometry x=-0.121628, y=1.554699, theta=0.089821 -[22:30:04.294] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.294] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.294] frame process finished the id is: 91 the obs is:12 -[22:30:04.355] Odometry x=-0.122210, y=1.562032, theta=0.082954 -[22:30:04.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.393] frame process finished the id is: 91 the obs is:12 -[22:30:04.455] Odometry x=-0.122690, y=1.570420, theta=0.083032 -[22:30:04.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.494] frame process finished the id is: 91 the obs is:12 -[22:30:04.553] Odometry x=-0.124371, y=1.578825, theta=0.079838 -[22:30:04.588] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.588] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.588] frame process finished the id is: 91 the obs is:12 -[22:30:04.656] Odometry x=-0.124523, y=1.586974, theta=0.080658 -[22:30:04.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.691] frame process finished the id is: 91 the obs is:12 -[22:30:04.757] Odometry x=-0.125557, y=1.594844, theta=0.086309 -[22:30:04.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.790] frame process finished the id is: 91 the obs is:12 -[22:30:04.853] Odometry x=-0.125903, y=1.602194, theta=0.080947 -[22:30:04.889] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.889] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.889] frame process finished the id is: 91 the obs is:12 -[22:30:04.960] Odometry x=-0.127350, y=1.610703, theta=0.083313 -[22:30:04.989] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.989] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:04.989] frame process finished the id is: 91 the obs is:12 -[22:30:05.060] Odometry x=-0.127833, y=1.618344, theta=0.089522 -[22:30:05.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.091] frame process finished the id is: 91 the obs is:12 -[22:30:05.156] Odometry x=-0.128591, y=1.626098, theta=0.089285 -[22:30:05.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.191] frame process finished the id is: 91 the obs is:12 -[22:30:05.255] Odometry x=-0.130739, y=1.632670, theta=0.095136 -[22:30:05.295] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.295] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.295] frame process finished the id is: 91 the obs is:12 -[22:30:05.356] Odometry x=-0.130743, y=1.640691, theta=0.097829 -[22:30:05.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.393] frame process finished the id is: 91 the obs is:12 -[22:30:05.453] Odometry x=-0.131714, y=1.649060, theta=0.089850 -[22:30:05.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.491] frame process finished the id is: 91 the obs is:12 -[22:30:05.555] Odometry x=-0.131892, y=1.656676, theta=0.090386 -[22:30:05.588] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.588] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.589] frame process finished the id is: 91 the obs is:12 -[22:30:05.654] Odometry x=-0.132483, y=1.665284, theta=0.089158 -[22:30:05.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.691] frame process finished the id is: 91 the obs is:12 -[22:30:05.758] Odometry x=-0.132917, y=1.673048, theta=0.091140 -[22:30:05.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.790] frame process finished the id is: 91 the obs is:12 -[22:30:05.852] Odometry x=-0.132970, y=1.680064, theta=0.087765 -[22:30:05.889] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.889] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.889] frame process finished the id is: 91 the obs is:12 -[22:30:05.954] Odometry x=-0.133489, y=1.688076, theta=0.099178 -[22:30:05.989] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.989] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:05.989] frame process finished the id is: 91 the obs is:12 -[22:30:06.057] Odometry x=-0.134570, y=1.696405, theta=0.094892 -[22:30:06.096] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.096] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.096] frame process finished the id is: 91 the obs is:12 -[22:30:06.156] Odometry x=-0.134432, y=1.703711, theta=0.085547 -[22:30:06.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.189] frame process finished the id is: 91 the obs is:12 -[22:30:06.254] Odometry x=-0.135588, y=1.712002, theta=0.090619 -[22:30:06.288] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.288] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.288] frame process finished the id is: 91 the obs is:12 -[22:30:06.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.392] frame process finished the id is: 91 the obs is:12 -[22:30:06.501] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.501] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.501] frame process finished the id is: 91 the obs is:12 -[22:30:06.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.590] frame process finished the id is: 91 the obs is:12 -[22:30:06.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.692] frame process finished the id is: 91 the obs is:12 -[22:30:06.788] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.788] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.788] frame process finished the id is: 91 the obs is:12 -[22:30:06.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.890] frame process finished the id is: 91 the obs is:12 -[22:30:06.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:06.990] frame process finished the id is: 91 the obs is:12 -[22:30:07.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.089] frame process finished the id is: 91 the obs is:12 -[22:30:07.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.189] frame process finished the id is: 91 the obs is:12 -[22:30:07.296] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.296] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.296] frame process finished the id is: 91 the obs is:12 -[22:30:07.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.390] frame process finished the id is: 91 the obs is:12 -[22:30:07.498] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.498] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.498] frame process finished the id is: 91 the obs is:12 -[22:30:07.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.590] frame process finished the id is: 91 the obs is:12 -[22:30:07.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.692] frame process finished the id is: 91 the obs is:12 -[22:30:07.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.791] frame process finished the id is: 91 the obs is:12 -[22:30:07.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.893] frame process finished the id is: 91 the obs is:12 -[22:30:07.994] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.994] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:07.994] frame process finished the id is: 91 the obs is:12 -[22:30:08.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.091] frame process finished the id is: 91 the obs is:12 -[22:30:08.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.189] frame process finished the id is: 91 the obs is:12 -[22:30:08.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.290] frame process finished the id is: 91 the obs is:12 -[22:30:08.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.392] frame process finished the id is: 91 the obs is:12 -[22:30:08.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.491] frame process finished the id is: 91 the obs is:12 -[22:30:08.589] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.589] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.589] frame process finished the id is: 91 the obs is:12 -[22:30:08.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.692] frame process finished the id is: 91 the obs is:12 -[22:30:08.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.790] frame process finished the id is: 91 the obs is:12 -[22:30:08.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.891] frame process finished the id is: 91 the obs is:12 -[22:30:08.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:08.990] frame process finished the id is: 91 the obs is:12 -[22:30:09.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.092] frame process finished the id is: 91 the obs is:12 -[22:30:09.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.190] frame process finished the id is: 91 the obs is:12 -[22:30:09.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.293] frame process finished the id is: 91 the obs is:12 -[22:30:09.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.390] frame process finished the id is: 91 the obs is:12 -[22:30:09.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.493] frame process finished the id is: 91 the obs is:12 -[22:30:09.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.591] frame process finished the id is: 91 the obs is:12 -[22:30:09.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.690] frame process finished the id is: 91 the obs is:12 -[22:30:09.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.793] frame process finished the id is: 91 the obs is:12 -[22:30:09.889] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.889] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.889] frame process finished the id is: 91 the obs is:12 -[22:30:09.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:09.991] frame process finished the id is: 91 the obs is:12 -[22:30:10.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.091] frame process finished the id is: 91 the obs is:12 -[22:30:10.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.192] frame process finished the id is: 91 the obs is:12 -[22:30:10.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.289] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.289] frame process finished the id is: 91 the obs is:12 -[22:30:10.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.392] frame process finished the id is: 91 the obs is:12 -[22:30:10.494] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.494] frame process finished the id is: 91 the obs is:12 -[22:30:10.594] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.594] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.594] frame process finished the id is: 91 the obs is:12 -[22:30:10.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.691] frame process finished the id is: 91 the obs is:12 -[22:30:10.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.792] frame process finished the id is: 91 the obs is:12 -[22:30:10.901] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.901] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.901] frame process finished the id is: 91 the obs is:12 -[22:30:10.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:10.990] frame process finished the id is: 91 the obs is:12 -[22:30:11.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.091] frame process finished the id is: 91 the obs is:12 -[22:30:11.195] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.195] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.195] frame process finished the id is: 91 the obs is:12 -[22:30:11.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.291] frame process finished the id is: 91 the obs is:12 -[22:30:11.397] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.397] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.397] frame process finished the id is: 91 the obs is:12 -[22:30:11.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.491] frame process finished the id is: 91 the obs is:12 -[22:30:11.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.592] frame process finished the id is: 91 the obs is:12 -[22:30:11.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.693] frame process finished the id is: 91 the obs is:12 -[22:30:11.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.791] frame process finished the id is: 91 the obs is:12 -[22:30:11.895] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.895] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.895] frame process finished the id is: 91 the obs is:12 -[22:30:11.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:11.992] frame process finished the id is: 91 the obs is:12 -[22:30:12.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.091] frame process finished the id is: 91 the obs is:12 -[22:30:12.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.190] frame process finished the id is: 91 the obs is:12 -[22:30:12.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.293] frame process finished the id is: 91 the obs is:12 -[22:30:12.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.393] frame process finished the id is: 91 the obs is:12 -[22:30:12.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.491] frame process finished the id is: 91 the obs is:12 -[22:30:12.594] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.594] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.594] frame process finished the id is: 91 the obs is:12 -[22:30:12.696] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.696] frame process finished the id is: 91 the obs is:12 -[22:30:12.805] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.805] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.805] frame process finished the id is: 91 the obs is:12 -[22:30:12.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.891] frame process finished the id is: 91 the obs is:12 -[22:30:12.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:12.991] frame process finished the id is: 91 the obs is:12 -[22:30:13.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.093] frame process finished the id is: 91 the obs is:12 -[22:30:13.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.192] frame process finished the id is: 91 the obs is:12 -[22:30:13.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.291] frame process finished the id is: 91 the obs is:12 -[22:30:13.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.390] frame process finished the id is: 91 the obs is:12 -[22:30:13.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.489] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.489] frame process finished the id is: 91 the obs is:12 -[22:30:13.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.590] frame process finished the id is: 91 the obs is:12 -[22:30:13.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.690] frame process finished the id is: 91 the obs is:12 -[22:30:13.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.793] frame process finished the id is: 91 the obs is:12 -[22:30:13.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.890] frame process finished the id is: 91 the obs is:12 -[22:30:13.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:13.993] frame process finished the id is: 91 the obs is:12 -[22:30:14.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.094] frame process finished the id is: 91 the obs is:12 -[22:30:14.195] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.195] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.195] frame process finished the id is: 91 the obs is:12 -[22:30:14.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.291] frame process finished the id is: 91 the obs is:12 -[22:30:14.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.391] frame process finished the id is: 91 the obs is:12 -[22:30:14.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.493] frame process finished the id is: 91 the obs is:12 -[22:30:14.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.590] frame process finished the id is: 91 the obs is:12 -[22:30:14.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.690] frame process finished the id is: 91 the obs is:12 -[22:30:14.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.792] frame process finished the id is: 91 the obs is:12 -[22:30:14.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.892] frame process finished the id is: 91 the obs is:12 -[22:30:14.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:14.992] frame process finished the id is: 91 the obs is:12 -[22:30:15.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.091] frame process finished the id is: 91 the obs is:12 -[22:30:15.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.190] frame process finished the id is: 91 the obs is:12 -[22:30:15.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.290] frame process finished the id is: 91 the obs is:12 -[22:30:15.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.393] frame process finished the id is: 91 the obs is:12 -[22:30:15.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.490] frame process finished the id is: 91 the obs is:12 -[22:30:15.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.592] frame process finished the id is: 91 the obs is:12 -[22:30:15.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.694] frame process finished the id is: 91 the obs is:12 -[22:30:15.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.790] frame process finished the id is: 91 the obs is:12 -[22:30:15.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.890] frame process finished the id is: 91 the obs is:12 -[22:30:15.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:15.991] frame process finished the id is: 91 the obs is:12 -[22:30:16.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.091] frame process finished the id is: 91 the obs is:12 -[22:30:16.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.191] frame process finished the id is: 91 the obs is:12 -[22:30:16.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.291] frame process finished the id is: 91 the obs is:12 -[22:30:16.389] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.389] frame process finished the id is: 91 the obs is:12 -[22:30:16.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.493] frame process finished the id is: 91 the obs is:12 -[22:30:16.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.590] frame process finished the id is: 91 the obs is:12 -[22:30:16.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.691] frame process finished the id is: 91 the obs is:12 -[22:30:16.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.790] frame process finished the id is: 91 the obs is:12 -[22:30:16.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.890] frame process finished the id is: 91 the obs is:12 -[22:30:16.989] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.989] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:16.989] frame process finished the id is: 91 the obs is:12 -[22:30:17.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.090] frame process finished the id is: 91 the obs is:12 -[22:30:17.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.191] frame process finished the id is: 91 the obs is:12 -[22:30:17.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.290] frame process finished the id is: 91 the obs is:12 -[22:30:17.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.390] frame process finished the id is: 91 the obs is:12 -[22:30:17.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.492] frame process finished the id is: 91 the obs is:12 -[22:30:17.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.590] frame process finished the id is: 91 the obs is:12 -[22:30:17.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.690] frame process finished the id is: 91 the obs is:12 -[22:30:17.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.791] frame process finished the id is: 91 the obs is:12 -[22:30:17.894] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.894] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.894] frame process finished the id is: 91 the obs is:12 -[22:30:17.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:17.992] frame process finished the id is: 91 the obs is:12 -[22:30:18.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.093] frame process finished the id is: 91 the obs is:12 -[22:30:18.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.192] frame process finished the id is: 91 the obs is:12 -[22:30:18.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.290] frame process finished the id is: 91 the obs is:12 -[22:30:18.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.390] frame process finished the id is: 91 the obs is:12 -[22:30:18.495] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.495] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.495] frame process finished the id is: 91 the obs is:12 -[22:30:18.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.595] frame process finished the id is: 91 the obs is:12 -[22:30:18.689] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.690] frame process finished the id is: 91 the obs is:12 -[22:30:18.795] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.795] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.795] frame process finished the id is: 91 the obs is:12 -[22:30:18.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.892] frame process finished the id is: 91 the obs is:12 -[22:30:18.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:18.992] frame process finished the id is: 91 the obs is:12 -[22:30:19.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.094] frame process finished the id is: 91 the obs is:12 -[22:30:19.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.191] frame process finished the id is: 91 the obs is:12 -[22:30:19.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.290] frame process finished the id is: 91 the obs is:12 -[22:30:19.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.392] frame process finished the id is: 91 the obs is:12 -[22:30:19.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.490] frame process finished the id is: 91 the obs is:12 -[22:30:19.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.590] frame process finished the id is: 91 the obs is:12 -[22:30:19.701] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.701] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.701] frame process finished the id is: 91 the obs is:12 -[22:30:19.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.793] frame process finished the id is: 91 the obs is:12 -[22:30:19.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.891] frame process finished the id is: 91 the obs is:12 -[22:30:19.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:19.990] frame process finished the id is: 91 the obs is:12 -[22:30:20.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.092] frame process finished the id is: 91 the obs is:12 -[22:30:20.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.190] frame process finished the id is: 91 the obs is:12 -[22:30:20.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.292] frame process finished the id is: 91 the obs is:12 -[22:30:20.389] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.389] frame process finished the id is: 91 the obs is:12 -[22:30:20.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.491] frame process finished the id is: 91 the obs is:12 -[22:30:20.597] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.597] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.597] frame process finished the id is: 91 the obs is:12 -[22:30:20.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.694] frame process finished the id is: 91 the obs is:12 -[22:30:20.794] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.794] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.794] frame process finished the id is: 91 the obs is:12 -[22:30:20.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.893] frame process finished the id is: 91 the obs is:12 -[22:30:20.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:20.992] frame process finished the id is: 91 the obs is:12 -[22:30:21.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.091] frame process finished the id is: 91 the obs is:12 -[22:30:21.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.192] frame process finished the id is: 91 the obs is:12 -[22:30:21.295] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.295] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.295] frame process finished the id is: 91 the obs is:12 -[22:30:21.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.390] frame process finished the id is: 91 the obs is:12 -[22:30:21.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.492] frame process finished the id is: 91 the obs is:12 -[22:30:21.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.593] frame process finished the id is: 91 the obs is:12 -[22:30:21.697] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.697] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.697] frame process finished the id is: 91 the obs is:12 -[22:30:21.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.793] frame process finished the id is: 91 the obs is:12 -[22:30:21.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.893] frame process finished the id is: 91 the obs is:12 -[22:30:21.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:21.993] frame process finished the id is: 91 the obs is:12 -[22:30:22.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.091] frame process finished the id is: 91 the obs is:12 -[22:30:22.193] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.193] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.193] frame process finished the id is: 91 the obs is:12 -[22:30:22.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.292] frame process finished the id is: 91 the obs is:12 -[22:30:22.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.391] frame process finished the id is: 91 the obs is:12 -[22:30:22.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.492] frame process finished the id is: 91 the obs is:12 -[22:30:22.594] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.594] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.594] frame process finished the id is: 91 the obs is:12 -[22:30:22.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.693] frame process finished the id is: 91 the obs is:12 -[22:30:22.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.790] frame process finished the id is: 91 the obs is:12 -[22:30:22.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.892] frame process finished the id is: 91 the obs is:12 -[22:30:22.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:22.991] frame process finished the id is: 91 the obs is:12 -[22:30:23.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.090] frame process finished the id is: 91 the obs is:12 -[22:30:23.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.189] frame process finished the id is: 91 the obs is:12 -[22:30:23.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.292] frame process finished the id is: 91 the obs is:12 -[22:30:23.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.390] frame process finished the id is: 91 the obs is:12 -[22:30:23.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.491] frame process finished the id is: 91 the obs is:12 -[22:30:23.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.590] frame process finished the id is: 91 the obs is:12 -[22:30:23.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.692] frame process finished the id is: 91 the obs is:12 -[22:30:23.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.793] frame process finished the id is: 91 the obs is:12 -[22:30:23.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.891] frame process finished the id is: 91 the obs is:12 -[22:30:23.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:23.993] frame process finished the id is: 91 the obs is:12 -[22:30:24.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.093] frame process finished the id is: 91 the obs is:12 -[22:30:24.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.194] frame process finished the id is: 91 the obs is:12 -[22:30:24.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.294] frame process finished the id is: 91 the obs is:12 -[22:30:24.399] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.399] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.399] frame process finished the id is: 91 the obs is:12 -[22:30:24.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.491] frame process finished the id is: 91 the obs is:12 -[22:30:24.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.592] frame process finished the id is: 91 the obs is:12 -[22:30:24.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.695] frame process finished the id is: 91 the obs is:12 -[22:30:24.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.793] frame process finished the id is: 91 the obs is:12 -[22:30:24.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.893] frame process finished the id is: 91 the obs is:12 -[22:30:24.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:24.991] frame process finished the id is: 91 the obs is:12 -[22:30:25.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.092] frame process finished the id is: 91 the obs is:12 -[22:30:25.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.194] frame process finished the id is: 91 the obs is:12 -[22:30:25.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.292] frame process finished the id is: 91 the obs is:12 -[22:30:25.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.392] frame process finished the id is: 91 the obs is:12 -[22:30:25.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.490] frame process finished the id is: 91 the obs is:12 -[22:30:25.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.591] frame process finished the id is: 91 the obs is:12 -[22:30:25.699] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.699] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.699] frame process finished the id is: 91 the obs is:12 -[22:30:25.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.791] frame process finished the id is: 91 the obs is:12 -[22:30:25.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.891] frame process finished the id is: 91 the obs is:12 -[22:30:25.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:25.991] frame process finished the id is: 91 the obs is:12 -[22:30:26.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.091] frame process finished the id is: 91 the obs is:12 -[22:30:26.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.192] frame process finished the id is: 91 the obs is:12 -[22:30:26.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.290] frame process finished the id is: 91 the obs is:12 -[22:30:26.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.390] frame process finished the id is: 91 the obs is:12 -[22:30:26.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.490] frame process finished the id is: 91 the obs is:12 -[22:30:26.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.590] frame process finished the id is: 91 the obs is:12 -[22:30:26.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.690] frame process finished the id is: 91 the obs is:12 -[22:30:26.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.790] frame process finished the id is: 91 the obs is:12 -[22:30:26.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.890] frame process finished the id is: 91 the obs is:12 -[22:30:26.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:26.991] frame process finished the id is: 91 the obs is:12 -[22:30:27.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.090] frame process finished the id is: 91 the obs is:12 -[22:30:27.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.190] frame process finished the id is: 91 the obs is:12 -[22:30:27.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.291] frame process finished the id is: 91 the obs is:12 -[22:30:27.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.390] frame process finished the id is: 91 the obs is:12 -[22:30:27.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.490] frame process finished the id is: 91 the obs is:12 -[22:30:27.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.590] frame process finished the id is: 91 the obs is:12 -[22:30:27.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.691] frame process finished the id is: 91 the obs is:12 -[22:30:27.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.792] frame process finished the id is: 91 the obs is:12 -[22:30:27.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.892] frame process finished the id is: 91 the obs is:12 -[22:30:27.995] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.995] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:27.995] frame process finished the id is: 91 the obs is:12 -[22:30:28.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.093] frame process finished the id is: 91 the obs is:12 -[22:30:28.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.192] frame process finished the id is: 91 the obs is:12 -[22:30:28.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.290] frame process finished the id is: 91 the obs is:12 -[22:30:28.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.392] frame process finished the id is: 91 the obs is:12 -[22:30:28.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.493] frame process finished the id is: 91 the obs is:12 -[22:30:28.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.591] frame process finished the id is: 91 the obs is:12 -[22:30:28.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.691] frame process finished the id is: 91 the obs is:12 -[22:30:28.794] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.794] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.795] frame process finished the id is: 91 the obs is:12 -[22:30:28.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.893] frame process finished the id is: 91 the obs is:12 -[22:30:28.995] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.995] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:28.995] frame process finished the id is: 91 the obs is:12 -[22:30:29.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.092] frame process finished the id is: 91 the obs is:12 -[22:30:29.193] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.193] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.193] frame process finished the id is: 91 the obs is:12 -[22:30:29.296] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.296] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.296] frame process finished the id is: 91 the obs is:12 -[22:30:29.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.392] frame process finished the id is: 91 the obs is:12 -[22:30:29.496] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.496] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.496] frame process finished the id is: 91 the obs is:12 -[22:30:29.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.592] frame process finished the id is: 91 the obs is:12 -[22:30:29.696] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.697] frame process finished the id is: 91 the obs is:12 -[22:30:29.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.793] frame process finished the id is: 91 the obs is:12 -[22:30:29.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.891] frame process finished the id is: 91 the obs is:12 -[22:30:29.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:29.993] frame process finished the id is: 91 the obs is:12 -[22:30:30.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.094] frame process finished the id is: 91 the obs is:12 -[22:30:30.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.191] frame process finished the id is: 91 the obs is:12 -[22:30:30.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.293] frame process finished the id is: 91 the obs is:12 -[22:30:30.394] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.394] frame process finished the id is: 91 the obs is:12 -[22:30:30.494] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.494] frame process finished the id is: 91 the obs is:12 -[22:30:30.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.595] frame process finished the id is: 91 the obs is:12 -[22:30:30.696] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.696] frame process finished the id is: 91 the obs is:12 -[22:30:30.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.793] frame process finished the id is: 91 the obs is:12 -[22:30:30.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.892] frame process finished the id is: 91 the obs is:12 -[22:30:30.996] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.996] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:30.997] frame process finished the id is: 91 the obs is:12 -[22:30:31.095] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.095] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.095] frame process finished the id is: 91 the obs is:12 -[22:30:31.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.192] frame process finished the id is: 91 the obs is:12 -[22:30:31.247] Odometry x=-0.135853, y=1.719790, theta=0.087569 -[22:30:31.296] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.296] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.297] frame process finished the id is: 91 the obs is:12 -[22:30:31.351] Odometry x=-0.136529, y=1.727529, theta=0.089174 -[22:30:31.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.393] frame process finished the id is: 91 the obs is:12 -[22:30:31.446] Odometry x=-0.137599, y=1.735419, theta=0.088035 -[22:30:31.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.492] frame process finished the id is: 91 the obs is:12 -[22:30:31.546] Odometry x=-0.137911, y=1.743796, theta=0.087794 -[22:30:31.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.593] frame process finished the id is: 91 the obs is:12 -[22:30:31.650] Odometry x=-0.138879, y=1.751196, theta=0.095897 -[22:30:31.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.692] frame process finished the id is: 91 the obs is:12 -[22:30:31.753] Odometry x=-0.140107, y=1.758992, theta=0.087391 -[22:30:31.794] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.794] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.794] frame process finished the id is: 91 the obs is:12 -[22:30:31.843] Odometry x=-0.140269, y=1.766454, theta=0.092765 -[22:30:31.897] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.897] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.897] frame process finished the id is: 91 the obs is:12 -[22:30:31.945] Odometry x=-0.140686, y=1.774798, theta=0.086033 -[22:30:31.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:31.992] frame process finished the id is: 91 the obs is:12 -[22:30:32.044] Odometry x=-0.140928, y=1.781820, theta=0.099357 -[22:30:32.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.094] frame process finished the id is: 91 the obs is:12 -[22:30:32.147] Odometry x=-0.141243, y=1.788982, theta=0.087288 -[22:30:32.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.192] frame process finished the id is: 91 the obs is:12 -[22:30:32.246] Odometry x=-0.142108, y=1.796998, theta=0.092824 -[22:30:32.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.293] frame process finished the id is: 91 the obs is:12 -[22:30:32.343] Odometry x=-0.141912, y=1.804583, theta=0.099630 -[22:30:32.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.391] frame process finished the id is: 91 the obs is:12 -[22:30:32.456] Odometry x=-0.143099, y=1.812289, theta=0.102187 -[22:30:32.495] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.495] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.495] frame process finished the id is: 91 the obs is:12 -[22:30:32.542] Odometry x=-0.144398, y=1.820424, theta=0.099672 -[22:30:32.589] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.589] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.589] frame process finished the id is: 91 the obs is:12 -[22:30:32.647] Odometry x=-0.144988, y=1.828373, theta=0.098500 -[22:30:32.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.690] frame process finished the id is: 91 the obs is:12 -[22:30:32.749] Odometry x=-0.145329, y=1.835588, theta=0.101988 -[22:30:32.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.791] frame process finished the id is: 91 the obs is:12 -[22:30:32.848] Odometry x=-0.146640, y=1.843880, theta=0.090081 -[22:30:32.889] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.889] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.889] frame process finished the id is: 91 the obs is:12 -[22:30:32.944] Odometry x=-0.147431, y=1.851828, theta=0.102490 -[22:30:32.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:32.991] frame process finished the id is: 91 the obs is:12 -[22:30:33.048] Odometry x=-0.147237, y=1.860267, theta=0.088236 -[22:30:33.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.090] frame process finished the id is: 91 the obs is:12 -[22:30:33.144] Odometry x=-0.147737, y=1.867694, theta=0.103566 -[22:30:33.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.190] frame process finished the id is: 91 the obs is:12 -[22:30:33.244] Odometry x=-0.148987, y=1.876290, theta=0.089170 -[22:30:33.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.292] frame process finished the id is: 91 the obs is:12 -[22:30:33.345] Odometry x=-0.150221, y=1.884470, theta=0.104564 -[22:30:33.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.391] frame process finished the id is: 91 the obs is:12 -[22:30:33.451] Odometry x=-0.150815, y=1.892276, theta=0.094519 -[22:30:33.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.492] frame process finished the id is: 91 the obs is:12 -[22:30:33.559] Odometry x=-0.151616, y=1.899863, theta=0.096677 -[22:30:33.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.591] frame process finished the id is: 91 the obs is:12 -[22:30:33.644] Odometry x=-0.152859, y=1.908264, theta=0.093935 -[22:30:33.691] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.691] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000024 error end=0.000024 -[22:30:33.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.691] frame process finished the id is: 91 the obs is:12 -[22:30:33.754] Odometry x=-0.153184, y=1.916455, theta=0.100435 -[22:30:33.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.791] frame process finished the id is: 91 the obs is:12 -[22:30:33.843] Odometry x=-0.154452, y=1.924512, theta=0.091497 -[22:30:33.889] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.889] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.001551 error end=0.001529 -[22:30:33.889] After pose optimization, distance between ekf and vo x:-0.015833 ,z=0.054611,angle between two frames:0.049442 -[22:30:33.889] frame process finished the id is: 91 the obs is:12 -[22:30:33.944] Odometry x=-0.154285, y=1.932464, theta=0.099635 -[22:30:33.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:33.991] frame process finished the id is: 91 the obs is:12 -[22:30:34.091] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.091] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000387 error end=0.000387 -[22:30:34.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.091] frame process finished the id is: 91 the obs is:12 -[22:30:34.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.189] frame process finished the id is: 91 the obs is:12 -[22:30:34.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.290] frame process finished the id is: 91 the obs is:12 -[22:30:34.388] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.388] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.388] frame process finished the id is: 91 the obs is:12 -[22:30:34.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.488] frame process finished the id is: 91 the obs is:12 -[22:30:34.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.591] frame process finished the id is: 91 the obs is:12 -[22:30:34.692] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.692] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000006 error end=0.000006 -[22:30:34.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.692] frame process finished the id is: 91 the obs is:12 -[22:30:34.805] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.805] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.805] frame process finished the id is: 91 the obs is:12 -[22:30:34.894] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.894] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.894] frame process finished the id is: 91 the obs is:12 -[22:30:34.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:34.990] frame process finished the id is: 91 the obs is:12 -[22:30:35.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.091] frame process finished the id is: 91 the obs is:12 -[22:30:35.195] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.195] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.195] frame process finished the id is: 91 the obs is:12 -[22:30:35.296] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.296] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.296] frame process finished the id is: 91 the obs is:12 -[22:30:35.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.394] frame process finished the id is: 91 the obs is:12 -[22:30:35.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.492] frame process finished the id is: 91 the obs is:12 -[22:30:35.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.592] frame process finished the id is: 91 the obs is:12 -[22:30:35.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.694] frame process finished the id is: 91 the obs is:12 -[22:30:35.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.790] frame process finished the id is: 91 the obs is:12 -[22:30:35.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.890] frame process finished the id is: 91 the obs is:12 -[22:30:35.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:35.993] frame process finished the id is: 91 the obs is:12 -[22:30:36.101] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.101] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 -[22:30:36.101] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.101] frame process finished the id is: 91 the obs is:12 -[22:30:36.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.194] frame process finished the id is: 91 the obs is:12 -[22:30:36.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.293] frame process finished the id is: 91 the obs is:12 -[22:30:36.394] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.394] frame process finished the id is: 91 the obs is:12 -[22:30:36.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.492] frame process finished the id is: 91 the obs is:12 -[22:30:36.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.590] frame process finished the id is: 91 the obs is:12 -[22:30:36.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.692] frame process finished the id is: 91 the obs is:12 -[22:30:36.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.792] frame process finished the id is: 91 the obs is:12 -[22:30:36.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.893] frame process finished the id is: 91 the obs is:12 -[22:30:36.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:36.991] frame process finished the id is: 91 the obs is:12 -[22:30:37.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.091] frame process finished the id is: 91 the obs is:12 -[22:30:37.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.190] frame process finished the id is: 91 the obs is:12 -[22:30:37.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.291] frame process finished the id is: 91 the obs is:12 -[22:30:37.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.391] frame process finished the id is: 91 the obs is:12 -[22:30:37.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.492] frame process finished the id is: 91 the obs is:12 -[22:30:37.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.592] frame process finished the id is: 91 the obs is:12 -[22:30:37.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.694] frame process finished the id is: 91 the obs is:12 -[22:30:37.798] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.798] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.798] frame process finished the id is: 91 the obs is:12 -[22:30:37.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.893] frame process finished the id is: 91 the obs is:12 -[22:30:37.996] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.996] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:37.996] frame process finished the id is: 91 the obs is:12 -[22:30:38.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.092] frame process finished the id is: 91 the obs is:12 -[22:30:38.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.190] frame process finished the id is: 91 the obs is:12 -[22:30:38.294] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.294] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.294] frame process finished the id is: 91 the obs is:12 -[22:30:38.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.391] frame process finished the id is: 91 the obs is:12 -[22:30:38.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.492] frame process finished the id is: 91 the obs is:12 -[22:30:38.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.593] frame process finished the id is: 91 the obs is:12 -[22:30:38.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.693] frame process finished the id is: 91 the obs is:12 -[22:30:38.794] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.795] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.795] frame process finished the id is: 91 the obs is:12 -[22:30:38.895] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.895] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.895] frame process finished the id is: 91 the obs is:12 -[22:30:38.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:38.991] frame process finished the id is: 91 the obs is:12 -[22:30:39.097] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.097] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.097] frame process finished the id is: 91 the obs is:12 -[22:30:39.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.194] frame process finished the id is: 91 the obs is:12 -[22:30:39.294] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.294] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.294] frame process finished the id is: 91 the obs is:12 -[22:30:39.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.392] frame process finished the id is: 91 the obs is:12 -[22:30:39.496] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.496] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.496] frame process finished the id is: 91 the obs is:12 -[22:30:39.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.591] frame process finished the id is: 91 the obs is:12 -[22:30:39.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.691] frame process finished the id is: 91 the obs is:12 -[22:30:39.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.792] frame process finished the id is: 91 the obs is:12 -[22:30:39.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.891] frame process finished the id is: 91 the obs is:12 -[22:30:39.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:39.991] frame process finished the id is: 91 the obs is:12 -[22:30:40.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.091] frame process finished the id is: 91 the obs is:12 -[22:30:40.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.191] frame process finished the id is: 91 the obs is:12 -[22:30:40.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.291] frame process finished the id is: 91 the obs is:12 -[22:30:40.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.391] frame process finished the id is: 91 the obs is:12 -[22:30:40.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.493] frame process finished the id is: 91 the obs is:12 -[22:30:40.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.592] frame process finished the id is: 91 the obs is:12 -[22:30:40.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.695] frame process finished the id is: 91 the obs is:12 -[22:30:40.797] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.797] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.797] frame process finished the id is: 91 the obs is:12 -[22:30:40.901] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.901] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.901] frame process finished the id is: 91 the obs is:12 -[22:30:40.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:40.992] frame process finished the id is: 91 the obs is:12 -[22:30:41.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.092] frame process finished the id is: 91 the obs is:12 -[22:30:41.193] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.193] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.193] frame process finished the id is: 91 the obs is:12 -[22:30:41.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.291] frame process finished the id is: 91 the obs is:12 -[22:30:41.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.391] frame process finished the id is: 91 the obs is:12 -[22:30:41.494] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.494] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000014 error end=0.000014 -[22:30:41.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.494] frame process finished the id is: 91 the obs is:12 -[22:30:41.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.595] frame process finished the id is: 91 the obs is:12 -[22:30:41.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.691] frame process finished the id is: 91 the obs is:12 -[22:30:41.796] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.796] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.796] frame process finished the id is: 91 the obs is:12 -[22:30:41.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.891] frame process finished the id is: 91 the obs is:12 -[22:30:41.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:41.991] frame process finished the id is: 91 the obs is:12 -[22:30:42.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.093] frame process finished the id is: 91 the obs is:12 -[22:30:42.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.190] frame process finished the id is: 91 the obs is:12 -[22:30:42.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.290] frame process finished the id is: 91 the obs is:12 -[22:30:42.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.391] frame process finished the id is: 91 the obs is:12 -[22:30:42.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.492] frame process finished the id is: 91 the obs is:12 -[22:30:42.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.595] frame process finished the id is: 91 the obs is:12 -[22:30:42.691] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.691] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.887369 error end=0.886750 -[22:30:42.691] After pose optimization, distance between ekf and vo x:-0.372279 ,z=9.138186,angle between two frames:1.228664 -[22:30:42.691] frame process finished the id is: 91 the obs is:12 -[22:30:42.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.793] frame process finished the id is: 91 the obs is:12 -[22:30:42.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.893] frame process finished the id is: 91 the obs is:12 -[22:30:42.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:42.991] frame process finished the id is: 91 the obs is:12 -[22:30:43.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.091] frame process finished the id is: 91 the obs is:12 -[22:30:43.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.191] frame process finished the id is: 91 the obs is:12 -[22:30:43.297] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.297] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.297] frame process finished the id is: 91 the obs is:12 -[22:30:43.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.393] frame process finished the id is: 91 the obs is:12 -[22:30:43.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.492] frame process finished the id is: 91 the obs is:12 -[22:30:43.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.592] frame process finished the id is: 91 the obs is:12 -[22:30:43.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.691] frame process finished the id is: 91 the obs is:12 -[22:30:43.793] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.793] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000014 error end=0.000014 -[22:30:43.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.793] frame process finished the id is: 91 the obs is:12 -[22:30:43.897] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.897] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.897] frame process finished the id is: 91 the obs is:12 -[22:30:43.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:43.991] frame process finished the id is: 91 the obs is:12 -[22:30:44.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.093] frame process finished the id is: 91 the obs is:12 -[22:30:44.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.193] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.193] frame process finished the id is: 91 the obs is:12 -[22:30:44.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.292] frame process finished the id is: 91 the obs is:12 -[22:30:44.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.393] frame process finished the id is: 91 the obs is:12 -[22:30:44.495] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.495] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 -[22:30:44.495] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.495] frame process finished the id is: 91 the obs is:12 -[22:30:44.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.592] frame process finished the id is: 91 the obs is:12 -[22:30:44.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.694] frame process finished the id is: 91 the obs is:12 -[22:30:44.792] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.792] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000014 error end=0.000014 -[22:30:44.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.792] frame process finished the id is: 91 the obs is:12 -[22:30:44.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.893] frame process finished the id is: 91 the obs is:12 -[22:30:44.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:44.993] frame process finished the id is: 91 the obs is:12 -[22:30:45.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.092] frame process finished the id is: 91 the obs is:12 -[22:30:45.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.192] frame process finished the id is: 91 the obs is:12 -[22:30:45.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.290] frame process finished the id is: 91 the obs is:12 -[22:30:45.395] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.395] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.395] frame process finished the id is: 91 the obs is:12 -[22:30:45.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.493] frame process finished the id is: 91 the obs is:12 -[22:30:45.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.590] frame process finished the id is: 91 the obs is:12 -[22:30:45.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.696] frame process finished the id is: 91 the obs is:12 -[22:30:45.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.790] frame process finished the id is: 91 the obs is:12 -[22:30:45.897] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.897] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.897] frame process finished the id is: 91 the obs is:12 -[22:30:45.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:45.992] frame process finished the id is: 91 the obs is:12 -[22:30:46.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.092] frame process finished the id is: 91 the obs is:12 -[22:30:46.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.192] frame process finished the id is: 91 the obs is:12 -[22:30:46.296] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.296] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.296] frame process finished the id is: 91 the obs is:12 -[22:30:46.396] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.396] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.396] frame process finished the id is: 91 the obs is:12 -[22:30:46.501] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.501] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.501] frame process finished the id is: 91 the obs is:12 -[22:30:46.594] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.594] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.594] frame process finished the id is: 91 the obs is:12 -[22:30:46.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.695] frame process finished the id is: 91 the obs is:12 -[22:30:46.813] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.813] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.813] frame process finished the id is: 91 the obs is:12 -[22:30:46.894] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.894] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:46.894] frame process finished the id is: 91 the obs is:12 -[22:30:47.036] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.036] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.036] frame process finished the id is: 91 the obs is:12 -[22:30:47.113] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.113] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.113] frame process finished the id is: 91 the obs is:12 -[22:30:47.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.190] frame process finished the id is: 91 the obs is:12 -[22:30:47.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.289] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.289] frame process finished the id is: 91 the obs is:12 -[22:30:47.394] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.394] frame process finished the id is: 91 the obs is:12 -[22:30:47.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.492] frame process finished the id is: 91 the obs is:12 -[22:30:47.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.592] frame process finished the id is: 91 the obs is:12 -[22:30:47.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.692] frame process finished the id is: 91 the obs is:12 -[22:30:47.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.791] frame process finished the id is: 91 the obs is:12 -[22:30:47.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.892] frame process finished the id is: 91 the obs is:12 -[22:30:47.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:47.993] frame process finished the id is: 91 the obs is:12 -[22:30:48.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.091] frame process finished the id is: 91 the obs is:12 -[22:30:48.196] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.196] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.196] frame process finished the id is: 91 the obs is:12 -[22:30:48.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.292] frame process finished the id is: 91 the obs is:12 -[22:30:48.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.393] frame process finished the id is: 91 the obs is:12 -[22:30:48.494] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.494] frame process finished the id is: 91 the obs is:12 -[22:30:48.519] Odometry x=-0.155400, y=1.940160, theta=0.100079 -[22:30:48.596] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.596] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.596] frame process finished the id is: 91 the obs is:12 -[22:30:48.618] Odometry x=-0.156200, y=1.948066, theta=0.085861 -[22:30:48.688] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.688] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.688] frame process finished the id is: 91 the obs is:12 -[22:30:48.719] Odometry x=-0.155773, y=1.956608, theta=0.073416 -[22:30:48.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.791] frame process finished the id is: 91 the obs is:12 -[22:30:48.813] Odometry x=-0.156787, y=1.964605, theta=0.054651 -[22:30:48.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.890] frame process finished the id is: 91 the obs is:12 -[22:30:48.921] Odometry x=-0.156743, y=1.972638, theta=0.040514 -[22:30:48.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:48.990] frame process finished the id is: 91 the obs is:12 -[22:30:49.025] Odometry x=-0.157943, y=1.980995, theta=0.021861 -[22:30:49.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.090] frame process finished the id is: 91 the obs is:12 -[22:30:49.123] Odometry x=-0.157711, y=1.988981, theta=0.002949 -[22:30:49.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.189] frame process finished the id is: 91 the obs is:12 -[22:30:49.213] Odometry x=-0.157929, y=1.997872, theta=-0.026644 -[22:30:49.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.291] frame process finished the id is: 91 the obs is:12 -[22:30:49.327] Odometry x=-0.157262, y=2.006353, theta=-0.028946 -[22:30:49.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.392] frame process finished the id is: 91 the obs is:12 -[22:30:49.413] Odometry x=-0.156291, y=2.015019, theta=-0.047668 -[22:30:49.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.492] frame process finished the id is: 91 the obs is:12 -[22:30:49.517] Odometry x=-0.155731, y=2.022478, theta=-0.076548 -[22:30:49.598] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.598] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.598] frame process finished the id is: 91 the obs is:12 -[22:30:49.617] Odometry x=-0.154662, y=2.029136, theta=-0.081416 -[22:30:49.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.695] frame process finished the id is: 91 the obs is:12 -[22:30:49.738] Odometry x=-0.154809, y=2.037755, theta=-0.105878 -[22:30:49.799] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.799] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.799] frame process finished the id is: 91 the obs is:12 -[22:30:49.832] Odometry x=-0.154180, y=2.046861, theta=-0.110896 -[22:30:49.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.890] frame process finished the id is: 91 the obs is:12 -[22:30:49.931] Odometry x=-0.154468, y=2.055271, theta=-0.128964 -[22:30:49.998] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.998] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:49.998] frame process finished the id is: 91 the obs is:12 -[22:30:50.019] Odometry x=-0.153334, y=2.063627, theta=-0.154904 -[22:30:50.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.092] frame process finished the id is: 91 the obs is:12 -[22:30:50.122] Odometry x=-0.152520, y=2.071527, theta=-0.160971 -[22:30:50.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.190] frame process finished the id is: 91 the obs is:12 -[22:30:50.217] Odometry x=-0.152021, y=2.080195, theta=-0.187967 -[22:30:50.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.291] frame process finished the id is: 91 the obs is:12 -[22:30:50.317] Odometry x=-0.149467, y=2.086422, theta=-0.199891 -[22:30:50.394] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.394] frame process finished the id is: 91 the obs is:12 -[22:30:50.417] Odometry x=-0.147244, y=2.094238, theta=-0.209724 -[22:30:50.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.491] frame process finished the id is: 91 the obs is:12 -[22:30:50.510] Odometry x=-0.146101, y=2.101746, theta=-0.241091 -[22:30:50.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.593] frame process finished the id is: 91 the obs is:12 -[22:30:50.613] Odometry x=-0.144556, y=2.109389, theta=-0.245631 -[22:30:50.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.691] frame process finished the id is: 91 the obs is:12 -[22:30:50.717] Odometry x=-0.142326, y=2.116712, theta=-0.267826 -[22:30:50.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.790] frame process finished the id is: 91 the obs is:12 -[22:30:50.814] Odometry x=-0.140065, y=2.123937, theta=-0.278161 -[22:30:50.895] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.895] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.895] frame process finished the id is: 91 the obs is:12 -[22:30:50.909] Odometry x=-0.137385, y=2.131326, theta=-0.302986 -[22:30:50.994] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.994] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:50.994] frame process finished the id is: 91 the obs is:12 -[22:30:51.020] Odometry x=-0.134043, y=2.138158, theta=-0.310227 -[22:30:51.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.093] frame process finished the id is: 91 the obs is:12 -[22:30:51.117] Odometry x=-0.131153, y=2.146106, theta=-0.334137 -[22:30:51.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.192] frame process finished the id is: 91 the obs is:12 -[22:30:51.217] Odometry x=-0.128581, y=2.154068, theta=-0.353035 -[22:30:51.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.293] frame process finished the id is: 91 the obs is:12 -[22:30:51.316] Odometry x=-0.125278, y=2.161101, theta=-0.370004 -[22:30:51.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.393] frame process finished the id is: 91 the obs is:12 -[22:30:51.414] Odometry x=-0.123345, y=2.168080, theta=-0.381428 -[22:30:51.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.493] frame process finished the id is: 91 the obs is:12 -[22:30:51.509] Odometry x=-0.120267, y=2.176088, theta=-0.403951 -[22:30:51.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.593] frame process finished the id is: 91 the obs is:12 -[22:30:51.610] Odometry x=-0.116385, y=2.183272, theta=-0.419499 -[22:30:51.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.695] frame process finished the id is: 91 the obs is:12 -[22:30:51.719] Odometry x=-0.112824, y=2.190072, theta=-0.442892 -[22:30:51.796] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.796] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.796] frame process finished the id is: 91 the obs is:12 -[22:30:51.812] Odometry x=-0.108680, y=2.197598, theta=-0.460897 -[22:30:51.898] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.898] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.898] frame process finished the id is: 91 the obs is:12 -[22:30:51.914] Odometry x=-0.104161, y=2.204107, theta=-0.483037 -[22:30:51.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:51.992] frame process finished the id is: 91 the obs is:12 -[22:30:52.014] Odometry x=-0.100114, y=2.211825, theta=-0.489698 -[22:30:52.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.094] frame process finished the id is: 91 the obs is:12 -[22:30:52.114] Odometry x=-0.095010, y=2.218852, theta=-0.512459 -[22:30:52.193] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.193] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:30:52.193] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:30:52.193] frame process finished the id is: 91 the obs is:12 -[22:30:52.212] Odometry x=-0.091476, y=2.225692, theta=-0.527406 -[22:30:52.295] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.295] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.295] frame process finished the id is: 91 the obs is:12 -[22:30:52.312] Odometry x=-0.087072, y=2.232613, theta=-0.546992 -[22:30:52.396] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.396] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.396] frame process finished the id is: 91 the obs is:12 -[22:30:52.425] Odometry x=-0.084647, y=2.239221, theta=-0.569833 -[22:30:52.495] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.495] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.495] frame process finished the id is: 91 the obs is:12 -[22:30:52.516] Odometry x=-0.081375, y=2.246096, theta=-0.582228 -[22:30:52.599] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.599] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.599] frame process finished the id is: 91 the obs is:12 -[22:30:52.607] Odometry x=-0.076079, y=2.251800, theta=-0.603400 -[22:30:52.697] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.697] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.697] frame process finished the id is: 91 the obs is:12 -[22:30:52.713] Odometry x=-0.072163, y=2.257996, theta=-0.618722 -[22:30:52.799] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.799] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.799] frame process finished the id is: 91 the obs is:12 -[22:30:52.819] Odometry x=-0.066534, y=2.263845, theta=-0.638363 -[22:30:52.898] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.899] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.899] frame process finished the id is: 91 the obs is:12 -[22:30:52.912] Odometry x=-0.062831, y=2.270449, theta=-0.650322 -[22:30:52.998] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.998] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:52.998] frame process finished the id is: 91 the obs is:12 -[22:30:53.022] Odometry x=-0.057549, y=2.276223, theta=-0.672591 -[22:30:53.095] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.095] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:30:53.095] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:30:53.095] frame process finished the id is: 91 the obs is:12 -[22:30:53.121] Odometry x=-0.052732, y=2.283898, theta=-0.686431 -[22:30:53.202] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.202] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.202] frame process finished the id is: 91 the obs is:12 -[22:30:53.221] Odometry x=-0.047985, y=2.291019, theta=-0.707502 -[22:30:53.303] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.303] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000194 error end=0.000194 -[22:30:53.303] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.303] frame process finished the id is: 91 the obs is:12 -[22:30:53.308] Odometry x=-0.043114, y=2.296874, theta=-0.718467 -[22:30:53.395] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.395] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:30:53.395] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:30:53.395] frame process finished the id is: 91 the obs is:12 -[22:30:53.412] Odometry x=-0.037701, y=2.302875, theta=-0.743708 -[22:30:53.494] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.494] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:30:53.494] After pose optimization, distance between ekf and vo x:-0.000067 ,z=-0.000028,angle between two frames:0.000061 -[22:30:53.494] frame process finished the id is: 91 the obs is:12 -[22:30:53.511] Odometry x=-0.032558, y=2.309374, theta=-0.752982 -[22:30:53.596] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.596] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.596] frame process finished the id is: 91 the obs is:12 -[22:30:53.611] Odometry x=-0.026740, y=2.314789, theta=-0.776140 -[22:30:53.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.693] frame process finished the id is: 91 the obs is:12 -[22:30:53.715] Odometry x=-0.021649, y=2.320124, theta=-0.793405 -[22:30:53.797] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.797] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:30:53.797] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000001,angle between two frames:0.000004 -[22:30:53.797] frame process finished the id is: 91 the obs is:12 -[22:30:53.808] Odometry x=-0.016451, y=2.325919, theta=-0.811223 -[22:30:53.899] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.899] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.899] frame process finished the id is: 91 the obs is:12 -[22:30:53.916] Odometry x=-0.010807, y=2.331775, theta=-0.835753 -[22:30:53.998] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:53.998] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000030 error end=0.000030 -[22:30:53.998] After pose optimization, distance between ekf and vo x:-0.000473 ,z=-0.000008,angle between two frames:0.000533 -[22:30:53.998] frame process finished the id is: 91 the obs is:12 -[22:30:54.011] Odometry x=-0.004453, y=2.336841, theta=-0.846248 -[22:30:54.101] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:54.102] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:54.102] frame process finished the id is: 91 the obs is:12 -[22:30:54.111] Odometry x=0.001611, y=2.341226, theta=-0.866010 -[22:30:54.203] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:54.203] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:30:54.203] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:30:54.203] frame process finished the id is: 91 the obs is:12 -[22:30:54.218] Odometry x=0.007897, y=2.346426, theta=-0.880216 -[22:30:54.303] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:54.303] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:30:54.304] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:54.304] frame process finished the id is: 91 the obs is:12 -[22:30:54.314] Odometry x=0.014303, y=2.350787, theta=-0.901909 -[22:30:54.398] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:54.398] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.004816 error end=0.004615 -[22:30:54.398] After pose optimization, distance between ekf and vo x:-0.095343 ,z=-0.021484,angle between two frames:0.042004 -[22:30:54.398] frame process finished the id is: 91 the obs is:12 -[22:30:54.413] Odometry x=0.021467, y=2.355672, theta=-0.911006 -[22:30:54.505] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:54.506] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:54.506] frame process finished the id is: 91 the obs is:12 -[22:30:54.512] Odometry x=0.027943, y=2.360343, theta=-0.936446 -[22:30:54.601] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:54.601] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.026769 error end=0.026345 -[22:30:54.601] After pose optimization, distance between ekf and vo x:-0.166917 ,z=-0.041793,angle between two frames:0.045880 -[22:30:54.601] frame process finished the id is: 91 the obs is:12 -[22:30:54.610] Odometry x=0.034190, y=2.364479, theta=-0.949293 -[22:30:54.702] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:54.702] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:54.702] frame process finished the id is: 91 the obs is:12 -[22:30:54.718] Odometry x=0.041364, y=2.369645, theta=-0.965767 -[22:30:54.803] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:54.803] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:30:54.803] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000003,angle between two frames:0.000015 -[22:30:54.803] frame process finished the id is: 91 the obs is:12 -[22:30:54.814] Odometry x=0.047966, y=2.374027, theta=-0.987701 -[22:30:54.901] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:54.901] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:30:54.901] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000001,angle between two frames:0.000002 -[22:30:54.901] frame process finished the id is: 91 the obs is:12 -[22:30:54.913] Odometry x=0.054557, y=2.377640, theta=-1.000824 -[22:30:55.004] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.004] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.004] frame process finished the id is: 91 the obs is:12 -[22:30:55.011] Odometry x=0.060283, y=2.381902, theta=-1.024873 -[22:30:55.105] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.105] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.105] frame process finished the id is: 91 the obs is:12 -[22:30:55.109] Odometry x=0.067390, y=2.385311, theta=-1.043389 -[22:30:55.203] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.203] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.203] frame process finished the id is: 91 the obs is:12 -[22:30:55.213] Odometry x=0.074061, y=2.389813, theta=-1.063249 -[22:30:55.307] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.308] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:30:55.308] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:30:55.308] frame process finished the id is: 91 the obs is:12 -[22:30:55.313] Odometry x=0.081088, y=2.393703, theta=-1.076118 -[22:30:55.412] Odometry x=0.087992, y=2.397538, theta=-1.090390 -[22:30:55.419] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.419] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.419] frame process finished the id is: 91 the obs is:12 -[22:30:55.507] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.507] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.507] frame process finished the id is: 91 the obs is:12 -[22:30:55.521] Odometry x=0.094378, y=2.402316, theta=-1.108655 -[22:30:55.607] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.607] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.607] frame process finished the id is: 91 the obs is:12 -[22:30:55.618] Odometry x=0.102079, y=2.405690, theta=-1.127340 -[22:30:55.708] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.708] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.708] frame process finished the id is: 91 the obs is:12 -[22:30:55.720] Odometry x=0.108890, y=2.409987, theta=-1.142935 -[22:30:55.803] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.803] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.803] frame process finished the id is: 91 the obs is:12 -[22:30:55.816] Odometry x=0.115940, y=2.413228, theta=-1.165125 -[22:30:55.905] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.905] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:30:55.905] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:55.905] frame process finished the id is: 91 the obs is:12 -[22:30:55.909] Odometry x=0.123150, y=2.415840, theta=-1.170793 -[22:30:56.004] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.004] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:30:56.004] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.004] frame process finished the id is: 91 the obs is:12 -[22:30:56.022] Odometry x=0.130850, y=2.419588, theta=-1.194059 -[22:30:56.106] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.106] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:30:56.106] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.106] frame process finished the id is: 91 the obs is:12 -[22:30:56.112] Odometry x=0.138351, y=2.422310, theta=-1.206995 -[22:30:56.198] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.198] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000008 error end=0.000008 -[22:30:56.198] After pose optimization, distance between ekf and vo x:-0.000171 ,z=-0.000369,angle between two frames:0.000696 -[22:30:56.198] frame process finished the id is: 91 the obs is:12 -[22:30:56.211] Odometry x=0.145590, y=2.425104, theta=-1.226305 -[22:30:56.300] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.300] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:30:56.300] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.300] frame process finished the id is: 91 the obs is:12 -[22:30:56.310] Odometry x=0.153630, y=2.428502, theta=-1.249239 -[22:30:56.400] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.400] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000009 error end=0.000009 -[22:30:56.400] After pose optimization, distance between ekf and vo x:-0.000067 ,z=-0.000022,angle between two frames:0.000051 -[22:30:56.400] frame process finished the id is: 91 the obs is:12 -[22:30:56.415] Odometry x=0.161017, y=2.430298, theta=-1.262218 -[22:30:56.499] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.499] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 -[22:30:56.499] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.499] frame process finished the id is: 91 the obs is:12 -[22:30:56.515] Odometry x=0.167953, y=2.433393, theta=-1.281142 -[22:30:56.601] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.601] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.151405 error end=0.151405 -[22:30:56.601] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.601] frame process finished the id is: 91 the obs is:12 -[22:30:56.615] Odometry x=0.175376, y=2.435083, theta=-1.305705 -[22:30:56.698] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.698] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000307 error end=0.000307 -[22:30:56.698] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.698] frame process finished the id is: 91 the obs is:12 -[22:30:56.716] Odometry x=0.182515, y=2.436253, theta=-1.314261 -[22:30:56.799] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.799] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.005084 error end=0.004387 -[22:30:56.799] After pose optimization, distance between ekf and vo x:-0.144245 ,z=0.036550,angle between two frames:0.078987 -[22:30:56.799] frame process finished the id is: 91 the obs is:12 -[22:30:56.824] Odometry x=0.189781, y=2.437581, theta=-1.335433 -[22:30:56.901] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.901] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.067431 error end=0.148294 -[22:30:56.901] After pose optimization, distance between ekf and vo x:-3.157125 ,z=-3.448193,angle between two frames:0.703537 -[22:30:56.901] frame process finished the id is: 91 the obs is:12 -[22:30:56.915] Odometry x=0.197047, y=2.438597, theta=-1.352172 -[22:30:56.997] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:56.997] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:30:56.997] After pose optimization, distance between ekf and vo x:-0.000006 ,z=-0.000001,angle between two frames:0.000001 -[22:30:56.997] frame process finished the id is: 91 the obs is:12 -[22:30:57.016] Odometry x=0.205221, y=2.440153, theta=-1.370303 -[22:30:57.099] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:57.099] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.234139 error end=0.165776 -[22:30:57.099] After pose optimization, distance between ekf and vo x:-2.360907 ,z=-1.714735,angle between two frames:0.704792 -[22:30:57.099] frame process finished the id is: 91 the obs is:12 -[22:30:57.116] Odometry x=0.213317, y=2.441871, theta=-1.396560 -[22:30:57.196] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:57.196] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000002 error end=0.000002 -[22:30:57.196] After pose optimization, distance between ekf and vo x:-0.000067 ,z=-0.000020,angle between two frames:0.000021 -[22:30:57.196] frame process finished the id is: 91 the obs is:12 -[22:30:57.216] Odometry x=0.221117, y=2.443721, theta=-1.404874 -[22:30:57.298] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:57.299] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[22:30:57.299] After pose optimization, distance between ekf and vo x:-0.000004 ,z=-0.000001,angle between two frames:0.000001 -[22:30:57.299] frame process finished the id is: 91 the obs is:12 -[22:30:57.316] Odometry x=0.228653, y=2.445242, theta=-1.426466 -[22:30:57.397] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:57.397] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000003 error end=0.000003 -[22:30:57.397] After pose optimization, distance between ekf and vo x:-0.000117 ,z=-0.000025,angle between two frames:0.000037 -[22:30:57.397] frame process finished the id is: 91 the obs is:12 -[22:30:57.410] Odometry x=0.236318, y=2.446064, theta=-1.431942 -[22:30:57.499] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:57.499] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.005350 error end=0.004878 -[22:30:57.499] After pose optimization, distance between ekf and vo x:-0.130599 ,z=-0.045712,angle between two frames:0.045976 -[22:30:57.499] frame process finished the id is: 91 the obs is:12 -[22:30:57.517] Odometry x=0.244794, y=2.446471, theta=-1.455346 -[22:30:57.598] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:57.598] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 -[22:30:57.598] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:57.598] frame process finished the id is: 91 the obs is:12 -[22:30:57.614] Odometry x=0.252588, y=2.447114, theta=-1.471136 -[22:30:57.700] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:57.700] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000003 error end=0.000003 -[22:30:57.700] After pose optimization, distance between ekf and vo x:-0.000098 ,z=-0.000010,angle between two frames:0.000034 -[22:30:57.700] frame process finished the id is: 91 the obs is:12 -[22:30:57.721] Odometry x=0.259824, y=2.448216, theta=-1.491964 -[22:30:57.800] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:57.800] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 -[22:30:57.800] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:30:57.800] frame process finished the id is: 91 the obs is:12 -[22:30:57.813] Odometry x=0.268112, y=2.449043, theta=-1.511441 -[22:30:57.900] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:57.900] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[22:30:57.900] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:57.900] frame process finished the id is: 91 the obs is:12 -[22:30:57.916] Odometry x=0.276964, y=2.449325, theta=-1.528316 -[22:30:57.996] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:57.996] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 -[22:30:57.996] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:30:57.996] frame process finished the id is: 91 the obs is:12 -[22:30:58.009] Odometry x=0.284633, y=2.450012, theta=-1.542449 -[22:30:58.099] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:58.099] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 -[22:30:58.099] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:30:58.099] frame process finished the id is: 91 the obs is:12 -[22:30:58.109] Odometry x=0.293127, y=2.450099, theta=-1.561866 -[22:30:58.202] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:58.202] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000419 error end=0.000418 -[22:30:58.202] After pose optimization, distance between ekf and vo x:-0.022356 ,z=0.005543,angle between two frames:0.012629 -[22:30:58.202] frame process finished the id is: 91 the obs is:12 -[22:30:58.212] Odometry x=0.301249, y=2.450636, theta=-1.583981 -[22:30:58.297] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:58.297] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:58.297] frame process finished the id is: 91 the obs is:12 -[22:30:58.326] Odometry x=0.308423, y=2.451163, theta=-1.596450 -[22:30:58.399] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:58.399] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[22:30:58.399] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:58.399] frame process finished the id is: 91 the obs is:12 -[22:30:58.414] Odometry x=0.315751, y=2.451327, theta=-1.612219 -[22:30:58.494] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:58.494] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.001932 error end=0.001929 -[22:30:58.494] After pose optimization, distance between ekf and vo x:-0.001478 ,z=-0.000222,angle between two frames:0.000514 -[22:30:58.494] frame process finished the id is: 91 the obs is:12 -[22:30:58.511] Odometry x=0.323800, y=2.450959, theta=-1.630118 -[22:30:58.607] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:58.607] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 -[22:30:58.607] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:30:58.607] frame process finished the id is: 91 the obs is:12 -[22:30:58.618] Odometry x=0.331166, y=2.449464, theta=-1.653312 -[22:30:58.699] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:58.699] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000026 error end=0.000026 -[22:30:58.699] After pose optimization, distance between ekf and vo x:-0.000009 ,z=-0.000002,angle between two frames:0.000003 -[22:30:58.699] frame process finished the id is: 91 the obs is:12 -[22:30:58.718] Odometry x=0.338143, y=2.449083, theta=-1.667123 -[22:30:58.801] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:58.801] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000014 error end=0.000014 -[22:30:58.801] After pose optimization, distance between ekf and vo x:-0.000003 ,z=-0.000001,angle between two frames:0.000001 -[22:30:58.801] frame process finished the id is: 91 the obs is:12 -[22:30:58.826] Odometry x=0.346607, y=2.447077, theta=-1.688934 -[22:30:58.900] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:58.900] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.003465 error end=0.003462 -[22:30:58.900] After pose optimization, distance between ekf and vo x:-0.000529 ,z=-0.000324,angle between two frames:0.000023 -[22:30:58.900] frame process finished the id is: 91 the obs is:12 -[22:30:58.914] Odometry x=0.354213, y=2.445828, theta=-1.703317 -[22:30:58.999] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:58.999] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000958 error end=0.000956 -[22:30:58.999] After pose optimization, distance between ekf and vo x:-0.003104 ,z=0.001133,angle between two frames:0.002068 -[22:30:58.999] frame process finished the id is: 91 the obs is:12 -[22:30:59.013] Odometry x=0.361496, y=2.446010, theta=-1.716633 -[22:30:59.094] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:59.094] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.002617 error end=0.002601 -[22:30:59.094] After pose optimization, distance between ekf and vo x:-0.012526 ,z=0.006529,angle between two frames:0.009481 -[22:30:59.094] frame process finished the id is: 91 the obs is:12 -[22:30:59.113] Odometry x=0.369748, y=2.444394, theta=-1.731379 -[22:30:59.197] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:59.197] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.306457 error end=0.256266 -[22:30:59.197] After pose optimization, distance between ekf and vo x:0.189977 ,z=-0.030478,angle between two frames:0.052823 -[22:30:59.197] frame process finished the id is: 91 the obs is:12 -[22:30:59.211] Odometry x=0.377444, y=2.442624, theta=-1.758645 -[22:30:59.260] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:59.260] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 -[22:30:59.260] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:30:59.260] frame process finished the id is: 91 the obs is:12 -[22:30:59.316] Odometry x=0.384527, y=2.440582, theta=-1.773018 -[22:30:59.376] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:59.376] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.001064 error end=0.001062 -[22:30:59.376] After pose optimization, distance between ekf and vo x:-0.000267 ,z=0.000992,angle between two frames:0.001271 -[22:30:59.376] frame process finished the id is: 91 the obs is:12 -[22:30:59.412] Odometry x=0.391926, y=2.438643, theta=-1.783906 -[22:30:59.489] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:59.489] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[22:30:59.489] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:59.489] frame process finished the id is: 91 the obs is:12 -[22:30:59.508] Odometry x=0.399419, y=2.437124, theta=-1.806076 -[22:30:59.554] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:59.555] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000033 error end=0.000033 -[22:30:59.555] After pose optimization, distance between ekf and vo x:-0.000031 ,z=0.000006,angle between two frames:0.000013 -[22:30:59.555] frame process finished the id is: 91 the obs is:12 -[22:30:59.614] Odometry x=0.406582, y=2.434958, theta=-1.821182 -[22:30:59.687] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:59.687] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.975470 error end=0.507707 -[22:30:59.687] After pose optimization, distance between ekf and vo x:2.763034 ,z=0.200531,angle between two frames:0.078741 -[22:30:59.687] frame process finished the id is: 91 the obs is:12 -[22:30:59.712] Odometry x=0.413650, y=2.433221, theta=-1.846370 -[22:30:59.759] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:59.759] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.008743 error end=0.007292 -[22:30:59.759] After pose optimization, distance between ekf and vo x:-0.155730 ,z=0.300248,angle between two frames:0.008183 -[22:30:59.759] frame process finished the id is: 91 the obs is:12 -[22:30:59.812] Odometry x=0.421298, y=2.430892, theta=-1.862222 -[22:30:59.874] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:59.874] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =2.121125 error end=0.018414 -[22:30:59.874] After pose optimization, distance between ekf and vo x:-1417.969747 ,z=1675.718980,angle between two frames:0.051332 -[22:30:59.874] frame process finished the id is: 91 the obs is:12 -[22:30:59.913] Odometry x=0.428519, y=2.428750, theta=-1.875786 -[22:30:59.965] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:59.965] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[22:30:59.965] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:30:59.965] frame process finished the id is: 91 the obs is:12 -[22:31:00.073] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:00.073] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:00.073] After pose optimization, distance between ekf and vo x:0.004050 ,z=0.001291,angle between two frames:0.000011 -[22:31:00.073] frame process finished the id is: 91 the obs is:12 -[22:31:00.166] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:00.166] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.024081 error end=0.004645 -[22:31:00.166] After pose optimization, distance between ekf and vo x:4.514854 ,z=0.395982,angle between two frames:0.114011 -[22:31:00.166] frame process finished the id is: 91 the obs is:12 -[22:31:00.277] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:00.277] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.452287 error end=0.250191 -[22:31:00.277] After pose optimization, distance between ekf and vo x:-0.548580 ,z=0.237281,angle between two frames:0.287652 -[22:31:00.277] frame process finished the id is: 91 the obs is:12 -[22:31:00.362] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:00.362] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000015 error end=0.000015 -[22:31:00.362] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000014,angle between two frames:0.000022 -[22:31:00.362] frame process finished the id is: 91 the obs is:12 -[22:31:00.477] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:00.477] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:00.477] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:00.477] frame process finished the id is: 91 the obs is:12 -[22:31:00.555] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:00.555] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:00.555] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:00.556] frame process finished the id is: 91 the obs is:12 -[22:31:00.682] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:00.682] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.001396 error end=0.001389 -[22:31:00.682] After pose optimization, distance between ekf and vo x:-0.003824 ,z=0.001736,angle between two frames:0.002420 -[22:31:00.682] frame process finished the id is: 91 the obs is:12 -[22:31:00.759] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:00.759] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.078167 error end=0.065282 -[22:31:00.759] After pose optimization, distance between ekf and vo x:-0.023005 ,z=0.040884,angle between two frames:0.058574 -[22:31:00.759] frame process finished the id is: 91 the obs is:12 -[22:31:00.890] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:00.890] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.164888 error end=0.072337 -[22:31:00.890] After pose optimization, distance between ekf and vo x:0.430962 ,z=-0.193345,angle between two frames:0.286344 -[22:31:00.890] frame process finished the id is: 91 the obs is:12 -[22:31:00.971] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:00.971] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.204723 error end=0.163770 -[22:31:00.971] After pose optimization, distance between ekf and vo x:-0.167738 ,z=0.035615,angle between two frames:0.134967 -[22:31:00.971] frame process finished the id is: 91 the obs is:12 -[22:31:01.071] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:01.071] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.010164 error end=0.009749 -[22:31:01.071] After pose optimization, distance between ekf and vo x:-0.006775 ,z=0.013737,angle between two frames:0.011946 -[22:31:01.071] frame process finished the id is: 91 the obs is:12 -[22:31:01.171] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:01.171] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:01.171] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:01.171] frame process finished the id is: 91 the obs is:12 -[22:31:01.270] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:01.271] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000003 error end=0.000003 -[22:31:01.271] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000000,angle between two frames:0.000005 -[22:31:01.271] frame process finished the id is: 91 the obs is:12 -[22:31:01.369] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:01.369] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:31:01.369] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:01.369] frame process finished the id is: 91 the obs is:12 -[22:31:01.491] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:01.491] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.204723 error end=0.163770 -[22:31:01.491] After pose optimization, distance between ekf and vo x:-0.167738 ,z=0.035615,angle between two frames:0.134967 -[22:31:01.491] frame process finished the id is: 91 the obs is:12 -[22:31:01.567] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:01.567] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000025 error end=0.000025 -[22:31:01.567] After pose optimization, distance between ekf and vo x:-0.000020 ,z=-0.000005,angle between two frames:0.000062 -[22:31:01.567] frame process finished the id is: 91 the obs is:12 -[22:31:01.680] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:01.680] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.818892 error end=0.549395 -[22:31:01.680] After pose optimization, distance between ekf and vo x:-0.451176 ,z=0.105434,angle between two frames:0.271268 -[22:31:01.680] frame process finished the id is: 91 the obs is:12 -[22:31:01.761] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:01.761] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[22:31:01.761] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:01.761] frame process finished the id is: 91 the obs is:12 -[22:31:01.888] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:01.888] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:01.888] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:01.888] frame process finished the id is: 91 the obs is:12 -[22:31:01.959] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:01.959] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.006398 error end=0.006357 -[22:31:01.959] After pose optimization, distance between ekf and vo x:-0.003482 ,z=0.001090,angle between two frames:0.003393 -[22:31:01.959] frame process finished the id is: 91 the obs is:12 -[22:31:02.076] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:02.076] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000049 error end=0.000049 -[22:31:02.076] After pose optimization, distance between ekf and vo x:-0.000060 ,z=0.000017,angle between two frames:0.000056 -[22:31:02.076] frame process finished the id is: 91 the obs is:12 -[22:31:02.176] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:02.176] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:02.176] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:02.176] frame process finished the id is: 91 the obs is:12 -[22:31:02.274] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:02.274] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:02.274] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:02.274] frame process finished the id is: 91 the obs is:12 -[22:31:02.374] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:02.374] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.102362 error end=0.068069 -[22:31:02.374] After pose optimization, distance between ekf and vo x:-0.114099 ,z=-0.050958,angle between two frames:0.238923 -[22:31:02.374] frame process finished the id is: 91 the obs is:12 -[22:31:02.476] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:02.476] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:02.476] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:02.476] frame process finished the id is: 91 the obs is:12 -[22:31:02.562] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:02.562] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000079 error end=0.000079 -[22:31:02.562] After pose optimization, distance between ekf and vo x:0.000067 ,z=0.000042,angle between two frames:0.000145 -[22:31:02.562] frame process finished the id is: 91 the obs is:12 -[22:31:02.682] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:02.682] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000044 error end=0.000044 -[22:31:02.682] After pose optimization, distance between ekf and vo x:0.000026 ,z=0.000044,angle between two frames:0.000072 -[22:31:02.682] frame process finished the id is: 91 the obs is:12 -[22:31:02.769] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:02.769] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.102362 error end=0.068069 -[22:31:02.769] After pose optimization, distance between ekf and vo x:-0.114099 ,z=-0.050958,angle between two frames:0.238923 -[22:31:02.769] frame process finished the id is: 91 the obs is:12 -[22:31:02.881] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:02.881] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.051181 error end=0.047360 -[22:31:02.881] After pose optimization, distance between ekf and vo x:-0.014168 ,z=-0.003688,angle between two frames:0.040914 -[22:31:02.881] frame process finished the id is: 91 the obs is:12 -[22:31:02.966] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:02.966] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000002 error end=0.000002 -[22:31:02.966] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000005 -[22:31:02.966] frame process finished the id is: 91 the obs is:12 -[22:31:03.072] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:03.072] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:03.072] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:03.072] frame process finished the id is: 91 the obs is:12 -[22:31:03.177] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:03.177] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:03.177] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:03.177] frame process finished the id is: 91 the obs is:12 -[22:31:03.269] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:03.269] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:03.269] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:03.269] frame process finished the id is: 91 the obs is:12 -[22:31:03.386] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:03.386] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000006 error end=0.000006 -[22:31:03.386] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000002 -[22:31:03.386] frame process finished the id is: 91 the obs is:12 -[22:31:03.459] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:03.459] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:03.459] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:03.459] frame process finished the id is: 91 the obs is:12 -[22:31:03.571] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:03.571] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.003199 error end=0.003113 -[22:31:03.571] After pose optimization, distance between ekf and vo x:0.000063 ,z=-0.003863,angle between two frames:0.013953 -[22:31:03.571] frame process finished the id is: 91 the obs is:12 -[22:31:03.676] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:03.676] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:03.676] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:03.676] frame process finished the id is: 91 the obs is:12 -[22:31:03.767] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:03.767] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.051181 error end=0.047360 -[22:31:03.767] After pose optimization, distance between ekf and vo x:-0.014168 ,z=-0.003688,angle between two frames:0.040914 -[22:31:03.767] frame process finished the id is: 91 the obs is:12 -[22:31:03.891] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:03.891] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.003199 error end=0.003113 -[22:31:03.891] After pose optimization, distance between ekf and vo x:0.000063 ,z=-0.003863,angle between two frames:0.013953 -[22:31:03.891] frame process finished the id is: 91 the obs is:12 -[22:31:03.959] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:03.959] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:03.959] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:03.959] frame process finished the id is: 91 the obs is:12 -[22:31:04.089] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:04.089] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.012795 error end=0.012393 -[22:31:04.089] After pose optimization, distance between ekf and vo x:-0.010301 ,z=0.001122,angle between two frames:0.016950 -[22:31:04.089] frame process finished the id is: 91 the obs is:12 -[22:31:04.160] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:04.160] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:04.160] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:04.160] frame process finished the id is: 91 the obs is:12 -[22:31:04.291] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:04.291] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:31:04.291] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:04.291] frame process finished the id is: 91 the obs is:12 -[22:31:04.361] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:04.361] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.012795 error end=0.012393 -[22:31:04.361] After pose optimization, distance between ekf and vo x:-0.010301 ,z=0.001122,angle between two frames:0.016950 -[22:31:04.361] frame process finished the id is: 91 the obs is:12 -[22:31:04.489] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:04.489] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000005 error end=0.000005 -[22:31:04.489] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000002,angle between two frames:0.000004 -[22:31:04.489] frame process finished the id is: 91 the obs is:12 -[22:31:04.560] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:04.560] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.430775 error end=0.194747 -[22:31:04.560] After pose optimization, distance between ekf and vo x:-0.129230 ,z=-0.159014,angle between two frames:0.465806 -[22:31:04.560] frame process finished the id is: 91 the obs is:12 -[22:31:04.675] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:04.675] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.025590 error end=0.021116 -[22:31:04.675] After pose optimization, distance between ekf and vo x:0.004495 ,z=-0.034362,angle between two frames:0.100493 -[22:31:04.675] frame process finished the id is: 91 the obs is:12 -[22:31:04.765] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:04.765] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000006 error end=0.000006 -[22:31:04.765] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000002 -[22:31:04.765] frame process finished the id is: 91 the obs is:12 -[22:31:04.894] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:04.894] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000025 error end=0.000025 -[22:31:04.894] After pose optimization, distance between ekf and vo x:-0.000020 ,z=-0.000005,angle between two frames:0.000062 -[22:31:04.894] frame process finished the id is: 91 the obs is:12 -[22:31:04.958] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:04.958] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:04.958] frame process finished the id is: 91 the obs is:12 -[22:31:05.086] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:05.086] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.010236 error end=0.009850 -[22:31:05.086] After pose optimization, distance between ekf and vo x:-0.009966 ,z=0.015958,angle between two frames:0.010769 -[22:31:05.086] frame process finished the id is: 91 the obs is:12 -[22:31:05.159] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:05.159] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:05.159] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:05.159] frame process finished the id is: 91 the obs is:12 -[22:31:05.295] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:05.295] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000020 error end=0.000020 -[22:31:05.295] After pose optimization, distance between ekf and vo x:0.000018 ,z=0.000005,angle between two frames:0.000029 -[22:31:05.295] frame process finished the id is: 91 the obs is:12 -[22:31:05.362] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:05.362] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.025590 error end=0.021116 -[22:31:05.362] After pose optimization, distance between ekf and vo x:0.004495 ,z=-0.034362,angle between two frames:0.100493 -[22:31:05.362] frame process finished the id is: 91 the obs is:12 -[22:31:05.489] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:05.489] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:05.489] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000001 -[22:31:05.489] frame process finished the id is: 91 the obs is:12 -[22:31:05.561] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:05.561] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.001599 error end=0.001596 -[22:31:05.561] After pose optimization, distance between ekf and vo x:-0.000546 ,z=-0.000004,angle between two frames:0.001190 -[22:31:05.561] frame process finished the id is: 91 the obs is:12 -[22:31:05.682] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:05.682] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.025590 error end=0.021116 -[22:31:05.682] After pose optimization, distance between ekf and vo x:0.004495 ,z=-0.034362,angle between two frames:0.100493 -[22:31:05.682] frame process finished the id is: 91 the obs is:12 -[22:31:05.768] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:05.768] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:05.768] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:05.768] frame process finished the id is: 91 the obs is:12 -[22:31:05.872] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:05.872] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.026923 error end=0.025744 -[22:31:05.872] After pose optimization, distance between ekf and vo x:0.000469 ,z=-0.003996,angle between two frames:0.020964 -[22:31:05.872] frame process finished the id is: 91 the obs is:12 -[22:31:05.970] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:05.970] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.400218 error end=0.242177 -[22:31:05.970] After pose optimization, distance between ekf and vo x:-0.371247 ,z=-0.066912,angle between two frames:0.365093 -[22:31:05.970] frame process finished the id is: 91 the obs is:12 -[22:31:06.070] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:06.070] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.025590 error end=0.021116 -[22:31:06.070] After pose optimization, distance between ekf and vo x:0.004495 ,z=-0.034362,angle between two frames:0.100493 -[22:31:06.070] frame process finished the id is: 91 the obs is:12 -[22:31:06.180] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:06.180] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:06.180] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:06.180] frame process finished the id is: 91 the obs is:12 -[22:31:06.262] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:06.262] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000050 error end=0.000050 -[22:31:06.262] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000003,angle between two frames:0.000041 -[22:31:06.262] frame process finished the id is: 91 the obs is:12 -[22:31:06.377] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:06.377] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000050 error end=0.000050 -[22:31:06.377] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000003,angle between two frames:0.000041 -[22:31:06.377] frame process finished the id is: 91 the obs is:12 -[22:31:06.463] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:06.463] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:06.463] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:06.463] frame process finished the id is: 91 the obs is:12 -[22:31:06.584] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:06.584] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:06.584] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:06.584] frame process finished the id is: 91 the obs is:12 -[22:31:06.658] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:06.658] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.053847 error end=0.039644 -[22:31:06.658] After pose optimization, distance between ekf and vo x:0.012347 ,z=-0.043640,angle between two frames:0.148519 -[22:31:06.658] frame process finished the id is: 91 the obs is:12 -[22:31:06.791] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:06.791] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000007 error end=0.000007 -[22:31:06.791] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000001,angle between two frames:0.000015 -[22:31:06.791] frame process finished the id is: 91 the obs is:12 -[22:31:06.857] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:06.857] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.081890 error end=0.060066 -[22:31:06.858] After pose optimization, distance between ekf and vo x:-0.005976 ,z=0.055690,angle between two frames:0.097796 -[22:31:06.858] frame process finished the id is: 91 the obs is:12 -[22:31:06.986] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:06.986] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000385 error end=0.000384 -[22:31:06.986] After pose optimization, distance between ekf and vo x:-0.000229 ,z=-0.000209,angle between two frames:0.000895 -[22:31:06.986] frame process finished the id is: 91 the obs is:12 -[22:31:07.059] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.059] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:31:07.059] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000002 -[22:31:07.059] frame process finished the id is: 91 the obs is:12 -[22:31:07.181] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.181] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000002 error end=0.000002 -[22:31:07.181] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000000,angle between two frames:0.000005 -[22:31:07.181] frame process finished the id is: 91 the obs is:12 -[22:31:07.262] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.262] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:31:07.262] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.262] frame process finished the id is: 91 the obs is:12 -[22:31:07.394] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.394] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.164341 error end=0.148933 -[22:31:07.394] After pose optimization, distance between ekf and vo x:-0.002651 ,z=0.023424,angle between two frames:0.029102 -[22:31:07.394] frame process finished the id is: 91 the obs is:12 -[22:31:07.464] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.464] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.464] frame process finished the id is: 91 the obs is:12 -[22:31:07.583] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.583] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.583] frame process finished the id is: 91 the obs is:12 -[22:31:07.665] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.665] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.102362 error end=0.068069 -[22:31:07.665] After pose optimization, distance between ekf and vo x:-0.114099 ,z=-0.050958,angle between two frames:0.238923 -[22:31:07.665] frame process finished the id is: 91 the obs is:12 -[22:31:07.780] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.780] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:07.780] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:07.780] frame process finished the id is: 91 the obs is:12 -[22:31:07.860] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.860] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.044834 error end=0.036190 -[22:31:07.860] After pose optimization, distance between ekf and vo x:0.013566 ,z=0.037539,angle between two frames:0.061034 -[22:31:07.860] frame process finished the id is: 91 the obs is:12 -[22:31:07.995] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.995] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:07.995] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:07.995] frame process finished the id is: 91 the obs is:12 -[22:31:08.061] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:08.061] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000012 error end=0.000012 -[22:31:08.061] After pose optimization, distance between ekf and vo x:-0.000012 ,z=-0.000005,angle between two frames:0.000043 -[22:31:08.061] frame process finished the id is: 91 the obs is:12 -[22:31:08.200] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:08.200] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000395 error end=0.000394 -[22:31:08.200] After pose optimization, distance between ekf and vo x:-0.000619 ,z=-0.000018,angle between two frames:0.001259 -[22:31:08.200] frame process finished the id is: 91 the obs is:12 -[22:31:08.257] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:08.257] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:08.257] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000001 -[22:31:08.257] frame process finished the id is: 91 the obs is:12 -[22:31:08.388] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:08.388] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000012 error end=0.000012 -[22:31:08.388] After pose optimization, distance between ekf and vo x:-0.000022 ,z=0.000002,angle between two frames:0.000036 -[22:31:08.388] frame process finished the id is: 91 the obs is:12 -[22:31:08.463] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:08.463] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000100 error end=0.000100 -[22:31:08.463] After pose optimization, distance between ekf and vo x:-0.000029 ,z=0.000010,angle between two frames:0.000025 -[22:31:08.463] frame process finished the id is: 91 the obs is:12 -[22:31:08.566] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:08.566] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000002 error end=0.000002 -[22:31:08.566] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000000,angle between two frames:0.000005 -[22:31:08.566] frame process finished the id is: 91 the obs is:12 -[22:31:08.675] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:08.675] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000100 error end=0.000100 -[22:31:08.675] After pose optimization, distance between ekf and vo x:-0.000029 ,z=0.000010,angle between two frames:0.000025 -[22:31:08.675] frame process finished the id is: 91 the obs is:12 -[22:31:08.765] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:08.765] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000040 error end=0.000040 -[22:31:08.765] After pose optimization, distance between ekf and vo x:0.000039 ,z=0.000018,angle between two frames:0.000074 -[22:31:08.765] frame process finished the id is: 91 the obs is:12 -[22:31:08.884] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:08.884] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000050 error end=0.000050 -[22:31:08.884] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000003,angle between two frames:0.000041 -[22:31:08.884] frame process finished the id is: 91 the obs is:12 -[22:31:08.965] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:08.965] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000025 error end=0.000025 -[22:31:08.965] After pose optimization, distance between ekf and vo x:-0.000009 ,z=0.000005,angle between two frames:0.000003 -[22:31:08.965] frame process finished the id is: 91 the obs is:12 -[22:31:09.067] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.067] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:09.067] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.067] frame process finished the id is: 91 the obs is:12 -[22:31:09.171] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.172] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.172] frame process finished the id is: 91 the obs is:12 -[22:31:09.284] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.284] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.284] frame process finished the id is: 91 the obs is:12 -[22:31:09.365] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.365] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.006507 error end=0.006245 -[22:31:09.365] After pose optimization, distance between ekf and vo x:0.002180 ,z=-0.006145,angle between two frames:0.020192 -[22:31:09.365] frame process finished the id is: 91 the obs is:12 -[22:31:09.490] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.490] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:09.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.490] frame process finished the id is: 91 the obs is:12 -[22:31:09.563] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.563] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000105 error end=0.000105 -[22:31:09.563] After pose optimization, distance between ekf and vo x:-0.000055 ,z=-0.000012,angle between two frames:0.000278 -[22:31:09.563] frame process finished the id is: 91 the obs is:12 -[22:31:09.705] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.705] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000106 error end=0.000106 -[22:31:09.705] After pose optimization, distance between ekf and vo x:0.000028 ,z=-0.000060,angle between two frames:0.000264 -[22:31:09.705] frame process finished the id is: 91 the obs is:12 -[22:31:09.763] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.763] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.763] frame process finished the id is: 91 the obs is:12 -[22:31:09.884] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.884] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.884] frame process finished the id is: 91 the obs is:12 -[22:31:09.969] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:09.969] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:09.969] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:09.969] frame process finished the id is: 91 the obs is:12 -[22:31:10.086] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:10.086] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:10.086] frame process finished the id is: 91 the obs is:12 -[22:31:10.166] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:10.166] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:10.166] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:10.166] frame process finished the id is: 91 the obs is:12 -[22:31:10.290] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:10.290] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.053847 error end=0.039644 -[22:31:10.290] After pose optimization, distance between ekf and vo x:0.012347 ,z=-0.043640,angle between two frames:0.148519 -[22:31:10.290] frame process finished the id is: 91 the obs is:12 -[22:31:10.359] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:10.359] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000195 error end=0.000195 -[22:31:10.359] After pose optimization, distance between ekf and vo x:-0.000506 ,z=0.000093,angle between two frames:0.000553 -[22:31:10.359] frame process finished the id is: 91 the obs is:12 -[22:31:10.485] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:10.485] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:10.485] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:10.485] frame process finished the id is: 91 the obs is:12 -[22:31:10.561] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:10.561] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.002541 error end=0.002500 -[22:31:10.561] After pose optimization, distance between ekf and vo x:0.002986 ,z=0.000816,angle between two frames:0.004920 -[22:31:10.561] frame process finished the id is: 91 the obs is:12 -[22:31:10.662] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:10.662] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.818892 error end=0.549395 -[22:31:10.662] After pose optimization, distance between ekf and vo x:-0.451176 ,z=0.105434,angle between two frames:0.271268 -[22:31:10.662] frame process finished the id is: 91 the obs is:12 -[22:31:10.795] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:10.795] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.020327 error end=0.018716 -[22:31:10.795] After pose optimization, distance between ekf and vo x:0.029656 ,z=-0.007813,angle between two frames:0.026366 -[22:31:10.795] frame process finished the id is: 91 the obs is:12 -[22:31:10.859] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:10.859] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.001270 error end=0.001262 -[22:31:10.859] After pose optimization, distance between ekf and vo x:0.000594 ,z=0.000950,angle between two frames:0.002113 -[22:31:10.859] frame process finished the id is: 91 the obs is:12 -[22:31:10.990] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:10.990] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:10.990] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:10.990] frame process finished the id is: 91 the obs is:12 -[22:31:11.060] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:11.060] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000105 error end=0.000105 -[22:31:11.060] After pose optimization, distance between ekf and vo x:-0.000055 ,z=-0.000012,angle between two frames:0.000278 -[22:31:11.060] frame process finished the id is: 91 the obs is:12 -[22:31:11.163] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:11.163] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.020327 error end=0.018716 -[22:31:11.163] After pose optimization, distance between ekf and vo x:0.029656 ,z=-0.007813,angle between two frames:0.026366 -[22:31:11.163] frame process finished the id is: 91 the obs is:12 -[22:31:11.282] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:11.282] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.026027 error end=0.022324 -[22:31:11.282] After pose optimization, distance between ekf and vo x:-0.012127 ,z=-0.015080,angle between two frames:0.077961 -[22:31:11.282] frame process finished the id is: 91 the obs is:12 -[22:31:11.364] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:11.364] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000841 error end=0.000841 -[22:31:11.364] After pose optimization, distance between ekf and vo x:0.000023 ,z=-0.000074,angle between two frames:0.000347 -[22:31:11.364] frame process finished the id is: 91 the obs is:12 -[22:31:11.480] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:11.480] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.005082 error end=0.004963 -[22:31:11.480] After pose optimization, distance between ekf and vo x:0.004274 ,z=0.001305,angle between two frames:0.007263 -[22:31:11.480] frame process finished the id is: 91 the obs is:12 -[22:31:11.566] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:11.566] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:11.566] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:11.566] frame process finished the id is: 91 the obs is:12 -[22:31:11.665] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:11.665] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.204723 error end=0.163770 -[22:31:11.665] After pose optimization, distance between ekf and vo x:-0.167738 ,z=0.035615,angle between two frames:0.134967 -[22:31:11.665] frame process finished the id is: 91 the obs is:12 -[22:31:11.780] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:11.780] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000635 error end=0.000634 -[22:31:11.780] After pose optimization, distance between ekf and vo x:0.000072 ,z=0.000366,angle between two frames:0.000617 -[22:31:11.780] frame process finished the id is: 91 the obs is:12 -[22:31:11.862] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:11.862] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:11.862] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:11.862] frame process finished the id is: 91 the obs is:12 -[22:31:11.994] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:11.994] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:11.994] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:11.994] frame process finished the id is: 91 the obs is:12 -[22:31:12.066] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:12.066] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000002 error end=0.000002 -[22:31:12.066] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000000,angle between two frames:0.000005 -[22:31:12.066] frame process finished the id is: 91 the obs is:12 -[22:31:12.165] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:12.165] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.104108 error end=0.091671 -[22:31:12.165] After pose optimization, distance between ekf and vo x:-0.075973 ,z=0.023540,angle between two frames:0.068441 -[22:31:12.165] frame process finished the id is: 91 the obs is:12 -[22:31:12.286] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:12.286] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000020 error end=0.000020 -[22:31:12.286] After pose optimization, distance between ekf and vo x:0.000018 ,z=0.000005,angle between two frames:0.000029 -[22:31:12.286] frame process finished the id is: 91 the obs is:12 -[22:31:12.368] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:12.368] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.046858 error end=0.037205 -[22:31:12.368] After pose optimization, distance between ekf and vo x:0.018435 ,z=0.040691,angle between two frames:0.063080 -[22:31:12.368] frame process finished the id is: 91 the obs is:12 -[22:31:12.480] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:12.480] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:31:12.480] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000002 -[22:31:12.480] frame process finished the id is: 91 the obs is:12 -[22:31:12.566] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:12.566] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.100054 error end=0.091372 -[22:31:12.566] After pose optimization, distance between ekf and vo x:-0.019067 ,z=-0.005990,angle between two frames:0.050921 -[22:31:12.566] frame process finished the id is: 91 the obs is:12 -[22:31:12.673] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:12.673] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000701 error end=0.000698 -[22:31:12.673] After pose optimization, distance between ekf and vo x:-0.000148 ,z=0.001022,angle between two frames:0.000954 -[22:31:12.673] frame process finished the id is: 91 the obs is:12 -[22:31:12.776] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:12.776] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000010 error end=0.000010 -[22:31:12.776] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000012,angle between two frames:0.000014 -[22:31:12.776] frame process finished the id is: 91 the obs is:12 -[22:31:12.874] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:12.874] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.196427 error end=0.172638 -[22:31:12.874] After pose optimization, distance between ekf and vo x:-0.105911 ,z=0.017412,angle between two frames:0.088392 -[22:31:12.874] frame process finished the id is: 91 the obs is:12 -[22:31:12.986] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:12.986] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:31:12.986] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:12.986] frame process finished the id is: 91 the obs is:12 -[22:31:13.063] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:13.063] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:13.063] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:13.063] frame process finished the id is: 91 the obs is:12 -[22:31:13.190] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:13.190] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000007 error end=0.000007 -[22:31:13.190] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000001,angle between two frames:0.000015 -[22:31:13.190] frame process finished the id is: 91 the obs is:12 -[22:31:13.257] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:13.257] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.054071 error end=0.043695 -[22:31:13.257] After pose optimization, distance between ekf and vo x:-0.042574 ,z=-0.000164,angle between two frames:0.104132 -[22:31:13.257] frame process finished the id is: 91 the obs is:12 -[22:31:13.388] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:13.388] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:13.388] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000001 -[22:31:13.388] frame process finished the id is: 91 the obs is:12 -[22:31:13.462] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:13.462] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.102362 error end=0.068069 -[22:31:13.462] After pose optimization, distance between ekf and vo x:-0.114099 ,z=-0.050958,angle between two frames:0.238923 -[22:31:13.462] frame process finished the id is: 91 the obs is:12 -[22:31:13.595] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:13.595] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.040655 error end=0.037267 -[22:31:13.595] After pose optimization, distance between ekf and vo x:-0.027155 ,z=0.038455,angle between two frames:0.024580 -[22:31:13.595] frame process finished the id is: 91 the obs is:12 -[22:31:13.668] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:13.668] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000040 error end=0.000040 -[22:31:13.668] After pose optimization, distance between ekf and vo x:0.000039 ,z=0.000018,angle between two frames:0.000074 -[22:31:13.668] frame process finished the id is: 91 the obs is:12 -[22:31:13.789] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:13.789] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.081310 error end=0.070708 -[22:31:13.789] After pose optimization, distance between ekf and vo x:-0.035332 ,z=0.053811,angle between two frames:0.040648 -[22:31:13.789] frame process finished the id is: 91 the obs is:12 -[22:31:13.864] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:13.864] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:13.864] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:13.864] frame process finished the id is: 91 the obs is:12 -[22:31:13.984] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:13.984] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.006731 error end=0.006622 -[22:31:13.984] After pose optimization, distance between ekf and vo x:-0.000192 ,z=-0.001193,angle between two frames:0.007609 -[22:31:13.984] frame process finished the id is: 91 the obs is:12 -[22:31:14.074] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:14.074] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000421 error end=0.000420 -[22:31:14.074] After pose optimization, distance between ekf and vo x:-0.000349 ,z=0.000055,angle between two frames:0.000997 -[22:31:14.074] frame process finished the id is: 91 the obs is:12 -[22:31:14.187] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:14.187] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:14.187] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:14.187] frame process finished the id is: 91 the obs is:12 -[22:31:14.263] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:14.263] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.003379 error end=0.003340 -[22:31:14.263] After pose optimization, distance between ekf and vo x:-0.001141 ,z=-0.000138,angle between two frames:0.005358 -[22:31:14.263] frame process finished the id is: 91 the obs is:12 -[22:31:14.383] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:14.383] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:14.383] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:14.383] frame process finished the id is: 91 the obs is:12 -[22:31:14.464] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:14.464] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000200 error end=0.000200 -[22:31:14.464] After pose optimization, distance between ekf and vo x:-0.000143 ,z=0.000005,angle between two frames:0.000291 -[22:31:14.464] frame process finished the id is: 91 the obs is:12 -[22:31:14.584] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:14.584] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.358675 error end=0.158497 -[22:31:14.584] After pose optimization, distance between ekf and vo x:-0.082957 ,z=0.151621,angle between two frames:0.261676 -[22:31:14.584] frame process finished the id is: 91 the obs is:12 -[22:31:14.662] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:14.662] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:14.662] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:14.662] frame process finished the id is: 91 the obs is:12 -[22:31:14.786] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:14.786] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000098 error end=0.000098 -[22:31:14.786] After pose optimization, distance between ekf and vo x:-0.000126 ,z=-0.000022,angle between two frames:0.000282 -[22:31:14.786] frame process finished the id is: 91 the obs is:12 -[22:31:14.887] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:14.887] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000020 error end=0.000020 -[22:31:14.887] After pose optimization, distance between ekf and vo x:0.000018 ,z=0.000005,angle between two frames:0.000029 -[22:31:14.887] frame process finished the id is: 91 the obs is:12 -[22:31:14.959] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:14.959] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.204723 error end=0.163770 -[22:31:14.959] After pose optimization, distance between ekf and vo x:-0.167738 ,z=0.035615,angle between two frames:0.134967 -[22:31:14.959] frame process finished the id is: 91 the obs is:12 -[22:31:15.089] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:15.089] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000841 error end=0.000841 -[22:31:15.089] After pose optimization, distance between ekf and vo x:0.000023 ,z=-0.000074,angle between two frames:0.000347 -[22:31:15.089] frame process finished the id is: 91 the obs is:12 -[22:31:15.164] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:15.164] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:15.164] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:15.164] frame process finished the id is: 91 the obs is:12 -[22:31:15.280] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:15.280] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000102 error end=0.000102 -[22:31:15.280] After pose optimization, distance between ekf and vo x:-0.000036 ,z=0.000019,angle between two frames:0.000013 -[22:31:15.280] frame process finished the id is: 91 the obs is:12 -[22:31:15.346] Odometry x=0.435807, y=2.426104, theta=-1.892646 -[22:31:15.364] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:15.364] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000002 error end=0.000002 -[22:31:15.364] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000005 -[22:31:15.364] frame process finished the id is: 91 the obs is:12 -[22:31:15.446] Odometry x=0.443225, y=2.423390, theta=-1.901412 -[22:31:15.484] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:15.485] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000886 error end=0.000883 -[22:31:15.485] After pose optimization, distance between ekf and vo x:-0.000758 ,z=0.000398,angle between two frames:0.001627 -[22:31:15.485] frame process finished the id is: 91 the obs is:12 -[22:31:15.551] Odometry x=0.451636, y=2.420752, theta=-1.894563 -[22:31:15.565] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:15.565] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 -[22:31:15.566] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:15.566] frame process finished the id is: 91 the obs is:12 -[22:31:15.649] Odometry x=0.459541, y=2.417562, theta=-1.904227 -[22:31:15.677] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:15.677] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:15.677] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:15.677] frame process finished the id is: 91 the obs is:12 -[22:31:15.755] Odometry x=0.466354, y=2.414061, theta=-1.903582 -[22:31:15.791] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:15.791] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[22:31:15.791] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:15.791] frame process finished the id is: 91 the obs is:12 -[22:31:15.845] Odometry x=0.473692, y=2.411290, theta=-1.904065 -[22:31:15.861] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:15.861] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[22:31:15.861] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:15.861] frame process finished the id is: 91 the obs is:12 -[22:31:15.945] Odometry x=0.480792, y=2.408669, theta=-1.900534 -[22:31:15.985] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:15.985] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[22:31:15.985] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000 -[22:31:15.985] frame process finished the id is: 91 the obs is:12 -[22:31:16.046] Odometry x=0.488052, y=2.407211, theta=-1.910194 -[22:31:16.062] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:16.062] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.079881 error end=0.045333 -[22:31:16.062] After pose optimization, distance between ekf and vo x:0.306388 ,z=0.122874,angle between two frames:0.123267 -[22:31:16.062] frame process finished the id is: 91 the obs is:12 -[22:31:16.142] Odometry x=0.495532, y=2.404157, theta=-1.898917 -[22:31:16.182] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:16.182] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.008136 error end=0.007511 -[22:31:16.182] After pose optimization, distance between ekf and vo x:0.034050 ,z=0.016615,angle between two frames:0.017020 -[22:31:16.182] frame process finished the id is: 91 the obs is:12 -[22:31:16.251] Odometry x=0.502736, y=2.401486, theta=-1.906578 -[22:31:16.268] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:16.268] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000002 error end=0.000002 -[22:31:16.268] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000001 -[22:31:16.268] frame process finished the id is: 91 the obs is:12 -[22:31:16.347] Odometry x=0.510534, y=2.398025, theta=-1.905250 -[22:31:16.377] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:16.377] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.034523 error end=0.030039 -[22:31:16.377] After pose optimization, distance between ekf and vo x:0.004992 ,z=0.028964,angle between two frames:0.044393 -[22:31:16.377] frame process finished the id is: 91 the obs is:12 -[22:31:16.447] Odometry x=0.518103, y=2.396708, theta=-1.901062 -[22:31:16.464] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:16.464] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000001 error end=0.000001 -[22:31:16.464] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:16.464] frame process finished the id is: 91 the obs is:12 -[22:31:16.542] Odometry x=0.525444, y=2.393527, theta=-1.905077 -[22:31:16.582] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:16.582] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000050 error end=0.000050 -[22:31:16.582] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:16.582] frame process finished the id is: 91 the obs is:12 -[22:31:16.645] Odometry x=0.533154, y=2.391568, theta=-1.899169 -[22:31:16.663] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:16.663] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.030081 error end=0.030015 -[22:31:16.663] After pose optimization, distance between ekf and vo x:-0.001308 ,z=-0.000131,angle between two frames:0.000016 -[22:31:16.663] frame process finished the id is: 91 the obs is:12 -[22:31:16.763] Odometry x=0.540041, y=2.388081, theta=-1.903263 -[22:31:16.785] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:16.785] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:31:16.785] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000000,angle between two frames:0.000001 -[22:31:16.785] frame process finished the id is: 91 the obs is:12 -[22:31:16.857] Odometry x=0.547735, y=2.385735, theta=-1.894636 -[22:31:16.862] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:16.862] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =1.212796 error end=0.434611 -[22:31:16.862] After pose optimization, distance between ekf and vo x:-0.396799 ,z=0.367943,angle between two frames:0.428293 -[22:31:16.862] frame process finished the id is: 91 the obs is:12 -[22:31:16.947] Odometry x=0.555602, y=2.382860, theta=-1.898250 -[22:31:16.981] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:16.981] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:16.981] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:16.981] frame process finished the id is: 91 the obs is:12 -[22:31:17.048] Odometry x=0.563684, y=2.380690, theta=-1.889953 -[22:31:17.070] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:17.071] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000001 error end=0.000001 -[22:31:17.071] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000001 -[22:31:17.071] frame process finished the id is: 91 the obs is:12 -[22:31:17.164] Odometry x=0.571175, y=2.378252, theta=-1.894731 -[22:31:17.165] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:17.165] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 -[22:31:17.165] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:17.165] frame process finished the id is: 91 the obs is:12 -[22:31:17.260] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:17.260] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.046663 error end=0.046387 -[22:31:17.260] After pose optimization, distance between ekf and vo x:0.556599 ,z=-0.068296,angle between two frames:0.047814 -[22:31:17.260] frame process finished the id is: 91 the obs is:12 -[22:31:17.263] Odometry x=0.578515, y=2.375277, theta=-1.895367 -[22:31:17.362] Odometry x=0.586948, y=2.372312, theta=-1.892887 -[22:31:17.389] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:17.389] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000699 error end=0.000698 -[22:31:17.389] After pose optimization, distance between ekf and vo x:-0.000641 ,z=0.000663,angle between two frames:0.000574 -[22:31:17.389] frame process finished the id is: 91 the obs is:12 -[22:31:17.450] Odometry x=0.594385, y=2.368857, theta=-1.906123 -[22:31:17.458] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:17.458] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.010578 error end=0.010405 -[22:31:17.458] After pose optimization, distance between ekf and vo x:-0.011963 ,z=0.009508,angle between two frames:0.008657 -[22:31:17.458] frame process finished the id is: 91 the obs is:12 -[22:31:17.546] Odometry x=0.601421, y=2.366730, theta=-1.899948 -[22:31:17.598] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:17.598] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000128 error end=0.000128 -[22:31:17.598] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.000122,angle between two frames:0.000112 -[22:31:17.598] frame process finished the id is: 91 the obs is:12 -[22:31:17.648] Odometry x=0.608681, y=2.362690, theta=-1.903624 -[22:31:17.656] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:17.656] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[22:31:17.656] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:17.656] frame process finished the id is: 91 the obs is:12 -[22:31:17.743] Odometry x=0.615191, y=2.360838, theta=-1.892012 -[22:31:17.771] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:17.771] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[22:31:17.771] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 -[22:31:17.771] frame process finished the id is: 91 the obs is:12 -[22:31:17.858] Odometry x=0.623008, y=2.358824, theta=-1.901540 -[22:31:17.875] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:17.875] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.041382 error end=0.041285 -[22:31:17.875] After pose optimization, distance between ekf and vo x:-0.008045 ,z=0.000001,angle between two frames:0.000336 -[22:31:17.875] frame process finished the id is: 91 the obs is:12 -[22:31:17.946] Odometry x=0.630744, y=2.357494, theta=-1.899691 -[22:31:17.969] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:17.969] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.014597 error end=0.014027 -[22:31:17.969] After pose optimization, distance between ekf and vo x:0.013312 ,z=0.010520,angle between two frames:0.010082 -[22:31:17.969] frame process finished the id is: 91 the obs is:12 -[22:31:18.051] Odometry x=0.638064, y=2.353367, theta=-1.908907 -[22:31:18.076] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:18.076] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.003657 error end=0.003621 -[22:31:18.076] After pose optimization, distance between ekf and vo x:-0.000404 ,z=0.002926,angle between two frames:0.003427 -[22:31:18.076] frame process finished the id is: 91 the obs is:12 -[22:31:18.151] Odometry x=0.645760, y=2.350930, theta=-1.902686 -[22:31:18.170] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:18.170] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.205259 error end=0.149336 -[22:31:18.170] After pose optimization, distance between ekf and vo x:-0.090298 ,z=0.112658,angle between two frames:0.130683 -[22:31:18.170] frame process finished the id is: 91 the obs is:12 -[22:31:18.259] Odometry x=0.653405, y=2.349013, theta=-1.898473 -[22:31:18.273] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:18.273] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[22:31:18.273] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000000,angle between two frames:0.000000 -[22:31:18.273] frame process finished the id is: 91 the obs is:12 -[22:31:18.358] Odometry x=0.660805, y=2.346219, theta=-1.898362 -[22:31:18.373] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:18.373] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.009148 error end=0.009148 -[22:31:18.373] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:18.373] frame process finished the id is: 91 the obs is:12 -[22:31:18.442] Odometry x=0.667838, y=2.343439, theta=-1.895672 -[22:31:18.472] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:18.472] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[22:31:18.472] After pose optimization, distance between ekf and vo x:-0.000015 ,z=0.000058,angle between two frames:0.000001 -[22:31:18.472] frame process finished the id is: 91 the obs is:12 -[22:31:18.550] Odometry x=0.675466, y=2.340177, theta=-1.896569 -[22:31:18.575] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:18.575] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000007 error end=0.000007 -[22:31:18.575] After pose optimization, distance between ekf and vo x:0.000749 ,z=0.000038,angle between two frames:0.000007 -[22:31:18.575] frame process finished the id is: 91 the obs is:12 -[22:31:18.652] Odometry x=0.682384, y=2.337862, theta=-1.893137 -[22:31:18.670] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:18.670] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[22:31:18.670] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[22:31:18.670] frame process finished the id is: 91 the obs is:12 -[22:31:18.747] Odometry x=0.689750, y=2.334698, theta=-1.897106 -[22:31:18.792] After Reprojection Map nMatches:162 ,distance between ekf and vo x:-0.002149 ,z=-0.002834,angle between two frames:0.001522 -[22:31:18.793] n deleted obs = 37 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =125 error init =0.028599 error end=0.028599 -[22:31:18.793] After pose optimization, distance between ekf and vo x:-0.002149 ,z=-0.002834,angle between two frames:0.001522 -[22:31:18.793] Update EKF and 3D points the number of feature in the new frame: 125 and number of obs: 125 -[22:31:18.793] need key frame pitch dis: 0.462543 translation dif:2.106844 -[22:31:18.793] Choose frame as a key frame Scene Depth mean:0.950332 ,depth min:-23.168416 -[22:31:18.793] frame process finished the id is: 973 the obs is:125 -[22:31:18.848] Odometry x=0.689568, y=2.332650, theta=-1.897233 -[22:31:18.887] After Reprojection Map nMatches:194 ,distance between ekf and vo x:-0.001984 ,z=-0.002635,angle between two frames:0.001393 -[22:31:18.887] n deleted obs = 59 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =135 error init =0.157041 error end=0.156016 -[22:31:18.887] After pose optimization, distance between ekf and vo x:-0.006559 ,z=-0.011149,angle between two frames:0.000950 -[22:31:18.887] Update EKF and 3D points the number of feature in the new frame: 135 and number of obs: 135 -[22:31:18.888] need key frame pitch dis: 0.453011 translation dif:2.097685 -[22:31:18.888] Choose frame as a key frame Scene Depth mean:1.480158 ,depth min:-27.396422 -[22:31:18.888] frame process finished the id is: 974 the obs is:135 -[22:31:18.954] Odometry x=0.687086, y=2.323816, theta=-1.906765 -[22:31:18.999] After Reprojection Map nMatches:194 ,distance between ekf and vo x:0.000329 ,z=0.000782,angle between two frames:0.000288 -[22:31:18.999] n deleted obs = 48 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =146 error init =0.246811 error end=0.246796 -[22:31:18.999] After pose optimization, distance between ekf and vo x:0.000037 ,z=0.000444,angle between two frames:0.000326 -[22:31:18.999] Update EKF and 3D points the number of feature in the new frame: 146 and number of obs: 146 -[22:31:19.000] need key frame pitch dis: 0.446499 translation dif:2.097557 -[22:31:19.000] Choose frame as a key frame Scene Depth mean:0.895289 ,depth min:-24.439616 -[22:31:19.000] frame process finished the id is: 975 the obs is:146 -[22:31:19.055] Odometry x=0.688820, y=2.323078, theta=-1.913277 -[22:31:19.096] After Reprojection Map nMatches:160 ,distance between ekf and vo x:0.000135 ,z=0.000353,angle between two frames:0.000133 -[22:31:19.096] n deleted obs = 53 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =107 error init =0.062411 error end=0.062411 -[22:31:19.096] After pose optimization, distance between ekf and vo x:0.000135 ,z=0.000353,angle between two frames:0.000133 -[22:31:19.096] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107 -[22:31:19.097] need key frame pitch dis: 4.923670 translation dif:2.298798 -[22:31:19.097] Choose frame as a key frame Scene Depth mean:2.847311 ,depth min:-26.192428 -[22:31:19.097] frame process finished the id is: 976 the obs is:107 -[22:31:19.149] Odometry x=0.691097, y=2.322165, theta=-1.912214 -[22:31:19.186] After Reprojection Map nMatches:176 ,distance between ekf and vo x:-0.000058 ,z=-0.000029,angle between two frames:0.000281 -[22:31:19.187] n deleted obs = 37 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =139 error init =0.034022 error end=0.034022 -[22:31:19.187] After pose optimization, distance between ekf and vo x:0.000132 ,z=0.000272,angle between two frames:0.000297 -[22:31:19.187] Update EKF and 3D points the number of feature in the new frame: 139 and number of obs: 139 -[22:31:19.187] need key frame pitch dis: 0.737454 translation dif:4.562629 -[22:31:19.187] Choose frame as a key frame Scene Depth mean:0.712612 ,depth min:-28.098919 -[22:31:19.187] frame process finished the id is: 977 the obs is:139 -[22:31:19.258] Odometry x=0.693132, y=2.321645, theta=-1.909840 -[22:31:19.281] After Reprojection Map nMatches:162 ,distance between ekf and vo x:-0.000005 ,z=0.000002,angle between two frames:0.000000 -[22:31:19.281] n deleted obs = 27 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =135 error init =0.061197 error end=0.022084 -[22:31:19.281] After pose optimization, distance between ekf and vo x:0.494198 ,z=0.560588,angle between two frames:0.019227 -[22:31:19.281] frame process finished the id is: 977 the obs is:139 -[22:31:19.347] Odometry x=0.701383, y=2.318344, theta=-1.917293 -[22:31:19.384] After Reprojection Map nMatches:158 ,distance between ekf and vo x:-0.000006 ,z=0.000002,angle between two frames:0.000000 -[22:31:19.384] n deleted obs = 30 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =128 error init =0.034136 error end=0.034136 -[22:31:19.384] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000002,angle between two frames:0.000000 -[22:31:19.384] Update EKF and 3D points the number of feature in the new frame: 128 and number of obs: 128 -[22:31:19.385] need key frame pitch dis: 0.022374 translation dif:1.001307 -[22:31:19.385] Choose frame as a key frame Scene Depth mean:169.425895 ,depth min:-227.571246 -[22:31:19.385] frame process finished the id is: 979 the obs is:128 -[22:31:19.449] Odometry x=0.703208, y=2.318373, theta=-1.916834 -[22:31:19.503] After Reprojection Map nMatches:170 ,distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000000 -[22:31:19.503] n deleted obs = 67 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =103 error init =0.418881 error end=0.418881 -[22:31:19.503] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000000 -[22:31:19.503] Update EKF and 3D points the number of feature in the new frame: 103 and number of obs: 103 -[22:31:19.504] need key frame pitch dis: 0.674898 translation dif:4.426703 -[22:31:19.504] Choose frame as a key frame Scene Depth mean:7.829684 ,depth min:-35.093873 -[22:31:19.504] frame process finished the id is: 980 the obs is:103 -[22:31:19.541] Odometry x=0.704978, y=2.317096, theta=-1.920901 -[22:31:19.590] After Reprojection Map nMatches:128 ,distance between ekf and vo x:-0.000003 ,z=-0.000000,angle between two frames:0.000000 -[22:31:19.590] n deleted obs = 33 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =95 error init =0.111158 error end=0.110586 -[22:31:19.590] After pose optimization, distance between ekf and vo x:0.018849 ,z=0.024804,angle between two frames:0.000599 -[22:31:19.590] Update EKF and 3D points the number of feature in the new frame: 95 and number of obs: 95 -[22:31:19.590] need key frame pitch dis: 4.430172 translation dif:6.873258 -[22:31:19.590] Choose frame as a key frame Scene Depth mean:8.406102 ,depth min:-31.541866 -[22:31:19.590] frame process finished the id is: 981 the obs is:95 -[22:31:19.645] Odometry x=0.721640, y=2.335156, theta=-1.919562 -[22:31:19.693] After Reprojection Map nMatches:122 ,distance between ekf and vo x:-0.000004 ,z=0.000001,angle between two frames:0.000000 -[22:31:19.694] n deleted obs = 31 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =91 error init =0.288339 error end=0.288339 -[22:31:19.694] After pose optimization, distance between ekf and vo x:-0.000004 ,z=0.000001,angle between two frames:0.000000 -[22:31:19.694] Update EKF and 3D points the number of feature in the new frame: 91 and number of obs: 91 -[22:31:19.694] need key frame pitch dis: 4.426400 translation dif:6.873636 -[22:31:19.694] Choose frame as a key frame Scene Depth mean:14.254459 ,depth min:-34.945851 -[22:31:19.694] frame process finished the id is: 982 the obs is:91 -[22:31:19.744] Odometry x=0.723567, y=2.334230, theta=-1.915791 -[22:31:19.788] After Reprojection Map nMatches:103 ,distance between ekf and vo x:-0.000002 ,z=0.000004,angle between two frames:0.000000 -[22:31:19.789] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =78 error init =0.236015 error end=0.231716 -[22:31:19.789] After pose optimization, distance between ekf and vo x:0.086177 ,z=0.242197,angle between two frames:0.003659 -[22:31:19.789] frame process finished the id is: 982 the obs is:91 -[22:31:19.846] Odometry x=0.731581, y=2.331218, theta=-1.912879 -[22:31:19.878] After Reprojection Map nMatches:116 ,distance between ekf and vo x:-0.000001 ,z=0.000004,angle between two frames:0.000000 -[22:31:19.878] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =92 error init =0.072566 error end=0.069430 -[22:31:19.878] After pose optimization, distance between ekf and vo x:0.048340 ,z=0.132134,angle between two frames:0.003157 -[22:31:19.878] Update EKF and 3D points the number of feature in the new frame: 92 and number of obs: 92 -[22:31:19.879] need key frame pitch dis: 4.425943 translation dif:6.980325 -[22:31:19.879] Choose frame as a key frame Scene Depth mean:25.686041 ,depth min:-32.287018 -[22:31:19.879] frame process finished the id is: 984 the obs is:92 -[22:31:19.944] Odometry x=0.770795, y=2.431699, theta=-1.915334 -[22:31:19.988] After Reprojection Map nMatches:109 ,distance between ekf and vo x:-0.000002 ,z=0.000000,angle between two frames:0.000000 -[22:31:19.988] n deleted obs = 22 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =87 error init =0.032036 error end=0.032036 -[22:31:19.988] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000000,angle between two frames:0.000000 -[22:31:19.988] Update EKF and 3D points the number of feature in the new frame: 87 and number of obs: 87 -[22:31:19.988] need key frame pitch dis: 4.418945 translation dif:6.980546 -[22:31:19.988] Choose frame as a key frame Scene Depth mean:75.330153 ,depth min:-38.475604 -[22:31:19.988] frame process finished the id is: 985 the obs is:87 -[22:31:20.047] Odometry x=0.772893, y=2.430463, theta=-1.908336 -[22:31:20.086] After Reprojection Map nMatches:84 ,distance between ekf and vo x:-0.000002 ,z=-0.000000,angle between two frames:0.000000 -[22:31:20.087] n deleted obs = 31 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =53 error init =0.212737 error end=0.212716 -[22:31:20.087] After pose optimization, distance between ekf and vo x:0.000247 ,z=0.000657,angle between two frames:0.000007 -[22:31:20.087] Update EKF and 3D points the number of feature in the new frame: 53 and number of obs: 53 -[22:31:20.087] need key frame pitch dis: 4.411732 translation dif:6.981687 -[22:31:20.087] Choose frame as a key frame Scene Depth mean:72.304527 ,depth min:-43.637898 -[22:31:20.087] frame process finished the id is: 986 the obs is:53 -[22:31:20.146] Odometry x=0.775272, y=2.430158, theta=-1.901122 -[22:31:20.173] After Reprojection Map nMatches:107 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000 -[22:31:20.174] n deleted obs = 22 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =85 error init =0.133071 error end=0.133071 -[22:31:20.174] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000 -[22:31:20.174] Update EKF and 3D points the number of feature in the new frame: 85 and number of obs: 85 -[22:31:20.174] need key frame pitch dis: 4.846339 translation dif:5.003712 -[22:31:20.174] Choose frame as a key frame Scene Depth mean:15.171110 ,depth min:-3.737902 -[22:31:20.174] frame process finished the id is: 987 the obs is:85 -[22:31:20.245] Odometry x=0.777129, y=2.428838, theta=-1.892654 -[22:31:20.307] After Reprojection Map nMatches:77 ,distance between ekf and vo x:-0.000001 ,z=-0.000002,angle between two frames:0.000000 -[22:31:20.307] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =65 error init =0.006397 error end=0.006397 -[22:31:20.307] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000002,angle between two frames:0.000000 -[22:31:20.307] Update EKF and 3D points the number of feature in the new frame: 65 and number of obs: 65 -[22:31:20.307] need key frame pitch dis: 5.000343 translation dif:8.272838 -[22:31:20.307] Choose frame as a key frame Scene Depth mean:10.682224 ,depth min:-38.550763 -[22:31:20.308] frame process finished the id is: 988 the obs is:65 -[22:31:20.345] Odometry x=0.779211, y=2.428146, theta=-1.890615 -[22:31:20.374] After Reprojection Map nMatches:95 ,distance between ekf and vo x:-0.000004 ,z=0.000002,angle between two frames:0.000000 -[22:31:20.375] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =81 error init =0.007844 error end=0.007844 -[22:31:20.375] After pose optimization, distance between ekf and vo x:-0.000004 ,z=0.000002,angle between two frames:0.000000 -[22:31:20.375] Update EKF and 3D points the number of feature in the new frame: 81 and number of obs: 81 -[22:31:20.375] need key frame pitch dis: 4.677922 translation dif:3.913891 -[22:31:20.375] Choose frame as a key frame Scene Depth mean:12.462108 ,depth min:-1.098197 -[22:31:20.375] frame process finished the id is: 989 the obs is:81 -[22:31:20.443] Odometry x=0.781514, y=2.427162, theta=-1.894653 -[22:31:20.486] After Reprojection Map nMatches:98 ,distance between ekf and vo x:-0.000003 ,z=0.000002,angle between two frames:0.000000 -[22:31:20.487] n deleted obs = 28 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =70 error init =3.010622 error end=0.214544 -[22:31:20.487] After pose optimization, distance between ekf and vo x:24.460451 ,z=13.724822,angle between two frames:4.632318 -[22:31:20.487] frame process finished the id is: 989 the obs is:81 -[22:31:20.546] Odometry x=0.789695, y=2.425098, theta=-1.892362 -[22:31:20.577] After Reprojection Map nMatches:86 ,distance between ekf and vo x:-0.000005 ,z=0.000002,angle between two frames:0.000000 -[22:31:20.577] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =66 error init =0.109599 error end=0.109599 -[22:31:20.577] After pose optimization, distance between ekf and vo x:-0.000005 ,z=0.000002,angle between two frames:0.000000 -[22:31:20.577] Update EKF and 3D points the number of feature in the new frame: 66 and number of obs: 66 -[22:31:20.577] need key frame pitch dis: 2.306350 translation dif:6.347769 -[22:31:20.577] Choose frame as a key frame Scene Depth mean:9.744100 ,depth min:-1.587096 -[22:31:20.577] frame process finished the id is: 991 the obs is:66 -[22:31:20.640] Odometry x=0.791432, y=2.424226, theta=-1.901315 -[22:31:20.674] After Reprojection Map nMatches:83 ,distance between ekf and vo x:-0.000005 ,z=-0.000003,angle between two frames:0.000000 -[22:31:20.674] n deleted obs = 33 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =50 error init =1.690442 error end=0.493474 -[22:31:20.674] After pose optimization, distance between ekf and vo x:-0.240718 ,z=-0.526576,angle between two frames:0.002962 -[22:31:20.674] frame process finished the id is: 991 the obs is:66 -[22:31:20.742] Odometry x=0.799150, y=2.421869, theta=-1.909693 -[22:31:20.805] After Reprojection Map nMatches:94 ,distance between ekf and vo x:-0.000005 ,z=0.000000,angle between two frames:0.000000 -[22:31:20.805] n deleted obs = 27 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =67 error init =0.068585 error end=0.068585 -[22:31:20.805] After pose optimization, distance between ekf and vo x:-0.000005 ,z=0.000000,angle between two frames:0.000000 -[22:31:20.805] Update EKF and 3D points the number of feature in the new frame: 67 and number of obs: 67 -[22:31:20.806] need key frame pitch dis: 1.546015 translation dif:11.624118 -[22:31:20.806] Choose frame as a key frame Scene Depth mean:9.090563 ,depth min:-14.949740 -[22:31:20.806] frame process finished the id is: 993 the obs is:67 -[22:31:20.845] Odometry x=0.800634, y=2.420603, theta=-1.906682 -[22:31:20.869] After Reprojection Map nMatches:63 ,distance between ekf and vo x:-0.000009 ,z=-0.000001,angle between two frames:0.000000 -[22:31:20.869] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =63 error init =0.000194 error end=0.000194 -[22:31:20.869] After pose optimization, distance between ekf and vo x:-0.000009 ,z=-0.000001,angle between two frames:0.000000 -[22:31:20.869] Update EKF and 3D points the number of feature in the new frame: 63 and number of obs: 63 -[22:31:20.869] need key frame pitch dis: 4.685639 translation dif:3.935625 -[22:31:20.869] Choose frame as a key frame Scene Depth mean:1.008227 ,depth min:-15.006636 -[22:31:20.869] frame process finished the id is: 994 the obs is:63 -[22:31:20.945] Odometry x=0.802340, y=2.420624, theta=-1.902370 -[22:31:21.020] After Reprojection Map nMatches:87 ,distance between ekf and vo x:-0.000010 ,z=0.000009,angle between two frames:0.000000 -[22:31:21.020] n deleted obs = 29 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =58 error init =0.005302 error end=0.005302 -[22:31:21.020] After pose optimization, distance between ekf and vo x:-0.000010 ,z=0.000009,angle between two frames:0.000000 -[22:31:21.020] Update EKF and 3D points the number of feature in the new frame: 58 and number of obs: 58 -[22:31:21.020] need key frame pitch dis: 0.384119 translation dif:2.890045 -[22:31:21.020] Choose frame as a key frame Scene Depth mean:0.484973 ,depth min:-15.147032 -[22:31:21.020] frame process finished the id is: 995 the obs is:58 -[22:31:21.047] Odometry x=0.804523, y=2.420290, theta=-1.891793 -[22:31:21.140] After Reprojection Map nMatches:60 ,distance between ekf and vo x:-0.000044 ,z=-0.000004,angle between two frames:0.000010 -[22:31:21.140] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =47 error init =0.055623 error end=0.055623 -[22:31:21.140] After pose optimization, distance between ekf and vo x:-0.000044 ,z=-0.000004,angle between two frames:0.000010 -[22:31:21.140] Update EKF and 3D points the number of feature in the new frame: 47 and number of obs: 47 -[22:31:21.140] need key frame pitch dis: 4.663789 translation dif:3.939893 -[22:31:21.140] Choose frame as a key frame Scene Depth mean:-0.329311 ,depth min:-15.295080 -[22:31:21.140] frame process finished the id is: 996 the obs is:47 -[22:31:21.145] Odometry x=0.806542, y=2.419864, theta=-1.880521 -[22:31:21.241] After Reprojection Map nMatches:62 ,distance between ekf and vo x:-0.000019 ,z=0.000006,angle between two frames:0.000004 -[22:31:21.241] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.285049 error end=0.285049 -[22:31:21.241] After pose optimization, distance between ekf and vo x:-0.000019 ,z=0.000006,angle between two frames:0.000004 -[22:31:21.241] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45 -[22:31:21.242] need key frame pitch dis: 1.077061 translation dif:2.021771 -[22:31:21.242] Choose frame as a key frame Scene Depth mean:4.475684 ,depth min:-15.421795 -[22:31:21.242] frame process finished the id is: 997 the obs is:45 -[22:31:21.242] Odometry x=0.808583, y=2.419055, theta=-1.870740 -[22:31:21.340] After Reprojection Map nMatches:50 ,distance between ekf and vo x:-0.000027 ,z=0.000032,angle between two frames:0.000004 -[22:31:21.341] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.026704 error end=0.026704 -[22:31:21.341] After pose optimization, distance between ekf and vo x:-0.000027 ,z=0.000032,angle between two frames:0.000004 -[22:31:21.341] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 -[22:31:21.341] need key frame pitch dis: 1.064387 translation dif:2.023683 -[22:31:21.341] Choose frame as a key frame Scene Depth mean:-0.930916 ,depth min:-15.531344 -[22:31:21.341] frame process finished the id is: 998 the obs is:40 -[22:31:21.345] Odometry x=0.810389, y=2.418410, theta=-1.858066 -[22:31:21.447] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000085 ,z=-0.000125,angle between two frames:0.000020 -[22:31:21.447] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.004639 error end=0.004639 -[22:31:21.447] After pose optimization, distance between ekf and vo x:-0.000085 ,z=-0.000125,angle between two frames:0.000020 -[22:31:21.447] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:21.447] need key frame pitch dis: 1.848049 translation dif:2.551331 -[22:31:21.447] Choose frame as a key frame Scene Depth mean:-1.234617 ,depth min:-15.658380 -[22:31:21.447] frame process finished the id is: 999 the obs is:24 -[22:31:21.573] After Reprojection Map nMatches:56 ,distance between ekf and vo x:-0.000230 ,z=-0.000275,angle between two frames:0.000068 -[22:31:21.573] n deleted obs = 30 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.262250 error end=0.257153 -[22:31:21.573] After pose optimization, distance between ekf and vo x:-0.162701 ,z=-0.151834,angle between two frames:0.057553 -[22:31:21.573] frame process finished the id is: 999 the obs is:24 -[22:31:21.696] After Reprojection Map nMatches:66 ,distance between ekf and vo x:-0.000227 ,z=-0.000290,angle between two frames:0.000065 -[22:31:21.696] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =54 error init =0.062177 error end=0.062148 -[22:31:21.696] After pose optimization, distance between ekf and vo x:0.001570 ,z=-0.002672,angle between two frames:0.000113 -[22:31:21.696] Update EKF and 3D points the number of feature in the new frame: 54 and number of obs: 54 -[22:31:21.696] need key frame pitch dis: 0.928504 translation dif:2.372374 -[22:31:21.696] Choose frame as a key frame Scene Depth mean:-0.465485 ,depth min:-15.675798 -[22:31:21.697] frame process finished the id is: 1001 the obs is:54 -[22:31:21.804] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000035 ,z=-0.000045,angle between two frames:0.000008 -[22:31:21.804] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.014131 error end=0.013917 -[22:31:21.804] After pose optimization, distance between ekf and vo x:-0.016853 ,z=-0.017966,angle between two frames:0.006736 -[22:31:21.804] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 -[22:31:21.804] need key frame pitch dis: 1.847327 translation dif:2.534353 -[22:31:21.804] Choose frame as a key frame Scene Depth mean:-0.933818 ,depth min:-3.511264 -[22:31:21.804] frame process finished the id is: 1002 the obs is:32 -[22:31:21.913] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.000190 ,z=-0.000023,angle between two frames:0.000054 -[22:31:21.913] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.296388 error end=0.109763 -[22:31:21.913] After pose optimization, distance between ekf and vo x:0.228887 ,z=0.087918,angle between two frames:0.209233 -[22:31:21.913] frame process finished the id is: 1002 the obs is:32 -[22:31:22.016] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.000183 ,z=-0.000080,angle between two frames:0.000054 -[22:31:22.017] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000145 error end=0.000145 -[22:31:22.017] After pose optimization, distance between ekf and vo x:-0.000183 ,z=-0.000080,angle between two frames:0.000054 -[22:31:22.017] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:22.017] need key frame pitch dis: 1.846437 translation dif:2.539016 -[22:31:22.017] Choose frame as a key frame Scene Depth mean:-0.957690 ,depth min:-3.503833 -[22:31:22.017] frame process finished the id is: 1004 the obs is:24 -[22:31:22.105] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.000035 ,z=0.000090,angle between two frames:0.000007 -[22:31:22.105] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.009118 error end=0.009118 -[22:31:22.105] After pose optimization, distance between ekf and vo x:-0.000035 ,z=0.000090,angle between two frames:0.000007 -[22:31:22.105] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 -[22:31:22.106] need key frame pitch dis: 1.846294 translation dif:2.542717 -[22:31:22.106] Choose frame as a key frame Scene Depth mean:-0.394202 ,depth min:-1.822947 -[22:31:22.106] frame process finished the id is: 1005 the obs is:12 -[22:31:22.205] After Reprojection Map nMatches:27 ,distance between ekf and vo x:-0.000061 ,z=0.000210,angle between two frames:0.000003 -[22:31:22.205] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.001408 error end=0.001408 -[22:31:22.205] After pose optimization, distance between ekf and vo x:-0.000061 ,z=0.000210,angle between two frames:0.000003 -[22:31:22.205] Update EKF and 3D points the number of feature in the new frame: 19 and number of obs: 19 -[22:31:22.205] need key frame pitch dis: 0.102568 translation dif:0.135417 -[22:31:22.205] Choose frame as a key frame Scene Depth mean:-0.931334 ,depth min:-3.497002 -[22:31:22.205] frame process finished the id is: 1006 the obs is:19 -[22:31:22.331] After Reprojection Map nMatches:30 ,distance between ekf and vo x:-0.000345 ,z=0.001453,angle between two frames:0.000020 -[22:31:22.331] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.005307 error end=0.005306 -[22:31:22.331] After pose optimization, distance between ekf and vo x:-0.000350 ,z=0.001468,angle between two frames:0.000001 -[22:31:22.331] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 -[22:31:22.332] need key frame pitch dis: 0.049920 translation dif:0.100942 -[22:31:22.332] Choose frame as a key frame Scene Depth mean:-1.954550 ,depth min:-3.494873 -[22:31:22.332] frame process finished the id is: 1007 the obs is:22 -[22:31:22.438] After Reprojection Map nMatches:35 ,distance between ekf and vo x:-0.000732 ,z=0.001728,angle between two frames:0.000139 -[22:31:22.438] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.000317 error end=0.000317 -[22:31:22.438] After pose optimization, distance between ekf and vo x:-0.000834 ,z=0.002241,angle between two frames:0.000045 -[22:31:22.438] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 -[22:31:22.438] need key frame pitch dis: 0.095522 translation dif:0.445469 -[22:31:22.438] Choose frame as a key frame Scene Depth mean:0.988602 ,depth min:-3.493480 -[22:31:22.438] frame process finished the id is: 1008 the obs is:35 -[22:31:22.556] After Reprojection Map nMatches:53 ,distance between ekf and vo x:0.000401 ,z=-0.001995,angle between two frames:0.000094 -[22:31:22.557] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.142291 error end=0.141083 -[22:31:22.557] After pose optimization, distance between ekf and vo x:-0.012055 ,z=0.004628,angle between two frames:0.005038 -[22:31:22.557] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 -[22:31:22.557] need key frame pitch dis: 0.101090 translation dif:0.359387 -[22:31:22.557] Choose frame as a key frame Scene Depth mean:-5.770967 ,depth min:-149.492536 -[22:31:22.557] frame process finished the id is: 1009 the obs is:27 -[22:31:22.658] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.000043 ,z=-0.000013,angle between two frames:0.000022 -[22:31:22.658] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.002769 error end=0.002769 -[22:31:22.658] After pose optimization, distance between ekf and vo x:0.000047 ,z=0.000055,angle between two frames:0.000023 -[22:31:22.658] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 -[22:31:22.658] need key frame pitch dis: 0.189820 translation dif:0.865565 -[22:31:22.658] Choose frame as a key frame Scene Depth mean:1.247739 ,depth min:-2.701610 -[22:31:22.658] frame process finished the id is: 1010 the obs is:35 -[22:31:22.753] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.000027 ,z=0.000233,angle between two frames:0.000023 -[22:31:22.753] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.021464 error end=0.021452 -[22:31:22.753] After pose optimization, distance between ekf and vo x:-0.000434 ,z=0.000337,angle between two frames:0.000117 -[22:31:22.753] Update EKF and 3D points the number of feature in the new frame: 39 and number of obs: 39 -[22:31:22.753] need key frame pitch dis: 0.189903 translation dif:0.864213 -[22:31:22.753] Choose frame as a key frame Scene Depth mean:3.401570 ,depth min:-3.133354 -[22:31:22.753] frame process finished the id is: 1011 the obs is:39 -[22:31:22.846] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.000030 ,z=0.000389,angle between two frames:0.000033 -[22:31:22.846] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 error init =0.002786 error end=0.002786 -[22:31:22.846] After pose optimization, distance between ekf and vo x:0.000030 ,z=0.000389,angle between two frames:0.000033 -[22:31:22.846] Update EKF and 3D points the number of feature in the new frame: 38 and number of obs: 38 -[22:31:22.846] need key frame pitch dis: 0.203606 translation dif:0.880211 -[22:31:22.846] Choose frame as a key frame Scene Depth mean:1.514572 ,depth min:-3.493540 -[22:31:22.846] frame process finished the id is: 1012 the obs is:38 -[22:31:22.933] After Reprojection Map nMatches:52 ,distance between ekf and vo x:0.000057 ,z=0.000438,angle between two frames:0.000047 -[22:31:22.934] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.020395 error end=0.020395 -[22:31:22.934] After pose optimization, distance between ekf and vo x:0.000098 ,z=0.000466,angle between two frames:0.000046 -[22:31:22.934] Update EKF and 3D points the number of feature in the new frame: 36 and number of obs: 36 -[22:31:22.934] need key frame pitch dis: 0.203608 translation dif:0.878933 -[22:31:22.934] Choose frame as a key frame Scene Depth mean:0.844092 ,depth min:-3.492130 -[22:31:22.934] frame process finished the id is: 1013 the obs is:36 -[22:31:23.027] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000037 ,z=0.000467,angle between two frames:0.000042 -[22:31:23.027] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.095798 error end=0.095798 -[22:31:23.027] After pose optimization, distance between ekf and vo x:0.000037 ,z=0.000467,angle between two frames:0.000042 -[22:31:23.027] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 -[22:31:23.027] need key frame pitch dis: 0.203609 translation dif:0.878001 -[22:31:23.027] Choose frame as a key frame Scene Depth mean:0.995694 ,depth min:-3.491101 -[22:31:23.027] frame process finished the id is: 1014 the obs is:35 -[22:31:23.133] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000024 ,z=0.000440,angle between two frames:0.000031 -[22:31:23.133] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.058750 error end=0.058750 -[22:31:23.133] After pose optimization, distance between ekf and vo x:0.000024 ,z=0.000440,angle between two frames:0.000031 -[22:31:23.133] Update EKF and 3D points the number of feature in the new frame: 19 and number of obs: 19 -[22:31:23.133] need key frame pitch dis: 0.203611 translation dif:0.877292 -[22:31:23.133] Choose frame as a key frame Scene Depth mean:-0.062427 ,depth min:-3.490339 -[22:31:23.133] frame process finished the id is: 1015 the obs is:19 -[22:31:23.221] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000113 ,z=0.000351,angle between two frames:0.000031 -[22:31:23.221] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.177332 error end=0.177332 -[22:31:23.221] After pose optimization, distance between ekf and vo x:-0.000113 ,z=0.000351,angle between two frames:0.000031 -[22:31:23.221] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 -[22:31:23.221] need key frame pitch dis: 0.203621 translation dif:0.876806 -[22:31:23.221] Choose frame as a key frame Scene Depth mean:-0.159342 ,depth min:-3.489906 -[22:31:23.221] frame process finished the id is: 1016 the obs is:16 -[22:31:23.312] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.000059 ,z=0.000458,angle between two frames:0.000048 -[22:31:23.313] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.002281 error end=0.002281 -[22:31:23.313] After pose optimization, distance between ekf and vo x:0.000590 ,z=0.001379,angle between two frames:0.000176 -[22:31:23.313] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26 -[22:31:23.313] need key frame pitch dis: 0.203644 translation dif:0.876397 -[22:31:23.313] Choose frame as a key frame Scene Depth mean:-0.922313 ,depth min:-3.488903 -[22:31:23.313] frame process finished the id is: 1017 the obs is:26 -[22:31:23.426] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.001104 ,z=-0.002854,angle between two frames:0.000480 -[22:31:23.426] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.029695 error end=0.029695 -[22:31:23.426] After pose optimization, distance between ekf and vo x:-0.001104 ,z=-0.002854,angle between two frames:0.000480 -[22:31:23.426] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 -[22:31:23.426] need key frame pitch dis: 0.203695 translation dif:0.875480 -[22:31:23.426] Choose frame as a key frame Scene Depth mean:1.583502 ,depth min:-3.490357 -[22:31:23.426] frame process finished the id is: 1018 the obs is:32 -[22:31:23.520] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.000092 ,z=0.000817,angle between two frames:0.000082 -[22:31:23.520] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.217121 error end=0.217121 -[22:31:23.520] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000817,angle between two frames:0.000082 -[22:31:23.520] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 -[22:31:23.520] need key frame pitch dis: 0.203617 translation dif:0.875484 -[22:31:23.520] Choose frame as a key frame Scene Depth mean:2.606041 ,depth min:-3.489454 -[22:31:23.520] frame process finished the id is: 1019 the obs is:25 -[22:31:23.610] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.000141 ,z=0.000687,angle between two frames:0.000099 -[22:31:23.610] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.206110 error end=0.183330 -[22:31:23.610] After pose optimization, distance between ekf and vo x:0.106883 ,z=0.173340,angle between two frames:0.045490 -[22:31:23.610] frame process finished the id is: 1019 the obs is:25 -[22:31:23.708] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000140 ,z=0.000686,angle between two frames:0.000098 -[22:31:23.708] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.001530 error end=0.001525 -[22:31:23.708] After pose optimization, distance between ekf and vo x:-0.000866 ,z=0.004698,angle between two frames:0.000097 -[22:31:23.708] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 -[22:31:23.709] need key frame pitch dis: 0.203601 translation dif:0.877665 -[22:31:23.709] Choose frame as a key frame Scene Depth mean:394.854672 ,depth min:-107.861340 -[22:31:23.709] frame process finished the id is: 1021 the obs is:35 -[22:31:23.809] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.000128 ,z=0.000621,angle between two frames:0.000089 -[22:31:23.809] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.021282 error end=0.021282 -[22:31:23.809] After pose optimization, distance between ekf and vo x:0.000128 ,z=0.000621,angle between two frames:0.000089 -[22:31:23.809] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 -[22:31:23.809] need key frame pitch dis: 0.203600 translation dif:0.877043 -[22:31:23.809] Choose frame as a key frame Scene Depth mean:-11.270368 ,depth min:-107.876017 -[22:31:23.809] frame process finished the id is: 1022 the obs is:27 -[22:31:23.910] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.000131 ,z=0.000571,angle between two frames:0.000089 -[22:31:23.911] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.012220 error end=0.012217 -[22:31:23.911] After pose optimization, distance between ekf and vo x:-0.001860 ,z=-0.000914,angle between two frames:0.000098 -[22:31:23.911] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 -[22:31:23.911] need key frame pitch dis: 0.203599 translation dif:0.877234 -[22:31:23.911] Choose frame as a key frame Scene Depth mean:345.359162 ,depth min:-107.739894 -[22:31:23.911] frame process finished the id is: 1023 the obs is:40 -[22:31:24.016] After Reprojection Map nMatches:46 ,distance between ekf and vo x:0.000131 ,z=0.000576,angle between two frames:0.000088 -[22:31:24.016] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.028153 error end=0.027421 -[22:31:24.016] After pose optimization, distance between ekf and vo x:-0.006425 ,z=-0.019509,angle between two frames:0.000106 -[22:31:24.016] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 -[22:31:24.016] need key frame pitch dis: 1.263380 translation dif:0.637169 -[22:31:24.016] Choose frame as a key frame Scene Depth mean:346.158555 ,depth min:-110.100382 -[22:31:24.016] frame process finished the id is: 1024 the obs is:40 -[22:31:24.111] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.000109 ,z=0.000543,angle between two frames:0.000077 -[22:31:24.111] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.017454 error end=0.017454 -[22:31:24.111] After pose optimization, distance between ekf and vo x:0.000109 ,z=0.000543,angle between two frames:0.000077 -[22:31:24.111] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 -[22:31:24.111] need key frame pitch dis: 0.167368 translation dif:0.904444 -[22:31:24.111] Choose frame as a key frame Scene Depth mean:1.314135 ,depth min:-0.822608 -[22:31:24.111] frame process finished the id is: 1025 the obs is:16 -[22:31:24.207] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.000116 ,z=0.000676,angle between two frames:0.000084 -[22:31:24.208] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.003036 error end=0.002926 -[22:31:24.208] After pose optimization, distance between ekf and vo x:-0.017096 ,z=0.022876,angle between two frames:0.001802 -[22:31:24.208] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 -[22:31:24.208] need key frame pitch dis: 0.186939 translation dif:1.001102 -[22:31:24.208] Choose frame as a key frame Scene Depth mean:3.508667 ,depth min:-4.593139 -[22:31:24.208] frame process finished the id is: 1026 the obs is:30 -[22:31:24.311] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.000316 ,z=0.000202,angle between two frames:0.000130 -[22:31:24.311] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.000813 error end=0.000813 -[22:31:24.311] After pose optimization, distance between ekf and vo x:0.000316 ,z=0.000202,angle between two frames:0.000130 -[22:31:24.311] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 -[22:31:24.311] need key frame pitch dis: 0.187152 translation dif:0.996710 -[22:31:24.311] Choose frame as a key frame Scene Depth mean:1.920464 ,depth min:-4.590920 -[22:31:24.311] frame process finished the id is: 1027 the obs is:32 -[22:31:24.425] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000411 ,z=0.000554,angle between two frames:0.000083 -[22:31:24.425] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.004976 error end=0.004975 -[22:31:24.425] After pose optimization, distance between ekf and vo x:-0.000630 ,z=0.000948,angle between two frames:0.000095 -[22:31:24.425] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 -[22:31:24.425] need key frame pitch dis: 0.442229 translation dif:0.889880 -[22:31:24.425] Choose frame as a key frame Scene Depth mean:3.422847 ,depth min:-1.220013 -[22:31:24.425] frame process finished the id is: 1028 the obs is:22 -[22:31:24.517] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.000064 ,z=0.000375,angle between two frames:0.000053 -[22:31:24.517] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.000010 error end=0.000010 -[22:31:24.517] After pose optimization, distance between ekf and vo x:0.000057 ,z=0.000445,angle between two frames:0.000048 -[22:31:24.517] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48 -[22:31:24.517] need key frame pitch dis: 0.463660 translation dif:0.178137 -[22:31:24.517] Choose frame as a key frame Scene Depth mean:2.368780 ,depth min:-4.691827 -[22:31:24.517] frame process finished the id is: 1029 the obs is:48 -[22:31:24.608] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.000073 ,z=0.000361,angle between two frames:0.000054 -[22:31:24.609] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.034869 error end=0.034703 -[22:31:24.609] After pose optimization, distance between ekf and vo x:0.004122 ,z=-0.005996,angle between two frames:0.003603 -[22:31:24.609] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 -[22:31:24.609] need key frame pitch dis: 0.442176 translation dif:0.837558 -[22:31:24.609] Choose frame as a key frame Scene Depth mean:2.769146 ,depth min:-0.817742 -[22:31:24.609] frame process finished the id is: 1030 the obs is:21 -[22:31:24.715] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.000019 ,z=0.000375,angle between two frames:0.000035 -[22:31:24.715] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.011064 error end=0.011062 -[22:31:24.715] After pose optimization, distance between ekf and vo x:-0.000108 ,z=0.000629,angle between two frames:0.000111 -[22:31:24.715] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 -[22:31:24.715] need key frame pitch dis: 0.187118 translation dif:0.984293 -[22:31:24.715] Choose frame as a key frame Scene Depth mean:-0.386202 ,depth min:-4.344808 -[22:31:24.715] frame process finished the id is: 1031 the obs is:30 -[22:31:24.834] After Reprojection Map nMatches:38 ,distance between ekf and vo x:-0.000134 ,z=0.000718,angle between two frames:0.000006 -[22:31:24.834] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.185845 error end=0.183098 -[22:31:24.834] After pose optimization, distance between ekf and vo x:-0.006372 ,z=0.013606,angle between two frames:0.001080 -[22:31:24.834] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 -[22:31:24.834] need key frame pitch dis: 0.187360 translation dif:0.995103 -[22:31:24.834] Choose frame as a key frame Scene Depth mean:-0.331869 ,depth min:-4.606374 -[22:31:24.834] frame process finished the id is: 1032 the obs is:15 -[22:31:24.940] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.000011 ,z=-0.001084,angle between two frames:0.000014 -[22:31:24.940] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.005488 error end=0.005487 -[22:31:24.940] After pose optimization, distance between ekf and vo x:0.000506 ,z=-0.001327,angle between two frames:0.000184 -[22:31:24.940] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:24.940] need key frame pitch dis: 0.187263 translation dif:0.991154 -[22:31:24.940] Choose frame as a key frame Scene Depth mean:-0.470332 ,depth min:-4.985313 -[22:31:24.940] frame process finished the id is: 1033 the obs is:24 -[22:31:25.032] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.000107 ,z=0.000284,angle between two frames:0.000067 -[22:31:25.032] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.001330 error end=0.001329 -[22:31:25.032] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000447,angle between two frames:0.000010 -[22:31:25.032] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:25.032] need key frame pitch dis: 0.187220 translation dif:0.989460 -[22:31:25.032] Choose frame as a key frame Scene Depth mean:0.759237 ,depth min:-5.442204 -[22:31:25.032] frame process finished the id is: 1034 the obs is:24 -[22:31:25.130] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000011 ,z=0.000046,angle between two frames:0.000003 -[22:31:25.130] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.010797 error end=0.010797 -[22:31:25.130] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000046,angle between two frames:0.000003 -[22:31:25.130] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 -[22:31:25.131] need key frame pitch dis: 0.162619 translation dif:0.437112 -[22:31:25.131] Choose frame as a key frame Scene Depth mean:0.009468 ,depth min:-2.149986 -[22:31:25.131] frame process finished the id is: 1035 the obs is:27 -[22:31:25.221] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.000077 ,z=0.000089,angle between two frames:0.000039 -[22:31:25.221] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.009183 error end=0.009114 -[22:31:25.221] After pose optimization, distance between ekf and vo x:-0.001362 ,z=0.003116,angle between two frames:0.002441 -[22:31:25.221] Update EKF and 3D points the number of feature in the new frame: 36 and number of obs: 36 -[22:31:25.221] need key frame pitch dis: 0.096035 translation dif:0.466193 -[22:31:25.221] Choose frame as a key frame Scene Depth mean:-1.156614 ,depth min:-5.606954 -[22:31:25.221] frame process finished the id is: 1036 the obs is:36 -[22:31:25.319] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.000048 ,z=-0.000318,angle between two frames:0.000019 -[22:31:25.319] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.020813 error end=0.017751 -[22:31:25.319] After pose optimization, distance between ekf and vo x:-0.124375 ,z=0.095608,angle between two frames:0.058732 -[22:31:25.319] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45 -[22:31:25.320] need key frame pitch dis: 0.161358 translation dif:0.488465 -[22:31:25.320] Choose frame as a key frame Scene Depth mean:1.294010 ,depth min:-5.738499 -[22:31:25.320] frame process finished the id is: 1037 the obs is:45 -[22:31:25.403] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.000005 ,z=0.000081,angle between two frames:0.000010 -[22:31:25.403] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.219768 error end=0.198836 -[22:31:25.403] After pose optimization, distance between ekf and vo x:0.175614 ,z=-0.241911,angle between two frames:0.000009 -[22:31:25.403] frame process finished the id is: 1037 the obs is:45 -[22:31:25.502] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.000024 ,z=0.000079,angle between two frames:0.000018 -[22:31:25.502] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.243513 error end=0.084130 -[22:31:25.502] After pose optimization, distance between ekf and vo x:4.419721 ,z=-6.998860,angle between two frames:0.105034 -[22:31:25.502] frame process finished the id is: 1037 the obs is:45 -[22:31:25.600] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000024 ,z=0.000079,angle between two frames:0.000017 -[22:31:25.600] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.007616 error end=0.007616 -[22:31:25.600] After pose optimization, distance between ekf and vo x:0.000024 ,z=0.000079,angle between two frames:0.000017 -[22:31:25.600] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 -[22:31:25.600] need key frame pitch dis: 0.088231 translation dif:0.900303 -[22:31:25.600] Choose frame as a key frame Scene Depth mean:7.726432 ,depth min:-3.647504 -[22:31:25.600] frame process finished the id is: 1040 the obs is:30 -[22:31:25.721] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000052 ,z=0.000073,angle between two frames:0.000036 -[22:31:25.721] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =1.336500 error end=1.336500 -[22:31:25.721] After pose optimization, distance between ekf and vo x:0.000052 ,z=0.000073,angle between two frames:0.000036 -[22:31:25.721] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 -[22:31:25.721] need key frame pitch dis: 0.203255 translation dif:1.340618 -[22:31:25.721] Choose frame as a key frame Scene Depth mean:1.541725 ,depth min:-3.944407 -[22:31:25.721] frame process finished the id is: 1041 the obs is:21 -[22:31:25.804] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.000012 ,z=0.000094,angle between two frames:0.000013 -[22:31:25.804] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.001026 error end=0.001026 -[22:31:25.804] After pose optimization, distance between ekf and vo x:0.000012 ,z=0.000094,angle between two frames:0.000013 -[22:31:25.804] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26 -[22:31:25.804] need key frame pitch dis: 0.421074 translation dif:0.978997 -[22:31:25.804] Choose frame as a key frame Scene Depth mean:3.238466 ,depth min:-1.948490 -[22:31:25.804] frame process finished the id is: 1042 the obs is:26 -[22:31:25.936] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000227 ,z=0.000361,angle between two frames:0.000010 -[22:31:25.936] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.624888 error end=0.424508 -[22:31:25.936] After pose optimization, distance between ekf and vo x:1.353133 ,z=-0.210515,angle between two frames:0.358348 -[22:31:25.936] frame process finished the id is: 1042 the obs is:26 -[22:31:26.052] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000225 ,z=0.000341,angle between two frames:0.000010 -[22:31:26.052] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.038567 error end=0.038567 -[22:31:26.052] After pose optimization, distance between ekf and vo x:-0.000225 ,z=0.000341,angle between two frames:0.000010 -[22:31:26.052] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 -[22:31:26.052] need key frame pitch dis: 0.421110 translation dif:0.966518 -[22:31:26.052] Choose frame as a key frame Scene Depth mean:2.620381 ,depth min:-1.941019 -[22:31:26.052] frame process finished the id is: 1044 the obs is:27 -[22:31:26.149] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000020 ,z=-0.000013,angle between two frames:0.000013 -[22:31:26.149] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.085050 error end=0.064875 -[22:31:26.149] After pose optimization, distance between ekf and vo x:-0.331459 ,z=0.130057,angle between two frames:0.115569 -[22:31:26.149] frame process finished the id is: 1044 the obs is:27 -[22:31:26.240] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000013 ,z=0.000124,angle between two frames:0.000013 -[22:31:26.240] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.056279 error end=0.056151 -[22:31:26.240] After pose optimization, distance between ekf and vo x:-0.003673 ,z=0.003640,angle between two frames:0.000199 -[22:31:26.240] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:26.240] need key frame pitch dis: 0.106765 translation dif:0.667881 -[22:31:26.240] Choose frame as a key frame Scene Depth mean:-0.585038 ,depth min:-5.986411 -[22:31:26.240] frame process finished the id is: 1046 the obs is:24 -[22:31:26.337] After Reprojection Map nMatches:19 ,distance between ekf and vo x:-0.000262 ,z=0.000386,angle between two frames:0.000071 -[22:31:26.337] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.000059 error end=0.000059 -[22:31:26.337] After pose optimization, distance between ekf and vo x:-0.000266 ,z=0.000379,angle between two frames:0.000063 -[22:31:26.337] Update EKF and 3D points the number of feature in the new frame: 19 and number of obs: 19 -[22:31:26.337] need key frame pitch dis: 0.210240 translation dif:0.650002 -[22:31:26.337] Choose frame as a key frame Scene Depth mean:0.925345 ,depth min:-2.890176 -[22:31:26.337] frame process finished the id is: 1047 the obs is:19 -[22:31:26.423] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.001256 ,z=0.001085,angle between two frames:0.000667 -[22:31:26.423] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.000317 error end=0.000317 -[22:31:26.423] After pose optimization, distance between ekf and vo x:0.001256 ,z=0.001085,angle between two frames:0.000667 -[22:31:26.423] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 -[22:31:26.423] need key frame pitch dis: 0.004701 translation dif:0.390900 -[22:31:26.423] Choose frame as a key frame Scene Depth mean:0.659077 ,depth min:-48.047804 -[22:31:26.423] frame process finished the id is: 1048 the obs is:22 -[22:31:26.532] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.000134 ,z=0.001499,angle between two frames:0.000184 -[22:31:26.532] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.002207 error end=0.002207 -[22:31:26.532] After pose optimization, distance between ekf and vo x:0.000134 ,z=0.001499,angle between two frames:0.000184 -[22:31:26.532] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 -[22:31:26.532] need key frame pitch dis: 0.242385 translation dif:0.456556 -[22:31:26.532] Choose frame as a key frame Scene Depth mean:-3.977163 ,depth min:-32.251162 -[22:31:26.532] frame process finished the id is: 1049 the obs is:21 -[22:31:26.656] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.000431 ,z=0.002181,angle between two frames:0.000015 -[22:31:26.656] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.005441 error end=0.005441 -[22:31:26.656] After pose optimization, distance between ekf and vo x:-0.000431 ,z=0.002181,angle between two frames:0.000015 -[22:31:26.656] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 -[22:31:26.656] need key frame pitch dis: 0.242350 translation dif:0.458465 -[22:31:26.656] Choose frame as a key frame Scene Depth mean:0.624463 ,depth min:-2.969687 -[22:31:26.656] frame process finished the id is: 1050 the obs is:16 -[22:31:26.767] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.001299 ,z=0.002804,angle between two frames:0.000892 -[22:31:26.767] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.001651 error end=0.001651 -[22:31:26.767] After pose optimization, distance between ekf and vo x:0.001299 ,z=0.002804,angle between two frames:0.000892 -[22:31:26.767] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 -[22:31:26.767] need key frame pitch dis: 0.242477 translation dif:0.461316 -[22:31:26.767] Choose frame as a key frame Scene Depth mean:0.625273 ,depth min:-2.966851 -[22:31:26.767] frame process finished the id is: 1051 the obs is:16 -[22:31:26.874] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.003177 ,z=0.003300,angle between two frames:0.001786 -[22:31:26.874] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.004607 error end=0.004607 -[22:31:26.874] After pose optimization, distance between ekf and vo x:0.003177 ,z=0.003300,angle between two frames:0.001786 -[22:31:26.874] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 -[22:31:26.875] need key frame pitch dis: 0.242632 translation dif:0.464957 -[22:31:26.875] Choose frame as a key frame Scene Depth mean:0.367657 ,depth min:-4.210051 -[22:31:26.875] frame process finished the id is: 1052 the obs is:22 -[22:31:27.006] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.000241 ,z=-0.001484,angle between two frames:0.000063 -[22:31:27.006] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000246 error end=0.000246 -[22:31:27.006] After pose optimization, distance between ekf and vo x:0.000241 ,z=-0.001484,angle between two frames:0.000063 -[22:31:27.006] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:27.006] need key frame pitch dis: 0.242392 translation dif:0.464522 -[22:31:27.006] Choose frame as a key frame Scene Depth mean:1.077745 ,depth min:-2.963478 -[22:31:27.006] frame process finished the id is: 1053 the obs is:24 -[22:31:27.109] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.000144 ,z=0.000942,angle between two frames:0.000092 -[22:31:27.109] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000058 error end=0.000058 -[22:31:27.109] After pose optimization, distance between ekf and vo x:0.000144 ,z=0.000942,angle between two frames:0.000092 -[22:31:27.109] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:27.109] need key frame pitch dis: 0.242360 translation dif:0.464671 -[22:31:27.109] Choose frame as a key frame Scene Depth mean:0.824761 ,depth min:-3.001143 -[22:31:27.109] frame process finished the id is: 1054 the obs is:24 -[22:31:27.216] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.003427 ,z=0.003473,angle between two frames:0.001889 -[22:31:27.216] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.125775 error end=0.125764 -[22:31:27.216] After pose optimization, distance between ekf and vo x:0.003581 ,z=0.005682,angle between two frames:0.002009 -[22:31:27.216] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 -[22:31:27.216] need key frame pitch dis: 0.242647 translation dif:0.468333 -[22:31:27.216] Choose frame as a key frame Scene Depth mean:0.856824 ,depth min:-2.997820 -[22:31:27.216] frame process finished the id is: 1055 the obs is:16 -[22:31:27.325] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.003815 ,z=0.003769,angle between two frames:0.002092 -[22:31:27.325] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.013756 error end=0.013756 -[22:31:27.325] After pose optimization, distance between ekf and vo x:0.003815 ,z=0.003769,angle between two frames:0.002092 -[22:31:27.325] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 -[22:31:27.325] need key frame pitch dis: 0.242703 translation dif:0.470859 -[22:31:27.325] Choose frame as a key frame Scene Depth mean:1.303022 ,depth min:-0.274354 -[22:31:27.325] frame process finished the id is: 1056 the obs is:25 -[22:31:27.437] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.013894 ,z=0.006743,angle between two frames:0.007221 -[22:31:27.437] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.039656 error end=0.039656 -[22:31:27.437] After pose optimization, distance between ekf and vo x:0.013894 ,z=0.006743,angle between two frames:0.007221 -[22:31:27.437] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18 -[22:31:27.437] need key frame pitch dis: 0.243489 translation dif:0.480760 -[22:31:27.437] Choose frame as a key frame Scene Depth mean:0.140245 ,depth min:-3.980957 -[22:31:27.437] frame process finished the id is: 1057 the obs is:18 -[22:31:27.565] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.006965 ,z=0.005250,angle between two frames:0.003758 -[22:31:27.565] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.006744 error end=0.006740 -[22:31:27.565] After pose optimization, distance between ekf and vo x:0.006602 ,z=0.005985,angle between two frames:0.004203 -[22:31:27.565] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 -[22:31:27.565] need key frame pitch dis: 0.243153 translation dif:0.482819 -[22:31:27.565] Choose frame as a key frame Scene Depth mean:-0.480788 ,depth min:-8.154512 -[22:31:27.565] frame process finished the id is: 1058 the obs is:21 -[22:31:27.717] After Reprojection Map nMatches:35 ,distance between ekf and vo x:-0.006877 ,z=-0.000106,angle between two frames:0.003922 -[22:31:27.717] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.001773 error end=0.001773 -[22:31:27.717] After pose optimization, distance between ekf and vo x:-0.006877 ,z=-0.000106,angle between two frames:0.003922 -[22:31:27.717] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26 -[22:31:27.717] need key frame pitch dis: 0.241871 translation dif:0.473234 -[22:31:27.717] Choose frame as a key frame Scene Depth mean:-1.082451 ,depth min:-8.570425 -[22:31:27.717] frame process finished the id is: 1059 the obs is:26 -[22:31:27.876] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.032477 ,z=-0.012740,angle between two frames:0.016629 -[22:31:27.876] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.000778 error end=0.000778 -[22:31:27.876] After pose optimization, distance between ekf and vo x:-0.032477 ,z=-0.012740,angle between two frames:0.016629 -[22:31:27.876] Update EKF and 3D points the number of feature in the new frame: 34 and number of obs: 34 -[22:31:27.877] need key frame pitch dis: 0.239748 translation dif:0.444560 -[22:31:27.877] Choose frame as a key frame Scene Depth mean:-14.604728 ,depth min:-123.785908 -[22:31:27.877] frame process finished the id is: 1060 the obs is:34 -[22:31:28.029] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000514 ,z=0.005658,angle between two frames:0.000064 -[22:31:28.029] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.003562 error end=0.003562 -[22:31:28.029] After pose optimization, distance between ekf and vo x:-0.000514 ,z=0.005658,angle between two frames:0.000064 -[22:31:28.029] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 -[22:31:28.029] need key frame pitch dis: 0.241935 translation dif:0.450071 -[22:31:28.029] Choose frame as a key frame Scene Depth mean:-0.266965 ,depth min:-8.327598 -[22:31:28.029] frame process finished the id is: 1061 the obs is:32 -[22:31:28.184] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.024508 ,z=-0.017592,angle between two frames:0.014132 -[22:31:28.184] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.000052 error end=0.000052 -[22:31:28.184] After pose optimization, distance between ekf and vo x:-0.024508 ,z=-0.017592,angle between two frames:0.014132 -[22:31:28.184] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 -[22:31:28.185] need key frame pitch dis: 0.240129 translation dif:0.431756 -[22:31:28.185] Choose frame as a key frame Scene Depth mean:-9.432257 ,depth min:-123.899735 -[22:31:28.185] frame process finished the id is: 1062 the obs is:40 -[22:31:28.334] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.001807 ,z=0.004499,angle between two frames:0.001204 -[22:31:28.334] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.068333 error end=0.068333 -[22:31:28.334] After pose optimization, distance between ekf and vo x:0.001807 ,z=0.004499,angle between two frames:0.001204 -[22:31:28.334] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29 -[22:31:28.334] need key frame pitch dis: 0.242179 translation dif:0.441746 -[22:31:28.334] Choose frame as a key frame Scene Depth mean:-0.668256 ,depth min:-7.313534 -[22:31:28.334] frame process finished the id is: 1063 the obs is:29 -[22:31:28.452] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.003158 ,z=0.003522,angle between two frames:0.001867 -[22:31:28.452] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.000028 error end=0.000028 -[22:31:28.452] After pose optimization, distance between ekf and vo x:0.003158 ,z=0.003522,angle between two frames:0.001867 -[22:31:28.452] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 -[22:31:28.453] need key frame pitch dis: 0.242592 translation dif:0.450124 -[22:31:28.453] Choose frame as a key frame Scene Depth mean:-2.346634 ,depth min:-23.240383 -[22:31:28.453] frame process finished the id is: 1064 the obs is:40 -[22:31:28.568] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.003549 ,z=0.002901,angle between two frames:0.001948 -[22:31:28.568] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.008332 error end=0.008328 -[22:31:28.568] After pose optimization, distance between ekf and vo x:0.003676 ,z=0.000251,angle between two frames:0.002452 -[22:31:28.568] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 -[22:31:28.569] need key frame pitch dis: 0.242743 translation dif:0.456163 -[22:31:28.569] Choose frame as a key frame Scene Depth mean:-1.792612 ,depth min:-74.881393 -[22:31:28.569] frame process finished the id is: 1065 the obs is:35 -[22:31:28.694] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.004545 ,z=0.003532,angle between two frames:0.002492 -[22:31:28.694] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.008673 error end=0.008659 -[22:31:28.694] After pose optimization, distance between ekf and vo x:0.003348 ,z=0.001348,angle between two frames:0.003733 -[22:31:28.694] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 -[22:31:28.694] need key frame pitch dis: 0.242960 translation dif:0.460747 -[22:31:28.694] Choose frame as a key frame Scene Depth mean:-8.614852 ,depth min:-74.830633 -[22:31:28.694] frame process finished the id is: 1066 the obs is:35 -[22:31:28.813] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.015198 ,z=0.007759,angle between two frames:0.007998 -[22:31:28.813] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.005668 error end=0.005668 -[22:31:28.813] After pose optimization, distance between ekf and vo x:0.015196 ,z=0.007761,angle between two frames:0.007999 -[22:31:28.813] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 -[22:31:28.813] need key frame pitch dis: 0.243642 translation dif:0.474239 -[22:31:28.813] Choose frame as a key frame Scene Depth mean:9.800997 ,depth min:-5.147437 -[22:31:28.813] frame process finished the id is: 1067 the obs is:30 -[22:31:28.938] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.001052 ,z=0.002000,angle between two frames:0.000665 -[22:31:28.938] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.119545 error end=0.115459 -[22:31:28.938] After pose optimization, distance between ekf and vo x:0.038766 ,z=-0.049526,angle between two frames:0.003545 -[22:31:28.938] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 -[22:31:28.938] need key frame pitch dis: 0.243049 translation dif:0.491325 -[22:31:28.938] Choose frame as a key frame Scene Depth mean:-2.540177 ,depth min:-7.788503 -[22:31:28.938] frame process finished the id is: 1068 the obs is:32 -[22:31:29.049] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.003093 ,z=0.006063,angle between two frames:0.001758 -[22:31:29.050] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.009199 error end=0.009199 -[22:31:29.050] After pose optimization, distance between ekf and vo x:0.003093 ,z=0.006063,angle between two frames:0.001758 -[22:31:29.050] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26 -[22:31:29.050] need key frame pitch dis: 0.242697 translation dif:0.487720 -[22:31:29.050] Choose frame as a key frame Scene Depth mean:-3.270867 ,depth min:-12.117808 -[22:31:29.050] frame process finished the id is: 1069 the obs is:26 -[22:31:29.179] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.005352 ,z=0.007332,angle between two frames:0.003079 -[22:31:29.179] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.001272 error end=0.001264 -[22:31:29.179] After pose optimization, distance between ekf and vo x:-0.001276 ,z=0.012693,angle between two frames:0.008802 -[22:31:29.179] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 -[22:31:29.179] need key frame pitch dis: 0.243717 translation dif:0.483276 -[22:31:29.179] Choose frame as a key frame Scene Depth mean:1.131950 ,depth min:-2.983855 -[22:31:29.179] frame process finished the id is: 1070 the obs is:21 -[22:31:29.300] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.006777 ,z=0.008380,angle between two frames:0.003740 -[22:31:29.300] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.068944 error end=0.068944 -[22:31:29.300] After pose optimization, distance between ekf and vo x:0.006777 ,z=0.008380,angle between two frames:0.003740 -[22:31:29.300] Update EKF and 3D points the number of feature in the new frame: 28 and number of obs: 28 -[22:31:29.300] need key frame pitch dis: 0.243110 translation dif:0.485241 -[22:31:29.300] Choose frame as a key frame Scene Depth mean:-1.975896 ,depth min:-8.254491 -[22:31:29.300] frame process finished the id is: 1071 the obs is:28 -[22:31:29.457] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.010094 ,z=0.014309,angle between two frames:0.005910 -[22:31:29.457] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.036864 error end=0.036864 -[22:31:29.457] After pose optimization, distance between ekf and vo x:0.010094 ,z=0.014309,angle between two frames:0.005910 -[22:31:29.457] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 -[22:31:29.458] need key frame pitch dis: 0.243353 translation dif:0.490508 -[22:31:29.458] Choose frame as a key frame Scene Depth mean:-1.702541 ,depth min:-8.441508 -[22:31:29.458] frame process finished the id is: 1072 the obs is:30 -[22:31:29.594] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.003294 ,z=0.006591,angle between two frames:0.002033 -[22:31:29.594] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.017297 error end=0.017297 -[22:31:29.594] After pose optimization, distance between ekf and vo x:0.003294 ,z=0.006591,angle between two frames:0.002033 -[22:31:29.594] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:29.594] need key frame pitch dis: 0.242804 translation dif:0.487949 -[22:31:29.594] Choose frame as a key frame Scene Depth mean:-0.920798 ,depth min:-7.984351 -[22:31:29.594] frame process finished the id is: 1073 the obs is:24 -[22:31:29.765] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.010172 ,z=-0.005183,angle between two frames:0.005446 -[22:31:29.765] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.106835 error end=0.106725 -[22:31:29.765] After pose optimization, distance between ekf and vo x:-0.010174 ,z=-0.005258,angle between two frames:0.005205 -[22:31:29.765] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 -[22:31:29.765] need key frame pitch dis: 0.241623 translation dif:0.473599 -[22:31:29.765] Choose frame as a key frame Scene Depth mean:0.690043 ,depth min:-2.991445 -[22:31:29.765] frame process finished the id is: 1074 the obs is:22 -[22:31:29.926] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.012403 ,z=-0.008211,angle between two frames:0.007024 -[22:31:29.926] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.434945 error end=0.057150 -[22:31:29.926] After pose optimization, distance between ekf and vo x:-1.393837 ,z=0.270972,angle between two frames:0.277257 -[22:31:29.926] frame process finished the id is: 1074 the obs is:22 -[22:31:30.085] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.012920 ,z=-0.007755,angle between two frames:0.007107 -[22:31:30.085] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.141401 error end=0.141401 -[22:31:30.085] After pose optimization, distance between ekf and vo x:-0.012920 ,z=-0.007755,angle between two frames:0.007107 -[22:31:30.086] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:30.086] need key frame pitch dis: 0.071673 translation dif:0.345453 -[22:31:30.086] Choose frame as a key frame Scene Depth mean:-1.117783 ,depth min:-8.125051 -[22:31:30.086] frame process finished the id is: 1076 the obs is:24 -[22:31:30.217] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000474 ,z=0.000895,angle between two frames:0.000198 -[22:31:30.217] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.012805 error end=0.012805 -[22:31:30.217] After pose optimization, distance between ekf and vo x:-0.000474 ,z=0.000895,angle between two frames:0.000198 -[22:31:30.217] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:30.217] need key frame pitch dis: 0.242125 translation dif:0.460916 -[22:31:30.217] Choose frame as a key frame Scene Depth mean:-9.181690 ,depth min:-40.063741 -[22:31:30.217] frame process finished the id is: 1077 the obs is:24 -[22:31:30.367] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.003305 ,z=-0.001009,angle between two frames:0.001763 -[22:31:30.368] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.044132 error end=0.044132 -[22:31:30.368] After pose optimization, distance between ekf and vo x:-0.003305 ,z=-0.001009,angle between two frames:0.001763 -[22:31:30.368] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:30.368] need key frame pitch dis: 0.242035 translation dif:0.459005 -[22:31:30.368] Choose frame as a key frame Scene Depth mean:-0.233370 ,depth min:-7.318673 -[22:31:30.368] frame process finished the id is: 1078 the obs is:24 -[22:31:30.522] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.003852 ,z=0.002095,angle between two frames:0.002087 -[22:31:30.523] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.006348 error end=0.006272 -[22:31:30.523] After pose optimization, distance between ekf and vo x:-0.016431 ,z=0.011933,angle between two frames:0.009037 -[22:31:30.523] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29 -[22:31:30.523] need key frame pitch dis: 0.243660 translation dif:0.450891 -[22:31:30.523] Choose frame as a key frame Scene Depth mean:-1.537740 ,depth min:-10.409214 -[22:31:30.523] frame process finished the id is: 1079 the obs is:29 -[22:31:30.687] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.002414 ,z=0.001269,angle between two frames:0.001186 -[22:31:30.687] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.468764 error end=0.184170 -[22:31:30.687] After pose optimization, distance between ekf and vo x:-0.559405 ,z=0.076433,angle between two frames:0.118397 -[22:31:30.687] frame process finished the id is: 1079 the obs is:29 -[22:31:30.845] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.004675 ,z=-0.000163,angle between two frames:0.002384 -[22:31:30.846] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.289625 error end=0.282432 -[22:31:30.846] After pose optimization, distance between ekf and vo x:0.009748 ,z=-0.065667,angle between two frames:0.001147 -[22:31:30.846] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:30.846] need key frame pitch dis: 0.017249 translation dif:0.350548 -[22:31:30.846] Choose frame as a key frame Scene Depth mean:-1.517681 ,depth min:-10.473490 -[22:31:30.846] frame process finished the id is: 1081 the obs is:24 -[22:31:31.004] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.004413 ,z=-0.001212,angle between two frames:0.002338 -[22:31:31.004] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.153701 error end=0.153701 -[22:31:31.004] After pose optimization, distance between ekf and vo x:-0.004413 ,z=-0.001212,angle between two frames:0.002338 -[22:31:31.004] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 -[22:31:31.004] need key frame pitch dis: 0.048010 translation dif:1.020067 -[22:31:31.004] Choose frame as a key frame Scene Depth mean:0.972307 ,depth min:-10.591985 -[22:31:31.004] frame process finished the id is: 1082 the obs is:15 -[22:31:31.150] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.002871 ,z=0.000455,angle between two frames:0.001471 -[22:31:31.151] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.068832 error end=0.064696 -[22:31:31.151] After pose optimization, distance between ekf and vo x:0.015560 ,z=0.027996,angle between two frames:0.014847 -[22:31:31.151] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 -[22:31:31.151] need key frame pitch dis: 0.244520 translation dif:0.468875 -[22:31:31.151] Choose frame as a key frame Scene Depth mean:2.335584 ,depth min:-2.999002 -[22:31:31.151] frame process finished the id is: 1083 the obs is:27 -[22:31:31.313] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.003206 ,z=0.003562,angle between two frames:0.001526 -[22:31:31.313] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.174458 error end=0.174458 -[22:31:31.313] After pose optimization, distance between ekf and vo x:-0.003206 ,z=0.003562,angle between two frames:0.001526 -[22:31:31.313] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29 -[22:31:31.314] need key frame pitch dis: 0.242433 translation dif:0.466061 -[22:31:31.314] Choose frame as a key frame Scene Depth mean:-0.621429 ,depth min:-11.126123 -[22:31:31.314] frame process finished the id is: 1084 the obs is:29 -[22:31:31.454] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000367 ,z=0.000828,angle between two frames:0.000089 -[22:31:31.454] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.010549 error end=0.010522 -[22:31:31.454] After pose optimization, distance between ekf and vo x:-0.002276 ,z=-0.000120,angle between two frames:0.003158 -[22:31:31.454] Update EKF and 3D points the number of feature in the new frame: 37 and number of obs: 37 -[22:31:31.454] need key frame pitch dis: 0.242826 translation dif:0.463850 -[22:31:31.454] Choose frame as a key frame Scene Depth mean:-3.737731 ,depth min:-31.754806 -[22:31:31.454] frame process finished the id is: 1085 the obs is:37 -[22:31:31.609] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.004895 ,z=-0.001030,angle between two frames:0.002538 -[22:31:31.609] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.013760 error end=0.013760 -[22:31:31.609] After pose optimization, distance between ekf and vo x:-0.004895 ,z=-0.001030,angle between two frames:0.002538 -[22:31:31.609] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29 -[22:31:31.609] need key frame pitch dis: 0.242024 translation dif:0.460069 -[22:31:31.609] Choose frame as a key frame Scene Depth mean:-3.485414 ,depth min:-11.329422 -[22:31:31.610] frame process finished the id is: 1086 the obs is:29 -[22:31:31.776] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000369 ,z=0.001469,angle between two frames:0.000361 -[22:31:31.776] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.004300 error end=0.004300 -[22:31:31.776] After pose optimization, distance between ekf and vo x:0.000369 ,z=0.001469,angle between two frames:0.000361 -[22:31:31.776] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 -[22:31:31.776] need key frame pitch dis: 0.242342 translation dif:0.461566 -[22:31:31.776] Choose frame as a key frame Scene Depth mean:-0.781384 ,depth min:-8.949904 -[22:31:31.776] frame process finished the id is: 1087 the obs is:35 -[22:31:31.914] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.000618 ,z=-0.001431,angle between two frames:0.000343 -[22:31:31.914] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.000026 error end=0.000026 -[22:31:31.914] After pose optimization, distance between ekf and vo x:0.000618 ,z=-0.001431,angle between two frames:0.000343 -[22:31:31.914] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48 -[22:31:31.915] need key frame pitch dis: 0.120286 translation dif:1.035070 -[22:31:31.915] Choose frame as a key frame Scene Depth mean:-1.090754 ,depth min:-11.105226 -[22:31:31.915] frame process finished the id is: 1088 the obs is:48 -[22:31:32.032] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000634 ,z=0.000962,angle between two frames:0.000406 -[22:31:32.032] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.036707 error end=0.036707 -[22:31:32.032] After pose optimization, distance between ekf and vo x:0.000634 ,z=0.000962,angle between two frames:0.000406 -[22:31:32.032] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:32.033] need key frame pitch dis: 0.242403 translation dif:0.463325 -[22:31:32.033] Choose frame as a key frame Scene Depth mean:-0.753558 ,depth min:-11.198505 -[22:31:32.033] frame process finished the id is: 1089 the obs is:24 -[22:31:32.167] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000582 ,z=-0.000247,angle between two frames:0.000332 -[22:31:32.167] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.002454 error end=0.002454 -[22:31:32.167] After pose optimization, distance between ekf and vo x:0.000582 ,z=-0.000247,angle between two frames:0.000332 -[22:31:32.167] Update EKF and 3D points the number of feature in the new frame: 31 and number of obs: 31 -[22:31:32.167] need key frame pitch dis: 0.242395 translation dif:0.463832 -[22:31:32.168] Choose frame as a key frame Scene Depth mean:-0.043943 ,depth min:-7.619488 -[22:31:32.168] frame process finished the id is: 1090 the obs is:31 -[22:31:32.317] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.000012 ,z=0.000682,angle between two frames:0.000082 -[22:31:32.318] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.055280 error end=0.054626 -[22:31:32.318] After pose optimization, distance between ekf and vo x:-0.009112 ,z=0.023211,angle between two frames:0.003943 -[22:31:32.318] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 -[22:31:32.318] need key frame pitch dis: 0.242949 translation dif:0.462480 -[22:31:32.318] Choose frame as a key frame Scene Depth mean:5.443079 ,depth min:-10.981294 -[22:31:32.318] frame process finished the id is: 1091 the obs is:40 -[22:31:32.453] After Reprojection Map nMatches:46 ,distance between ekf and vo x:-0.001410 ,z=-0.000860,angle between two frames:0.000751 -[22:31:32.454] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.025600 error end=0.025564 -[22:31:32.454] After pose optimization, distance between ekf and vo x:-0.002847 ,z=0.002314,angle between two frames:0.000041 -[22:31:32.454] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 -[22:31:32.454] need key frame pitch dis: 0.042042 translation dif:0.402288 -[22:31:32.454] Choose frame as a key frame Scene Depth mean:6.902462 ,depth min:-10.713451 -[22:31:32.454] frame process finished the id is: 1092 the obs is:27 -[22:31:32.592] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.033979 ,z=0.015427,angle between two frames:0.017460 -[22:31:32.592] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =43 error init =0.088284 error end=0.085491 -[22:31:32.592] After pose optimization, distance between ekf and vo x:0.100865 ,z=-0.007898,angle between two frames:0.035418 -[22:31:32.592] Update EKF and 3D points the number of feature in the new frame: 43 and number of obs: 43 -[22:31:32.592] need key frame pitch dis: 0.247709 translation dif:0.533769 -[22:31:32.592] Choose frame as a key frame Scene Depth mean:4.177402 ,depth min:-15.704743 -[22:31:32.592] frame process finished the id is: 1093 the obs is:43 -[22:31:32.724] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.000513 ,z=0.003479,angle between two frames:0.000186 -[22:31:32.724] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.001253 error end=0.001253 -[22:31:32.724] After pose optimization, distance between ekf and vo x:-0.000513 ,z=0.003479,angle between two frames:0.000186 -[22:31:32.724] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45 -[22:31:32.724] need key frame pitch dis: 0.243124 translation dif:0.517247 -[22:31:32.724] Choose frame as a key frame Scene Depth mean:4.728230 ,depth min:-12.795108 -[22:31:32.725] frame process finished the id is: 1094 the obs is:45 -[22:31:32.846] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.001303 ,z=0.000436,angle between two frames:0.000673 -[22:31:32.846] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.003098 error end=0.003098 -[22:31:32.846] After pose optimization, distance between ekf and vo x:0.001303 ,z=0.000436,angle between two frames:0.000673 -[22:31:32.846] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 -[22:31:32.847] need key frame pitch dis: 0.067064 translation dif:0.203454 -[22:31:32.847] Choose frame as a key frame Scene Depth mean:5.211441 ,depth min:-8.053843 -[22:31:32.847] frame process finished the id is: 1095 the obs is:40 -[22:31:32.967] After Reprojection Map nMatches:38 ,distance between ekf and vo x:-0.000660 ,z=0.001504,angle between two frames:0.000284 -[22:31:32.968] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.618923 error end=0.493550 -[22:31:32.968] After pose optimization, distance between ekf and vo x:-0.110042 ,z=0.106115,angle between two frames:0.004402 -[22:31:32.968] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 -[22:31:32.968] need key frame pitch dis: 0.066255 translation dif:0.295693 -[22:31:32.968] Choose frame as a key frame Scene Depth mean:-1.975273 ,depth min:-10.793475 -[22:31:32.968] frame process finished the id is: 1096 the obs is:21 -[22:31:33.112] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000555 ,z=-0.004703,angle between two frames:0.000479 -[22:31:33.113] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.010418 error end=0.010123 -[22:31:33.113] After pose optimization, distance between ekf and vo x:-0.013238 ,z=0.012582,angle between two frames:0.007255 -[22:31:33.113] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 -[22:31:33.113] need key frame pitch dis: 0.067889 translation dif:0.284638 -[22:31:33.113] Choose frame as a key frame Scene Depth mean:-2.571409 ,depth min:-16.264918 -[22:31:33.113] frame process finished the id is: 1097 the obs is:35 -[22:31:33.251] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.000308 ,z=0.000273,angle between two frames:0.000154 -[22:31:33.251] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.018073 error end=0.015931 -[22:31:33.251] After pose optimization, distance between ekf and vo x:-0.018064 ,z=0.100081,angle between two frames:0.028588 -[22:31:33.251] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45 -[22:31:33.252] need key frame pitch dis: 0.071396 translation dif:0.341154 -[22:31:33.252] Choose frame as a key frame Scene Depth mean:4.958607 ,depth min:-3.094812 -[22:31:33.252] frame process finished the id is: 1098 the obs is:45 -[22:31:33.395] After Reprojection Map nMatches:43 ,distance between ekf and vo x:-0.000574 ,z=-0.002084,angle between two frames:0.000387 -[22:31:33.395] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.003817 error end=0.003817 -[22:31:33.395] After pose optimization, distance between ekf and vo x:-0.000592 ,z=-0.002093,angle between two frames:0.000365 -[22:31:33.395] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 -[22:31:33.395] need key frame pitch dis: 0.067529 translation dif:0.305878 -[22:31:33.395] Choose frame as a key frame Scene Depth mean:-1.666691 ,depth min:-11.998618 -[22:31:33.396] frame process finished the id is: 1099 the obs is:25 -[22:31:33.433] Odometry x=0.779666, y=2.518103, theta=-1.845569 -[22:31:33.527] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.000148 ,z=0.000276,angle between two frames:0.000059 -[22:31:33.527] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =41 error init =0.015852 error end=0.015852 -[22:31:33.527] After pose optimization, distance between ekf and vo x:-0.000148 ,z=0.000276,angle between two frames:0.000059 -[22:31:33.527] Update EKF and 3D points the number of feature in the new frame: 41 and number of obs: 41 -[22:31:33.527] need key frame pitch dis: 0.064769 translation dif:0.304993 -[22:31:33.527] Choose frame as a key frame Scene Depth mean:5.478577 ,depth min:-3.346628 -[22:31:33.528] frame process finished the id is: 1100 the obs is:41 -[22:31:33.533] Odometry x=0.781586, y=2.517666, theta=-1.848330 -[22:31:33.633] Odometry x=0.790940, y=2.515590, theta=-1.858280 -[22:31:33.668] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.001697 ,z=-0.001372,angle between two frames:0.000946 -[22:31:33.669] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.076305 error end=0.076113 -[22:31:33.669] After pose optimization, distance between ekf and vo x:-0.006592 ,z=0.001611,angle between two frames:0.000705 -[22:31:33.669] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 -[22:31:33.669] need key frame pitch dis: 0.035887 translation dif:0.305221 -[22:31:33.669] Choose frame as a key frame Scene Depth mean:-10.193750 ,depth min:-102.533318 -[22:31:33.669] frame process finished the id is: 1101 the obs is:32 -[22:31:33.730] Odometry x=0.780683, y=2.517679, theta=-1.877212 -[22:31:33.790] After Reprojection Map nMatches:39 ,distance between ekf and vo x:-0.000960 ,z=0.000430,angle between two frames:0.000615 -[22:31:33.790] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.077565 error end=0.077528 -[22:31:33.790] After pose optimization, distance between ekf and vo x:-0.001668 ,z=0.002208,angle between two frames:0.000232 -[22:31:33.790] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 -[22:31:33.791] need key frame pitch dis: 0.014480 translation dif:0.330983 -[22:31:33.791] Choose frame as a key frame Scene Depth mean:-17.766156 ,depth min:-103.695822 -[22:31:33.791] frame process finished the id is: 1102 the obs is:22 -[22:31:33.829] Odometry x=0.780736, y=2.519006, theta=-1.891553 -[22:31:33.924] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.006683 ,z=0.002224,angle between two frames:0.004817 -[22:31:33.924] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.002593 error end=0.002593 -[22:31:33.924] After pose optimization, distance between ekf and vo x:-0.006687 ,z=0.002192,angle between two frames:0.004814 -[22:31:33.924] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29 -[22:31:33.924] need key frame pitch dis: 0.007645 translation dif:0.332595 -[22:31:33.924] Choose frame as a key frame Scene Depth mean:6.985531 ,depth min:-6.754224 -[22:31:33.924] frame process finished the id is: 1103 the obs is:29 -[22:31:33.933] Odometry x=0.777862, y=2.519651, theta=-1.913678 -[22:31:34.032] Odometry x=0.786394, y=2.517571, theta=-1.939405 -[22:31:34.137] Odometry x=0.793146, y=2.514076, theta=-1.948162 -[22:31:34.233] Odometry x=0.800265, y=2.511108, theta=-1.966497 -[22:31:34.334] Odometry x=0.807059, y=2.507871, theta=-1.993338 -[22:31:34.374] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.001239 ,z=-0.000321,angle between two frames:0.000784 -[22:31:34.374] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.027114 error end=0.027040 -[22:31:34.374] After pose optimization, distance between ekf and vo x:-0.009779 ,z=0.013583,angle between two frames:0.000736 -[22:31:34.374] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 -[22:31:34.374] need key frame pitch dis: 0.100781 translation dif:0.326685 -[22:31:34.374] Choose frame as a key frame Scene Depth mean:-16.711988 ,depth min:-91.803105 -[22:31:34.374] frame process finished the id is: 1104 the obs is:25 -[22:31:34.435] Odometry x=0.796046, y=2.519744, theta=-2.006813 -[22:31:34.503] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.007459 ,z=0.005886,angle between two frames:0.003279 -[22:31:34.503] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =3.611581 error end=1.870336 -[22:31:34.503] After pose optimization, distance between ekf and vo x:0.020316 ,z=-0.243504,angle between two frames:0.016719 -[22:31:34.503] frame process finished the id is: 1104 the obs is:25 -[22:31:34.536] Odometry x=0.804019, y=2.516152, theta=-2.021846 -[22:31:34.612] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.000164 ,z=0.001050,angle between two frames:0.000158 -[22:31:34.612] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.211883 error end=0.211883 -[22:31:34.612] After pose optimization, distance between ekf and vo x:0.000164 ,z=0.001050,angle between two frames:0.000158 -[22:31:34.612] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11 -[22:31:34.612] need key frame pitch dis: 0.140727 translation dif:0.319966 -[22:31:34.612] Choose frame as a key frame Scene Depth mean:2.462001 ,depth min:-0.140035 -[22:31:34.612] frame process finished the id is: 1106 the obs is:11 -[22:31:34.630] Odometry x=0.806016, y=2.515770, theta=-2.046760 -[22:31:34.734] Odometry x=0.813259, y=2.511093, theta=-2.060373 -[22:31:34.735] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.002492 ,z=0.003923,angle between two frames:0.000672 -[22:31:34.735] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =2.353489 error end=1.215921 -[22:31:34.735] After pose optimization, distance between ekf and vo x:0.026720 ,z=0.635839,angle between two frames:0.042801 -[22:31:34.736] frame process finished the id is: 1106 the obs is:11 -[22:31:34.828] Odometry x=0.820277, y=2.507328, theta=-2.087680 -[22:31:34.857] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.002020 ,z=0.003896,angle between two frames:0.000216 -[22:31:34.858] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.331632 error end=0.324961 -[22:31:34.858] After pose optimization, distance between ekf and vo x:-0.008880 ,z=0.043303,angle between two frames:0.000723 -[22:31:34.858] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 -[22:31:34.858] need key frame pitch dis: 0.202153 translation dif:0.339848 -[22:31:34.858] Choose frame as a key frame Scene Depth mean:4.247054 ,depth min:-2.581171 -[22:31:34.858] frame process finished the id is: 1108 the obs is:27 -[22:31:34.930] Odometry x=0.815050, y=2.538770, theta=-2.108186 -[22:31:35.027] Odometry x=0.821989, y=2.534766, theta=-2.131751 -[22:31:35.072] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.000272 ,z=0.000478,angle between two frames:0.000008 -[22:31:35.072] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000423 error end=0.000423 -[22:31:35.072] After pose optimization, distance between ekf and vo x:0.000272 ,z=0.000478,angle between two frames:0.000008 -[22:31:35.072] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:35.073] need key frame pitch dis: 0.242479 translation dif:0.338036 -[22:31:35.073] Choose frame as a key frame Scene Depth mean:5.545796 ,depth min:-2.502130 -[22:31:35.073] frame process finished the id is: 1109 the obs is:24 -[22:31:35.134] Odometry x=0.818325, y=2.537691, theta=-2.148511 -[22:31:35.196] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.002193 ,z=0.009804,angle between two frames:0.001276 -[22:31:35.196] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.113449 error end=0.113376 -[22:31:35.196] After pose optimization, distance between ekf and vo x:0.002807 ,z=0.006488,angle between two frames:0.000346 -[22:31:35.196] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:35.196] need key frame pitch dis: 0.267611 translation dif:0.340275 -[22:31:35.196] Choose frame as a key frame Scene Depth mean:1.333584 ,depth min:-3.188212 -[22:31:35.196] frame process finished the id is: 1110 the obs is:24 -[22:31:35.234] Odometry x=0.821908, y=2.540807, theta=-2.173644 -[22:31:35.315] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.032222 ,z=0.001480,angle between two frames:0.013204 -[22:31:35.315] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.059830 error end=0.059830 -[22:31:35.315] After pose optimization, distance between ekf and vo x:0.032222 ,z=0.001480,angle between two frames:0.013204 -[22:31:35.315] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:35.315] need key frame pitch dis: 0.284240 translation dif:0.336055 -[22:31:35.316] Choose frame as a key frame Scene Depth mean:2.017858 ,depth min:-2.392591 -[22:31:35.316] frame process finished the id is: 1111 the obs is:24 -[22:31:35.328] Odometry x=0.847459, y=2.541203, theta=-2.190273 -[22:31:35.431] Odometry x=0.854232, y=2.535545, theta=-2.202412 -[22:31:35.438] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.007104 ,z=-0.001661,angle between two frames:0.002407 -[22:31:35.438] n deleted obs = 36 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.085486 error end=0.081081 -[22:31:35.438] After pose optimization, distance between ekf and vo x:-1.381470 ,z=0.758581,angle between two frames:0.533579 -[22:31:35.438] frame process finished the id is: 1111 the obs is:24 -[22:31:35.532] Odometry x=0.860076, y=2.531343, theta=-2.218646 -[22:31:35.574] After Reprojection Map nMatches:31 ,distance between ekf and vo x:-0.000079 ,z=0.009849,angle between two frames:0.003399 -[22:31:35.574] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.033928 error end=0.033928 -[22:31:35.574] After pose optimization, distance between ekf and vo x:-0.000079 ,z=0.009849,angle between two frames:0.003399 -[22:31:35.574] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 -[22:31:35.574] need key frame pitch dis: 0.332155 translation dif:0.334788 -[22:31:35.574] Choose frame as a key frame Scene Depth mean:1.095951 ,depth min:0.020965 -[22:31:35.574] frame process finished the id is: 1113 the obs is:15 -[22:31:35.630] Odometry x=0.857158, y=2.541191, theta=-2.238188 -[22:31:35.682] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.000223 ,z=0.003064,angle between two frames:0.000775 -[22:31:35.682] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =47 error init =0.000010 error end=0.000010 -[22:31:35.682] After pose optimization, distance between ekf and vo x:0.000223 ,z=0.003064,angle between two frames:0.000775 -[22:31:35.682] Update EKF and 3D points the number of feature in the new frame: 47 and number of obs: 47 -[22:31:35.682] need key frame pitch dis: 0.490437 translation dif:1.218349 -[22:31:35.682] Choose frame as a key frame Scene Depth mean:1.080563 ,depth min:-2.250467 -[22:31:35.682] frame process finished the id is: 1114 the obs is:47 -[22:31:35.739] Odometry x=0.859115, y=2.542195, theta=-2.252840 -[22:31:35.805] After Reprojection Map nMatches:56 ,distance between ekf and vo x:0.001630 ,z=0.003205,angle between two frames:0.000400 -[22:31:35.805] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.001845 error end=0.001845 -[22:31:35.805] After pose optimization, distance between ekf and vo x:0.001630 ,z=0.003205,angle between two frames:0.000400 -[22:31:35.805] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48 -[22:31:35.805] need key frame pitch dis: 0.362231 translation dif:0.336435 -[22:31:35.805] Choose frame as a key frame Scene Depth mean:0.246390 ,depth min:-2.213238 -[22:31:35.805] frame process finished the id is: 1115 the obs is:48 -[22:31:35.834] Odometry x=0.862406, y=2.543412, theta=-2.268264 -[22:31:35.929] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.003043 ,z=0.007818,angle between two frames:0.001448 -[22:31:35.930] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.000293 error end=0.000293 -[22:31:35.930] After pose optimization, distance between ekf and vo x:0.003001 ,z=0.007782,angle between two frames:0.001484 -[22:31:35.930] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 -[22:31:35.930] need key frame pitch dis: 0.385623 translation dif:0.340573 -[22:31:35.930] Choose frame as a key frame Scene Depth mean:0.243917 ,depth min:-2.154811 -[22:31:35.930] frame process finished the id is: 1116 the obs is:40 -[22:31:35.934] Odometry x=0.866435, y=2.547942, theta=-2.291656 -[22:31:36.033] Odometry x=0.873676, y=2.541919, theta=-2.316799 -[22:31:36.045] After Reprojection Map nMatches:56 ,distance between ekf and vo x:0.002951 ,z=0.003956,angle between two frames:0.000301 -[22:31:36.045] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.344036 error end=0.309561 -[22:31:36.045] After pose optimization, distance between ekf and vo x:0.034536 ,z=0.057252,angle between two frames:0.015555 -[22:31:36.045] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48 -[22:31:36.046] need key frame pitch dis: 0.265911 translation dif:0.526425 -[22:31:36.046] Choose frame as a key frame Scene Depth mean:1.173484 ,depth min:-1.723443 -[22:31:36.046] frame process finished the id is: 1117 the obs is:48 -[22:31:36.134] Odometry x=0.895932, y=2.588973, theta=-2.336017 -[22:31:36.194] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.006468 ,z=0.007057,angle between two frames:0.000563 -[22:31:36.194] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.032531 error end=0.027154 -[22:31:36.194] After pose optimization, distance between ekf and vo x:-0.814553 ,z=0.032413,angle between two frames:0.330274 -[22:31:36.194] frame process finished the id is: 1117 the obs is:48 -[22:31:36.233] Odometry x=0.902694, y=2.583574, theta=-2.359560 -[22:31:36.333] Odometry x=0.908105, y=2.577480, theta=-2.373506 -[22:31:36.336] After Reprojection Map nMatches:53 ,distance between ekf and vo x:0.007076 ,z=0.007666,angle between two frames:0.000852 -[22:31:36.336] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.010448 error end=0.010448 -[22:31:36.336] After pose optimization, distance between ekf and vo x:0.007076 ,z=0.007666,angle between two frames:0.000852 -[22:31:36.336] Update EKF and 3D points the number of feature in the new frame: 37 and number of obs: 37 -[22:31:36.337] need key frame pitch dis: 0.583359 translation dif:1.409932 -[22:31:36.337] Choose frame as a key frame Scene Depth mean:0.558639 ,depth min:-0.733839 -[22:31:36.337] frame process finished the id is: 1119 the obs is:37 -[22:31:36.428] Odometry x=0.916271, y=2.576427, theta=-2.411346 -[22:31:36.465] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.007496 ,z=0.005571,angle between two frames:0.000368 -[22:31:36.465] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.006646 error end=0.006029 -[22:31:36.465] After pose optimization, distance between ekf and vo x:-0.015981 ,z=0.075593,angle between two frames:0.003028 -[22:31:36.465] Update EKF and 3D points the number of feature in the new frame: 37 and number of obs: 37 -[22:31:36.465] need key frame pitch dis: 0.609119 translation dif:1.457739 -[22:31:36.465] Choose frame as a key frame Scene Depth mean:0.174167 ,depth min:-0.729574 -[22:31:36.465] frame process finished the id is: 1120 the obs is:37 -[22:31:36.533] Odometry x=0.904766, y=2.631948, theta=-2.427749 -[22:31:36.565] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.004293 ,z=0.002981,angle between two frames:0.000256 -[22:31:36.565] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.101353 error end=0.100867 -[22:31:36.565] After pose optimization, distance between ekf and vo x:-0.004548 ,z=0.005867,angle between two frames:0.001367 -[22:31:36.565] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:36.566] need key frame pitch dis: 0.282752 translation dif:2.390461 -[22:31:36.566] Choose frame as a key frame Scene Depth mean:2.213466 ,depth min:-0.737340 -[22:31:36.566] frame process finished the id is: 1121 the obs is:24 -[22:31:36.629] Odometry x=0.903280, y=2.635156, theta=-2.437337 -[22:31:36.729] Odometry x=0.909579, y=2.628160, theta=-2.455386 -[22:31:36.764] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.004079 ,z=0.002100,angle between two frames:0.000073 -[22:31:36.764] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000010 error end=0.000010 -[22:31:36.764] After pose optimization, distance between ekf and vo x:0.004079 ,z=0.002100,angle between two frames:0.000073 -[22:31:36.764] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[22:31:36.764] need key frame pitch dis: 0.230265 translation dif:2.384206 -[22:31:36.764] Choose frame as a key frame Scene Depth mean:2.178252 ,depth min:-0.354922 -[22:31:36.764] frame process finished the id is: 1122 the obs is:24 -[22:31:36.828] Odometry x=0.909070, y=2.632770, theta=-2.474689 -[22:31:36.906] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.009204 ,z=0.003912,angle between two frames:0.000168 -[22:31:36.907] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.034495 error end=0.034494 -[22:31:36.907] After pose optimization, distance between ekf and vo x:0.009170 ,z=0.003883,angle between two frames:0.000149 -[22:31:36.907] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 -[22:31:36.907] need key frame pitch dis: 0.172062 translation dif:2.339831 -[22:31:36.907] Choose frame as a key frame Scene Depth mean:3.116081 ,depth min:-0.369156 -[22:31:36.907] frame process finished the id is: 1123 the obs is:21 -[22:31:36.935] Odometry x=0.917033, y=2.633426, theta=-2.500931 -[22:31:37.035] Odometry x=0.921859, y=2.625596, theta=-2.517377 -[22:31:37.038] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.005481 ,z=0.001971,angle between two frames:0.000090 -[22:31:37.038] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.003550 error end=0.003550 -[22:31:37.038] After pose optimization, distance between ekf and vo x:0.005386 ,z=0.002002,angle between two frames:0.000114 -[22:31:37.038] Update EKF and 3D points the number of feature in the new frame: 28 and number of obs: 28 -[22:31:37.038] need key frame pitch dis: 0.038392 translation dif:2.404924 -[22:31:37.038] Choose frame as a key frame Scene Depth mean:4.354028 ,depth min:-0.386426 -[22:31:37.038] frame process finished the id is: 1124 the obs is:28 -[22:31:37.137] Odometry x=0.928752, y=2.622265, theta=-2.554957 -[22:31:37.203] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.012354 ,z=0.002982,angle between two frames:0.000194 -[22:31:37.203] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 error init =0.000023 error end=0.000023 -[22:31:37.203] After pose optimization, distance between ekf and vo x:0.012354 ,z=0.002982,angle between two frames:0.000194 -[22:31:37.203] Update EKF and 3D points the number of feature in the new frame: 38 and number of obs: 38 -[22:31:37.203] need key frame pitch dis: 0.048611 translation dif:2.319996 -[22:31:37.203] Choose frame as a key frame Scene Depth mean:3.991657 ,depth min:-0.407865 -[22:31:37.203] frame process finished the id is: 1125 the obs is:38 -[22:31:37.230] Odometry x=0.939340, y=2.623221, theta=-2.578191 -[22:31:37.332] Odometry x=0.943476, y=2.614777, theta=-2.591636 -[22:31:37.344] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.008014 ,z=0.001651,angle between two frames:0.000063 -[22:31:37.344] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.079571 error end=0.079571 -[22:31:37.345] After pose optimization, distance between ekf and vo x:0.008014 ,z=0.001651,angle between two frames:0.000063 -[22:31:37.345] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13 -[22:31:37.345] need key frame pitch dis: 0.016736 translation dif:2.316582 -[22:31:37.345] Choose frame as a key frame Scene Depth mean:3.813267 ,depth min:1.210605 -[22:31:37.345] frame process finished the id is: 1126 the obs is:13 -[22:31:37.436] Odometry x=0.950245, y=2.610103, theta=-2.629964 -[22:31:37.513] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.013399 ,z=0.001171,angle between two frames:0.000132 -[22:31:37.513] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.099398 error end=0.094850 -[22:31:37.513] After pose optimization, distance between ekf and vo x:-0.056963 ,z=0.061229,angle between two frames:0.018543 -[22:31:37.513] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 -[22:31:37.513] need key frame pitch dis: 0.193427 translation dif:1.926388 -[22:31:37.513] Choose frame as a key frame Scene Depth mean:-2.019364 ,depth min:-30.494617 -[22:31:37.513] frame process finished the id is: 1127 the obs is:21 -[22:31:37.534] Odometry x=0.907516, y=2.654855, theta=-2.653501 -[22:31:37.638] Odometry x=0.912145, y=2.648397, theta=-2.670901 -[22:31:37.650] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.000485 ,z=0.000024,angle between two frames:0.000007 -[22:31:37.651] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.041639 error end=0.041639 -[22:31:37.651] After pose optimization, distance between ekf and vo x:0.000485 ,z=0.000024,angle between two frames:0.000007 -[22:31:37.651] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 -[22:31:37.651] need key frame pitch dis: 0.659573 translation dif:0.690424 -[22:31:37.651] Choose frame as a key frame Scene Depth mean:-4.107390 ,depth min:-26.924585 -[22:31:37.651] frame process finished the id is: 1128 the obs is:30 -[22:31:37.736] Odometry x=0.914481, y=2.642269, theta=-2.706447 -[22:31:37.765] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000074 ,z=0.000590,angle between two frames:0.000025 -[22:31:37.766] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.109108 error end=0.109085 -[22:31:37.766] After pose optimization, distance between ekf and vo x:0.000210 ,z=0.002364,angle between two frames:0.000033 -[22:31:37.766] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 -[22:31:37.766] need key frame pitch dis: 0.525072 translation dif:1.163394 -[22:31:37.766] Choose frame as a key frame Scene Depth mean:-5.442377 ,depth min:-26.910571 -[22:31:37.766] frame process finished the id is: 1129 the obs is:27 -[22:31:37.834] Odometry x=0.912500, y=2.646828, theta=-2.734373 -[22:31:37.884] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.000783 ,z=-0.000087,angle between two frames:0.000008 -[22:31:37.884] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.043109 error end=0.043109 -[22:31:37.884] After pose optimization, distance between ekf and vo x:0.000783 ,z=-0.000087,angle between two frames:0.000008 -[22:31:37.884] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11 -[22:31:37.884] need key frame pitch dis: 0.551430 translation dif:1.163736 -[22:31:37.884] Choose frame as a key frame Scene Depth mean:3.944292 ,depth min:0.480772 -[22:31:37.884] frame process finished the id is: 1130 the obs is:11 -[22:31:37.934] Odometry x=0.913515, y=2.643994, theta=-2.760731 -[22:31:38.033] Odometry x=0.916584, y=2.636379, theta=-2.779723 -[22:31:38.034] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.543464 ,z=0.636180,angle between two frames:5.683229 -[22:31:38.034] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =44 error init =0.043299 error end=0.043299 -[22:31:38.034] After pose optimization, distance between ekf and vo x:0.543464 ,z=0.636180,angle between two frames:5.683229 -[22:31:38.034] frame process finished the id is: 1130 the obs is:11 -[22:31:38.136] Odometry x=0.920215, y=2.630027, theta=-2.794712 -[22:31:38.182] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.944796 ,z=0.789303,angle between two frames:5.383207 -[22:31:38.182] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.000308 error end=0.000308 -[22:31:38.182] After pose optimization, distance between ekf and vo x:0.944741 ,z=0.788223,angle between two frames:5.383242 -[22:31:38.182] frame process finished the id is: 1130 the obs is:11 -[22:31:38.232] Odometry x=0.922998, y=2.622328, theta=-2.814224 -[22:31:38.336] Odometry x=0.925172, y=2.615399, theta=-2.830308 -[22:31:38.336] After Reprojection Map nMatches:67 ,distance between ekf and vo x:0.456948 ,z=0.530631,angle between two frames:5.783225 -[22:31:38.336] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =53 error init =0.059533 error end=0.059533 -[22:31:38.336] After pose optimization, distance between ekf and vo x:0.456948 ,z=0.530631,angle between two frames:5.783225 -[22:31:38.336] frame process finished the id is: 1130 the obs is:11 -[22:31:38.433] Odometry x=0.927229, y=2.607259, theta=-2.849623 -[22:31:38.477] After Reprojection Map nMatches:67 ,distance between ekf and vo x:0.712276 ,z=0.658429,angle between two frames:5.583185 -[22:31:38.478] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =52 error init =0.014034 error end=0.014034 -[22:31:38.478] After pose optimization, distance between ekf and vo x:0.712238 ,z=0.658450,angle between two frames:5.583186 -[22:31:38.478] frame process finished the id is: 1130 the obs is:11 -[22:31:38.537] Odometry x=0.929260, y=2.599812, theta=-2.868064 -[22:31:38.615] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.607624 ,z=0.574363,angle between two frames:5.683206 -[22:31:38.615] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.001997 error end=0.001997 -[22:31:38.615] After pose optimization, distance between ekf and vo x:0.607624 ,z=0.574363,angle between two frames:5.683206 -[22:31:38.615] frame process finished the id is: 1130 the obs is:11 -[22:31:38.637] Odometry x=0.931644, y=2.591778, theta=-2.883998 -[22:31:38.735] Odometry x=0.934091, y=2.584880, theta=-2.908751 -[22:31:38.748] After Reprojection Map nMatches:56 ,distance between ekf and vo x:0.491738 ,z=0.498014,angle between two frames:5.783198 -[22:31:38.749] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.029713 error end=0.029713 -[22:31:38.749] After pose optimization, distance between ekf and vo x:0.491708 ,z=0.498025,angle between two frames:5.783198 -[22:31:38.749] frame process finished the id is: 1130 the obs is:11 -[22:31:38.836] Odometry x=0.936602, y=2.577403, theta=-2.921546 -[22:31:38.887] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.899258 ,z=0.637540,angle between two frames:5.483219 -[22:31:38.887] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.230801 error end=0.230178 -[22:31:38.887] After pose optimization, distance between ekf and vo x:0.534707 ,z=0.711576,angle between two frames:5.467348 -[22:31:38.887] frame process finished the id is: 1130 the obs is:11 -[22:31:38.934] Odometry x=0.938190, y=2.570283, theta=-2.940393 -[22:31:39.023] After Reprojection Map nMatches:56 ,distance between ekf and vo x:0.398145 ,z=0.396880,angle between two frames:5.883207 -[22:31:39.023] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.101695 error end=0.101684 -[22:31:39.023] After pose optimization, distance between ekf and vo x:0.397869 ,z=0.396827,angle between two frames:5.883211 -[22:31:39.023] frame process finished the id is: 1130 the obs is:11 -[22:31:39.036] Odometry x=0.939996, y=2.562355, theta=-2.960801 -[22:31:39.137] Odometry x=0.941639, y=2.555189, theta=-2.982525 -[22:31:39.156] After Reprojection Map nMatches:55 ,distance between ekf and vo x:0.658497 ,z=0.515676,angle between two frames:5.683212 -[22:31:39.156] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =44 error init =0.013077 error end=0.013077 -[22:31:39.157] After pose optimization, distance between ekf and vo x:0.658497 ,z=0.515676,angle between two frames:5.683212 -[22:31:39.157] frame process finished the id is: 1130 the obs is:11 -[22:31:39.235] Odometry x=0.942596, y=2.547777, theta=-2.995298 -[22:31:39.296] After Reprojection Map nMatches:58 ,distance between ekf and vo x:0.675330 ,z=0.493016,angle between two frames:5.683199 -[22:31:39.296] n deleted obs = 28 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.040832 error end=0.040832 -[22:31:39.296] After pose optimization, distance between ekf and vo x:0.675330 ,z=0.493016,angle between two frames:5.683199 -[22:31:39.296] frame process finished the id is: 1130 the obs is:11 -[22:31:39.335] Odometry x=0.944449, y=2.540561, theta=-3.012575 -[22:31:39.434] After Reprojection Map nMatches:56 ,distance between ekf and vo x:0.684420 ,z=0.480729,angle between two frames:5.683213 -[22:31:39.434] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =46 error init =0.011495 error end=0.011495 -[22:31:39.434] After pose optimization, distance between ekf and vo x:0.684420 ,z=0.480729,angle between two frames:5.683213 -[22:31:39.434] frame process finished the id is: 1130 the obs is:11 -[22:31:39.437] Odometry x=0.945289, y=2.532455, theta=-3.029524 -[22:31:39.534] Odometry x=0.946830, y=2.524638, theta=-3.046584 -[22:31:39.568] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.828459 ,z=0.504339,angle between two frames:5.583185 -[22:31:39.569] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.004632 error end=0.004632 -[22:31:39.569] After pose optimization, distance between ekf and vo x:0.828459 ,z=0.504339,angle between two frames:5.583185 -[22:31:39.569] frame process finished the id is: 1130 the obs is:11 -[22:31:39.637] Odometry x=0.947619, y=2.516903, theta=-3.064808 -[22:31:39.694] After Reprojection Map nMatches:41 ,distance between ekf and vo x:0.573850 ,z=0.400965,angle between two frames:5.783213 -[22:31:39.694] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.026900 error end=0.024647 -[22:31:39.694] After pose optimization, distance between ekf and vo x:0.484824 ,z=0.365555,angle between two frames:5.818670 -[22:31:39.694] frame process finished the id is: 1130 the obs is:11 -[22:31:39.733] Odometry x=0.947740, y=2.509172, theta=-3.082127 -[22:31:39.832] After Reprojection Map nMatches:53 ,distance between ekf and vo x:0.854268 ,z=0.459490,angle between two frames:5.583198 -[22:31:39.832] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.275767 error end=0.275767 -[22:31:39.832] After pose optimization, distance between ekf and vo x:0.854268 ,z=0.459490,angle between two frames:5.583198 -[22:31:39.832] frame process finished the id is: 1130 the obs is:11 -[22:31:39.833] Odometry x=0.949378, y=2.501140, theta=-3.097728 -[22:31:39.933] Odometry x=0.949359, y=2.493051, theta=-3.120104 -[22:31:39.956] After Reprojection Map nMatches:41 ,distance between ekf and vo x:0.861546 ,z=0.446094,angle between two frames:5.583211 -[22:31:39.956] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.312707 error end=0.312707 -[22:31:39.956] After pose optimization, distance between ekf and vo x:0.861546 ,z=0.446094,angle between two frames:5.583211 -[22:31:39.956] frame process finished the id is: 1130 the obs is:11 -[22:31:40.037] Odometry x=0.949386, y=2.486045, theta=-3.134369 -[22:31:40.079] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.877115 ,z=0.414388,angle between two frames:5.583206 -[22:31:40.079] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.076203 error end=0.072770 -[22:31:40.079] After pose optimization, distance between ekf and vo x:0.855117 ,z=0.345813,angle between two frames:5.603806 -[22:31:40.079] frame process finished the id is: 1130 the obs is:11 -[22:31:40.134] Odometry x=0.949864, y=2.479024, theta=3.127202 -[22:31:40.218] After Reprojection Map nMatches:48 ,distance between ekf and vo x:1.029485 ,z=0.395535,angle between two frames:0.799956 -[22:31:40.218] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.002115 error end=0.002115 -[22:31:40.218] After pose optimization, distance between ekf and vo x:1.029485 ,z=0.395535,angle between two frames:0.799956 -[22:31:40.218] frame process finished the id is: 1130 the obs is:11 -[22:31:40.236] Odometry x=0.949240, y=2.471674, theta=3.113578 -[22:31:40.348] Odometry x=0.950334, y=2.462856, theta=3.090144 -[22:31:40.355] After Reprojection Map nMatches:46 ,distance between ekf and vo x:0.479249 ,z=0.294046,angle between two frames:0.399965 -[22:31:40.355] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.003343 error end=0.003343 -[22:31:40.355] After pose optimization, distance between ekf and vo x:0.479250 ,z=0.294046,angle between two frames:0.399964 -[22:31:40.355] frame process finished the id is: 1130 the obs is:11 -[22:31:40.432] Odometry x=0.949991, y=2.455354, theta=3.078841 -[22:31:40.469] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.763799 ,z=0.340486,angle between two frames:0.599979 -[22:31:40.469] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.017180 error end=0.017166 -[22:31:40.469] After pose optimization, distance between ekf and vo x:0.762396 ,z=0.338699,angle between two frames:0.599486 -[22:31:40.469] frame process finished the id is: 1130 the obs is:11 -[22:31:40.537] Odometry x=0.949834, y=2.447194, theta=3.054851 -[22:31:40.594] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.771971 ,z=0.321538,angle between two frames:0.599965 -[22:31:40.594] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.369529 error end=0.367080 -[22:31:40.594] After pose optimization, distance between ekf and vo x:0.750208 ,z=0.325252,angle between two frames:0.596102 -[22:31:40.594] frame process finished the id is: 1130 the obs is:11 -[22:31:40.708] After Reprojection Map nMatches:26 ,distance between ekf and vo x:2.167601 ,z=-0.466917,angle between two frames:1.799963 -[22:31:40.708] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.242118 error end=0.242118 -[22:31:40.709] After pose optimization, distance between ekf and vo x:2.167601 ,z=-0.466917,angle between two frames:1.799963 -[22:31:40.709] frame process finished the id is: 1130 the obs is:11 -[22:31:40.823] After Reprojection Map nMatches:35 ,distance between ekf and vo x:2.167603 ,z=-0.466940,angle between two frames:1.799968 -[22:31:40.823] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.009850 error end=0.009850 -[22:31:40.823] After pose optimization, distance between ekf and vo x:2.167603 ,z=-0.466940,angle between two frames:1.799968 -[22:31:40.823] frame process finished the id is: 1130 the obs is:11 -[22:31:40.927] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634770 ,z=0.294897,angle between two frames:0.499963 -[22:31:40.927] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.092644 error end=0.081570 -[22:31:40.927] After pose optimization, distance between ekf and vo x:0.602486 ,z=0.293918,angle between two frames:0.487163 -[22:31:40.927] frame process finished the id is: 1130 the obs is:11 -[22:31:41.033] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634773 ,z=0.294886,angle between two frames:0.499963 -[22:31:41.033] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.001477 error end=0.001477 -[22:31:41.033] After pose optimization, distance between ekf and vo x:0.634773 ,z=0.294886,angle between two frames:0.499963 -[22:31:41.033] frame process finished the id is: 1130 the obs is:11 -[22:31:41.138] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.774982 ,z=0.314056,angle between two frames:0.599963 -[22:31:41.139] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.003476 error end=0.003466 -[22:31:41.139] After pose optimization, distance between ekf and vo x:0.773464 ,z=0.314195,angle between two frames:0.599686 -[22:31:41.139] frame process finished the id is: 1130 the obs is:11 -[22:31:41.245] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.635041 ,z=0.294404,angle between two frames:0.499963 -[22:31:41.245] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.004958 error end=0.004958 -[22:31:41.245] After pose optimization, distance between ekf and vo x:0.635041 ,z=0.294404,angle between two frames:0.499963 -[22:31:41.245] frame process finished the id is: 1130 the obs is:11 -[22:31:41.349] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.634708 ,z=0.295010,angle between two frames:0.499963 -[22:31:41.349] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.036450 error end=0.035708 -[22:31:41.349] After pose optimization, distance between ekf and vo x:0.738660 ,z=0.301236,angle between two frames:0.519759 -[22:31:41.349] frame process finished the id is: 1130 the obs is:11 -[22:31:41.455] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:41.455] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =42 error init =0.000690 error end=0.000690 -[22:31:41.455] After pose optimization, distance between ekf and vo x:0.634698 ,z=0.295024,angle between two frames:0.499963 -[22:31:41.455] frame process finished the id is: 1130 the obs is:11 -[22:31:41.562] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634703 ,z=0.295022,angle between two frames:0.499963 -[22:31:41.562] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 error init =0.000381 error end=0.000381 -[22:31:41.562] After pose optimization, distance between ekf and vo x:0.634680 ,z=0.295018,angle between two frames:0.499961 -[22:31:41.562] frame process finished the id is: 1130 the obs is:11 -[22:31:41.668] After Reprojection Map nMatches:41 ,distance between ekf and vo x:0.634707 ,z=0.295011,angle between two frames:0.499963 -[22:31:41.669] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.063091 error end=0.060001 -[22:31:41.669] After pose optimization, distance between ekf and vo x:0.579296 ,z=0.246478,angle between two frames:0.494125 -[22:31:41.669] frame process finished the id is: 1130 the obs is:11 -[22:31:41.775] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 -[22:31:41.775] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.012572 error end=0.012550 -[22:31:41.775] After pose optimization, distance between ekf and vo x:0.632283 ,z=0.294202,angle between two frames:0.499414 -[22:31:41.775] frame process finished the id is: 1130 the obs is:11 -[22:31:41.881] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 -[22:31:41.881] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.283003 error end=0.283003 -[22:31:41.881] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 -[22:31:41.881] frame process finished the id is: 1130 the obs is:11 -[22:31:41.987] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 -[22:31:41.988] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =1.574750 error end=1.574750 -[22:31:41.988] After pose optimization, distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 -[22:31:41.988] frame process finished the id is: 1130 the obs is:11 -[22:31:42.093] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 -[22:31:42.094] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.126448 error end=0.125329 -[22:31:42.094] After pose optimization, distance between ekf and vo x:0.630280 ,z=0.292662,angle between two frames:0.498828 -[22:31:42.094] frame process finished the id is: 1130 the obs is:11 -[22:31:42.203] After Reprojection Map nMatches:39 ,distance between ekf and vo x:0.634706 ,z=0.295012,angle between two frames:0.499963 -[22:31:42.204] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.229315 error end=0.201345 -[22:31:42.204] After pose optimization, distance between ekf and vo x:0.524488 ,z=0.281938,angle between two frames:0.491762 -[22:31:42.204] frame process finished the id is: 1130 the obs is:11 -[22:31:42.310] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634704 ,z=0.295018,angle between two frames:0.499963 -[22:31:42.310] n deleted obs = 29 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.882823 error end=0.882823 -[22:31:42.311] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295018,angle between two frames:0.499963 -[22:31:42.311] frame process finished the id is: 1130 the obs is:11 -[22:31:42.418] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634706 ,z=0.295012,angle between two frames:0.499963 -[22:31:42.418] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.000757 error end=0.000757 -[22:31:42.418] After pose optimization, distance between ekf and vo x:0.634646 ,z=0.295003,angle between two frames:0.499958 -[22:31:42.418] frame process finished the id is: 1130 the obs is:11 -[22:31:42.524] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 -[22:31:42.524] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.753630 error end=0.356398 -[22:31:42.524] After pose optimization, distance between ekf and vo x:0.269467 ,z=0.042660,angle between two frames:0.399209 -[22:31:42.524] frame process finished the id is: 1130 the obs is:11 -[22:31:42.632] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:42.632] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =43 error init =0.003946 error end=0.003946 -[22:31:42.632] After pose optimization, distance between ekf and vo x:0.635376 ,z=0.295016,angle between two frames:0.500076 -[22:31:42.632] frame process finished the id is: 1130 the obs is:11 -[22:31:42.739] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.634701 ,z=0.295021,angle between two frames:0.499963 -[22:31:42.739] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.163266 error end=0.161193 -[22:31:42.739] After pose optimization, distance between ekf and vo x:0.627130 ,z=0.289582,angle between two frames:0.497479 -[22:31:42.739] frame process finished the id is: 1130 the obs is:11 -[22:31:42.845] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634707 ,z=0.295012,angle between two frames:0.499963 -[22:31:42.845] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.380922 error end=0.327877 -[22:31:42.845] After pose optimization, distance between ekf and vo x:0.559042 ,z=0.283176,angle between two frames:0.456551 -[22:31:42.845] frame process finished the id is: 1130 the obs is:11 -[22:31:42.953] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.634704 ,z=0.295018,angle between two frames:0.499963 -[22:31:42.953] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.079040 error end=0.079040 -[22:31:42.953] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295018,angle between two frames:0.499963 -[22:31:42.953] frame process finished the id is: 1130 the obs is:11 -[22:31:43.060] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 -[22:31:43.060] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.130370 error end=0.130370 -[22:31:43.060] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 -[22:31:43.060] frame process finished the id is: 1130 the obs is:11 -[22:31:43.166] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:43.166] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.000009 error end=0.000009 -[22:31:43.166] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:43.166] frame process finished the id is: 1130 the obs is:11 -[22:31:43.272] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.634705 ,z=0.295015,angle between two frames:0.499963 -[22:31:43.272] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.425220 error end=0.425220 -[22:31:43.272] After pose optimization, distance between ekf and vo x:0.634705 ,z=0.295015,angle between two frames:0.499963 -[22:31:43.272] frame process finished the id is: 1130 the obs is:11 -[22:31:43.378] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634706 ,z=0.295012,angle between two frames:0.499963 -[22:31:43.379] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.460994 error end=0.459152 -[22:31:43.379] After pose optimization, distance between ekf and vo x:0.618713 ,z=0.310681,angle between two frames:0.499460 -[22:31:43.379] frame process finished the id is: 1130 the obs is:11 -[22:31:43.485] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:43.486] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =42 error init =0.000234 error end=0.000234 -[22:31:43.486] After pose optimization, distance between ekf and vo x:0.634973 ,z=0.294992,angle between two frames:0.500009 -[22:31:43.486] frame process finished the id is: 1130 the obs is:11 -[22:31:43.592] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 -[22:31:43.592] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.000044 error end=0.000044 -[22:31:43.592] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 -[22:31:43.592] frame process finished the id is: 1130 the obs is:11 -[22:31:43.698] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:43.698] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.117425 error end=0.116153 -[22:31:43.698] After pose optimization, distance between ekf and vo x:0.633292 ,z=0.284052,angle between two frames:0.498348 -[22:31:43.698] frame process finished the id is: 1130 the obs is:11 -[22:31:43.804] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634705 ,z=0.295014,angle between two frames:0.499963 -[22:31:43.804] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.582735 error end=0.443299 -[22:31:43.804] After pose optimization, distance between ekf and vo x:0.417869 ,z=0.270509,angle between two frames:0.466497 -[22:31:43.804] frame process finished the id is: 1130 the obs is:11 -[22:31:43.911] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 -[22:31:43.912] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.035340 error end=0.035304 -[22:31:43.912] After pose optimization, distance between ekf and vo x:0.633264 ,z=0.294799,angle between two frames:0.499778 -[22:31:43.912] frame process finished the id is: 1130 the obs is:11 -[22:31:44.019] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 -[22:31:44.019] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.407228 error end=0.407228 -[22:31:44.019] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 -[22:31:44.019] frame process finished the id is: 1130 the obs is:11 -[22:31:44.125] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634705 ,z=0.295012,angle between two frames:0.499963 -[22:31:44.126] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.032745 error end=0.032740 -[22:31:44.126] After pose optimization, distance between ekf and vo x:0.634429 ,z=0.294741,angle between two frames:0.499866 -[22:31:44.126] frame process finished the id is: 1130 the obs is:11 -[22:31:44.232] After Reprojection Map nMatches:39 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 -[22:31:44.232] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.014466 error end=0.014466 -[22:31:44.232] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 -[22:31:44.232] frame process finished the id is: 1130 the obs is:11 -[22:31:44.338] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 -[22:31:44.338] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.129083 error end=0.125997 -[22:31:44.338] After pose optimization, distance between ekf and vo x:0.630397 ,z=0.293842,angle between two frames:0.499091 -[22:31:44.338] frame process finished the id is: 1130 the obs is:11 -[22:31:44.444] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634701 ,z=0.295020,angle between two frames:0.499963 -[22:31:44.444] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.032734 error end=0.032730 -[22:31:44.444] After pose optimization, distance between ekf and vo x:0.635556 ,z=0.295003,angle between two frames:0.500114 -[22:31:44.444] frame process finished the id is: 1130 the obs is:11 -[22:31:44.550] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 -[22:31:44.550] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.128700 error end=0.127711 -[22:31:44.550] After pose optimization, distance between ekf and vo x:0.627260 ,z=0.290986,angle between two frames:0.498055 -[22:31:44.550] frame process finished the id is: 1130 the obs is:11 -[22:31:44.656] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634706 ,z=0.295012,angle between two frames:0.499963 -[22:31:44.657] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.011525 error end=0.011524 -[22:31:44.657] After pose optimization, distance between ekf and vo x:0.634654 ,z=0.294970,angle between two frames:0.499947 -[22:31:44.657] frame process finished the id is: 1130 the obs is:11 -[22:31:44.763] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 -[22:31:44.763] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.070953 error end=0.066289 -[22:31:44.763] After pose optimization, distance between ekf and vo x:0.601269 ,z=0.287866,angle between two frames:0.485563 -[22:31:44.763] frame process finished the id is: 1130 the obs is:11 -[22:31:44.868] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 -[22:31:44.869] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.055165 error end=0.055054 -[22:31:44.869] After pose optimization, distance between ekf and vo x:0.631444 ,z=0.294510,angle between two frames:0.499657 -[22:31:44.869] frame process finished the id is: 1130 the obs is:11 -[22:31:44.974] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 -[22:31:44.975] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.189174 error end=0.189114 -[22:31:44.975] After pose optimization, distance between ekf and vo x:0.637199 ,z=0.290701,angle between two frames:0.499414 -[22:31:44.975] frame process finished the id is: 1130 the obs is:11 -[22:31:45.081] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634705 ,z=0.295012,angle between two frames:0.499963 -[22:31:45.081] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.134818 error end=0.134333 -[22:31:45.081] After pose optimization, distance between ekf and vo x:0.631679 ,z=0.293395,angle between two frames:0.499714 -[22:31:45.081] frame process finished the id is: 1130 the obs is:11 -[22:31:45.187] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634705 ,z=0.295015,angle between two frames:0.499963 -[22:31:45.187] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.000074 error end=0.000074 -[22:31:45.187] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295015,angle between two frames:0.499963 -[22:31:45.187] frame process finished the id is: 1130 the obs is:11 -[22:31:45.293] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634700 ,z=0.295021,angle between two frames:0.499963 -[22:31:45.293] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.652044 error end=0.497021 -[22:31:45.293] After pose optimization, distance between ekf and vo x:0.429785 ,z=0.276928,angle between two frames:0.461234 -[22:31:45.293] frame process finished the id is: 1130 the obs is:11 -[22:31:45.399] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 -[22:31:45.399] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.003353 error end=0.003353 -[22:31:45.399] After pose optimization, distance between ekf and vo x:0.634681 ,z=0.295009,angle between two frames:0.499958 -[22:31:45.399] frame process finished the id is: 1130 the obs is:11 -[22:31:45.505] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 -[22:31:45.505] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.259879 error end=0.233592 -[22:31:45.505] After pose optimization, distance between ekf and vo x:0.515006 ,z=0.279155,angle between two frames:0.493897 -[22:31:45.505] frame process finished the id is: 1130 the obs is:11 -[22:31:45.611] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634704 ,z=0.295015,angle between two frames:0.499963 -[22:31:45.611] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.050427 error end=0.050427 -[22:31:45.611] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295015,angle between two frames:0.499963 -[22:31:45.611] frame process finished the id is: 1130 the obs is:11 -[22:31:45.718] After Reprojection Map nMatches:44 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 -[22:31:45.719] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.233715 error end=0.216100 -[22:31:45.719] After pose optimization, distance between ekf and vo x:0.543939 ,z=0.292941,angle between two frames:0.481785 -[22:31:45.719] frame process finished the id is: 1130 the obs is:11 -[22:31:45.824] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634705 ,z=0.295015,angle between two frames:0.499963 -[22:31:45.824] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.246933 error end=0.224738 -[22:31:45.825] After pose optimization, distance between ekf and vo x:0.561106 ,z=0.271742,angle between two frames:0.483401 -[22:31:45.825] frame process finished the id is: 1130 the obs is:11 -[22:31:45.930] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:45.930] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.039285 error end=0.039285 -[22:31:45.930] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:45.930] frame process finished the id is: 1130 the obs is:11 -[22:31:46.036] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634705 ,z=0.295012,angle between two frames:0.499963 -[22:31:46.036] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.000019 error end=0.000019 -[22:31:46.036] After pose optimization, distance between ekf and vo x:0.634705 ,z=0.295012,angle between two frames:0.499963 -[22:31:46.036] frame process finished the id is: 1130 the obs is:11 -[22:31:46.142] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634704 ,z=0.295014,angle between two frames:0.499963 -[22:31:46.142] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.017672 error end=0.017672 -[22:31:46.142] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295014,angle between two frames:0.499963 -[22:31:46.142] frame process finished the id is: 1130 the obs is:11 -[22:31:46.247] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 -[22:31:46.247] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.003579 error end=0.003579 -[22:31:46.247] After pose optimization, distance between ekf and vo x:0.634829 ,z=0.295038,angle between two frames:0.499897 -[22:31:46.247] frame process finished the id is: 1130 the obs is:11 -[22:31:46.353] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634704 ,z=0.295018,angle between two frames:0.499963 -[22:31:46.353] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.867568 error end=0.380914 -[22:31:46.353] After pose optimization, distance between ekf and vo x:0.202375 ,z=-0.032683,angle between two frames:0.371708 -[22:31:46.353] frame process finished the id is: 1130 the obs is:11 -[22:31:46.458] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634705 ,z=0.295012,angle between two frames:0.499963 -[22:31:46.458] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.070033 error end=0.070033 -[22:31:46.458] After pose optimization, distance between ekf and vo x:0.634705 ,z=0.295012,angle between two frames:0.499963 -[22:31:46.458] frame process finished the id is: 1130 the obs is:11 -[22:31:46.564] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 -[22:31:46.564] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.238647 error end=0.238300 -[22:31:46.564] After pose optimization, distance between ekf and vo x:0.632975 ,z=0.294108,angle between two frames:0.499500 -[22:31:46.564] frame process finished the id is: 1130 the obs is:11 -[22:31:46.670] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634705 ,z=0.295011,angle between two frames:0.499963 -[22:31:46.671] n deleted obs = 29 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.621872 error end=0.532938 -[22:31:46.671] After pose optimization, distance between ekf and vo x:0.508590 ,z=0.256264,angle between two frames:0.490608 -[22:31:46.671] frame process finished the id is: 1130 the obs is:11 -[22:31:46.776] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:46.777] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.297205 error end=0.297205 -[22:31:46.777] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:46.777] frame process finished the id is: 1130 the obs is:11 -[22:31:46.882] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:46.882] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.000233 error end=0.000233 -[22:31:46.882] After pose optimization, distance between ekf and vo x:0.634701 ,z=0.295018,angle between two frames:0.499963 -[22:31:46.882] frame process finished the id is: 1130 the obs is:11 -[22:31:46.988] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 -[22:31:46.988] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =1.384560 error end=1.185316 -[22:31:46.988] After pose optimization, distance between ekf and vo x:0.587404 ,z=0.291789,angle between two frames:0.492477 -[22:31:46.988] frame process finished the id is: 1130 the obs is:11 -[22:31:47.094] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.634702 ,z=0.295020,angle between two frames:0.499963 -[22:31:47.094] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.657782 error end=0.393631 -[22:31:47.094] After pose optimization, distance between ekf and vo x:0.413715 ,z=0.206001,angle between two frames:0.422464 -[22:31:47.094] frame process finished the id is: 1130 the obs is:11 -[22:31:47.200] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.634708 ,z=0.295009,angle between two frames:0.499963 -[22:31:47.201] n deleted obs = 28 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.356199 error end=0.355301 -[22:31:47.201] After pose optimization, distance between ekf and vo x:0.623924 ,z=0.291871,angle between two frames:0.497739 -[22:31:47.201] frame process finished the id is: 1130 the obs is:11 -[22:31:47.307] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.634708 ,z=0.295010,angle between two frames:0.499963 -[22:31:47.307] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.004386 error end=0.004386 -[22:31:47.307] After pose optimization, distance between ekf and vo x:0.634689 ,z=0.295033,angle between two frames:0.499963 -[22:31:47.307] frame process finished the id is: 1130 the obs is:11 -[22:31:47.412] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 -[22:31:47.412] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.124497 error end=0.123758 -[22:31:47.412] After pose optimization, distance between ekf and vo x:0.592290 ,z=0.276716,angle between two frames:0.500514 -[22:31:47.412] frame process finished the id is: 1130 the obs is:11 -[22:31:47.518] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.634704 ,z=0.295018,angle between two frames:0.499963 -[22:31:47.518] n deleted obs = 40 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =1.107929 error end=1.087799 -[22:31:47.518] After pose optimization, distance between ekf and vo x:0.621113 ,z=0.296425,angle between two frames:0.495899 -[22:31:47.518] frame process finished the id is: 1130 the obs is:11 -[22:31:47.623] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634702 ,z=0.295018,angle between two frames:0.499963 -[22:31:47.623] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.044010 error end=0.044010 -[22:31:47.623] After pose optimization, distance between ekf and vo x:0.634702 ,z=0.295018,angle between two frames:0.499963 -[22:31:47.623] frame process finished the id is: 1130 the obs is:11 -[22:31:47.731] After Reprojection Map nMatches:39 ,distance between ekf and vo x:0.634701 ,z=0.295019,angle between two frames:0.499963 -[22:31:47.731] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.030571 error end=0.030567 -[22:31:47.731] After pose optimization, distance between ekf and vo x:0.634486 ,z=0.294920,angle between two frames:0.499911 -[22:31:47.731] frame process finished the id is: 1130 the obs is:11 -[22:31:47.836] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634699 ,z=0.295026,angle between two frames:0.499963 -[22:31:47.836] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.380056 error end=0.177152 -[22:31:47.836] After pose optimization, distance between ekf and vo x:0.368617 ,z=0.097582,angle between two frames:0.416976 -[22:31:47.836] frame process finished the id is: 1130 the obs is:11 -[22:31:47.942] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634704 ,z=0.295015,angle between two frames:0.499963 -[22:31:47.942] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.000035 error end=0.000035 -[22:31:47.942] After pose optimization, distance between ekf and vo x:0.634698 ,z=0.295015,angle between two frames:0.499962 -[22:31:47.942] frame process finished the id is: 1130 the obs is:11 -[22:31:48.050] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:48.050] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.092785 error end=0.092742 -[22:31:48.050] After pose optimization, distance between ekf and vo x:0.633866 ,z=0.294691,angle between two frames:0.499779 -[22:31:48.050] frame process finished the id is: 1130 the obs is:11 -[22:31:48.157] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.634706 ,z=0.295011,angle between two frames:0.499963 -[22:31:48.157] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.001254 error end=0.001253 -[22:31:48.157] After pose optimization, distance between ekf and vo x:0.634464 ,z=0.294988,angle between two frames:0.499922 -[22:31:48.157] frame process finished the id is: 1130 the obs is:11 -[22:31:48.265] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:48.265] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.526224 error end=0.526224 -[22:31:48.265] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:48.265] frame process finished the id is: 1130 the obs is:11 -[22:31:48.369] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 -[22:31:48.369] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.079752 error end=0.077417 -[22:31:48.369] After pose optimization, distance between ekf and vo x:0.613215 ,z=0.297939,angle between two frames:0.492960 -[22:31:48.369] frame process finished the id is: 1130 the obs is:11 -[22:31:48.425] After Reprojection Map nMatches:41 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 -[22:31:48.425] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.203983 error end=0.187840 -[22:31:48.425] After pose optimization, distance between ekf and vo x:0.553060 ,z=0.287136,angle between two frames:0.484257 -[22:31:48.425] frame process finished the id is: 1130 the obs is:11 -[22:31:48.481] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.634701 ,z=0.295019,angle between two frames:0.499963 -[22:31:48.481] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.559123 error end=0.559123 -[22:31:48.481] After pose optimization, distance between ekf and vo x:0.634701 ,z=0.295019,angle between two frames:0.499963 -[22:31:48.481] frame process finished the id is: 1130 the obs is:11 -[22:31:48.582] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634702 ,z=0.295018,angle between two frames:0.499963 -[22:31:48.582] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.000953 error end=0.000953 -[22:31:48.582] After pose optimization, distance between ekf and vo x:0.634702 ,z=0.295018,angle between two frames:0.499963 -[22:31:48.582] frame process finished the id is: 1130 the obs is:11 -[22:31:48.681] After Reprojection Map nMatches:46 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:48.681] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.187921 error end=0.182924 -[22:31:48.681] After pose optimization, distance between ekf and vo x:0.607667 ,z=0.292009,angle between two frames:0.496558 -[22:31:48.681] frame process finished the id is: 1130 the obs is:11 -[22:31:48.781] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 -[22:31:48.781] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.008722 error end=0.008722 -[22:31:48.781] After pose optimization, distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 -[22:31:48.781] frame process finished the id is: 1130 the obs is:11 -[22:31:48.799] Odometry x=0.950490, y=2.439466, theta=3.044905 -[22:31:48.890] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:48.890] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.028460 error end=0.028460 -[22:31:48.890] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 -[22:31:48.890] frame process finished the id is: 1130 the obs is:11 -[22:31:48.898] Odometry x=0.949764, y=2.431742, theta=3.035342 -[22:31:48.984] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.637690 ,z=0.288502,angle between two frames:0.499956 -[22:31:48.984] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.364451 error end=0.364451 -[22:31:48.984] After pose optimization, distance between ekf and vo x:0.637690 ,z=0.288502,angle between two frames:0.499956 -[22:31:48.984] frame process finished the id is: 1130 the obs is:11 -[22:31:49.003] Odometry x=0.948178, y=2.424173, theta=3.034842 -[22:31:49.084] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.636820 ,z=0.290379,angle between two frames:0.499978 -[22:31:49.084] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.000272 error end=0.000272 -[22:31:49.084] After pose optimization, distance between ekf and vo x:0.636820 ,z=0.290379,angle between two frames:0.499978 -[22:31:49.084] frame process finished the id is: 1130 the obs is:11 -[22:31:49.100] Odometry x=0.947144, y=2.416247, theta=3.037172 -[22:31:49.180] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.638841 ,z=0.285938,angle between two frames:0.499964 -[22:31:49.180] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.165505 error end=0.165452 -[22:31:49.180] After pose optimization, distance between ekf and vo x:0.704533 ,z=0.277733,angle between two frames:0.510461 -[22:31:49.180] frame process finished the id is: 1130 the obs is:11 -[22:31:49.199] Odometry x=0.945717, y=2.409544, theta=3.031597 -[22:31:49.299] Odometry x=0.945267, y=2.403460, theta=3.038538 -[22:31:49.308] After Reprojection Map nMatches:39 ,distance between ekf and vo x:0.636458 ,z=0.291187,angle between two frames:0.499978 -[22:31:49.308] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.145030 error end=0.145016 -[22:31:49.308] After pose optimization, distance between ekf and vo x:0.636533 ,z=0.290854,angle between two frames:0.499938 -[22:31:49.308] frame process finished the id is: 1130 the obs is:11 -[22:31:49.385] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.636579 ,z=0.290929,angle between two frames:0.499978 -[22:31:49.385] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.000341 error end=0.000341 -[22:31:49.385] After pose optimization, distance between ekf and vo x:0.636490 ,z=0.290951,angle between two frames:0.499970 -[22:31:49.385] frame process finished the id is: 1130 the obs is:11 -[22:31:49.397] Odometry x=0.944493, y=2.395881, theta=3.038151 -[22:31:49.488] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.637760 ,z=0.288397,angle between two frames:0.499957 -[22:31:49.488] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.340559 error end=0.289096 -[22:31:49.488] After pose optimization, distance between ekf and vo x:0.501195 ,z=0.276680,angle between two frames:0.479423 -[22:31:49.488] frame process finished the id is: 1130 the obs is:11 -[22:31:49.502] Odometry x=0.943372, y=2.387910, theta=3.035693 -[22:31:49.590] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.364250 ,z=0.214288,angle between two frames:0.299971 -[22:31:49.590] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.003031 error end=0.002973 -[22:31:49.590] After pose optimization, distance between ekf and vo x:0.360389 ,z=0.210965,angle between two frames:0.298795 -[22:31:49.590] frame process finished the id is: 1130 the obs is:11 -[22:31:49.606] Odometry x=0.941986, y=2.381812, theta=3.042871 -[22:31:49.681] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.365101 ,z=0.212777,angle between two frames:0.299971 -[22:31:49.681] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.268674 error end=0.268674 -[22:31:49.681] After pose optimization, distance between ekf and vo x:0.365101 ,z=0.212777,angle between two frames:0.299971 -[22:31:49.681] frame process finished the id is: 1130 the obs is:11 -[22:31:49.702] Odometry x=0.942052, y=2.373812, theta=3.039952 -[22:31:49.792] After Reprojection Map nMatches:44 ,distance between ekf and vo x:0.365033 ,z=0.212902,angle between two frames:0.299971 -[22:31:49.792] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.118256 error end=0.118256 -[22:31:49.792] After pose optimization, distance between ekf and vo x:0.365033 ,z=0.212902,angle between two frames:0.299971 -[22:31:49.792] frame process finished the id is: 1130 the obs is:11 -[22:31:49.806] Odometry x=0.941079, y=2.367005, theta=3.043780 -[22:31:49.879] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.364441 ,z=0.213900,angle between two frames:0.299964 -[22:31:49.879] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.056569 error end=0.056569 -[22:31:49.879] After pose optimization, distance between ekf and vo x:0.364441 ,z=0.213900,angle between two frames:0.299964 -[22:31:49.879] frame process finished the id is: 1130 the obs is:11 -[22:31:49.900] Odometry x=0.940980, y=2.359012, theta=3.037029 -[22:31:49.983] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.364146 ,z=0.214451,angle between two frames:0.299971 -[22:31:49.983] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.579742 error end=0.579742 -[22:31:49.983] After pose optimization, distance between ekf and vo x:0.364146 ,z=0.214451,angle between two frames:0.299971 -[22:31:49.983] frame process finished the id is: 1130 the obs is:11 -[22:31:50.002] Odometry x=0.940828, y=2.351362, theta=3.043855 -[22:31:50.082] After Reprojection Map nMatches:39 ,distance between ekf and vo x:0.634434 ,z=0.295637,angle between two frames:0.499963 -[22:31:50.082] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.874806 error end=0.188219 -[22:31:50.083] After pose optimization, distance between ekf and vo x:1.751604 ,z=0.460265,angle between two frames:0.734870 -[22:31:50.083] frame process finished the id is: 1130 the obs is:11 -[22:31:50.095] Odometry x=0.940183, y=2.343529, theta=3.046208 -[22:31:50.175] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634425 ,z=0.295654,angle between two frames:0.499963 -[22:31:50.175] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.009682 error end=0.009412 -[22:31:50.175] After pose optimization, distance between ekf and vo x:0.622178 ,z=0.294462,angle between two frames:0.499021 -[22:31:50.175] frame process finished the id is: 1130 the obs is:11 -[22:31:50.200] Odometry x=0.938164, y=2.334636, theta=3.041953 -[22:31:50.289] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.772701 ,z=0.319199,angle between two frames:0.599984 -[22:31:50.289] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.075246 error end=0.075246 -[22:31:50.289] After pose optimization, distance between ekf and vo x:0.772701 ,z=0.319199,angle between two frames:0.599984 -[22:31:50.289] frame process finished the id is: 1130 the obs is:11 -[22:31:50.299] Odometry x=0.938265, y=2.327472, theta=3.049608 -[22:31:50.375] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.775100 ,z=0.313618,angle between two frames:0.599971 -[22:31:50.375] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.808794 error end=0.808794 -[22:31:50.375] After pose optimization, distance between ekf and vo x:0.775100 ,z=0.313618,angle between two frames:0.599971 -[22:31:50.375] frame process finished the id is: 1130 the obs is:11 -[22:31:50.395] Odometry x=0.937388, y=2.319540, theta=3.043822 -[22:31:50.496] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.365059 ,z=0.212869,angle between two frames:0.299978 -[22:31:50.496] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.018542 error end=0.018542 -[22:31:50.496] After pose optimization, distance between ekf and vo x:0.365059 ,z=0.212869,angle between two frames:0.299978 -[22:31:50.496] frame process finished the id is: 1130 the obs is:11 -[22:31:50.497] Odometry x=0.937103, y=2.311793, theta=3.039527 -[22:31:50.580] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.775165 ,z=0.313294,angle between two frames:0.599971 -[22:31:50.580] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.056826 error end=0.056826 -[22:31:50.580] After pose optimization, distance between ekf and vo x:0.775165 ,z=0.313294,angle between two frames:0.599971 -[22:31:50.580] frame process finished the id is: 1130 the obs is:11 -[22:31:50.600] Odometry x=0.936327, y=2.304496, theta=3.042559 -[22:31:50.685] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.775167 ,z=0.313399,angle between two frames:0.599971 -[22:31:50.685] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.041339 error end=0.041339 -[22:31:50.685] After pose optimization, distance between ekf and vo x:0.775167 ,z=0.313399,angle between two frames:0.599971 -[22:31:50.685] frame process finished the id is: 1130 the obs is:11 -[22:31:50.698] Odometry x=0.935144, y=2.297209, theta=3.043131 -[22:31:50.783] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.496281 ,z=0.263615,angle between two frames:0.399964 -[22:31:50.783] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.001558 error end=0.001557 -[22:31:50.783] After pose optimization, distance between ekf and vo x:0.496225 ,z=0.263484,angle between two frames:0.399973 -[22:31:50.783] frame process finished the id is: 1130 the obs is:11 -[22:31:50.801] Odometry x=0.933862, y=2.289519, theta=3.048548 -[22:31:50.885] After Reprojection Map nMatches:41 ,distance between ekf and vo x:0.498934 ,z=0.258551,angle between two frames:0.399978 -[22:31:50.886] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.009395 error end=0.009354 -[22:31:50.886] After pose optimization, distance between ekf and vo x:0.499488 ,z=0.259016,angle between two frames:0.400137 -[22:31:50.886] frame process finished the id is: 1130 the obs is:11 -[22:31:50.900] Odometry x=0.932818, y=2.281572, theta=3.038671 -[22:31:50.991] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.637889 ,z=0.288113,angle between two frames:0.499957 -[22:31:50.991] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.234562 error end=0.234562 -[22:31:50.991] After pose optimization, distance between ekf and vo x:0.637889 ,z=0.288113,angle between two frames:0.499957 -[22:31:50.991] frame process finished the id is: 1130 the obs is:11 -[22:31:50.995] Odometry x=0.931592, y=2.274203, theta=3.034844 -[22:31:51.094] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.498575 ,z=0.259246,angle between two frames:0.399978 -[22:31:51.094] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.020422 error end=0.019856 -[22:31:51.094] After pose optimization, distance between ekf and vo x:0.499024 ,z=0.262561,angle between two frames:0.400973 -[22:31:51.094] frame process finished the id is: 1130 the obs is:11 -[22:31:51.100] Odometry x=0.931327, y=2.265441, theta=3.039831 -[22:31:51.188] After Reprojection Map nMatches:44 ,distance between ekf and vo x:0.498595 ,z=0.259235,angle between two frames:0.399978 -[22:31:51.188] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =44 error init =0.000037 error end=0.000037 -[22:31:51.188] After pose optimization, distance between ekf and vo x:0.498604 ,z=0.259260,angle between two frames:0.399975 -[22:31:51.188] frame process finished the id is: 1130 the obs is:11 -[22:31:51.199] Odometry x=0.931898, y=2.256688, theta=3.040196 -[22:31:51.287] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.499912 ,z=0.256665,angle between two frames:0.399957 -[22:31:51.288] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.498451 error end=0.383976 -[22:31:51.288] After pose optimization, distance between ekf and vo x:0.235159 ,z=-0.051007,angle between two frames:0.303641 -[22:31:51.288] frame process finished the id is: 1130 the obs is:11 -[22:31:51.302] Odometry x=0.931748, y=2.249679, theta=3.036498 -[22:31:51.388] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.777950 ,z=0.306685,angle between two frames:0.599961 -[22:31:51.388] n deleted obs = 27 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.438555 error end=0.438555 -[22:31:51.388] After pose optimization, distance between ekf and vo x:0.777950 ,z=0.306685,angle between two frames:0.599961 -[22:31:51.388] frame process finished the id is: 1130 the obs is:11 -[22:31:51.396] Odometry x=0.930770, y=2.241535, theta=3.035791 -[22:31:51.487] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.777057 ,z=0.308784,angle between two frames:0.599964 -[22:31:51.487] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.000133 error end=0.000133 -[22:31:51.487] After pose optimization, distance between ekf and vo x:0.777041 ,z=0.308785,angle between two frames:0.599963 -[22:31:51.487] frame process finished the id is: 1130 the obs is:11 -[22:31:51.493] Odometry x=0.929291, y=2.233430, theta=3.037747 -[22:31:51.594] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.634019 ,z=0.296517,angle between two frames:0.499971 -[22:31:51.594] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =41 error init =0.000418 error end=0.000418 -[22:31:51.594] After pose optimization, distance between ekf and vo x:0.634019 ,z=0.296517,angle between two frames:0.499971 -[22:31:51.594] frame process finished the id is: 1130 the obs is:11 -[22:31:51.598] Odometry x=0.927934, y=2.224541, theta=3.047458 -[22:31:51.707] Odometry x=0.927271, y=2.215531, theta=3.053863 -[22:31:51.712] After Reprojection Map nMatches:46 ,distance between ekf and vo x:0.633958 ,z=0.296629,angle between two frames:0.499970 -[22:31:51.712] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.098876 error end=0.098622 -[22:31:51.712] After pose optimization, distance between ekf and vo x:0.628373 ,z=0.300592,angle between two frames:0.499039 -[22:31:51.712] frame process finished the id is: 1130 the obs is:11 -[22:31:51.795] Odometry x=0.926288, y=2.207289, theta=3.048256 -[22:31:51.800] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.496575 ,z=0.263070,angle between two frames:0.399970 -[22:31:51.801] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.019810 error end=0.019808 -[22:31:51.801] After pose optimization, distance between ekf and vo x:0.495954 ,z=0.263131,angle between two frames:0.400000 -[22:31:51.801] frame process finished the id is: 1130 the obs is:11 -[22:31:51.902] Odometry x=0.926288, y=2.207289, theta=3.048256 -[22:31:51.926] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.496549 ,z=0.263115,angle between two frames:0.399970 -[22:31:51.926] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.315116 error end=0.040319 -[22:31:51.926] After pose optimization, distance between ekf and vo x:0.987725 ,z=2.534606,angle between two frames:0.355368 -[22:31:51.926] frame process finished the id is: 1130 the obs is:11 -[22:31:51.993] Odometry x=0.926288, y=2.207289, theta=3.048256 -[22:31:52.037] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.497121 ,z=0.262064,angle between two frames:0.399963 -[22:31:52.037] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.168629 error end=0.168607 -[22:31:52.037] After pose optimization, distance between ekf and vo x:0.507823 ,z=0.255849,angle between two frames:0.400796 -[22:31:52.037] frame process finished the id is: 1130 the obs is:11 -[22:31:52.100] Odometry x=0.923842, y=2.194575, theta=3.043839 -[22:31:52.147] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.636290 ,z=0.291755,angle between two frames:0.499962 -[22:31:52.147] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.110944 error end=0.108861 -[22:31:52.147] After pose optimization, distance between ekf and vo x:0.628858 ,z=0.788560,angle between two frames:0.456675 -[22:31:52.147] frame process finished the id is: 1130 the obs is:11 -[22:31:52.194] Odometry x=0.923842, y=2.194575, theta=3.043839 -[22:31:52.252] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.497425 ,z=0.261421,angle between two frames:0.399978 -[22:31:52.252] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.136227 error end=0.136227 -[22:31:52.252] After pose optimization, distance between ekf and vo x:0.497425 ,z=0.261421,angle between two frames:0.399978 -[22:31:52.252] frame process finished the id is: 1130 the obs is:11 -[22:31:52.295] Odometry x=0.923842, y=2.194575, theta=3.043839 -[22:31:52.361] After Reprojection Map nMatches:53 ,distance between ekf and vo x:0.634837 ,z=0.294665,angle between two frames:0.499977 -[22:31:52.361] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.028601 error end=0.028601 -[22:31:52.361] After pose optimization, distance between ekf and vo x:0.634837 ,z=0.294665,angle between two frames:0.499977 -[22:31:52.361] frame process finished the id is: 1130 the obs is:11 -[22:31:52.397] Odometry x=0.923842, y=2.194575, theta=3.043839 -[22:31:52.464] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.497421 ,z=0.261431,angle between two frames:0.399978 -[22:31:52.464] n deleted obs = 22 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.200594 error end=0.199949 -[22:31:52.464] After pose optimization, distance between ekf and vo x:0.492693 ,z=0.263171,angle between two frames:0.400044 -[22:31:52.464] frame process finished the id is: 1130 the obs is:11 -[22:31:52.501] Odometry x=0.929540, y=2.183627, theta=3.044414 -[22:31:52.571] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.496959 ,z=0.262367,angle between two frames:0.399971 -[22:31:52.572] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.003189 error end=0.003159 -[22:31:52.572] After pose optimization, distance between ekf and vo x:0.494608 ,z=0.259804,angle between two frames:0.399146 -[22:31:52.572] frame process finished the id is: 1130 the obs is:11 -[22:31:52.594] Odometry x=0.928593, y=2.176514, theta=3.048392 -[22:31:52.678] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.496309 ,z=0.263589,angle between two frames:0.399968 -[22:31:52.678] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =1.076299 error end=0.528261 -[22:31:52.678] After pose optimization, distance between ekf and vo x:2.893077 ,z=3.229070,angle between two frames:0.211940 -[22:31:52.678] frame process finished the id is: 1130 the obs is:11 -[22:31:52.704] Odometry x=0.928105, y=2.168974, theta=3.042479 -[22:31:52.788] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.497839 ,z=0.260672,angle between two frames:0.399983 -[22:31:52.788] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.032539 error end=0.032539 -[22:31:52.788] After pose optimization, distance between ekf and vo x:0.497839 ,z=0.260672,angle between two frames:0.399983 -[22:31:52.788] frame process finished the id is: 1130 the obs is:11 -[22:31:52.798] Odometry x=0.927182, y=2.161341, theta=3.040031 -[22:31:52.899] Odometry x=0.926933, y=2.153568, theta=3.038923 -[22:31:52.904] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.776202 ,z=0.310849,angle between two frames:0.599956 -[22:31:52.904] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.002215 error end=0.002203 -[22:31:52.905] After pose optimization, distance between ekf and vo x:0.780946 ,z=0.309969,angle between two frames:0.602844 -[22:31:52.905] frame process finished the id is: 1130 the obs is:11 -[22:31:52.996] Odometry x=0.926335, y=2.145806, theta=3.037350 -[22:31:53.021] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.776633 ,z=0.309818,angle between two frames:0.599956 -[22:31:53.022] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.534038 error end=0.534038 -[22:31:53.022] After pose optimization, distance between ekf and vo x:0.776633 ,z=0.309818,angle between two frames:0.599956 -[22:31:53.022] frame process finished the id is: 1130 the obs is:11 -[22:31:53.094] Odometry x=0.925390, y=2.138126, theta=3.036154 -[22:31:53.137] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.777423 ,z=0.307778,angle between two frames:0.599951 -[22:31:53.138] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.023408 error end=0.023201 -[22:31:53.138] After pose optimization, distance between ekf and vo x:0.770128 ,z=0.308593,angle between two frames:0.599170 -[22:31:53.138] frame process finished the id is: 1130 the obs is:11 -[22:31:53.197] Odometry x=0.924433, y=2.130347, theta=3.038839 -[22:31:53.254] After Reprojection Map nMatches:39 ,distance between ekf and vo x:0.498786 ,z=0.258818,angle between two frames:0.399957 -[22:31:53.254] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.000203 error end=0.000203 -[22:31:53.254] After pose optimization, distance between ekf and vo x:0.498786 ,z=0.258818,angle between two frames:0.399957 -[22:31:53.254] frame process finished the id is: 1130 the obs is:11 -[22:31:53.294] Odometry x=0.923684, y=2.122681, theta=3.040406 -[22:31:53.371] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.498514 ,z=0.259352,angle between two frames:0.399957 -[22:31:53.371] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.000056 error end=0.000056 -[22:31:53.371] After pose optimization, distance between ekf and vo x:0.498514 ,z=0.259352,angle between two frames:0.399957 -[22:31:53.371] frame process finished the id is: 1130 the obs is:11 -[22:31:53.398] Odometry x=0.922758, y=2.114786, theta=3.040166 -[22:31:53.487] After Reprojection Map nMatches:49 ,distance between ekf and vo x:0.498695 ,z=0.259010,angle between two frames:0.399950 -[22:31:53.487] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.648671 error end=0.648671 -[22:31:53.487] After pose optimization, distance between ekf and vo x:0.498695 ,z=0.259010,angle between two frames:0.399950 -[22:31:53.487] frame process finished the id is: 1130 the obs is:11 -[22:31:53.494] Odometry x=0.922035, y=2.106689, theta=3.039822 -[22:31:53.598] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.499069 ,z=0.258254,angle between two frames:0.399949 -[22:31:53.598] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.184312 error end=0.184110 -[22:31:53.598] After pose optimization, distance between ekf and vo x:0.496901 ,z=0.260257,angle between two frames:0.399974 -[22:31:53.598] frame process finished the id is: 1130 the obs is:11 -[22:31:53.598] Odometry x=0.921154, y=2.098467, theta=3.041725 -[22:31:53.692] Odometry x=0.919943, y=2.090249, theta=3.049169 -[22:31:53.709] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.775388 ,z=0.312703,angle between two frames:0.599963 -[22:31:53.709] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.230325 error end=0.230325 -[22:31:53.709] After pose optimization, distance between ekf and vo x:0.775388 ,z=0.312703,angle between two frames:0.599963 -[22:31:53.709] frame process finished the id is: 1130 the obs is:11 -[22:31:53.796] Odometry x=0.919250, y=2.082416, theta=3.045972 -[22:31:53.825] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.497826 ,z=0.260733,angle between two frames:0.399949 -[22:31:53.825] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.052827 error end=0.052135 -[22:31:53.825] After pose optimization, distance between ekf and vo x:0.501650 ,z=0.260462,angle between two frames:0.391460 -[22:31:53.825] frame process finished the id is: 1130 the obs is:11 -[22:31:53.898] Odometry x=0.918622, y=2.073879, theta=3.044702 -[22:31:53.928] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.496787 ,z=0.262610,angle between two frames:0.399991 -[22:31:53.928] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.057618 error end=0.057618 -[22:31:53.928] After pose optimization, distance between ekf and vo x:0.496787 ,z=0.262610,angle between two frames:0.399991 -[22:31:53.928] frame process finished the id is: 1130 the obs is:11 -[22:31:53.994] Odometry x=0.917825, y=2.066540, theta=3.047447 -[22:31:54.045] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.774473 ,z=0.315507,angle between two frames:0.599956 -[22:31:54.045] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.124587 error end=0.120975 -[22:31:54.045] After pose optimization, distance between ekf and vo x:0.743499 ,z=0.308059,angle between two frames:0.591218 -[22:31:54.045] frame process finished the id is: 1130 the obs is:11 -[22:31:54.098] Odometry x=0.917283, y=2.058734, theta=3.044732 -[22:31:54.167] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.774822 ,z=0.314351,angle between two frames:0.599957 -[22:31:54.168] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.219028 error end=0.218493 -[22:31:54.168] After pose optimization, distance between ekf and vo x:0.798489 ,z=0.329127,angle between two frames:0.592992 -[22:31:54.168] frame process finished the id is: 1130 the obs is:11 -[22:31:54.194] Odometry x=0.915941, y=2.050804, theta=3.047699 -[22:31:54.283] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.774068 ,z=0.316310,angle between two frames:0.599949 -[22:31:54.284] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.868858 error end=0.502621 -[22:31:54.284] After pose optimization, distance between ekf and vo x:0.702542 ,z=0.402616,angle between two frames:0.600310 -[22:31:54.284] frame process finished the id is: 1130 the obs is:11 -[22:31:54.298] Odometry x=0.915182, y=2.042832, theta=3.042485 -[22:31:54.397] Odometry x=0.914221, y=2.035608, theta=3.042746 -[22:31:54.401] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.775654 ,z=0.312330,angle between two frames:0.599957 -[22:31:54.401] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.219439 error end=0.219439 -[22:31:54.401] After pose optimization, distance between ekf and vo x:0.775654 ,z=0.312330,angle between two frames:0.599957 -[22:31:54.401] frame process finished the id is: 1130 the obs is:11 -[22:31:54.498] Odometry x=0.913600, y=2.027253, theta=3.041979 -[22:31:54.508] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.774667 ,z=0.314242,angle between two frames:0.599978 -[22:31:54.508] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.290365 error end=0.221649 -[22:31:54.508] After pose optimization, distance between ekf and vo x:0.111508 ,z=0.045168,angle between two frames:0.568612 -[22:31:54.508] frame process finished the id is: 1130 the obs is:11 -[22:31:54.595] Odometry x=0.912281, y=2.020085, theta=3.041898 -[22:31:54.624] After Reprojection Map nMatches:52 ,distance between ekf and vo x:0.775265 ,z=0.312997,angle between two frames:0.599963 -[22:31:54.624] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.973667 error end=0.261825 -[22:31:54.624] After pose optimization, distance between ekf and vo x:0.491398 ,z=0.148897,angle between two frames:0.546343 -[22:31:54.624] frame process finished the id is: 1130 the obs is:11 -[22:31:54.698] Odometry x=0.911507, y=2.012136, theta=3.045798 -[22:31:54.734] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.497377 ,z=0.261555,angle between two frames:0.399956 -[22:31:54.734] n deleted obs = 27 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.456389 error end=0.456389 -[22:31:54.734] After pose optimization, distance between ekf and vo x:0.497377 ,z=0.261555,angle between two frames:0.399956 -[22:31:54.734] frame process finished the id is: 1130 the obs is:11 -[22:31:54.795] Odometry x=0.910198, y=2.004195, theta=3.045239 -[22:31:54.840] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.497654 ,z=0.261024,angle between two frames:0.399956 -[22:31:54.840] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.124857 error end=0.079214 -[22:31:54.840] After pose optimization, distance between ekf and vo x:0.138862 ,z=-0.053205,angle between two frames:0.673487 -[22:31:54.840] frame process finished the id is: 1130 the obs is:11 -[22:31:54.901] Odometry x=0.909413, y=1.996195, theta=3.045253 -[22:31:54.949] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.496632 ,z=0.262914,angle between two frames:0.399991 -[22:31:54.950] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.031274 error end=0.031274 -[22:31:54.950] After pose optimization, distance between ekf and vo x:0.496632 ,z=0.262914,angle between two frames:0.399991 -[22:31:54.950] frame process finished the id is: 1130 the obs is:11 -[22:31:54.998] Odometry x=0.908325, y=1.988262, theta=3.045152 -[22:31:55.047] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.496669 ,z=0.262822,angle between two frames:0.399991 -[22:31:55.047] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.013004 error end=0.013003 -[22:31:55.047] After pose optimization, distance between ekf and vo x:0.496061 ,z=0.262461,angle between two frames:0.400035 -[22:31:55.047] frame process finished the id is: 1130 the obs is:11 -[22:31:55.097] Odometry x=0.907372, y=1.980184, theta=3.046988 -[22:31:55.152] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.634679 ,z=0.295224,angle between two frames:0.499953 -[22:31:55.153] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.001892 error end=0.001892 -[22:31:55.153] After pose optimization, distance between ekf and vo x:0.634571 ,z=0.295247,angle between two frames:0.499940 -[22:31:55.153] frame process finished the id is: 1130 the obs is:11 -[22:31:55.197] Odometry x=0.906637, y=1.972825, theta=3.047000 -[22:31:55.258] After Reprojection Map nMatches:21 ,distance between ekf and vo x:0.634882 ,z=0.294851,angle between two frames:0.499949 -[22:31:55.258] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.008027 error end=0.008027 -[22:31:55.258] After pose optimization, distance between ekf and vo x:0.634882 ,z=0.294851,angle between two frames:0.499949 -[22:31:55.258] frame process finished the id is: 1130 the obs is:11 -[22:31:55.302] Odometry x=0.905720, y=1.964688, theta=3.047829 -[22:31:55.351] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.632731 ,z=0.298891,angle between two frames:0.499997 -[22:31:55.351] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.025266 error end=0.025208 -[22:31:55.351] After pose optimization, distance between ekf and vo x:0.631701 ,z=0.301069,angle between two frames:0.500449 -[22:31:55.351] frame process finished the id is: 1130 the obs is:11 -[22:31:55.412] Odometry x=0.905085, y=1.957253, theta=3.047929 -[22:31:55.443] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.633012 ,z=0.298384,angle between two frames:0.499976 -[22:31:55.443] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =1.812181 error end=1.812181 -[22:31:55.443] After pose optimization, distance between ekf and vo x:0.633012 ,z=0.298384,angle between two frames:0.499976 -[22:31:55.443] frame process finished the id is: 1130 the obs is:11 -[22:31:55.499] Odometry x=0.904455, y=1.949103, theta=3.047153 -[22:31:55.535] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.633512 ,z=0.297395,angle between two frames:0.499964 -[22:31:55.535] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.450373 error end=0.450373 -[22:31:55.535] After pose optimization, distance between ekf and vo x:0.633512 ,z=0.297395,angle between two frames:0.499964 -[22:31:55.535] frame process finished the id is: 1130 the obs is:11 -[22:31:55.597] Odometry x=0.903338, y=1.941442, theta=3.052071 -[22:31:55.633] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.495344 ,z=0.265353,angle between two frames:0.399957 -[22:31:55.633] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.071487 error end=0.070023 -[22:31:55.633] After pose optimization, distance between ekf and vo x:0.477141 ,z=0.258987,angle between two frames:0.403703 -[22:31:55.633] frame process finished the id is: 1130 the obs is:11 -[22:31:55.701] Odometry x=0.902759, y=1.933285, theta=3.051003 -[22:31:55.732] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.495820 ,z=0.264472,angle between two frames:0.399956 -[22:31:55.732] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.547812 error end=0.547812 -[22:31:55.732] After pose optimization, distance between ekf and vo x:0.495820 ,z=0.264472,angle between two frames:0.399956 -[22:31:55.732] frame process finished the id is: 1130 the obs is:11 -[22:31:55.801] Odometry x=0.902294, y=1.925268, theta=3.052823 -[22:31:55.823] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.494173 ,z=0.267487,angle between two frames:0.399998 -[22:31:55.823] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.000034 error end=0.000034 -[22:31:55.823] After pose optimization, distance between ekf and vo x:0.494173 ,z=0.267487,angle between two frames:0.399998 -[22:31:55.823] frame process finished the id is: 1130 the obs is:11 -[22:31:55.899] Odometry x=0.901593, y=1.917040, theta=3.048293 -[22:31:55.923] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.495530 ,z=0.264955,angle between two frames:0.399992 -[22:31:55.923] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.009566 error end=0.009566 -[22:31:55.923] After pose optimization, distance between ekf and vo x:0.495530 ,z=0.264955,angle between two frames:0.399992 -[22:31:55.923] frame process finished the id is: 1130 the obs is:11 -[22:31:55.996] Odometry x=0.900812, y=1.909116, theta=3.048914 -[22:31:56.024] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.495521 ,z=0.264982,angle between two frames:0.399991 -[22:31:56.024] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000067 error end=0.000067 -[22:31:56.024] After pose optimization, distance between ekf and vo x:0.495521 ,z=0.264982,angle between two frames:0.399991 -[22:31:56.024] frame process finished the id is: 1130 the obs is:11 -[22:31:56.095] Odometry x=0.900193, y=1.901034, theta=3.049305 -[22:31:56.123] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.495552 ,z=0.264932,angle between two frames:0.399991 -[22:31:56.123] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.126587 error end=0.125594 -[22:31:56.123] After pose optimization, distance between ekf and vo x:0.512620 ,z=0.268457,angle between two frames:0.406030 -[22:31:56.123] frame process finished the id is: 1130 the obs is:11 -[22:31:56.200] Odometry x=0.899291, y=1.893066, theta=3.044102 -[22:31:56.221] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.496856 ,z=0.262462,angle between two frames:0.399991 -[22:31:56.221] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000531 error end=0.000531 -[22:31:56.221] After pose optimization, distance between ekf and vo x:0.496827 ,z=0.262463,angle between two frames:0.399987 -[22:31:56.221] frame process finished the id is: 1130 the obs is:11 -[22:31:56.326] Odometry x=0.898612, y=1.884904, theta=3.047425 -[22:31:56.406] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.496154 ,z=0.263804,angle between two frames:0.399991 -[22:31:56.406] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.003830 error end=0.003827 -[22:31:56.406] After pose optimization, distance between ekf and vo x:0.493117 ,z=0.263467,angle between two frames:0.399241 -[22:31:56.406] frame process finished the id is: 1130 the obs is:11 -[22:31:56.426] Odometry x=0.897693, y=1.877011, theta=3.045021 -[22:31:56.457] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.496777 ,z=0.262621,angle between two frames:0.399991 -[22:31:56.457] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.028101 error end=0.020874 -[22:31:56.457] After pose optimization, distance between ekf and vo x:0.621679 ,z=0.299531,angle between two frames:0.455128 -[22:31:56.457] frame process finished the id is: 1130 the obs is:11 -[22:31:56.498] Odometry x=0.896834, y=1.868706, theta=3.047599 -[22:31:56.505] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.495550 ,z=0.264923,angle between two frames:0.399998 -[22:31:56.505] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.000001 error end=0.000001 -[22:31:56.505] After pose optimization, distance between ekf and vo x:0.495550 ,z=0.264923,angle between two frames:0.399998 -[22:31:56.505] frame process finished the id is: 1130 the obs is:11 -[22:31:56.568] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.495548 ,z=0.264925,angle between two frames:0.399998 -[22:31:56.568] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =8.368444 error end=8.368444 -[22:31:56.568] After pose optimization, distance between ekf and vo x:0.495548 ,z=0.264925,angle between two frames:0.399998 -[22:31:56.568] frame process finished the id is: 1130 the obs is:11 -[22:31:56.596] Odometry x=0.895965, y=1.860734, theta=3.047272 -[22:31:56.694] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.633509 ,z=0.297414,angle between two frames:0.499964 -[22:31:56.695] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.021076 error end=0.021076 -[22:31:56.695] After pose optimization, distance between ekf and vo x:0.633509 ,z=0.297414,angle between two frames:0.499964 -[22:31:56.695] frame process finished the id is: 1130 the obs is:11 -[22:31:56.698] Odometry x=0.895244, y=1.853327, theta=3.047414 -[22:31:56.780] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.633178 ,z=0.298198,angle between two frames:0.499964 -[22:31:56.780] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =2.517346 error end=3.501261 -[22:31:56.780] After pose optimization, distance between ekf and vo x:-3.568255 ,z=0.589618,angle between two frames:0.700434 -[22:31:56.780] frame process finished the id is: 1130 the obs is:11 -[22:31:56.799] Odometry x=0.894455, y=1.845433, theta=3.049371 -[22:31:56.889] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.362818 ,z=0.216633,angle between two frames:0.299964 -[22:31:56.889] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.002204 error end=0.002204 -[22:31:56.889] After pose optimization, distance between ekf and vo x:0.362818 ,z=0.216633,angle between two frames:0.299964 -[22:31:56.889] frame process finished the id is: 1130 the obs is:11 -[22:31:56.902] Odometry x=0.893517, y=1.837246, theta=3.049975 -[22:31:56.997] Odometry x=0.892503, y=1.829370, theta=3.048828 -[22:31:57.007] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.363065 ,z=0.216211,angle between two frames:0.299964 -[22:31:57.007] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.011256 error end=0.011243 -[22:31:57.007] After pose optimization, distance between ekf and vo x:0.362927 ,z=0.216020,angle between two frames:0.299540 -[22:31:57.007] frame process finished the id is: 1130 the obs is:11 -[22:31:57.080] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.495653 ,z=0.264758,angle between two frames:0.399964 -[22:31:57.080] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.016676 error end=0.016676 -[22:31:57.080] After pose optimization, distance between ekf and vo x:0.495653 ,z=0.264758,angle between two frames:0.399964 -[22:31:57.080] frame process finished the id is: 1130 the obs is:11 -[22:31:57.100] Odometry x=0.891674, y=1.821364, theta=3.049928 -[22:31:57.193] Odometry x=0.890816, y=1.813677, theta=3.052122 -[22:31:57.214] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.496002 ,z=0.264165,angle between two frames:0.399950 -[22:31:57.214] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.000020 error end=0.000020 -[22:31:57.214] After pose optimization, distance between ekf and vo x:0.495984 ,z=0.264166,angle between two frames:0.399947 -[22:31:57.214] frame process finished the id is: 1130 the obs is:11 -[22:31:57.280] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.495542 ,z=0.265029,angle between two frames:0.399950 -[22:31:57.280] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.000000 error end=0.000000 -[22:31:57.280] After pose optimization, distance between ekf and vo x:0.495542 ,z=0.265029,angle between two frames:0.399950 -[22:31:57.280] frame process finished the id is: 1130 the obs is:11 -[22:31:57.303] Odometry x=0.889820, y=1.805776, theta=3.053566 -[22:31:57.389] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.496144 ,z=0.263875,angle between two frames:0.399957 -[22:31:57.389] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.014023 error end=0.014023 -[22:31:57.389] After pose optimization, distance between ekf and vo x:0.496144 ,z=0.263875,angle between two frames:0.399957 -[22:31:57.389] frame process finished the id is: 1130 the obs is:11 -[22:31:57.408] Odometry x=0.888711, y=1.797548, theta=3.051033 -[22:31:57.480] After Reprojection Map nMatches:20 ,distance between ekf and vo x:0.495457 ,z=0.265180,angle between two frames:0.399950 -[22:31:57.480] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.067817 error end=0.067817 -[22:31:57.480] After pose optimization, distance between ekf and vo x:0.495457 ,z=0.265180,angle between two frames:0.399950 -[22:31:57.480] frame process finished the id is: 1130 the obs is:11 -[22:31:57.494] Odometry x=0.887997, y=1.789761, theta=3.053905 -[22:31:57.590] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.631946 ,z=0.301004,angle between two frames:0.499950 -[22:31:57.590] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.059508 error end=0.059508 -[22:31:57.590] After pose optimization, distance between ekf and vo x:0.631946 ,z=0.301004,angle between two frames:0.499950 -[22:31:57.590] frame process finished the id is: 1130 the obs is:11 -[22:31:57.599] Odometry x=0.887024, y=1.781666, theta=3.055507 -[22:31:57.685] After Reprojection Map nMatches:20 ,distance between ekf and vo x:0.631306 ,z=0.302370,angle between two frames:0.499957 -[22:31:57.685] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.066946 error end=0.066835 -[22:31:57.685] After pose optimization, distance between ekf and vo x:0.635026 ,z=0.297701,angle between two frames:0.500007 -[22:31:57.685] frame process finished the id is: 1130 the obs is:11 -[22:31:57.695] Odometry x=0.886236, y=1.773914, theta=3.057718 -[22:31:57.783] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.631929 ,z=0.301138,angle between two frames:0.499957 -[22:31:57.783] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.000170 error end=0.000170 -[22:31:57.783] After pose optimization, distance between ekf and vo x:0.631929 ,z=0.301138,angle between two frames:0.499957 -[22:31:57.783] frame process finished the id is: 1130 the obs is:11 -[22:31:57.797] Odometry x=0.885250, y=1.766380, theta=3.056386 -[22:31:57.880] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.630729 ,z=0.303242,angle between two frames:0.499991 -[22:31:57.880] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.409839 error end=0.142331 -[22:31:57.880] After pose optimization, distance between ekf and vo x:0.440424 ,z=-0.240485,angle between two frames:0.194847 -[22:31:57.880] frame process finished the id is: 1130 the obs is:11 -[22:31:57.899] Odometry x=0.884258, y=1.758599, theta=3.056140 -[22:31:57.986] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.632277 ,z=0.300417,angle between two frames:0.499949 -[22:31:57.986] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000655 error end=0.000655 -[22:31:57.986] After pose optimization, distance between ekf and vo x:0.632277 ,z=0.300417,angle between two frames:0.499949 -[22:31:57.986] frame process finished the id is: 1130 the obs is:11 -[22:31:57.995] Odometry x=0.883504, y=1.750763, theta=3.055452 -[22:31:58.081] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.633030 ,z=0.298832,angle between two frames:0.499949 -[22:31:58.081] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000313 error end=0.000313 -[22:31:58.081] After pose optimization, distance between ekf and vo x:0.633030 ,z=0.298832,angle between two frames:0.499949 -[22:31:58.081] frame process finished the id is: 1130 the obs is:11 -[22:31:58.098] Odometry x=0.882650, y=1.742560, theta=3.053154 -[22:31:58.193] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.632850 ,z=0.299212,angle between two frames:0.499949 -[22:31:58.193] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.003767 error end=0.003766 -[22:31:58.193] After pose optimization, distance between ekf and vo x:0.632741 ,z=0.299229,angle between two frames:0.499933 -[22:31:58.193] frame process finished the id is: 1130 the obs is:11 -[22:31:58.195] Odometry x=0.881708, y=1.734693, theta=3.053722 -[22:31:58.282] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.633040 ,z=0.298819,angle between two frames:0.499949 -[22:31:58.282] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =1.327712 error end=0.178323 -[22:31:58.282] After pose optimization, distance between ekf and vo x:0.297676 ,z=-0.027522,angle between two frames:0.083086 -[22:31:58.282] frame process finished the id is: 1130 the obs is:11 -[22:31:58.300] Odometry x=0.880794, y=1.726814, theta=3.053217 -[22:31:58.384] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.495406 ,z=0.265313,angle between two frames:0.399949 -[22:31:58.384] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.362339 error end=0.080296 -[22:31:58.384] After pose optimization, distance between ekf and vo x:1.426000 ,z=0.658932,angle between two frames:0.639133 -[22:31:58.384] frame process finished the id is: 1130 the obs is:11 -[22:31:58.395] Odometry x=0.879866, y=1.719701, theta=3.055145 -[22:31:58.482] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.495675 ,z=0.264788,angle between two frames:0.399950 -[22:31:58.482] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =4.321110 error end=4.321110 -[22:31:58.482] After pose optimization, distance between ekf and vo x:0.495675 ,z=0.264788,angle between two frames:0.399950 -[22:31:58.482] frame process finished the id is: 1130 the obs is:11 -[22:31:58.503] Odometry x=0.878924, y=1.712028, theta=3.053748 -[22:31:58.585] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.495445 ,z=0.265198,angle between two frames:0.399950 -[22:31:58.585] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.000406 error end=0.000406 -[22:31:58.585] After pose optimization, distance between ekf and vo x:0.495445 ,z=0.265198,angle between two frames:0.399950 -[22:31:58.585] frame process finished the id is: 1130 the obs is:11 -[22:31:58.594] Odometry x=0.878137, y=1.704232, theta=3.053952 -[22:31:58.696] Odometry x=0.877193, y=1.696340, theta=3.054582 -[22:31:58.705] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.495159 ,z=0.265726,angle between two frames:0.399949 -[22:31:58.705] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.012388 error end=0.012387 -[22:31:58.705] After pose optimization, distance between ekf and vo x:0.494366 ,z=0.265877,angle between two frames:0.400006 -[22:31:58.705] frame process finished the id is: 1130 the obs is:11 -[22:31:58.779] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.495377 ,z=0.265322,angle between two frames:0.399957 -[22:31:58.779] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.000029 error end=0.000029 -[22:31:58.779] After pose optimization, distance between ekf and vo x:0.495377 ,z=0.265322,angle between two frames:0.399957 -[22:31:58.779] frame process finished the id is: 1130 the obs is:11 -[22:31:58.797] Odometry x=0.876517, y=1.688212, theta=3.053810 -[22:31:58.887] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.493554 ,z=0.268649,angle between two frames:0.399991 -[22:31:58.887] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.000137 error end=0.000137 -[22:31:58.887] After pose optimization, distance between ekf and vo x:0.493548 ,z=0.268648,angle between two frames:0.399989 -[22:31:58.887] frame process finished the id is: 1130 the obs is:11 -[22:31:58.893] Odometry x=0.874981, y=1.680636, theta=3.056674 -[22:31:58.981] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.629837 ,z=0.305427,angle between two frames:0.499957 -[22:31:58.981] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000999 error end=0.000999 -[22:31:58.981] After pose optimization, distance between ekf and vo x:0.629837 ,z=0.305427,angle between two frames:0.499957 -[22:31:58.981] frame process finished the id is: 1130 the obs is:11 -[22:31:59.002] Odometry x=0.874363, y=1.672100, theta=3.062315 -[22:31:59.080] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.910811 ,z=0.333741,angle between two frames:0.699991 -[22:31:59.080] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.007419 error end=0.007419 -[22:31:59.080] After pose optimization, distance between ekf and vo x:0.910811 ,z=0.333741,angle between two frames:0.699991 -[22:31:59.080] frame process finished the id is: 1130 the obs is:11 -[22:31:59.101] Odometry x=0.873624, y=1.664160, theta=3.058496 -[22:31:59.190] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.629341 ,z=0.306091,angle between two frames:0.499991 -[22:31:59.190] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.008480 error end=0.008477 -[22:31:59.190] After pose optimization, distance between ekf and vo x:0.629247 ,z=0.306096,angle between two frames:0.499971 -[22:31:59.190] frame process finished the id is: 1130 the obs is:11 -[22:31:59.196] Odometry x=0.872689, y=1.656040, theta=3.060404 -[22:31:59.285] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.493062 ,z=0.269657,angle between two frames:0.399957 -[22:31:59.285] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000619 error end=0.000619 -[22:31:59.285] After pose optimization, distance between ekf and vo x:0.493062 ,z=0.269657,angle between two frames:0.399957 -[22:31:59.285] frame process finished the id is: 1130 the obs is:11 -[22:31:59.298] Odometry x=0.871745, y=1.648194, theta=3.062553 -[22:31:59.386] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.493249 ,z=0.269322,angle between two frames:0.399957 -[22:31:59.386] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.160900 error end=0.160900 -[22:31:59.386] After pose optimization, distance between ekf and vo x:0.493249 ,z=0.269322,angle between two frames:0.399957 -[22:31:59.386] frame process finished the id is: 1130 the obs is:11 -[22:31:59.399] Odometry x=0.870803, y=1.640301, theta=3.062104 -[22:31:59.481] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.492491 ,z=0.270715,angle between two frames:0.399957 -[22:31:59.481] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.010617 error end=0.010616 -[22:31:59.481] After pose optimization, distance between ekf and vo x:0.492175 ,z=0.270700,angle between two frames:0.399902 -[22:31:59.481] frame process finished the id is: 1130 the obs is:11 -[22:31:59.499] Odometry x=0.869384, y=1.632877, theta=3.064711 -[22:31:59.592] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.492271 ,z=0.271114,angle between two frames:0.399957 -[22:31:59.592] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.010181 error end=0.010181 -[22:31:59.592] After pose optimization, distance between ekf and vo x:0.492271 ,z=0.271114,angle between two frames:0.399957 -[22:31:59.592] frame process finished the id is: 1130 the obs is:11 -[22:31:59.594] Odometry x=0.868812, y=1.624851, theta=3.065410 -[22:31:59.681] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.492554 ,z=0.270482,angle between two frames:0.399991 -[22:31:59.681] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.005538 error end=0.005538 -[22:31:59.681] After pose optimization, distance between ekf and vo x:0.492391 ,z=0.270499,angle between two frames:0.399963 -[22:31:59.681] frame process finished the id is: 1130 the obs is:11 -[22:31:59.696] Odometry x=0.868174, y=1.617398, theta=3.060353 -[22:31:59.783] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.494539 ,z=0.266889,angle between two frames:0.399950 -[22:31:59.783] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.339037 error end=0.339037 -[22:31:59.783] After pose optimization, distance between ekf and vo x:0.494539 ,z=0.266889,angle between two frames:0.399950 -[22:31:59.783] frame process finished the id is: 1130 the obs is:11 -[22:31:59.800] Odometry x=0.867460, y=1.609217, theta=3.056998 -[22:31:59.895] Odometry x=0.866529, y=1.601614, theta=3.054713 -[22:31:59.939] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.495137 ,z=0.265768,angle between two frames:0.399957 -[22:31:59.939] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.007296 error end=0.007285 -[22:31:59.939] After pose optimization, distance between ekf and vo x:0.494487 ,z=0.265358,angle between two frames:0.399534 -[22:31:59.939] frame process finished the id is: 1130 the obs is:11 -[22:31:59.998] Odometry x=0.865341, y=1.594433, theta=3.063985 -[22:32:00.036] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.491594 ,z=0.272235,angle between two frames:0.399991 -[22:32:00.036] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.182178 error end=0.182178 -[22:32:00.036] After pose optimization, distance between ekf and vo x:0.491594 ,z=0.272235,angle between two frames:0.399991 -[22:32:00.036] frame process finished the id is: 1130 the obs is:11 -[22:32:00.095] Odometry x=0.865271, y=1.587546, theta=3.060267 -[22:32:00.133] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.492600 ,z=0.270400,angle between two frames:0.399991 -[22:32:00.133] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.038853 error end=0.038853 -[22:32:00.133] After pose optimization, distance between ekf and vo x:0.492600 ,z=0.270400,angle between two frames:0.399991 -[22:32:00.133] frame process finished the id is: 1130 the obs is:11 -[22:32:00.198] Odometry x=0.864475, y=1.579533, theta=3.058633 -[22:32:00.229] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.493049 ,z=0.269578,angle between two frames:0.399991 -[22:32:00.230] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.008806 error end=0.008806 -[22:32:00.230] After pose optimization, distance between ekf and vo x:0.493049 ,z=0.269578,angle between two frames:0.399991 -[22:32:00.230] frame process finished the id is: 1130 the obs is:11 -[22:32:00.299] Odometry x=0.863776, y=1.572184, theta=3.058801 -[22:32:00.327] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.493005 ,z=0.269657,angle between two frames:0.399991 -[22:32:00.327] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.558076 error end=0.552233 -[22:32:00.327] After pose optimization, distance between ekf and vo x:0.465982 ,z=0.264681,angle between two frames:0.397937 -[22:32:00.327] frame process finished the id is: 1130 the obs is:11 -[22:32:00.396] Odometry x=0.862911, y=1.564444, theta=3.058280 -[22:32:00.425] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.493147 ,z=0.269397,angle between two frames:0.399991 -[22:32:00.425] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.003567 error end=0.003566 -[22:32:00.425] After pose optimization, distance between ekf and vo x:0.492990 ,z=0.269367,angle between two frames:0.399956 -[22:32:00.425] frame process finished the id is: 1130 the obs is:11 -[22:32:00.498] Odometry x=0.862237, y=1.556652, theta=3.056670 -[22:32:00.530] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.494628 ,z=0.266724,angle between two frames:0.399957 -[22:32:00.530] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.074209 error end=0.073752 -[22:32:00.530] After pose optimization, distance between ekf and vo x:0.489387 ,z=0.265137,angle between two frames:0.397190 -[22:32:00.530] frame process finished the id is: 1130 the obs is:11 -[22:32:00.597] Odometry x=0.861331, y=1.548529, theta=3.064552 -[22:32:00.635] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.629080 ,z=0.306961,angle between two frames:0.499957 -[22:32:00.635] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =8.318102 error end=0.762282 -[22:32:00.635] After pose optimization, distance between ekf and vo x:-43.823752 ,z=6.542996,angle between two frames:1.067160 -[22:32:00.635] frame process finished the id is: 1130 the obs is:11 -[22:32:00.699] Odometry x=0.861181, y=1.540818, theta=3.058513 -[22:32:00.733] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.493116 ,z=0.269455,angle between two frames:0.399991 -[22:32:00.733] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.038520 error end=0.038520 -[22:32:00.733] After pose optimization, distance between ekf and vo x:0.493116 ,z=0.269455,angle between two frames:0.399991 -[22:32:00.733] frame process finished the id is: 1130 the obs is:11 -[22:32:00.796] Odometry x=0.860572, y=1.532649, theta=3.056543 -[22:32:00.837] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.494706 ,z=0.266576,angle between two frames:0.399957 -[22:32:00.837] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.053353 error end=0.053353 -[22:32:00.837] After pose optimization, distance between ekf and vo x:0.494706 ,z=0.266576,angle between two frames:0.399957 -[22:32:00.837] frame process finished the id is: 1130 the obs is:11 -[22:32:00.899] Odometry x=0.859962, y=1.525211, theta=3.055758 -[22:32:00.941] After Reprojection Map nMatches:17 ,distance between ekf and vo x:0.494898 ,z=0.266217,angle between two frames:0.399957 -[22:32:00.942] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.034607 error end=0.034164 -[22:32:00.942] After pose optimization, distance between ekf and vo x:0.540473 ,z=0.285276,angle between two frames:0.412211 -[22:32:00.942] frame process finished the id is: 1130 the obs is:11 -[22:32:00.995] Odometry x=0.859024, y=1.517287, theta=3.058535 -[22:32:01.046] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.630936 ,z=0.303102,angle between two frames:0.499957 -[22:32:01.046] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.756706 error end=0.317908 -[22:32:01.046] After pose optimization, distance between ekf and vo x:0.525139 ,z=-0.050874,angle between two frames:0.212399 -[22:32:01.046] frame process finished the id is: 1130 the obs is:11 -[22:32:01.102] Odometry x=0.858184, y=1.509553, theta=3.059085 -[22:32:01.145] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.629772 ,z=0.305211,angle between two frames:0.499991 -[22:32:01.145] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.020023 error end=0.019998 -[22:32:01.145] After pose optimization, distance between ekf and vo x:0.628979 ,z=0.305653,angle between two frames:0.499895 -[22:32:01.145] frame process finished the id is: 1130 the obs is:11 -[22:32:01.201] Odometry x=0.857472, y=1.501778, theta=3.059322 -[22:32:01.242] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.629706 ,z=0.305350,angle between two frames:0.499991 -[22:32:01.243] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.214757 error end=0.211650 -[22:32:01.243] After pose optimization, distance between ekf and vo x:0.743331 ,z=0.311987,angle between two frames:0.536485 -[22:32:01.243] frame process finished the id is: 1130 the obs is:11 -[22:32:01.299] Odometry x=0.856351, y=1.494662, theta=3.061327 -[22:32:01.339] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.492318 ,z=0.270920,angle between two frames:0.399992 -[22:32:01.340] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.009977 error end=0.009977 -[22:32:01.340] After pose optimization, distance between ekf and vo x:0.492318 ,z=0.270920,angle between two frames:0.399992 -[22:32:01.340] frame process finished the id is: 1130 the obs is:11 -[22:32:01.403] Odometry x=0.855283, y=1.486598, theta=3.059227 -[22:32:01.437] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.492892 ,z=0.269869,angle between two frames:0.399992 -[22:32:01.437] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.000039 error end=0.000039 -[22:32:01.437] After pose optimization, distance between ekf and vo x:0.492889 ,z=0.269869,angle between two frames:0.399991 -[22:32:01.437] frame process finished the id is: 1130 the obs is:11 -[22:32:01.503] Odometry x=0.854426, y=1.479152, theta=3.060678 -[22:32:01.535] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.492511 ,z=0.270569,angle between two frames:0.399992 -[22:32:01.535] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.000382 error end=0.000382 -[22:32:01.535] After pose optimization, distance between ekf and vo x:0.492510 ,z=0.270570,angle between two frames:0.399992 -[22:32:01.535] frame process finished the id is: 1130 the obs is:11 -[22:32:01.597] Odometry x=0.853482, y=1.471221, theta=3.059610 -[22:32:01.632] After Reprojection Map nMatches:21 ,distance between ekf and vo x:0.492811 ,z=0.270020,angle between two frames:0.399991 -[22:32:01.633] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.631303 error end=0.249826 -[22:32:01.633] After pose optimization, distance between ekf and vo x:0.213334 ,z=0.117651,angle between two frames:0.319265 -[22:32:01.633] frame process finished the id is: 1130 the obs is:11 -[22:32:01.704] Odometry x=0.852612, y=1.463465, theta=3.059734 -[22:32:01.732] After Reprojection Map nMatches:23 ,distance between ekf and vo x:0.492786 ,z=0.270067,angle between two frames:0.399991 -[22:32:01.732] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.027129 error end=0.027129 -[22:32:01.732] After pose optimization, distance between ekf and vo x:0.492786 ,z=0.270067,angle between two frames:0.399991 -[22:32:01.732] frame process finished the id is: 1130 the obs is:11 -[22:32:01.798] Odometry x=0.851697, y=1.455463, theta=3.060953 -[22:32:01.831] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.492468 ,z=0.270650,angle between two frames:0.399992 -[22:32:01.831] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.025317 error end=0.025316 -[22:32:01.831] After pose optimization, distance between ekf and vo x:0.492489 ,z=0.270635,angle between two frames:0.399989 -[22:32:01.831] frame process finished the id is: 1130 the obs is:11 -[22:32:01.905] Odometry x=0.850683, y=1.447870, theta=3.061605 -[22:32:01.928] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.492299 ,z=0.270961,angle between two frames:0.399991 -[22:32:01.928] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000002 error end=0.000002 -[22:32:01.928] After pose optimization, distance between ekf and vo x:0.492299 ,z=0.270961,angle between two frames:0.399991 -[22:32:01.928] frame process finished the id is: 1130 the obs is:11 -[22:32:01.998] Odometry x=0.850027, y=1.440145, theta=3.057359 -[22:32:02.032] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.494450 ,z=0.267067,angle between two frames:0.399964 -[22:32:02.032] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.240319 error end=0.240319 -[22:32:02.032] After pose optimization, distance between ekf and vo x:0.494450 ,z=0.267067,angle between two frames:0.399964 -[22:32:02.033] frame process finished the id is: 1130 the obs is:11 -[22:32:02.096] Odometry x=0.849248, y=1.432319, theta=3.059018 -[22:32:02.136] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.494050 ,z=0.267822,angle between two frames:0.399964 -[22:32:02.136] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.032302 error end=0.031975 -[22:32:02.136] After pose optimization, distance between ekf and vo x:0.492298 ,z=0.268216,angle between two frames:0.400449 -[22:32:02.136] frame process finished the id is: 1130 the obs is:11 -[22:32:02.197] Odometry x=0.848205, y=1.424500, theta=3.059459 -[22:32:02.233] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.492868 ,z=0.269917,angle between two frames:0.399991 -[22:32:02.233] n deleted obs = 34 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 error init =0.268065 error end=0.267696 -[22:32:02.233] After pose optimization, distance between ekf and vo x:0.488118 ,z=0.270493,angle between two frames:0.399130 -[22:32:02.233] frame process finished the id is: 1130 the obs is:11 -[22:32:02.296] Odometry x=0.847456, y=1.417038, theta=3.061897 -[22:32:02.331] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.628932 ,z=0.306950,angle between two frames:0.499991 -[22:32:02.331] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.003415 error end=0.003415 -[22:32:02.331] After pose optimization, distance between ekf and vo x:0.628753 ,z=0.306962,angle between two frames:0.499955 -[22:32:02.331] frame process finished the id is: 1130 the obs is:11 -[22:32:02.396] Odometry x=0.846660, y=1.409076, theta=3.061714 -[22:32:02.428] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.628967 ,z=0.306871,angle between two frames:0.499991 -[22:32:02.428] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.055994 error end=0.055932 -[22:32:02.428] After pose optimization, distance between ekf and vo x:0.623308 ,z=0.308878,angle between two frames:0.499498 -[22:32:02.428] frame process finished the id is: 1130 the obs is:11 -[22:32:02.498] Odometry x=0.845427, y=1.401137, theta=3.064658 -[22:32:02.527] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.628080 ,z=0.308695,angle between two frames:0.499991 -[22:32:02.527] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.000666 error end=0.000666 -[22:32:02.527] After pose optimization, distance between ekf and vo x:0.628080 ,z=0.308695,angle between two frames:0.499991 -[22:32:02.527] frame process finished the id is: 1130 the obs is:11 -[22:32:02.596] Odometry x=0.845075, y=1.393707, theta=3.066308 -[22:32:02.624] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.358621 ,z=0.223640,angle between two frames:0.299991 -[22:32:02.625] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.218045 error end=0.218045 -[22:32:02.625] After pose optimization, distance between ekf and vo x:0.358621 ,z=0.223640,angle between two frames:0.299991 -[22:32:02.625] frame process finished the id is: 1130 the obs is:11 -[22:32:02.692] Odometry x=0.844299, y=1.385820, theta=3.065074 -[22:32:02.723] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.358911 ,z=0.223172,angle between two frames:0.299992 -[22:32:02.724] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.028413 error end=0.028397 -[22:32:02.724] After pose optimization, distance between ekf and vo x:0.358150 ,z=0.223247,angle between two frames:0.299588 -[22:32:02.724] frame process finished the id is: 1130 the obs is:11 -[22:32:02.797] Odometry x=0.843837, y=1.378129, theta=3.067133 -[22:32:02.822] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358460 ,z=0.223899,angle between two frames:0.299991 -[22:32:02.822] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000005 error end=0.000005 -[22:32:02.822] After pose optimization, distance between ekf and vo x:0.358460 ,z=0.223899,angle between two frames:0.299991 -[22:32:02.822] frame process finished the id is: 1130 the obs is:11 -[22:32:02.896] Odometry x=0.842783, y=1.370178, theta=3.065774 -[22:32:02.923] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.358785 ,z=0.223373,angle between two frames:0.299991 -[22:32:02.923] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000497 error end=0.000497 -[22:32:02.923] After pose optimization, distance between ekf and vo x:0.358785 ,z=0.223373,angle between two frames:0.299991 -[22:32:02.923] frame process finished the id is: 1130 the obs is:11 -[22:32:02.993] Odometry x=0.842452, y=1.362269, theta=3.066049 -[22:32:03.020] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.358724 ,z=0.223471,angle between two frames:0.299991 -[22:32:03.020] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.175625 error end=0.099579 -[22:32:03.020] After pose optimization, distance between ekf and vo x:0.479283 ,z=0.119333,angle between two frames:0.070849 -[22:32:03.020] frame process finished the id is: 1130 the obs is:11 -[22:32:03.098] Odometry x=0.841439, y=1.354299, theta=3.066317 -[22:32:03.122] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358690 ,z=0.223524,angle between two frames:0.299991 -[22:32:03.122] n deleted obs = 28 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.415983 error end=0.415983 -[22:32:03.122] After pose optimization, distance between ekf and vo x:0.358690 ,z=0.223524,angle between two frames:0.299991 -[22:32:03.122] frame process finished the id is: 1130 the obs is:11 -[22:32:03.198] Odometry x=0.840753, y=1.346337, theta=3.067472 -[22:32:03.223] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.358425 ,z=0.223951,angle between two frames:0.299991 -[22:32:03.223] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.007294 error end=0.007286 -[22:32:03.223] After pose optimization, distance between ekf and vo x:0.357864 ,z=0.223626,angle between two frames:0.299870 -[22:32:03.223] frame process finished the id is: 1130 the obs is:11 -[22:32:03.293] Odometry x=0.839776, y=1.337895, theta=3.068764 -[22:32:03.330] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.359268 ,z=0.222496,angle between two frames:0.299957 -[22:32:03.330] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.043715 error end=0.043715 -[22:32:03.330] After pose optimization, distance between ekf and vo x:0.359268 ,z=0.222496,angle between two frames:0.299957 -[22:32:03.330] frame process finished the id is: 1130 the obs is:11 -[22:32:03.396] Odometry x=0.839315, y=1.330064, theta=3.067522 -[22:32:03.428] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.358410 ,z=0.223976,angle between two frames:0.299991 -[22:32:03.428] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.014104 error end=0.014083 -[22:32:03.428] After pose optimization, distance between ekf and vo x:0.357763 ,z=0.223872,angle between two frames:0.299931 -[22:32:03.428] frame process finished the id is: 1130 the obs is:11 -[22:32:03.496] Odometry x=0.838704, y=1.322420, theta=3.065154 -[22:32:03.526] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.358950 ,z=0.223104,angle between two frames:0.299992 -[22:32:03.526] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.152040 error end=0.152040 -[22:32:03.526] After pose optimization, distance between ekf and vo x:0.358950 ,z=0.223104,angle between two frames:0.299992 -[22:32:03.526] frame process finished the id is: 1130 the obs is:11 -[22:32:03.595] Odometry x=0.838082, y=1.314227, theta=3.067494 -[22:32:03.631] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.359555 ,z=0.222023,angle between two frames:0.299957 -[22:32:03.631] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000555 error end=0.000555 -[22:32:03.631] After pose optimization, distance between ekf and vo x:0.359505 ,z=0.222014,angle between two frames:0.299970 -[22:32:03.631] frame process finished the id is: 1130 the obs is:11 -[22:32:03.701] Odometry x=0.837371, y=1.306676, theta=3.066765 -[22:32:03.728] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.358603 ,z=0.223664,angle between two frames:0.299991 -[22:32:03.728] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.010640 error end=0.010640 -[22:32:03.728] After pose optimization, distance between ekf and vo x:0.358603 ,z=0.223664,angle between two frames:0.299991 -[22:32:03.728] frame process finished the id is: 1130 the obs is:11 -[22:32:03.801] Odometry x=0.836805, y=1.298597, theta=3.067477 -[22:32:03.826] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.627249 ,z=0.310399,angle between two frames:0.499991 -[22:32:03.827] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.718849 error end=0.630400 -[22:32:03.827] After pose optimization, distance between ekf and vo x:0.516493 ,z=0.274564,angle between two frames:0.459281 -[22:32:03.827] frame process finished the id is: 1130 the obs is:11 -[22:32:03.898] Odometry x=0.836143, y=1.290768, theta=3.067311 -[22:32:03.925] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.627308 ,z=0.310284,angle between two frames:0.499991 -[22:32:03.926] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.293755 error end=0.289515 -[22:32:03.926] After pose optimization, distance between ekf and vo x:0.540644 ,z=0.280277,angle between two frames:0.519729 -[22:32:03.926] frame process finished the id is: 1130 the obs is:11 -[22:32:03.997] Odometry x=0.835370, y=1.282771, theta=3.066666 -[22:32:04.024] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.627515 ,z=0.309865,angle between two frames:0.499991 -[22:32:04.025] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =1.944721 error end=1.371721 -[22:32:04.025] After pose optimization, distance between ekf and vo x:1.516615 ,z=0.285483,angle between two frames:0.689997 -[22:32:04.025] frame process finished the id is: 1130 the obs is:11 -[22:32:04.098] Odometry x=0.834546, y=1.275058, theta=3.066012 -[22:32:04.124] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.627730 ,z=0.309432,angle between two frames:0.499992 -[22:32:04.124] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.416636 error end=0.411787 -[22:32:04.124] After pose optimization, distance between ekf and vo x:0.610656 ,z=0.310339,angle between two frames:0.496708 -[22:32:04.124] frame process finished the id is: 1130 the obs is:11 -[22:32:04.201] Odometry x=0.834159, y=1.266924, theta=3.068713 -[22:32:04.223] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.358204 ,z=0.224303,angle between two frames:0.299992 -[22:32:04.223] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.001812 error end=0.001812 -[22:32:04.223] After pose optimization, distance between ekf and vo x:0.358135 ,z=0.224293,angle between two frames:0.299974 -[22:32:04.223] frame process finished the id is: 1130 the obs is:11 -[22:32:04.296] Odometry x=0.833115, y=1.259360, theta=3.066695 -[22:32:04.323] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.358664 ,z=0.223564,angle between two frames:0.299992 -[22:32:04.323] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000864 error end=0.000859 -[22:32:04.323] After pose optimization, distance between ekf and vo x:0.356871 ,z=0.218037,angle between two frames:0.298507 -[22:32:04.323] frame process finished the id is: 1130 the obs is:11 -[22:32:04.396] Odometry x=0.832539, y=1.251910, theta=3.068800 -[22:32:04.405] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.358190 ,z=0.224327,angle between two frames:0.299992 -[22:32:04.405] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.000338 error end=0.000338 -[22:32:04.405] After pose optimization, distance between ekf and vo x:0.358178 ,z=0.224321,angle between two frames:0.299993 -[22:32:04.405] frame process finished the id is: 1130 the obs is:11 -[22:32:04.484] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358545 ,z=0.223753,angle between two frames:0.299992 -[22:32:04.484] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.020494 error end=0.020479 -[22:32:04.484] After pose optimization, distance between ekf and vo x:0.357559 ,z=0.223772,angle between two frames:0.299819 -[22:32:04.484] frame process finished the id is: 1130 the obs is:11 -[22:32:04.498] Odometry x=0.831724, y=1.244199, theta=3.067292 -[22:32:04.591] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.359409 ,z=0.222262,angle between two frames:0.299964 -[22:32:04.591] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.061620 error end=0.061620 -[22:32:04.591] After pose optimization, distance between ekf and vo x:0.359409 ,z=0.222262,angle between two frames:0.299964 -[22:32:04.591] frame process finished the id is: 1130 the obs is:11 -[22:32:04.607] Odometry x=0.831118, y=1.236314, theta=3.068554 -[22:32:04.681] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.359425 ,z=0.222233,angle between two frames:0.299964 -[22:32:04.681] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.006024 error end=0.006024 -[22:32:04.681] After pose optimization, distance between ekf and vo x:0.359425 ,z=0.222233,angle between two frames:0.299964 -[22:32:04.681] frame process finished the id is: 1130 the obs is:11 -[22:32:04.702] Odometry x=0.830078, y=1.228449, theta=3.069637 -[22:32:04.783] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.767161 ,z=0.333002,angle between two frames:0.599956 -[22:32:04.783] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.226803 error end=0.226803 -[22:32:04.783] After pose optimization, distance between ekf and vo x:0.767161 ,z=0.333002,angle between two frames:0.599956 -[22:32:04.783] frame process finished the id is: 1130 the obs is:11 -[22:32:04.802] Odometry x=0.829333, y=1.220641, theta=3.070123 -[22:32:04.881] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.766900 ,z=0.332882,angle between two frames:0.599991 -[22:32:04.881] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.052850 error end=0.051389 -[22:32:04.881] After pose optimization, distance between ekf and vo x:0.753558 ,z=0.328182,angle between two frames:0.590307 -[22:32:04.881] frame process finished the id is: 1130 the obs is:11 -[22:32:04.902] Odometry x=0.828707, y=1.212593, theta=3.067413 -[22:32:04.983] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.357158 ,z=0.225933,angle between two frames:0.299964 -[22:32:04.983] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.038728 error end=0.038728 -[22:32:04.983] After pose optimization, distance between ekf and vo x:0.357158 ,z=0.225933,angle between two frames:0.299964 -[22:32:04.983] frame process finished the id is: 1130 the obs is:11 -[22:32:04.997] Odometry x=0.828495, y=1.205321, theta=3.078481 -[22:32:05.078] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.626992 ,z=0.310912,angle between two frames:0.499991 -[22:32:05.078] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.025925 error end=0.025866 -[22:32:05.078] After pose optimization, distance between ekf and vo x:0.622907 ,z=0.284793,angle between two frames:0.497199 -[22:32:05.078] frame process finished the id is: 1130 the obs is:11 -[22:32:05.101] Odometry x=0.827631, y=1.197120, theta=3.068215 -[22:32:05.187] After Reprojection Map nMatches:25 ,distance between ekf and vo x:1.048857 ,z=0.337111,angle between two frames:0.799991 -[22:32:05.187] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.006862 error end=0.006862 -[22:32:05.187] After pose optimization, distance between ekf and vo x:1.048857 ,z=0.337111,angle between two frames:0.799991 -[22:32:05.187] frame process finished the id is: 1130 the obs is:11 -[22:32:05.199] Odometry x=0.826933, y=1.189228, theta=3.068840 -[22:32:05.278] After Reprojection Map nMatches:33 ,distance between ekf and vo x:1.048826 ,z=0.337228,angle between two frames:0.799991 -[22:32:05.278] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.002659 error end=0.002659 -[22:32:05.278] After pose optimization, distance between ekf and vo x:1.048826 ,z=0.337228,angle between two frames:0.799991 -[22:32:05.278] frame process finished the id is: 1130 the obs is:11 -[22:32:05.300] Odometry x=0.826317, y=1.181687, theta=3.068353 -[22:32:05.398] Odometry x=0.825663, y=1.173764, theta=3.067739 -[22:32:05.404] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.627164 ,z=0.310574,angle between two frames:0.499991 -[22:32:05.404] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.021995 error end=0.021978 -[22:32:05.404] After pose optimization, distance between ekf and vo x:0.626579 ,z=0.310486,angle between two frames:0.499700 -[22:32:05.404] frame process finished the id is: 1130 the obs is:11 -[22:32:05.499] Odometry x=0.825067, y=1.166097, theta=3.067367 -[22:32:05.507] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.627295 ,z=0.310313,angle between two frames:0.499992 -[22:32:05.507] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.038419 error end=0.038325 -[22:32:05.507] After pose optimization, distance between ekf and vo x:0.625606 ,z=0.310117,angle between two frames:0.499357 -[22:32:05.507] frame process finished the id is: 1130 the obs is:11 -[22:32:05.577] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.627101 ,z=0.310710,angle between two frames:0.499991 -[22:32:05.577] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.123149 error end=0.122237 -[22:32:05.577] After pose optimization, distance between ekf and vo x:0.618339 ,z=0.310579,angle between two frames:0.497447 -[22:32:05.577] frame process finished the id is: 1130 the obs is:11 -[22:32:05.593] Odometry x=0.824449, y=1.158470, theta=3.068024 -[22:32:05.697] Odometry x=0.823739, y=1.150974, theta=3.068108 -[22:32:05.709] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.359402 ,z=0.222281,angle between two frames:0.299964 -[22:32:05.709] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.033672 error end=0.033670 -[22:32:05.709] After pose optimization, distance between ekf and vo x:0.359346 ,z=0.222221,angle between two frames:0.299910 -[22:32:05.709] frame process finished the id is: 1130 the obs is:11 -[22:32:05.785] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.359244 ,z=0.222540,angle between two frames:0.299964 -[22:32:05.785] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.083333 error end=0.083330 -[22:32:05.785] After pose optimization, distance between ekf and vo x:0.358837 ,z=0.222846,angle between two frames:0.299947 -[22:32:05.785] frame process finished the id is: 1130 the obs is:11 -[22:32:05.798] Odometry x=0.823146, y=1.143147, theta=3.068857 -[22:32:05.876] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.358300 ,z=0.224152,angle between two frames:0.299992 -[22:32:05.876] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.107007 error end=0.107007 -[22:32:05.876] After pose optimization, distance between ekf and vo x:0.358300 ,z=0.224152,angle between two frames:0.299992 -[22:32:05.876] frame process finished the id is: 1130 the obs is:11 -[22:32:05.898] Odometry x=0.822278, y=1.135021, theta=3.068272 -[22:32:05.987] After Reprojection Map nMatches:17 ,distance between ekf and vo x:0.359409 ,z=0.222267,angle between two frames:0.299964 -[22:32:05.987] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.552177 error end=0.552177 -[22:32:05.987] After pose optimization, distance between ekf and vo x:0.359409 ,z=0.222267,angle between two frames:0.299964 -[22:32:05.987] frame process finished the id is: 1130 the obs is:11 -[22:32:05.999] Odometry x=0.821551, y=1.127009, theta=3.068317 -[22:32:06.078] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.359500 ,z=0.222116,angle between two frames:0.299964 -[22:32:06.078] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.067016 error end=0.067016 -[22:32:06.078] After pose optimization, distance between ekf and vo x:0.359500 ,z=0.222116,angle between two frames:0.299964 -[22:32:06.078] frame process finished the id is: 1130 the obs is:11 -[22:32:06.096] Odometry x=0.821055, y=1.119802, theta=3.067939 -[22:32:06.199] Odometry x=0.820367, y=1.111608, theta=3.069905 -[22:32:06.205] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.359093 ,z=0.222785,angle between two frames:0.299964 -[22:32:06.205] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.069777 error end=0.069777 -[22:32:06.205] After pose optimization, distance between ekf and vo x:0.359093 ,z=0.222785,angle between two frames:0.299964 -[22:32:06.205] frame process finished the id is: 1130 the obs is:11 -[22:32:06.279] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.359688 ,z=0.221804,angle between two frames:0.299964 -[22:32:06.279] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.000623 error end=0.000623 -[22:32:06.279] After pose optimization, distance between ekf and vo x:0.359684 ,z=0.221805,angle between two frames:0.299963 -[22:32:06.279] frame process finished the id is: 1130 the obs is:11 -[22:32:06.298] Odometry x=0.819774, y=1.104089, theta=3.067134 -[22:32:06.383] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.359139 ,z=0.222708,angle between two frames:0.299964 -[22:32:06.383] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.106938 error end=0.106814 -[22:32:06.383] After pose optimization, distance between ekf and vo x:0.347093 ,z=0.223780,angle between two frames:0.298008 -[22:32:06.383] frame process finished the id is: 1130 the obs is:11 -[22:32:06.399] Odometry x=0.819104, y=1.096560, theta=3.069935 -[22:32:06.489] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.359503 ,z=0.222108,angle between two frames:0.299964 -[22:32:06.489] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.133209 error end=0.130992 -[22:32:06.489] After pose optimization, distance between ekf and vo x:0.313114 ,z=0.235076,angle between two frames:0.294418 -[22:32:06.489] frame process finished the id is: 1130 the obs is:11 -[22:32:06.497] Odometry x=0.818444, y=1.088911, theta=3.068305 -[22:32:06.576] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.626259 ,z=0.312430,angle between two frames:0.499991 -[22:32:06.576] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.455886 error end=0.455886 -[22:32:06.576] After pose optimization, distance between ekf and vo x:0.626259 ,z=0.312430,angle between two frames:0.499991 -[22:32:06.576] frame process finished the id is: 1130 the obs is:11 -[22:32:06.605] Odometry x=0.817688, y=1.080902, theta=3.070920 -[22:32:06.698] Odometry x=0.816799, y=1.072777, theta=3.069228 -[22:32:06.701] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.626782 ,z=0.311375,angle between two frames:0.499991 -[22:32:06.701] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.437994 error end=0.437994 -[22:32:06.701] After pose optimization, distance between ekf and vo x:0.626782 ,z=0.311375,angle between two frames:0.499991 -[22:32:06.701] frame process finished the id is: 1130 the obs is:11 -[22:32:06.774] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.626277 ,z=0.312397,angle between two frames:0.499991 -[22:32:06.774] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.004828 error end=0.004828 -[22:32:06.774] After pose optimization, distance between ekf and vo x:0.626277 ,z=0.312397,angle between two frames:0.499991 -[22:32:06.774] frame process finished the id is: 1130 the obs is:11 -[22:32:06.800] Odometry x=0.816106, y=1.064866, theta=3.070886 -[22:32:06.889] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.357707 ,z=0.225101,angle between two frames:0.299992 -[22:32:06.889] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.204115 error end=0.204115 -[22:32:06.889] After pose optimization, distance between ekf and vo x:0.357707 ,z=0.225101,angle between two frames:0.299992 -[22:32:06.889] frame process finished the id is: 1130 the obs is:11 -[22:32:06.898] Odometry x=0.815305, y=1.056984, theta=3.071141 -[22:32:06.980] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.627117 ,z=0.311054,angle between two frames:0.499964 -[22:32:06.980] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000292 error end=0.000292 -[22:32:06.980] After pose optimization, distance between ekf and vo x:0.626999 ,z=0.311014,angle between two frames:0.499938 -[22:32:06.980] frame process finished the id is: 1130 the obs is:11 -[22:32:06.997] Odometry x=0.814402, y=1.048979, theta=3.071516 -[22:32:07.086] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.626377 ,z=0.312193,angle between two frames:0.499991 -[22:32:07.086] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.014901 error end=0.014901 -[22:32:07.086] After pose optimization, distance between ekf and vo x:0.626377 ,z=0.312193,angle between two frames:0.499991 -[22:32:07.086] frame process finished the id is: 1130 the obs is:11 -[22:32:07.099] Odometry x=0.813815, y=1.040926, theta=3.070534 -[22:32:07.190] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.358906 ,z=0.223088,angle between two frames:0.299964 -[22:32:07.190] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.000251 error end=0.000251 -[22:32:07.190] After pose optimization, distance between ekf and vo x:0.360670 ,z=0.222295,angle between two frames:0.298483 -[22:32:07.190] frame process finished the id is: 1130 the obs is:11 -[22:32:07.198] Odometry x=0.813080, y=1.033262, theta=3.070413 -[22:32:07.282] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358921 ,z=0.223062,angle between two frames:0.299964 -[22:32:07.282] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.003762 error end=0.003762 -[22:32:07.282] After pose optimization, distance between ekf and vo x:0.358900 ,z=0.223065,angle between two frames:0.299963 -[22:32:07.282] frame process finished the id is: 1130 the obs is:11 -[22:32:07.296] Odometry x=0.812368, y=1.025453, theta=3.070347 -[22:32:07.381] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.358969 ,z=0.222984,angle between two frames:0.299964 -[22:32:07.381] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.147308 error end=0.145183 -[22:32:07.381] After pose optimization, distance between ekf and vo x:0.092897 ,z=0.621616,angle between two frames:0.335025 -[22:32:07.381] frame process finished the id is: 1130 the obs is:11 -[22:32:07.407] Odometry x=0.811711, y=1.017484, theta=3.070214 -[22:32:07.491] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.359038 ,z=0.222869,angle between two frames:0.299964 -[22:32:07.491] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.001614 error end=0.001614 -[22:32:07.491] After pose optimization, distance between ekf and vo x:0.359038 ,z=0.222869,angle between two frames:0.299964 -[22:32:07.491] frame process finished the id is: 1130 the obs is:11 -[22:32:07.496] Odometry x=0.810892, y=1.009839, theta=3.069883 -[22:32:07.581] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.358998 ,z=0.222934,angle between two frames:0.299964 -[22:32:07.581] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.030302 error end=0.030302 -[22:32:07.581] After pose optimization, distance between ekf and vo x:0.358998 ,z=0.222934,angle between two frames:0.299964 -[22:32:07.581] frame process finished the id is: 1130 the obs is:11 -[22:32:07.605] Odometry x=0.810112, y=1.001791, theta=3.070167 -[22:32:07.684] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358485 ,z=0.223848,angle between two frames:0.299992 -[22:32:07.684] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000147 error end=0.000147 -[22:32:07.684] After pose optimization, distance between ekf and vo x:0.358483 ,z=0.223848,angle between two frames:0.299991 -[22:32:07.684] frame process finished the id is: 1130 the obs is:11 -[22:32:07.702] Odometry x=0.809375, y=0.994513, theta=3.067813 -[22:32:07.790] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358906 ,z=0.223081,angle between two frames:0.299964 -[22:32:07.791] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.230195 error end=0.224794 -[22:32:07.791] After pose optimization, distance between ekf and vo x:0.261166 ,z=0.164906,angle between two frames:0.317750 -[22:32:07.791] frame process finished the id is: 1130 the obs is:11 -[22:32:07.798] Odometry x=0.808678, y=0.986901, theta=3.071381 -[22:32:07.902] Odometry x=0.808017, y=0.979114, theta=3.071540 -[22:32:07.942] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.766855 ,z=0.333820,angle between two frames:0.599964 -[22:32:07.942] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.426183 error end=0.390108 -[22:32:07.942] After pose optimization, distance between ekf and vo x:0.745656 ,z=0.351148,angle between two frames:0.603741 -[22:32:07.942] frame process finished the id is: 1130 the obs is:11 -[22:32:07.996] Odometry x=0.807142, y=0.971295, theta=3.075549 -[22:32:08.040] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.764212 ,z=0.339057,angle between two frames:0.599991 -[22:32:08.040] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =4.161342 error end=1.442966 -[22:32:08.040] After pose optimization, distance between ekf and vo x:0.607910 ,z=0.541690,angle between two frames:0.580326 -[22:32:08.040] frame process finished the id is: 1130 the obs is:11 -[22:32:08.100] Odometry x=0.806598, y=0.963384, theta=3.078065 -[22:32:08.145] After Reprojection Map nMatches:20 ,distance between ekf and vo x:0.357340 ,z=0.225625,angle between two frames:0.299964 -[22:32:08.145] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.173313 error end=0.173274 -[22:32:08.145] After pose optimization, distance between ekf and vo x:0.357017 ,z=0.225619,angle between two frames:0.299884 -[22:32:08.145] frame process finished the id is: 1130 the obs is:11 -[22:32:08.205] Odometry x=0.805788, y=0.955494, theta=3.078740 -[22:32:08.249] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.357229 ,z=0.225803,angle between two frames:0.299964 -[22:32:08.250] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.157523 error end=0.157046 -[22:32:08.250] After pose optimization, distance between ekf and vo x:0.365206 ,z=0.223021,angle between two frames:0.300773 -[22:32:08.250] frame process finished the id is: 1130 the obs is:11 -[22:32:08.304] Odometry x=0.805122, y=0.947310, theta=3.078552 -[22:32:08.354] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.357291 ,z=0.225703,angle between two frames:0.299964 -[22:32:08.354] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.025440 error end=0.020907 -[22:32:08.354] After pose optimization, distance between ekf and vo x:0.336423 ,z=0.225182,angle between two frames:0.277024 -[22:32:08.354] frame process finished the id is: 1130 the obs is:11 -[22:32:08.407] Odometry x=0.804790, y=0.939302, theta=3.078778 -[22:32:08.459] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.357255 ,z=0.225762,angle between two frames:0.299964 -[22:32:08.459] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.027875 error end=0.027837 -[22:32:08.459] After pose optimization, distance between ekf and vo x:0.353309 ,z=0.223707,angle between two frames:0.300518 -[22:32:08.459] frame process finished the id is: 1130 the obs is:11 -[22:32:08.500] Odometry x=0.804203, y=0.931408, theta=3.075127 -[22:32:08.564] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.358004 ,z=0.224549,angle between two frames:0.299964 -[22:32:08.564] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.093658 error end=0.093605 -[22:32:08.564] After pose optimization, distance between ekf and vo x:0.357466 ,z=0.225075,angle between two frames:0.299966 -[22:32:08.564] frame process finished the id is: 1130 the obs is:11 -[22:32:08.599] Odometry x=0.803904, y=0.923596, theta=3.081764 -[22:32:08.669] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356699 ,z=0.226668,angle between two frames:0.299964 -[22:32:08.669] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.310036 error end=0.253796 -[22:32:08.669] After pose optimization, distance between ekf and vo x:0.201679 ,z=0.227696,angle between two frames:0.272589 -[22:32:08.669] frame process finished the id is: 1130 the obs is:11 -[22:32:08.698] Odometry x=0.803235, y=0.915294, theta=3.077829 -[22:32:08.773] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.357426 ,z=0.225484,angle between two frames:0.299964 -[22:32:08.773] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.002332 error end=0.002332 -[22:32:08.773] After pose optimization, distance between ekf and vo x:0.357428 ,z=0.225483,angle between two frames:0.299964 -[22:32:08.773] frame process finished the id is: 1130 the obs is:11 -[22:32:08.799] Odometry x=0.802930, y=0.907633, theta=3.079653 -[22:32:08.877] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.357022 ,z=0.226135,angle between two frames:0.299964 -[22:32:08.877] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.084693 error end=0.084654 -[22:32:08.877] After pose optimization, distance between ekf and vo x:0.355315 ,z=0.226006,angle between two frames:0.300093 -[22:32:08.877] frame process finished the id is: 1130 the obs is:11 -[22:32:08.897] Odometry x=0.802131, y=0.900194, theta=3.076906 -[22:32:08.982] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.357588 ,z=0.225222,angle between two frames:0.299964 -[22:32:08.982] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.137018 error end=0.136960 -[22:32:08.982] After pose optimization, distance between ekf and vo x:0.357517 ,z=0.225397,angle between two frames:0.299963 -[22:32:08.982] frame process finished the id is: 1130 the obs is:11 -[22:32:08.998] Odometry x=0.801664, y=0.892586, theta=3.080226 -[22:32:09.087] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.356885 ,z=0.226355,angle between two frames:0.299964 -[22:32:09.087] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.056654 error end=0.056654 -[22:32:09.087] After pose optimization, distance between ekf and vo x:0.356885 ,z=0.226355,angle between two frames:0.299964 -[22:32:09.087] frame process finished the id is: 1130 the obs is:11 -[22:32:09.098] Odometry x=0.801089, y=0.884912, theta=3.075742 -[22:32:09.191] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.357825 ,z=0.224838,angle between two frames:0.299964 -[22:32:09.191] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.166004 error end=0.165515 -[22:32:09.191] After pose optimization, distance between ekf and vo x:0.356080 ,z=0.224542,angle between two frames:0.299561 -[22:32:09.191] frame process finished the id is: 1130 the obs is:11 -[22:32:09.198] Odometry x=0.800559, y=0.877188, theta=3.077272 -[22:32:09.295] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.357514 ,z=0.225342,angle between two frames:0.299964 -[22:32:09.295] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.286377 error end=0.283264 -[22:32:09.295] After pose optimization, distance between ekf and vo x:0.337637 ,z=0.233010,angle between two frames:0.297995 -[22:32:09.295] frame process finished the id is: 1130 the obs is:11 -[22:32:09.297] Odometry x=0.799698, y=0.869453, theta=3.074163 -[22:32:09.397] Odometry x=0.799161, y=0.861867, theta=3.078064 -[22:32:09.399] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358232 ,z=0.224177,angle between two frames:0.299964 -[22:32:09.399] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =2.272994 error end=0.558327 -[22:32:09.399] After pose optimization, distance between ekf and vo x:-0.277591 ,z=-0.153529,angle between two frames:1.297454 -[22:32:09.399] frame process finished the id is: 1130 the obs is:11 -[22:32:09.499] Odometry x=0.797986, y=0.854121, theta=3.077724 -[22:32:09.504] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.625338 ,z=0.314746,angle between two frames:0.499964 -[22:32:09.504] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.077582 error end=0.076728 -[22:32:09.504] After pose optimization, distance between ekf and vo x:0.621709 ,z=0.314948,angle between two frames:0.499082 -[22:32:09.504] frame process finished the id is: 1130 the obs is:11 -[22:32:09.597] Odometry x=0.797455, y=0.846342, theta=3.081391 -[22:32:09.610] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.625585 ,z=0.314307,angle between two frames:0.499964 -[22:32:09.610] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.350562 error end=0.350562 -[22:32:09.610] After pose optimization, distance between ekf and vo x:0.625585 ,z=0.314307,angle between two frames:0.499964 -[22:32:09.610] frame process finished the id is: 1130 the obs is:11 -[22:32:09.700] Odometry x=0.796524, y=0.838547, theta=3.078041 -[22:32:09.714] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.625538 ,z=0.314423,angle between two frames:0.499964 -[22:32:09.715] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =2.009657 error end=0.668554 -[22:32:09.715] After pose optimization, distance between ekf and vo x:0.090962 ,z=0.471268,angle between two frames:0.613867 -[22:32:09.715] frame process finished the id is: 1130 the obs is:11 -[22:32:09.799] Odometry x=0.795985, y=0.830767, theta=3.081838 -[22:32:09.812] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.622975 ,z=0.319013,angle between two frames:0.499991 -[22:32:09.812] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.470171 error end=0.363284 -[22:32:09.812] After pose optimization, distance between ekf and vo x:0.790680 ,z=0.338770,angle between two frames:0.230282 -[22:32:09.812] frame process finished the id is: 1130 the obs is:11 -[22:32:09.896] Odometry x=0.795244, y=0.822882, theta=3.083031 -[22:32:09.910] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.761789 ,z=0.344572,angle between two frames:0.599991 -[22:32:09.910] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.833400 error end=0.775562 -[22:32:09.910] After pose optimization, distance between ekf and vo x:0.753268 ,z=0.346062,angle between two frames:0.597665 -[22:32:09.910] frame process finished the id is: 1130 the obs is:11 -[22:32:09.999] Odometry x=0.794784, y=0.815364, theta=3.084106 -[22:32:10.007] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.761790 ,z=0.344569,angle between two frames:0.599991 -[22:32:10.007] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.053338 error end=0.053338 -[22:32:10.007] After pose optimization, distance between ekf and vo x:0.761790 ,z=0.344569,angle between two frames:0.599991 -[22:32:10.007] frame process finished the id is: 1130 the obs is:11 -[22:32:10.095] Odometry x=0.794061, y=0.807785, theta=3.080783 -[22:32:10.105] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.761429 ,z=0.345376,angle between two frames:0.599991 -[22:32:10.105] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.024573 error end=0.024492 -[22:32:10.105] After pose optimization, distance between ekf and vo x:0.777455 ,z=0.341774,angle between two frames:0.603725 -[22:32:10.105] frame process finished the id is: 1130 the obs is:11 -[22:32:10.197] Odometry x=0.793530, y=0.800116, theta=3.085218 -[22:32:10.203] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.762531 ,z=0.342899,angle between two frames:0.599991 -[22:32:10.203] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =1.023188 error end=0.829193 -[22:32:10.203] After pose optimization, distance between ekf and vo x:0.647024 ,z=0.323300,angle between two frames:0.549800 -[22:32:10.203] frame process finished the id is: 1130 the obs is:11 -[22:32:10.299] Odometry x=0.792605, y=0.792862, theta=3.082946 -[22:32:10.308] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.762956 ,z=0.342679,angle between two frames:0.599964 -[22:32:10.308] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.023551 error end=0.023361 -[22:32:10.308] After pose optimization, distance between ekf and vo x:0.753954 ,z=0.343242,angle between two frames:0.597768 -[22:32:10.308] frame process finished the id is: 1130 the obs is:11 -[22:32:10.395] Odometry x=0.791858, y=0.784920, theta=3.085933 -[22:32:10.405] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.760826 ,z=0.346726,angle between two frames:0.599991 -[22:32:10.405] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.424937 error end=0.424937 -[22:32:10.405] After pose optimization, distance between ekf and vo x:0.760826 ,z=0.346726,angle between two frames:0.599991 -[22:32:10.405] frame process finished the id is: 1130 the obs is:11 -[22:32:10.494] Odometry x=0.791436, y=0.777504, theta=3.082647 -[22:32:10.509] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.487933 ,z=0.278987,angle between two frames:0.399964 -[22:32:10.509] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.006346 error end=0.006346 -[22:32:10.509] After pose optimization, distance between ekf and vo x:0.487933 ,z=0.278987,angle between two frames:0.399964 -[22:32:10.509] frame process finished the id is: 1130 the obs is:11 -[22:32:10.603] Odometry x=0.791005, y=0.769468, theta=3.083831 -[22:32:10.613] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.487566 ,z=0.279632,angle between two frames:0.399965 -[22:32:10.613] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.018684 error end=0.018615 -[22:32:10.613] After pose optimization, distance between ekf and vo x:0.483457 ,z=0.277798,angle between two frames:0.399755 -[22:32:10.613] frame process finished the id is: 1130 the obs is:11 -[22:32:10.718] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.488193 ,z=0.278520,angle between two frames:0.399964 -[22:32:10.718] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.035958 error end=0.035928 -[22:32:10.718] After pose optimization, distance between ekf and vo x:0.487657 ,z=0.278737,angle between two frames:0.399880 -[22:32:10.718] frame process finished the id is: 1130 the obs is:11 -[22:32:10.822] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.488184 ,z=0.278536,angle between two frames:0.399964 -[22:32:10.822] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.346475 error end=0.346475 -[22:32:10.822] After pose optimization, distance between ekf and vo x:0.488184 ,z=0.278536,angle between two frames:0.399964 -[22:32:10.822] frame process finished the id is: 1130 the obs is:11 -[22:32:10.927] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.488138 ,z=0.278607,angle between two frames:0.399964 -[22:32:10.927] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.000584 error end=0.000584 -[22:32:10.927] After pose optimization, distance between ekf and vo x:0.488121 ,z=0.278621,angle between two frames:0.399963 -[22:32:10.927] frame process finished the id is: 1130 the obs is:11 -[22:32:11.031] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.488087 ,z=0.278688,angle between two frames:0.399964 -[22:32:11.032] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.005229 error end=0.005229 -[22:32:11.032] After pose optimization, distance between ekf and vo x:0.488087 ,z=0.278688,angle between two frames:0.399964 -[22:32:11.032] frame process finished the id is: 1130 the obs is:11 -[22:32:11.135] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.488078 ,z=0.278703,angle between two frames:0.399964 -[22:32:11.136] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.004780 error end=0.004779 -[22:32:11.136] After pose optimization, distance between ekf and vo x:0.487956 ,z=0.278709,angle between two frames:0.399950 -[22:32:11.136] frame process finished the id is: 1130 the obs is:11 -[22:32:11.241] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.488060 ,z=0.278731,angle between two frames:0.399964 -[22:32:11.241] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.002301 error end=0.002299 -[22:32:11.241] After pose optimization, distance between ekf and vo x:0.487549 ,z=0.278509,angle between two frames:0.399938 -[22:32:11.241] frame process finished the id is: 1130 the obs is:11 -[22:32:11.346] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.488060 ,z=0.278730,angle between two frames:0.399964 -[22:32:11.346] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.003693 error end=0.003693 -[22:32:11.346] After pose optimization, distance between ekf and vo x:0.488060 ,z=0.278730,angle between two frames:0.399964 -[22:32:11.346] frame process finished the id is: 1130 the obs is:11 -[22:32:11.454] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.488025 ,z=0.278786,angle between two frames:0.399964 -[22:32:11.455] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.062479 error end=0.062479 -[22:32:11.455] After pose optimization, distance between ekf and vo x:0.488025 ,z=0.278786,angle between two frames:0.399964 -[22:32:11.455] frame process finished the id is: 1130 the obs is:11 -[22:32:11.559] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356510 ,z=0.226947,angle between two frames:0.299964 -[22:32:11.559] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.011179 error end=0.011179 -[22:32:11.559] After pose optimization, distance between ekf and vo x:0.356510 ,z=0.226947,angle between two frames:0.299964 -[22:32:11.559] frame process finished the id is: 1130 the obs is:11 -[22:32:11.665] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.356511 ,z=0.226946,angle between two frames:0.299964 -[22:32:11.665] n deleted obs = 22 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.373939 error end=0.373939 -[22:32:11.665] After pose optimization, distance between ekf and vo x:0.356511 ,z=0.226946,angle between two frames:0.299964 -[22:32:11.665] frame process finished the id is: 1130 the obs is:11 -[22:32:11.770] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356519 ,z=0.226932,angle between two frames:0.299964 -[22:32:11.770] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.921729 error end=0.921729 -[22:32:11.770] After pose optimization, distance between ekf and vo x:0.356519 ,z=0.226932,angle between two frames:0.299964 -[22:32:11.770] frame process finished the id is: 1130 the obs is:11 -[22:32:11.875] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356501 ,z=0.226960,angle between two frames:0.299964 -[22:32:11.875] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.007228 error end=0.007228 -[22:32:11.875] After pose optimization, distance between ekf and vo x:0.356501 ,z=0.226960,angle between two frames:0.299964 -[22:32:11.875] frame process finished the id is: 1130 the obs is:11 -[22:32:11.979] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356521 ,z=0.226928,angle between two frames:0.299964 -[22:32:11.979] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.011574 error end=0.011574 -[22:32:11.979] After pose optimization, distance between ekf and vo x:0.356491 ,z=0.227002,angle between two frames:0.299972 -[22:32:11.979] frame process finished the id is: 1130 the obs is:11 -[22:32:12.084] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356537 ,z=0.226904,angle between two frames:0.299964 -[22:32:12.084] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.003240 error end=0.003239 -[22:32:12.084] After pose optimization, distance between ekf and vo x:0.356469 ,z=0.226890,angle between two frames:0.299947 -[22:32:12.084] frame process finished the id is: 1130 the obs is:11 -[22:32:12.188] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356535 ,z=0.226908,angle between two frames:0.299964 -[22:32:12.189] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.010573 error end=0.010573 -[22:32:12.189] After pose optimization, distance between ekf and vo x:0.356704 ,z=0.226818,angle between two frames:0.299971 -[22:32:12.189] frame process finished the id is: 1130 the obs is:11 -[22:32:12.293] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356538 ,z=0.226901,angle between two frames:0.299964 -[22:32:12.293] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.115763 error end=0.115763 -[22:32:12.293] After pose optimization, distance between ekf and vo x:0.356538 ,z=0.226901,angle between two frames:0.299964 -[22:32:12.293] frame process finished the id is: 1130 the obs is:11 -[22:32:12.397] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.356544 ,z=0.226893,angle between two frames:0.299964 -[22:32:12.397] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.066298 error end=0.066298 -[22:32:12.397] After pose optimization, distance between ekf and vo x:0.356544 ,z=0.226893,angle between two frames:0.299964 -[22:32:12.397] frame process finished the id is: 1130 the obs is:11 -[22:32:12.500] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.356532 ,z=0.226911,angle between two frames:0.299964 -[22:32:12.501] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.013964 error end=0.013759 -[22:32:12.501] After pose optimization, distance between ekf and vo x:0.353559 ,z=0.209709,angle between two frames:0.295401 -[22:32:12.501] frame process finished the id is: 1130 the obs is:11 -[22:32:12.605] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.356537 ,z=0.226903,angle between two frames:0.299964 -[22:32:12.605] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000059 error end=0.000059 -[22:32:12.605] After pose optimization, distance between ekf and vo x:0.356537 ,z=0.226903,angle between two frames:0.299964 -[22:32:12.605] frame process finished the id is: 1130 the obs is:11 -[22:32:12.710] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356545 ,z=0.226891,angle between two frames:0.299964 -[22:32:12.710] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000002 error end=0.000002 -[22:32:12.710] After pose optimization, distance between ekf and vo x:0.356545 ,z=0.226891,angle between two frames:0.299964 -[22:32:12.710] frame process finished the id is: 1130 the obs is:11 -[22:32:12.815] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 -[22:32:12.815] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.002616 error end=0.002616 -[22:32:12.815] After pose optimization, distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 -[22:32:12.815] frame process finished the id is: 1130 the obs is:11 -[22:32:12.919] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.356541 ,z=0.226897,angle between two frames:0.299964 -[22:32:12.920] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.023085 error end=0.023043 -[22:32:12.920] After pose optimization, distance between ekf and vo x:0.355444 ,z=0.225986,angle between two frames:0.299543 -[22:32:12.920] frame process finished the id is: 1130 the obs is:11 -[22:32:13.024] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356535 ,z=0.226906,angle between two frames:0.299964 -[22:32:13.024] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.106018 error end=0.105972 -[22:32:13.024] After pose optimization, distance between ekf and vo x:0.355572 ,z=0.227310,angle between two frames:0.299849 -[22:32:13.024] frame process finished the id is: 1130 the obs is:11 -[22:32:13.128] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356536 ,z=0.226906,angle between two frames:0.299964 -[22:32:13.128] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.078470 error end=0.078404 -[22:32:13.128] After pose optimization, distance between ekf and vo x:0.355176 ,z=0.227622,angle between two frames:0.298279 -[22:32:13.128] frame process finished the id is: 1130 the obs is:11 -[22:32:13.232] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356540 ,z=0.226899,angle between two frames:0.299964 -[22:32:13.232] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.176326 error end=0.176217 -[22:32:13.232] After pose optimization, distance between ekf and vo x:0.357183 ,z=0.226601,angle between two frames:0.299996 -[22:32:13.232] frame process finished the id is: 1130 the obs is:11 -[22:32:13.337] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356539 ,z=0.226901,angle between two frames:0.299964 -[22:32:13.337] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.013011 error end=0.013010 -[22:32:13.337] After pose optimization, distance between ekf and vo x:0.356692 ,z=0.226820,angle between two frames:0.299970 -[22:32:13.337] frame process finished the id is: 1130 the obs is:11 -[22:32:13.442] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.356547 ,z=0.226889,angle between two frames:0.299964 -[22:32:13.442] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.041282 error end=0.041281 -[22:32:13.442] After pose optimization, distance between ekf and vo x:0.356679 ,z=0.226820,angle between two frames:0.299961 -[22:32:13.442] frame process finished the id is: 1130 the obs is:11 -[22:32:13.547] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356543 ,z=0.226895,angle between two frames:0.299964 -[22:32:13.548] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.000063 error end=0.000063 -[22:32:13.548] After pose optimization, distance between ekf and vo x:0.356542 ,z=0.226895,angle between two frames:0.299964 -[22:32:13.548] frame process finished the id is: 1130 the obs is:11 -[22:32:13.652] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356539 ,z=0.226902,angle between two frames:0.299964 -[22:32:13.653] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.013665 error end=0.013663 -[22:32:13.653] After pose optimization, distance between ekf and vo x:0.356467 ,z=0.226943,angle between two frames:0.299819 -[22:32:13.653] frame process finished the id is: 1130 the obs is:11 -[22:32:13.759] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356547 ,z=0.226889,angle between two frames:0.299964 -[22:32:13.759] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000079 error end=0.000079 -[22:32:13.759] After pose optimization, distance between ekf and vo x:0.356530 ,z=0.226887,angle between two frames:0.299961 -[22:32:13.759] frame process finished the id is: 1130 the obs is:11 -[22:32:13.865] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.356544 ,z=0.226893,angle between two frames:0.299964 -[22:32:13.865] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.064162 error end=0.064162 -[22:32:13.865] After pose optimization, distance between ekf and vo x:0.356544 ,z=0.226893,angle between two frames:0.299964 -[22:32:13.865] frame process finished the id is: 1130 the obs is:11 -[22:32:13.970] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356541 ,z=0.226898,angle between two frames:0.299964 -[22:32:13.970] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.006697 error end=0.006697 -[22:32:13.970] After pose optimization, distance between ekf and vo x:0.356569 ,z=0.226885,angle between two frames:0.299965 -[22:32:13.970] frame process finished the id is: 1130 the obs is:11 -[22:32:14.076] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356537 ,z=0.226904,angle between two frames:0.299964 -[22:32:14.076] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.107801 error end=0.107776 -[22:32:14.076] After pose optimization, distance between ekf and vo x:0.356165 ,z=0.227090,angle between two frames:0.299915 -[22:32:14.076] frame process finished the id is: 1130 the obs is:11 -[22:32:14.181] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356542 ,z=0.226896,angle between two frames:0.299964 -[22:32:14.181] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.017788 error end=0.017787 -[22:32:14.181] After pose optimization, distance between ekf and vo x:0.356359 ,z=0.226996,angle between two frames:0.299946 -[22:32:14.181] frame process finished the id is: 1130 the obs is:11 -[22:32:14.286] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.356534 ,z=0.226908,angle between two frames:0.299964 -[22:32:14.286] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.050239 error end=0.050210 -[22:32:14.286] After pose optimization, distance between ekf and vo x:0.355703 ,z=0.227239,angle between two frames:0.299872 -[22:32:14.286] frame process finished the id is: 1130 the obs is:11 -[22:32:14.392] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356541 ,z=0.226898,angle between two frames:0.299964 -[22:32:14.392] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.039861 error end=0.039861 -[22:32:14.392] After pose optimization, distance between ekf and vo x:0.356541 ,z=0.226898,angle between two frames:0.299964 -[22:32:14.392] frame process finished the id is: 1130 the obs is:11 -[22:32:14.496] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356543 ,z=0.226895,angle between two frames:0.299964 -[22:32:14.496] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.011617 error end=0.011617 -[22:32:14.496] After pose optimization, distance between ekf and vo x:0.356580 ,z=0.226876,angle between two frames:0.299963 -[22:32:14.496] frame process finished the id is: 1130 the obs is:11 -[22:32:14.600] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.356542 ,z=0.226896,angle between two frames:0.299964 -[22:32:14.600] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.311707 error end=0.222342 -[22:32:14.600] After pose optimization, distance between ekf and vo x:0.229509 ,z=0.209361,angle between two frames:0.272547 -[22:32:14.600] frame process finished the id is: 1130 the obs is:11 -[22:32:14.705] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356541 ,z=0.226898,angle between two frames:0.299964 -[22:32:14.705] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.012843 error end=0.012843 -[22:32:14.705] After pose optimization, distance between ekf and vo x:0.356541 ,z=0.226898,angle between two frames:0.299964 -[22:32:14.705] frame process finished the id is: 1130 the obs is:11 -[22:32:14.811] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356546 ,z=0.226889,angle between two frames:0.299964 -[22:32:14.811] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000416 error end=0.000416 -[22:32:14.811] After pose optimization, distance between ekf and vo x:0.356532 ,z=0.226883,angle between two frames:0.299960 -[22:32:14.811] frame process finished the id is: 1130 the obs is:11 -[22:32:14.917] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356542 ,z=0.226896,angle between two frames:0.299964 -[22:32:14.917] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.248213 error end=0.248167 -[22:32:14.917] After pose optimization, distance between ekf and vo x:0.356314 ,z=0.227021,angle between two frames:0.299912 -[22:32:14.917] frame process finished the id is: 1130 the obs is:11 -[22:32:15.022] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356549 ,z=0.226885,angle between two frames:0.299964 -[22:32:15.022] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.044683 error end=0.044676 -[22:32:15.022] After pose optimization, distance between ekf and vo x:0.356711 ,z=0.226810,angle between two frames:0.299972 -[22:32:15.022] frame process finished the id is: 1130 the obs is:11 -[22:32:15.128] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.356549 ,z=0.226884,angle between two frames:0.299964 -[22:32:15.128] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.109726 error end=0.109525 -[22:32:15.128] After pose optimization, distance between ekf and vo x:0.352694 ,z=0.228703,angle between two frames:0.299634 -[22:32:15.128] frame process finished the id is: 1130 the obs is:11 -[22:32:15.233] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.356537 ,z=0.226904,angle between two frames:0.299964 -[22:32:15.233] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.000234 error end=0.000234 -[22:32:15.233] After pose optimization, distance between ekf and vo x:0.356140 ,z=0.226885,angle between two frames:0.299965 -[22:32:15.233] frame process finished the id is: 1130 the obs is:11 -[22:32:15.339] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.356540 ,z=0.226899,angle between two frames:0.299964 -[22:32:15.339] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.063097 error end=0.063097 -[22:32:15.339] After pose optimization, distance between ekf and vo x:0.356540 ,z=0.226899,angle between two frames:0.299964 -[22:32:15.339] frame process finished the id is: 1130 the obs is:11 -[22:32:15.444] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356537 ,z=0.226904,angle between two frames:0.299964 -[22:32:15.445] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.014104 error end=0.014099 -[22:32:15.445] After pose optimization, distance between ekf and vo x:0.356256 ,z=0.226950,angle between two frames:0.299919 -[22:32:15.445] frame process finished the id is: 1130 the obs is:11 -[22:32:15.549] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356544 ,z=0.226894,angle between two frames:0.299964 -[22:32:15.549] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000571 error end=0.000571 -[22:32:15.549] After pose optimization, distance between ekf and vo x:0.356544 ,z=0.226894,angle between two frames:0.299964 -[22:32:15.549] frame process finished the id is: 1130 the obs is:11 -[22:32:15.652] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356545 ,z=0.226892,angle between two frames:0.299964 -[22:32:15.653] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.220887 error end=0.220817 -[22:32:15.653] After pose optimization, distance between ekf and vo x:0.358183 ,z=0.226128,angle between two frames:0.300047 -[22:32:15.653] frame process finished the id is: 1130 the obs is:11 -[22:32:15.757] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 -[22:32:15.757] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.181484 error end=0.181342 -[22:32:15.757] After pose optimization, distance between ekf and vo x:0.359305 ,z=0.225425,angle between two frames:0.300085 -[22:32:15.757] frame process finished the id is: 1130 the obs is:11 -[22:32:15.832] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356546 ,z=0.226889,angle between two frames:0.299964 -[22:32:15.832] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.002098 error end=0.002098 -[22:32:15.832] After pose optimization, distance between ekf and vo x:0.356546 ,z=0.226889,angle between two frames:0.299964 -[22:32:15.832] frame process finished the id is: 1130 the obs is:11 -[22:32:15.887] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.356538 ,z=0.226903,angle between two frames:0.299964 -[22:32:15.887] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.013451 error end=0.013445 -[22:32:15.887] After pose optimization, distance between ekf and vo x:0.356232 ,z=0.226897,angle between two frames:0.299928 -[22:32:15.887] frame process finished the id is: 1130 the obs is:11 -[22:32:15.981] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356541 ,z=0.226898,angle between two frames:0.299964 -[22:32:15.981] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.205728 error end=0.188499 -[22:32:15.981] After pose optimization, distance between ekf and vo x:0.315278 ,z=0.193010,angle between two frames:0.299993 -[22:32:15.981] frame process finished the id is: 1130 the obs is:11 -[22:32:16.083] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356546 ,z=0.226890,angle between two frames:0.299964 -[22:32:16.083] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.020232 error end=0.020231 -[22:32:16.083] After pose optimization, distance between ekf and vo x:0.356577 ,z=0.226876,angle between two frames:0.299965 -[22:32:16.083] frame process finished the id is: 1130 the obs is:11 -[22:32:16.189] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356546 ,z=0.226889,angle between two frames:0.299964 -[22:32:16.189] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.228255 error end=0.228255 -[22:32:16.189] After pose optimization, distance between ekf and vo x:0.356546 ,z=0.226889,angle between two frames:0.299964 -[22:32:16.189] frame process finished the id is: 1130 the obs is:11 -[22:32:16.301] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356546 ,z=0.226888,angle between two frames:0.299964 -[22:32:16.301] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.057111 error end=0.057107 -[22:32:16.301] After pose optimization, distance between ekf and vo x:0.356956 ,z=0.226697,angle between two frames:0.299985 -[22:32:16.301] frame process finished the id is: 1130 the obs is:11 -[22:32:16.384] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.356541 ,z=0.226897,angle between two frames:0.299964 -[22:32:16.384] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.019663 error end=0.019660 -[22:32:16.384] After pose optimization, distance between ekf and vo x:0.356375 ,z=0.226922,angle between two frames:0.299934 -[22:32:16.384] frame process finished the id is: 1130 the obs is:11 -[22:32:16.493] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.356537 ,z=0.226903,angle between two frames:0.299964 -[22:32:16.493] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.000008 error end=0.000008 -[22:32:16.493] After pose optimization, distance between ekf and vo x:0.356537 ,z=0.226904,angle between two frames:0.299964 -[22:32:16.493] frame process finished the id is: 1130 the obs is:11 -[22:32:16.587] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226903,angle between two frames:0.299964 -[22:32:16.587] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.236972 error end=0.236972 -[22:32:16.587] After pose optimization, distance between ekf and vo x:0.356538 ,z=0.226903,angle between two frames:0.299964 -[22:32:16.587] frame process finished the id is: 1130 the obs is:11 -[22:32:16.699] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.356539 ,z=0.226901,angle between two frames:0.299964 -[22:32:16.700] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.260341 error end=0.260289 -[22:32:16.700] After pose optimization, distance between ekf and vo x:0.353810 ,z=0.229575,angle between two frames:0.299994 -[22:32:16.700] frame process finished the id is: 1130 the obs is:11 -[22:32:16.781] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.356536 ,z=0.226904,angle between two frames:0.299964 -[22:32:16.781] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.239946 error end=0.239936 -[22:32:16.781] After pose optimization, distance between ekf and vo x:0.356626 ,z=0.226867,angle between two frames:0.299962 -[22:32:16.781] frame process finished the id is: 1130 the obs is:11 -[22:32:16.890] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356544 ,z=0.226894,angle between two frames:0.299964 -[22:32:16.890] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.105416 error end=0.105416 -[22:32:16.890] After pose optimization, distance between ekf and vo x:0.356544 ,z=0.226894,angle between two frames:0.299964 -[22:32:16.890] frame process finished the id is: 1130 the obs is:11 -[22:32:16.985] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226901,angle between two frames:0.299964 -[22:32:16.985] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.011162 error end=0.011161 -[22:32:16.985] After pose optimization, distance between ekf and vo x:0.356577 ,z=0.226884,angle between two frames:0.299966 -[22:32:16.985] frame process finished the id is: 1130 the obs is:11 -[22:32:17.082] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.356542 ,z=0.226897,angle between two frames:0.299964 -[22:32:17.082] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.111553 error end=0.111348 -[22:32:17.082] After pose optimization, distance between ekf and vo x:0.357333 ,z=0.226528,angle between two frames:0.300018 -[22:32:17.082] frame process finished the id is: 1130 the obs is:11 -[22:32:17.192] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356540 ,z=0.226899,angle between two frames:0.299964 -[22:32:17.192] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.235357 error end=0.235357 -[22:32:17.192] After pose optimization, distance between ekf and vo x:0.356540 ,z=0.226899,angle between two frames:0.299964 -[22:32:17.192] frame process finished the id is: 1130 the obs is:11 -[22:32:17.282] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356539 ,z=0.226900,angle between two frames:0.299964 -[22:32:17.282] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.144585 error end=0.144520 -[22:32:17.282] After pose optimization, distance between ekf and vo x:0.354156 ,z=0.228188,angle between two frames:0.299811 -[22:32:17.282] frame process finished the id is: 1130 the obs is:11 -[22:32:17.409] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356542 ,z=0.226897,angle between two frames:0.299964 -[22:32:17.410] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.025893 error end=0.025885 -[22:32:17.410] After pose optimization, distance between ekf and vo x:0.355511 ,z=0.226525,angle between two frames:0.299954 -[22:32:17.410] frame process finished the id is: 1130 the obs is:11 -[22:32:17.480] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356536 ,z=0.226906,angle between two frames:0.299964 -[22:32:17.480] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.001734 error end=0.001734 -[22:32:17.480] After pose optimization, distance between ekf and vo x:0.356437 ,z=0.226855,angle between two frames:0.299959 -[22:32:17.480] frame process finished the id is: 1130 the obs is:11 -[22:32:17.584] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226901,angle between two frames:0.299964 -[22:32:17.584] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.326599 error end=0.324290 -[22:32:17.584] After pose optimization, distance between ekf and vo x:0.349379 ,z=0.226116,angle between two frames:0.298711 -[22:32:17.584] frame process finished the id is: 1130 the obs is:11 -[22:32:17.719] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356540 ,z=0.226897,angle between two frames:0.299964 -[22:32:17.720] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.045265 error end=0.045255 -[22:32:17.720] After pose optimization, distance between ekf and vo x:0.357232 ,z=0.226528,angle between two frames:0.299994 -[22:32:17.720] frame process finished the id is: 1130 the obs is:11 -[22:32:17.783] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 -[22:32:17.783] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.043409 error end=0.043409 -[22:32:17.783] After pose optimization, distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 -[22:32:17.783] frame process finished the id is: 1130 the obs is:11 -[22:32:17.904] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356539 ,z=0.226901,angle between two frames:0.299964 -[22:32:17.904] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.041753 error end=0.041753 -[22:32:17.904] After pose optimization, distance between ekf and vo x:0.356558 ,z=0.226926,angle between two frames:0.299964 -[22:32:17.904] frame process finished the id is: 1130 the obs is:11 -[22:32:17.994] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 -[22:32:17.994] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.030177 error end=0.030176 -[22:32:17.994] After pose optimization, distance between ekf and vo x:0.356627 ,z=0.226860,angle between two frames:0.299966 -[22:32:17.994] frame process finished the id is: 1130 the obs is:11 -[22:32:18.095] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356543 ,z=0.226895,angle between two frames:0.299964 -[22:32:18.095] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.038974 error end=0.038951 -[22:32:18.095] After pose optimization, distance between ekf and vo x:0.355799 ,z=0.227016,angle between two frames:0.299843 -[22:32:18.095] frame process finished the id is: 1130 the obs is:11 -[22:32:18.184] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356546 ,z=0.226890,angle between two frames:0.299964 -[22:32:18.184] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.034024 error end=0.034015 -[22:32:18.184] After pose optimization, distance between ekf and vo x:0.354762 ,z=0.221851,angle between two frames:0.298448 -[22:32:18.184] frame process finished the id is: 1130 the obs is:11 -[22:32:18.291] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 -[22:32:18.291] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.000909 error end=0.000909 -[22:32:18.291] After pose optimization, distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 -[22:32:18.291] frame process finished the id is: 1130 the obs is:11 -[22:32:18.392] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356548 ,z=0.226886,angle between two frames:0.299964 -[22:32:18.392] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.029463 error end=0.029463 -[22:32:18.392] After pose optimization, distance between ekf and vo x:0.356548 ,z=0.226886,angle between two frames:0.299964 -[22:32:18.392] frame process finished the id is: 1130 the obs is:11 -[22:32:18.409] Odometry x=0.790503, y=0.761841, theta=3.081635 -[22:32:18.502] Odometry x=0.789979, y=0.754200, theta=3.068541 -[22:32:18.511] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.491754 ,z=0.272074,angle between two frames:0.399964 -[22:32:18.511] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.751951 error end=0.745142 -[22:32:18.511] After pose optimization, distance between ekf and vo x:0.483042 ,z=0.280841,angle between two frames:0.399573 -[22:32:18.511] frame process finished the id is: 1130 the obs is:11 -[22:32:18.589] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.362794 ,z=0.216561,angle between two frames:0.299964 -[22:32:18.589] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.043975 error end=0.043975 -[22:32:18.589] After pose optimization, distance between ekf and vo x:0.362794 ,z=0.216561,angle between two frames:0.299964 -[22:32:18.589] frame process finished the id is: 1130 the obs is:11 -[22:32:18.607] Odometry x=0.789355, y=0.746578, theta=3.052661 -[22:32:18.684] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.362790 ,z=0.216568,angle between two frames:0.299964 -[22:32:18.684] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.026138 error end=0.026134 -[22:32:18.684] After pose optimization, distance between ekf and vo x:0.362472 ,z=0.216764,angle between two frames:0.299937 -[22:32:18.684] frame process finished the id is: 1130 the obs is:11 -[22:32:18.709] Odometry x=0.789457, y=0.737713, theta=3.040819 -[22:32:18.807] Odometry x=0.788749, y=0.730767, theta=3.022393 -[22:32:18.819] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.503532 ,z=0.249211,angle between two frames:0.399964 -[22:32:18.819] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.020515 error end=0.020058 -[22:32:18.819] After pose optimization, distance between ekf and vo x:0.480597 ,z=0.237789,angle between two frames:0.406545 -[22:32:18.819] frame process finished the id is: 1130 the obs is:11 -[22:32:18.892] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.372754 ,z=0.198536,angle between two frames:0.299964 -[22:32:18.892] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.332751 error end=0.332751 -[22:32:18.892] After pose optimization, distance between ekf and vo x:0.372754 ,z=0.198536,angle between two frames:0.299964 -[22:32:18.892] frame process finished the id is: 1130 the obs is:11 -[22:32:18.905] Odometry x=0.787818, y=0.723207, theta=3.004444 -[22:32:18.981] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.511095 ,z=0.233339,angle between two frames:0.399992 -[22:32:18.981] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.007880 error end=0.007063 -[22:32:18.981] After pose optimization, distance between ekf and vo x:0.501163 ,z=0.238308,angle between two frames:0.401457 -[22:32:18.981] frame process finished the id is: 1130 the obs is:11 -[22:32:19.008] Odometry x=0.786676, y=0.715174, theta=2.986837 -[22:32:19.097] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.654912 ,z=0.246453,angle between two frames:0.499999 -[22:32:19.097] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.170409 error end=0.148543 -[22:32:19.097] After pose optimization, distance between ekf and vo x:0.698739 ,z=0.229117,angle between two frames:0.516801 -[22:32:19.097] frame process finished the id is: 1130 the obs is:11 -[22:32:19.104] Odometry x=0.785510, y=0.707137, theta=2.966701 -[22:32:19.191] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.654908 ,z=0.246465,angle between two frames:0.499999 -[22:32:19.191] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.394809 error end=0.394809 -[22:32:19.191] After pose optimization, distance between ekf and vo x:0.654908 ,z=0.246465,angle between two frames:0.499999 -[22:32:19.191] frame process finished the id is: 1130 the obs is:11 -[22:32:19.200] Odometry x=0.784102, y=0.699110, theta=2.953482 -[22:32:19.295] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.385746 ,z=0.171391,angle between two frames:0.299957 -[22:32:19.295] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.042749 error end=0.042539 -[22:32:19.295] After pose optimization, distance between ekf and vo x:0.376834 ,z=0.174875,angle between two frames:0.298288 -[22:32:19.295] frame process finished the id is: 1130 the obs is:11 -[22:32:19.303] Odometry x=0.782742, y=0.690997, theta=2.932220 -[22:32:19.379] After Reprojection Map nMatches:21 ,distance between ekf and vo x:0.387178 ,z=0.168911,angle between two frames:0.299992 -[22:32:19.379] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.001624 error end=0.001623 -[22:32:19.379] After pose optimization, distance between ekf and vo x:0.386968 ,z=0.168858,angle between two frames:0.299975 -[22:32:19.379] frame process finished the id is: 1130 the obs is:11 -[22:32:19.406] Odometry x=0.780764, y=0.683662, theta=2.920951 -[22:32:19.489] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.529946 ,z=0.186105,angle between two frames:0.399992 -[22:32:19.489] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.215830 error end=0.206527 -[22:32:19.489] After pose optimization, distance between ekf and vo x:0.523442 ,z=0.102897,angle between two frames:0.382715 -[22:32:19.489] frame process finished the id is: 1130 the obs is:11 -[22:32:19.505] Odometry x=0.778910, y=0.675606, theta=2.896831 -[22:32:19.583] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.394034 ,z=0.150401,angle between two frames:0.299957 -[22:32:19.584] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.200139 error end=0.200139 -[22:32:19.584] After pose optimization, distance between ekf and vo x:0.394034 ,z=0.150401,angle between two frames:0.299957 -[22:32:19.584] frame process finished the id is: 1130 the obs is:11 -[22:32:19.607] Odometry x=0.776848, y=0.668381, theta=2.880839 -[22:32:19.691] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.396203 ,z=0.147085,angle between two frames:0.299998 -[22:32:19.691] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.018684 error end=0.018531 -[22:32:19.691] After pose optimization, distance between ekf and vo x:0.384975 ,z=0.144208,angle between two frames:0.300222 -[22:32:19.691] frame process finished the id is: 1130 the obs is:11 -[22:32:19.704] Odometry x=0.774460, y=0.660481, theta=2.862160 -[22:32:19.766] After Reprojection Map nMatches:17 ,distance between ekf and vo x:0.538214 ,z=0.161278,angle between two frames:0.399997 -[22:32:19.766] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.032100 error end=0.032100 -[22:32:19.766] After pose optimization, distance between ekf and vo x:0.538214 ,z=0.161278,angle between two frames:0.399997 -[22:32:19.766] frame process finished the id is: 1130 the obs is:11 -[22:32:19.805] Odometry x=0.771762, y=0.653421, theta=2.847887 -[22:32:19.898] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.823583 ,z=0.142596,angle between two frames:0.599998 -[22:32:19.898] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.003497 error end=0.003497 -[22:32:19.898] After pose optimization, distance between ekf and vo x:0.823583 ,z=0.142596,angle between two frames:0.599998 -[22:32:19.898] frame process finished the id is: 1130 the obs is:11 -[22:32:19.903] Odometry x=0.769283, y=0.645660, theta=2.827842 -[22:32:19.969] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.543915 ,z=0.140884,angle between two frames:0.399996 -[22:32:19.969] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000191 error end=0.000191 -[22:32:19.969] After pose optimization, distance between ekf and vo x:0.543915 ,z=0.140884,angle between two frames:0.399996 -[22:32:19.969] frame process finished the id is: 1130 the obs is:11 -[22:32:20.005] Odometry x=0.766723, y=0.637997, theta=2.810050 -[22:32:20.094] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.546085 ,z=0.132223,angle between two frames:0.399996 -[22:32:20.094] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000368 error end=0.000368 -[22:32:20.094] After pose optimization, distance between ekf and vo x:0.546085 ,z=0.132223,angle between two frames:0.399996 -[22:32:20.094] frame process finished the id is: 1130 the obs is:11 -[22:32:20.105] Odometry x=0.764102, y=0.630814, theta=2.794136 -[22:32:20.171] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.689799 ,z=0.117347,angle between two frames:0.499997 -[22:32:20.171] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.000092 error end=0.000092 -[22:32:20.171] After pose optimization, distance between ekf and vo x:0.689601 ,z=0.117357,angle between two frames:0.499929 -[22:32:20.171] frame process finished the id is: 1130 the obs is:11 -[22:32:20.202] Odometry x=0.761266, y=0.623464, theta=2.775039 -[22:32:20.301] Odometry x=0.758502, y=0.616477, theta=2.760775 -[22:32:20.302] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.831270 ,z=0.087020,angle between two frames:0.599997 -[22:32:20.302] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.861340 error end=0.861340 -[22:32:20.302] After pose optimization, distance between ekf and vo x:0.831270 ,z=0.087020,angle between two frames:0.599997 -[22:32:20.302] frame process finished the id is: 1130 the obs is:11 -[22:32:20.369] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.693217 ,z=0.095023,angle between two frames:0.499997 -[22:32:20.369] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.023159 error end=0.023159 -[22:32:20.369] After pose optimization, distance between ekf and vo x:0.693217 ,z=0.095023,angle between two frames:0.499997 -[22:32:20.369] frame process finished the id is: 1130 the obs is:11 -[22:32:20.403] Odometry x=0.755631, y=0.609216, theta=2.742771 -[22:32:20.497] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.833775 ,z=0.058204,angle between two frames:0.599997 -[22:32:20.497] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.315449 error end=0.315449 -[22:32:20.497] After pose optimization, distance between ekf and vo x:0.833775 ,z=0.058204,angle between two frames:0.599997 -[22:32:20.497] frame process finished the id is: 1130 the obs is:11 -[22:32:20.506] Odometry x=0.752363, y=0.601988, theta=2.726169 -[22:32:20.570] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.555432 ,z=0.084552,angle between two frames:0.399997 -[22:32:20.570] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.063108 error end=0.063108 -[22:32:20.570] After pose optimization, distance between ekf and vo x:0.555432 ,z=0.084552,angle between two frames:0.399997 -[22:32:20.570] frame process finished the id is: 1130 the obs is:11 -[22:32:20.604] Odometry x=0.749256, y=0.594936, theta=2.707721 -[22:32:20.672] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.556775 ,z=0.075209,angle between two frames:0.399997 -[22:32:20.672] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.055057 error end=0.055057 -[22:32:20.672] After pose optimization, distance between ekf and vo x:0.556775 ,z=0.075209,angle between two frames:0.399997 -[22:32:20.672] frame process finished the id is: 1130 the obs is:11 -[22:32:20.708] Odometry x=0.745907, y=0.587791, theta=2.690890 -[22:32:20.795] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.835697 ,z=0.012072,angle between two frames:0.599997 -[22:32:20.795] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.045995 error end=0.045995 -[22:32:20.795] After pose optimization, distance between ekf and vo x:0.835697 ,z=0.012072,angle between two frames:0.599997 -[22:32:20.795] frame process finished the id is: 1130 the obs is:11 -[22:32:20.801] Odometry x=0.742252, y=0.580593, theta=2.670945 -[22:32:20.870] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.698874 ,z=0.033549,angle between two frames:0.499997 -[22:32:20.870] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000911 error end=0.000901 -[22:32:20.870] After pose optimization, distance between ekf and vo x:0.694849 ,z=0.036298,angle between two frames:0.496898 -[22:32:20.870] frame process finished the id is: 1130 the obs is:11 -[22:32:20.903] Odometry x=0.738850, y=0.573476, theta=2.654502 -[22:32:20.975] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.835644 ,z=-0.016095,angle between two frames:0.599998 -[22:32:20.975] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.995101 error end=0.360502 -[22:32:20.975] After pose optimization, distance between ekf and vo x:0.557488 ,z=-3.598679,angle between two frames:0.214329 -[22:32:20.975] frame process finished the id is: 1130 the obs is:11 -[22:32:21.004] Odometry x=0.734918, y=0.566514, theta=2.637155 -[22:32:21.089] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.699647 ,z=0.008315,angle between two frames:0.499998 -[22:32:21.089] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.002616 error end=0.002577 -[22:32:21.089] After pose optimization, distance between ekf and vo x:0.686656 ,z=0.012308,angle between two frames:0.494787 -[22:32:21.089] frame process finished the id is: 1130 the obs is:11 -[22:32:21.106] Odometry x=0.730865, y=0.559634, theta=2.618321 -[22:32:21.174] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.699696 ,z=-0.002022,angle between two frames:0.499998 -[22:32:21.174] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.226328 error end=0.029663 -[22:32:21.174] After pose optimization, distance between ekf and vo x:-0.577653 ,z=0.992692,angle between two frames:0.054722 -[22:32:21.174] frame process finished the id is: 1130 the obs is:11 -[22:32:21.208] Odometry x=0.726805, y=0.552677, theta=2.603530 -[22:32:21.288] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.421226 ,z=0.033324,angle between two frames:0.299997 -[22:32:21.289] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.194049 error end=0.194049 -[22:32:21.289] After pose optimization, distance between ekf and vo x:0.421226 ,z=0.033324,angle between two frames:0.299997 -[22:32:21.289] frame process finished the id is: 1130 the obs is:11 -[22:32:21.300] Odometry x=0.722576, y=0.546198, theta=2.585700 -[22:32:21.374] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.699235 ,z=-0.025355,angle between two frames:0.499998 -[22:32:21.374] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.841127 error end=0.159326 -[22:32:21.374] After pose optimization, distance between ekf and vo x:-0.911828 ,z=0.828192,angle between two frames:0.042274 -[22:32:21.374] frame process finished the id is: 1130 the obs is:11 -[22:32:21.405] Odometry x=0.718475, y=0.539836, theta=2.570169 -[22:32:21.486] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.698413 ,z=-0.041444,angle between two frames:0.499996 -[22:32:21.486] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.095355 error end=0.095355 -[22:32:21.486] After pose optimization, distance between ekf and vo x:0.698413 ,z=-0.041444,angle between two frames:0.499996 -[22:32:21.486] frame process finished the id is: 1130 the obs is:11 -[22:32:21.503] Odometry x=0.714068, y=0.533229, theta=2.547282 -[22:32:21.577] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.697793 ,z=-0.051353,angle between two frames:0.499998 -[22:32:21.577] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.000003 error end=0.000003 -[22:32:21.577] After pose optimization, distance between ekf and vo x:0.697775 ,z=-0.051336,angle between two frames:0.499990 -[22:32:21.577] frame process finished the id is: 1130 the obs is:11 -[22:32:21.607] Odometry x=0.709530, y=0.526245, theta=2.532973 -[22:32:21.678] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.422507 ,z=0.003045,angle between two frames:0.299996 -[22:32:21.678] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.323779 error end=0.223276 -[22:32:21.678] After pose optimization, distance between ekf and vo x:-0.108443 ,z=0.016568,angle between two frames:0.121904 -[22:32:21.678] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 -[22:32:21.678] need key frame pitch dis: 5.381977 translation dif:2.665059 -[22:32:21.678] Choose frame as a key frame Scene Depth mean:-1.127731 ,depth min:-4.649684 -[22:32:21.678] frame process finished the id is: 1551 the obs is:21 -[22:32:21.703] Odometry x=0.622274, y=0.533237, theta=-2.862784 -[22:32:21.793] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.611081 ,z=0.570295,angle between two frames:5.683186 -[22:32:21.793] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.132850 error end=0.132850 -[22:32:21.793] After pose optimization, distance between ekf and vo x:0.611081 ,z=0.570295,angle between two frames:5.683186 -[22:32:21.793] frame process finished the id is: 1551 the obs is:21 -[22:32:21.799] Odometry x=0.624747, y=0.524915, theta=-2.876102 -[22:32:21.873] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.620715 ,z=0.559786,angle between two frames:5.683186 -[22:32:21.873] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.395347 error end=0.040155 -[22:32:21.873] After pose optimization, distance between ekf and vo x:-0.517295 ,z=0.382116,angle between two frames:0.107527 -[22:32:21.873] frame process finished the id is: 1551 the obs is:21 -[22:32:21.906] Odometry x=0.626677, y=0.516878, theta=-2.893154 -[22:32:21.976] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.629156 ,z=0.550328,angle between two frames:5.683186 -[22:32:21.976] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.546549 error end=0.083733 -[22:32:21.976] After pose optimization, distance between ekf and vo x:9.589277 ,z=2.175474,angle between two frames:4.699984 -[22:32:21.976] frame process finished the id is: 1551 the obs is:21 -[22:32:22.002] Odometry x=0.628704, y=0.508736, theta=-2.908358 -[22:32:22.087] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.629296 ,z=0.548851,angle between two frames:5.683149 -[22:32:22.087] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.142751 error end=0.142751 -[22:32:22.087] After pose optimization, distance between ekf and vo x:0.629296 ,z=0.548851,angle between two frames:5.683149 -[22:32:22.087] frame process finished the id is: 1551 the obs is:21 -[22:32:22.113] Odometry x=0.630515, y=0.500747, theta=-2.927195 -[22:32:22.235] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.649340 ,z=0.525012,angle between two frames:5.683155 -[22:32:22.235] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.000045 error end=0.000045 -[22:32:22.235] After pose optimization, distance between ekf and vo x:0.649340 ,z=0.525012,angle between two frames:5.683155 -[22:32:22.235] frame process finished the id is: 1551 the obs is:21 -[22:32:22.375] Odometry x=0.632061, y=0.493198, theta=-2.945809 -[22:32:22.403] Odometry x=0.632061, y=0.493198, theta=-2.945809 -[22:32:22.450] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.649340 ,z=0.524971,angle between two frames:5.683153 -[22:32:22.450] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000415 error end=0.000415 -[22:32:22.450] After pose optimization, distance between ekf and vo x:0.649449 ,z=0.524971,angle between two frames:5.683139 -[22:32:22.451] frame process finished the id is: 1551 the obs is:21 -[22:32:22.497] After Reprojection Map nMatches:21 ,distance between ekf and vo x:0.531883 ,z=0.453372,angle between two frames:5.783155 -[22:32:22.497] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.648441 error end=0.648441 -[22:32:22.497] After pose optimization, distance between ekf and vo x:0.531883 ,z=0.453372,angle between two frames:5.783155 -[22:32:22.497] frame process finished the id is: 1551 the obs is:21 -[22:32:22.501] Odometry x=0.633575, y=0.484288, theta=-2.969744 -[22:32:22.568] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.540651 ,z=0.444376,angle between two frames:5.783184 -[22:32:22.568] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.003131 error end=0.003131 -[22:32:22.568] After pose optimization, distance between ekf and vo x:0.540651 ,z=0.444376,angle between two frames:5.783184 -[22:32:22.568] frame process finished the id is: 1551 the obs is:21 -[22:32:22.612] Odometry x=0.634763, y=0.476681, theta=-2.989120 -[22:32:22.697] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.815797 ,z=0.524582,angle between two frames:5.583192 -[22:32:22.697] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.570908 error end=0.551902 -[22:32:22.697] After pose optimization, distance between ekf and vo x:0.618113 ,z=0.508723,angle between two frames:5.531462 -[22:32:22.697] frame process finished the id is: 1551 the obs is:21 -[22:32:22.703] Odometry x=0.636021, y=0.468769, theta=-3.005593 -[22:32:22.770] After Reprojection Map nMatches:26 ,distance between ekf and vo x:0.688232 ,z=0.474437,angle between two frames:5.683285 -[22:32:22.770] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.310657 error end=0.310593 -[22:32:22.770] After pose optimization, distance between ekf and vo x:0.687479 ,z=0.474538,angle between two frames:5.683324 -[22:32:22.770] frame process finished the id is: 1551 the obs is:21 -[22:32:22.802] Odometry x=0.636951, y=0.460766, theta=-3.023757 -[22:32:22.891] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.562057 ,z=0.416848,angle between two frames:5.783186 -[22:32:22.891] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.655725 error end=0.655676 -[22:32:22.891] After pose optimization, distance between ekf and vo x:0.558026 ,z=0.415903,angle between two frames:5.781368 -[22:32:22.891] frame process finished the id is: 1551 the obs is:21 -[22:32:22.904] Odometry x=0.637919, y=0.452835, theta=-3.038858 -[22:32:22.967] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.568919 ,z=0.407432,angle between two frames:5.783186 -[22:32:22.967] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.775796 error end=0.775796 -[22:32:22.967] After pose optimization, distance between ekf and vo x:0.568919 ,z=0.407432,angle between two frames:5.783186 -[22:32:22.967] frame process finished the id is: 1551 the obs is:21 -[22:32:23.004] Odometry x=0.638594, y=0.445042, theta=-3.055507 -[22:32:23.086] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.576234 ,z=0.397019,angle between two frames:5.783186 -[22:32:23.086] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =1.127701 error end=1.098411 -[22:32:23.086] After pose optimization, distance between ekf and vo x:0.598033 ,z=0.381920,angle between two frames:5.788894 -[22:32:23.086] frame process finished the id is: 1551 the obs is:21 -[22:32:23.108] Odometry x=0.639288, y=0.437623, theta=-3.073692 -[22:32:23.195] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.718831 ,z=0.426543,angle between two frames:5.683186 -[22:32:23.195] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.552170 error end=0.552170 -[22:32:23.195] After pose optimization, distance between ekf and vo x:0.718831 ,z=0.426543,angle between two frames:5.683186 -[22:32:23.195] frame process finished the id is: 1551 the obs is:21 -[22:32:23.207] Odometry x=0.639917, y=0.429592, theta=-3.091450 -[22:32:23.267] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.718831 ,z=0.426543,angle between two frames:5.683186 -[22:32:23.267] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.206481 error end=0.206481 -[22:32:23.267] After pose optimization, distance between ekf and vo x:0.718831 ,z=0.426543,angle between two frames:5.683186 -[22:32:23.267] frame process finished the id is: 1551 the obs is:21 -[22:32:23.308] Odometry x=0.640033, y=0.421899, theta=-3.105501 -[22:32:23.382] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.461955 ,z=0.319928,angle between two frames:5.883186 -[22:32:23.382] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000085 error end=0.000085 -[22:32:23.382] After pose optimization, distance between ekf and vo x:0.461954 ,z=0.319928,angle between two frames:5.883186 -[22:32:23.382] frame process finished the id is: 1551 the obs is:21 -[22:32:23.401] Odometry x=0.640162, y=0.413825, theta=-3.121281 -[22:32:23.491] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.738169 ,z=0.392128,angle between two frames:5.683186 -[22:32:23.491] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.003879 error end=0.003879 -[22:32:23.491] After pose optimization, distance between ekf and vo x:0.738145 ,z=0.392136,angle between two frames:5.683193 -[22:32:23.491] frame process finished the id is: 1551 the obs is:21 -[22:32:23.506] Odometry x=0.639805, y=0.405733, theta=-3.138683 -[22:32:23.585] After Reprojection Map nMatches:18 ,distance between ekf and vo x:0.606444 ,z=0.349135,angle between two frames:0.499999 -[22:32:23.585] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.029975 error end=0.029906 -[22:32:23.585] After pose optimization, distance between ekf and vo x:0.613508 ,z=0.347683,angle between two frames:0.501782 -[22:32:23.585] frame process finished the id is: 1551 the obs is:21 -[22:32:23.605] Odometry x=0.639977, y=0.397481, theta=3.128560 -[22:32:23.683] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.892762 ,z=0.378956,angle between two frames:0.699999 -[22:32:23.683] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.113944 error end=0.113944 -[22:32:23.683] After pose optimization, distance between ekf and vo x:0.892762 ,z=0.378956,angle between two frames:0.699999 -[22:32:23.683] frame process finished the id is: 1551 the obs is:21 -[22:32:23.705] Odometry x=0.639930, y=0.389063, theta=3.107621 -[22:32:23.794] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.483224 ,z=0.286794,angle between two frames:0.400000 -[22:32:23.794] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000149 error end=0.000149 -[22:32:23.794] After pose optimization, distance between ekf and vo x:0.483224 ,z=0.286794,angle between two frames:0.400000 -[22:32:23.794] frame process finished the id is: 1551 the obs is:21 -[22:32:23.804] Odometry x=0.639774, y=0.380984, theta=3.091821 -[22:32:23.865] After Reprojection Map nMatches:19 ,distance between ekf and vo x:0.488629 ,z=0.277485,angle between two frames:0.400000 -[22:32:23.865] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.002137 error end=0.002136 -[22:32:23.865] After pose optimization, distance between ekf and vo x:0.487965 ,z=0.277517,angle between two frames:0.399296 -[22:32:23.865] frame process finished the id is: 1551 the obs is:21 -[22:32:23.907] Odometry x=0.639149, y=0.373028, theta=3.072666 -[22:32:24.004] Odometry x=0.638055, y=0.365343, theta=3.055728 -[22:32:24.098] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.635009 ,z=0.293995,angle between two frames:0.500000 -[22:32:24.098] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000000 error end=0.000000 -[22:32:24.098] After pose optimization, distance between ekf and vo x:0.635009 ,z=0.293995,angle between two frames:0.500000 -[22:32:24.098] frame process finished the id is: 1551 the obs is:21 -[22:32:24.108] Odometry x=0.637156, y=0.357399, theta=3.039787 -[22:32:24.163] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.635009 ,z=0.293995,angle between two frames:0.500000 -[22:32:24.163] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.005164 error end=0.005164 -[22:32:24.163] After pose optimization, distance between ekf and vo x:0.634921 ,z=0.294018,angle between two frames:0.499957 -[22:32:24.163] frame process finished the id is: 1551 the obs is:21 -[22:32:24.208] Odometry x=0.636257, y=0.349676, theta=3.022544 -[22:32:24.306] Odometry x=0.635023, y=0.342097, theta=3.003889 -[22:32:24.306] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.507164 ,z=0.241789,angle between two frames:0.399992 -[22:32:24.306] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.000012 error end=0.000012 -[22:32:24.306] After pose optimization, distance between ekf and vo x:0.507164 ,z=0.241789,angle between two frames:0.399992 -[22:32:24.306] frame process finished the id is: 1551 the obs is:21 -[22:32:24.383] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.376328 ,z=0.191335,angle between two frames:0.299957 -[22:32:24.383] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.095616 error end=0.095567 -[22:32:24.383] After pose optimization, distance between ekf and vo x:0.374812 ,z=0.191433,angle between two frames:0.299854 -[22:32:24.383] frame process finished the id is: 1551 the obs is:21 -[22:32:24.408] Odometry x=0.633838, y=0.334772, theta=2.987245 -[22:32:24.478] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.378925 ,z=0.186796,angle between two frames:0.299992 -[22:32:24.478] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000003 error end=0.000003 -[22:32:24.478] After pose optimization, distance between ekf and vo x:0.378925 ,z=0.186796,angle between two frames:0.299992 -[22:32:24.478] frame process finished the id is: 1551 the obs is:21 -[22:32:24.509] Odometry x=0.632470, y=0.327100, theta=2.967979 -[22:32:24.607] Odometry x=0.631821, y=0.320656, theta=2.954659 -[22:32:24.705] Odometry x=0.629809, y=0.312888, theta=2.931986 -[22:32:24.710] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.945560 ,z=0.215921,angle between two frames:0.699991 -[22:32:24.710] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.059182 error end=0.059182 -[22:32:24.710] After pose optimization, distance between ekf and vo x:0.945560 ,z=0.215921,angle between two frames:0.699991 -[22:32:24.710] frame process finished the id is: 1551 the obs is:21 -[22:32:24.807] Odometry x=0.628529, y=0.305885, theta=2.916288 -[22:32:24.907] Odometry x=0.626435, y=0.298056, theta=2.901921 -[22:32:25.011] Odometry x=0.624705, y=0.292046, theta=2.877894 -[22:32:25.108] Odometry x=0.623393, y=0.285167, theta=2.868094 -[22:32:25.203] Odometry x=0.623393, y=0.285167, theta=2.868094 -[22:32:25.304] Odometry x=0.623393, y=0.285167, theta=2.868094 -[22:32:25.406] Odometry x=0.622449, y=0.272433, theta=2.842623 -[22:32:25.503] Odometry x=0.620698, y=0.263615, theta=2.827506 -[22:32:25.613] Odometry x=0.619577, y=0.255591, theta=2.811164 -[22:32:25.715] Odometry x=0.618516, y=0.248085, theta=2.793426 -[22:32:25.810] Odometry x=0.616723, y=0.239588, theta=2.779504 -[22:32:25.911] Odometry x=0.613916, y=0.232269, theta=2.759815 diff --git a/GPU_version/vio/include/vio/config.h b/GPU_version/vio/include/vio/config.h index 8ecb89f..b7ee3d5 100644 --- a/GPU_version/vio/include/vio/config.h +++ b/GPU_version/vio/include/vio/config.h @@ -124,21 +124,10 @@ public: /// Gro white noise in continuous. static double& GYO_Noise() { return getInstance().GYO_noise; } - /// integration uncertainty continuous - static double& IUC() { return getInstance().iuc; } - /// acc bias in continuous - static double& ABC() { return getInstance().abc; } - /// gyro bias in continuous - static double& GBC() { return getInstance().gbc; } - /// error in the bias used for preintegration - static double& EBP() { return getInstance().ebp; } - /// the noise used for projection - static double& NRP() { return getInstance().nrp; } - static double& Svo_Ekf() { return getInstance().svo_ekf; } - static double& X_off() { return getInstance().acc_x_off; } - static double& Y_off() { return getInstance().acc_y_off; } - static double& Teta_off() { return getInstance().gyr_z_off; } - static double& Cmd_Cov() { return getInstance().cmd_cov; } + static double& VO_ekf_t() { return getInstance().vo_ekf_t; } + static double& VO_ekf_o() { return getInstance().vo_ekf_o; } + static double& Cmd_ekf_t() { return getInstance().cmd_ekf_t; } + static double& Cmd_ekf_o() { return getInstance().cmd_ekf_o; } private: @@ -174,7 +163,7 @@ private: size_t max_fts; size_t quality_min_fts; int quality_max_drop_fts; - double nrp,ebp,gbc,abc,iuc,ACC_noise,GYO_noise,svo_ekf,acc_x_off,acc_y_off,gyr_z_off,cmd_cov; + double ACC_noise,GYO_noise,vo_ekf_t,vo_ekf_o,cmd_ekf_t,cmd_ekf_o; }; } // namespace vio diff --git a/GPU_version/vio/include/vio/initialization.h b/GPU_version/vio/include/vio/initialization.h index 324af6e..9a670ed 100644 --- a/GPU_version/vio/include/vio/initialization.h +++ b/GPU_version/vio/include/vio/initialization.h @@ -118,7 +118,7 @@ protected: xyz_in_cur=xyz_in_hom; }else if((Homography.T_c2_from_c1.translation()-res.second.se3().translation()).norm()<0.1 && inlier_ekf.size()UpdateSvo(Homography.T_c2_from_c1.translation().x(),Homography.T_c2_from_c1.translation().z(),euler(1)); + res=ukf_->UpdateVO(Homography.T_c2_from_c1.translation().x(),Homography.T_c2_from_c1.translation().z(),euler(1)); T_cur_from_ref=res.second; inliers=inlier_hom; xyz_in_cur=xyz_in_ekf; diff --git a/GPU_version/vio/include/vio/ukf.h b/GPU_version/vio/include/vio/ukf.h index b8d6b53..4889930 100644 --- a/GPU_version/vio/include/vio/ukf.h +++ b/GPU_version/vio/include/vio/ukf.h @@ -10,6 +10,8 @@ #include #include #include +#include +#include class Base{ public: Base(const Eigen::Matrix &init) { @@ -24,38 +26,32 @@ public: }; void predict(double dx,double dy,double dpitch,double time){ double dt=0.2; - /*if(t_cmd==0.0){ - t_cmd=time; - return; - }*/ - t_cmd=time; state_h_(2)=state_(2)+dt*dpitch; state_h_(1)=state_(1)+dt*(dy*cos(state_(2))-dx*sin(state_(2))); state_h_(0)=state_(0)+dt*(dx*cos(state_(2))+dy*sin(state_(2))); state_h_(3)=dpitch; Eigen::Matrix R; - R< G; G<<1.0,0,dt*(-dx*sin(state_(2))+dy*cos(state_(2))),0.0, 0,1.0,dt*(-dy*sin(state_(2))-dx*cos(state_(2))),0.0, 0,0,1.0,dt, 0,0,0,1.0; cov_h_=G*cov_*G.transpose()+R; + setTime(); } void correct(double ddx, double ddy, double dpitch, double time){ - double dt=0.05; - /*if(t_imu==0.0){ - t_imu=time; - return; - }*/ - t_imu=time; + auto imu_end = std::chrono::steady_clock::now(); + double dt=1e-9*(imu_end-vio_t).count(); + vio_t=std::chrono::steady_clock::now(); Eigen::Matrix H; Eigen::Matrix Q; Eigen::Matrix E; Eigen::Matrix k; + //update E(0)=state_(0)+pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2)))-state_h_(0); E(1)=state_(1)+pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)))-state_h_(1); E(2)=state_(2)+dt*state_(3)-state_h_(2); @@ -71,6 +67,7 @@ public: k=cov_h_*H.transpose()*(H*cov_h_*H.transpose()+Q).inverse(); state_=state_h_+k*E; cov_=(Eigen::MatrixXd::Identity(4,4)-k*H)*cov_h_; + //predict state_h_(2)=state_(2)+dt*state_(3); state_h_(1)=state_(1)+pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))); state_h_(0)=state_(0)+pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))); @@ -96,21 +93,23 @@ public: H<<1.0,0,0,0, 0,1.0,0,0, 0,0,1.0,0; - Q< cov_; Eigen::Matrix state_; private: - double t_cmd=0.0; + std::chrono::time_point> vio_t; Eigen::Matrix cov_h_; Eigen::Matrix state_h_;//state{x,y,pitch( rotation around z),dyaw} in world frame - double t_imu=0.0; }; @@ -125,8 +124,8 @@ public: /* if(abs(x)<1.0)x=pow(x,3);//picked up from your code if(abs(y)<1.0)y=pow(y,3);//picked up from your code*/ ++imu_syn_count_; - if(imu_syn_[imu_syn_count_ % 4]){ - imu_syn_[imu_syn_count_ % 4]=false; + if(imu_syn_[imu_syn_count_ % 10]){ + imu_syn_[imu_syn_count_ % 10]=false; }else{ return; } @@ -136,8 +135,7 @@ public: }; //IMU frame y front, x right, z up -> left hands (theta counts from y) void UpdateCmd(double x/*in imu frame*/,double y/*in imu frame*/,double theta/*in imu frame*/,const ros::Time& time) { - cam_syn_[cmd_syn_count_ % 4]=true; - imu_syn_[cmd_syn_count_ % 4]=true; + imu_syn_[cmd_syn_count_ % 10]=true; ++cmd_syn_count_; if(cmd_syn_count_>50)cmd_syn_count_=0; boost::unique_lock lock(ekf_mut_); @@ -145,7 +143,7 @@ public: }; //Camera frame z back, x right, y down -> left hands (pitch counts from x)correct //Notice T_F_W is the position of the first frame with respect to the new frame while they are looking at one feature - std::pair,vio::SE2_5> UpdateSvo(double x/*in camera frame*/,double z/*in camera frame*/,double pitch/*in camera frame*/) { + std::pair,vio::SE2_5> UpdateVO(double x/*in camera frame*/,double z/*in camera frame*/,double pitch/*in camera frame*/) { boost::unique_lock lock(ekf_mut_); filter_->correct(x,z,-1.0*pitch); Eigen::Matrix cov; @@ -162,10 +160,12 @@ public: filter_->cov_(2,0),filter_->cov_(2,1),filter_->cov_(2,2); return std::pair,vio::SE2_5>(cov,vio::SE2_5(filter_->state_(0),filter_->state_(1),-1.0*(filter_->state_(2)))); } + void setImuTime(){ + filter_->setTime(); + } size_t cmd_syn_count_=0; size_t imu_syn_count_=2; - bool cam_syn_[4]={false,false,false,false}; - bool imu_syn_[4]={false,false,false,false}; + bool imu_syn_[10]={false,false,false,false,false,false,false,false,false,false}; private: Base* filter_= nullptr; boost::mutex ekf_mut_; diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index d12f08d..7c4cbdf 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -1,6 +1,6 @@ - + diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index e838924..422fc79 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -1,6 +1,6 @@ -svo: +vio: grid_size: 8 #Feature grid size of a cell in [px]. - max_n_kfs: 15 #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. Minimum number of keyframes is 3. + max_n_kfs: 20 #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. Minimum number of keyframes is 3. loba_num_iter: 10 #Number of iterations in the local bundle adjustment. quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad. quality_max_drop_fts: 90 #If within one frame, this amount of features are dropped. Tracking quality is bad. @@ -10,7 +10,9 @@ svo: kfselect_mindist: 0.01 poseoptim_thresh: 8.0 init_min_inliers: 50 - ACC_noise: 0.1 #acc white noise in continuous in EKF - GYO_noise: 0.05 #gyro white noise in continuous in EKF - svo_ekf: 0.05 #VO noise in EKF - Cmd_Cov: 0.1 #control vector noise in EKF + ACC_ekf: 0.2 #acc white noise in continuous in EKF + GYO_ekf: 0.05 #gyro white noise in continuous in EKF + VO_ekf_translation: 0.5 #VO noise in EKF + VO_ekf_orientation: 1.5 #VO noise in EKF + CMD_ekf_translation: 0.1 #control vector noise in EKF + CMD_ekf_orientation: 0.01 #control vector noise in EKF diff --git a/GPU_version/vio/src/config.cpp b/GPU_version/vio/src/config.cpp index 82f3ad7..d2c9e75 100644 --- a/GPU_version/vio/src/config.cpp +++ b/GPU_version/vio/src/config.cpp @@ -20,47 +20,41 @@ namespace vio { Config::Config() : - trace_name(vk::getParam("svo/trace_name", "svo")), - trace_dir(vk::getParam("svo/trace_dir", "/tmp")), - n_pyr_levels(vk::getParam("svo/n_pyr_levels", 3)), - use_imu(vk::getParam("svo/use_imu", false)), - core_n_kfs(vk::getParam("svo/core_n_kfs", 3)), - map_scale(vk::getParam("svo/map_scale", 1.0)), - grid_size(vk::getParam("svo/grid_size", 10)), - init_min_disparity(vk::getParam("svo/init_min_disparity", 50.0)), - init_min_tracked(vk::getParam("svo/init_min_tracked", 50)), - init_min_inliers(vk::getParam("svo/init_min_inliers", 40)), - klt_max_level(vk::getParam("svo/klt_max_level", 4)), - klt_min_level(vk::getParam("svo/klt_min_level", 2)), - reproj_thresh(vk::getParam("svo/reproj_thresh", 2.0)), - poseoptim_thresh(vk::getParam("svo/poseoptim_thresh", 2.0)), - poseoptim_num_iter(vk::getParam("svo/poseoptim_num_iter", 10)), - structureoptim_max_pts(vk::getParam("svo/structureoptim_max_pts", 20)), - structureoptim_num_iter(vk::getParam("svo/structureoptim_num_iter", 5)), - loba_thresh(vk::getParam("svo/loba_thresh", 2.0)), - loba_robust_huber_width(vk::getParam("svo/loba_robust_huber_width", 1.0)), - loba_num_iter(vk::getParam("svo/loba_num_iter", 0)), - kfselect_mindist(vk::getParam("svo/kfselect_mindist", 0.12)), - triang_min_corner_score(vk::getParam("svo/triang_min_corner_score", 20.0)), - triang_half_patch_size(vk::getParam("svo/triang_half_patch_size", 4)), - subpix_n_iter(vk::getParam("svo/subpix_n_iter", 10)), - max_n_kfs(vk::getParam("svo/max_n_kfs", 10)), - img_imu_delay(vk::getParam("svo/img_imu_delay", 0.0)), - max_fts(vk::getParam("svo/max_fts", 120)), - quality_min_fts(vk::getParam("svo/quality_min_fts", 50)), - quality_max_drop_fts(vk::getParam("svo/quality_max_drop_fts", 40)), - ACC_noise(vk::getParam("svo/ACC_noise", 1e-4)), - GYO_noise(vk::getParam("svo/GYO_noise", 1e-4)), - iuc(vk::getParam("svo/IUC", 1e-1)), - abc(vk::getParam("svo/ABC", 1e-1)), - gbc(vk::getParam("svo/GBC", 1e-1)), - ebp(vk::getParam("svo/EBP", 1e-2)), - nrp(vk::getParam("svo/NRP", 1e-5)), - svo_ekf(vk::getParam("svo/svo_ekf", 30)), - acc_x_off(vk::getParam("svo/Acceleration_offset_x", 0.0)), - acc_y_off(vk::getParam("svo/Acceleration_offset_y", 0.0)), - gyr_z_off(vk::getParam("svo/Gyroscope_offset_z", 0.0)), - cmd_cov(vk::getParam("svo/Cmd_Cov", 0.0)) + trace_name(vk::getParam("vio/trace_name", "svo")), + trace_dir(vk::getParam("vio/trace_dir", "/tmp")), + n_pyr_levels(vk::getParam("vio/n_pyr_levels", 3)), + use_imu(vk::getParam("vio/use_imu", false)), + core_n_kfs(vk::getParam("vio/core_n_kfs", 3)), + map_scale(vk::getParam("vio/map_scale", 1.0)), + grid_size(vk::getParam("vio/grid_size", 10)), + init_min_disparity(vk::getParam("vio/init_min_disparity", 50.0)), + init_min_tracked(vk::getParam("vio/init_min_tracked", 50)), + init_min_inliers(vk::getParam("vio/init_min_inliers", 40)), + klt_max_level(vk::getParam("vio/klt_max_level", 4)), + klt_min_level(vk::getParam("vio/klt_min_level", 2)), + reproj_thresh(vk::getParam("vio/reproj_thresh", 2.0)), + poseoptim_thresh(vk::getParam("vio/poseoptim_thresh", 2.0)), + poseoptim_num_iter(vk::getParam("vio/poseoptim_num_iter", 10)), + structureoptim_max_pts(vk::getParam("vio/structureoptim_max_pts", 20)), + structureoptim_num_iter(vk::getParam("vio/structureoptim_num_iter", 5)), + loba_thresh(vk::getParam("vio/loba_thresh", 2.0)), + loba_robust_huber_width(vk::getParam("vio/loba_robust_huber_width", 1.0)), + loba_num_iter(vk::getParam("vio/loba_num_iter", 0)), + kfselect_mindist(vk::getParam("vio/kfselect_mindist", 0.12)), + triang_min_corner_score(vk::getParam("vio/triang_min_corner_score", 20.0)), + triang_half_patch_size(vk::getParam("vio/triang_half_patch_size", 4)), + subpix_n_iter(vk::getParam("vio/subpix_n_iter", 10)), + max_n_kfs(vk::getParam("vio/max_n_kfs", 10)), + img_imu_delay(vk::getParam("vio/img_imu_delay", 0.0)), + max_fts(vk::getParam("vio/max_fts", 120)), + quality_min_fts(vk::getParam("vio/quality_min_fts", 50)), + quality_max_drop_fts(vk::getParam("vio/quality_max_drop_fts", 40)), + ACC_noise(vk::getParam("vio/ACC_ekf", 1e-4)), + GYO_noise(vk::getParam("vio/GYO_ekf", 1e-4)), + vo_ekf_t(vk::getParam("vio/VO_ekf_translation", 1e-4)), + vo_ekf_o(vk::getParam("vio/VO_ekf_orientation", 1e-4)), + cmd_ekf_t(vk::getParam("vio/CMD_ekf_translation", 1e-4)), + cmd_ekf_o(vk::getParam("vio/CMD_ekf_orientation", 1e-4)) {} Config& Config::getInstance() diff --git a/GPU_version/vio/src/feature_detection.cpp b/GPU_version/vio/src/feature_detection.cpp index 3861f22..54d7284 100644 --- a/GPU_version/vio/src/feature_detection.cpp +++ b/GPU_version/vio/src/feature_detection.cpp @@ -72,8 +72,8 @@ void FastDetector::detect( const double detection_threshold, list>& fts) { - Corners corners(grid_n_cols_*grid_n_rows_, Corner(0,0,0.0,0,0.0f)); std::vector keypoints; + fts.clear(); for(int L=0; Limg_pyr.size())return; @@ -85,13 +85,20 @@ void FastDetector::detect( cl_int icorner[1]={0}; gpu_fast_->load(0,2,1,icorner); gpu_fast_->run(0,img.cols,img.rows); - cl_int count[1]; + cl_int count[1]={0}; gpu_fast_->read(0,2,1,count); if(count[0]<1 ){ ROS_ERROR("Can not communicate with GPU"); exit(0); } - int size=count[0]; + const int size=count[0]; + if(size<1 || size > 2000){ + gpu_fast_->release(0,0); + gpu_fast_->release(0,1); + gpu_fast_->release(0,2); + free(fast_corner); + return; + } cl_int2* fast_corners=(cl_int2*)calloc(size, sizeof(cl_int2)); gpu_fast_->read(0,1,size,fast_corners); for(uint i=0;i extractor = cv::xfeatures2d::FREAK::create(true, true, 22.0f, 4); cv::Mat descriptor; extractor->compute(frame->img(), keypoints, descriptor); - fts.clear(); for(auto&& p:_for(keypoints)){ fts.push_back(make_shared(frame, Vector2d(p.item.pt.x, p.item.pt.y), p.item.response ,0,descriptor.data+(p.index*64))); } - resetGrid(); } } // namespace feature_detection diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index 4389223..ef71ad7 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -64,7 +64,7 @@ FrameHandlerMono::~FrameHandlerMono() void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp,const ros::Time& time) { - + ukfPtr_.setImuTime(); if(!startFrameProcessingCommon(timestamp)){ return; } @@ -171,7 +171,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() new_frame_=last_frame_; return RESULT_FAILURE; } - auto result=ukfPtr_.UpdateSvo(new_frame_->T_f_w_.se2().translation()(0), + auto result=ukfPtr_.UpdateVO(new_frame_->T_f_w_.se2().translation()(0), new_frame_->T_f_w_.se2().translation()(1),new_frame_->T_f_w_.pitch()); new_frame_->T_f_w_ =result.second; new_frame_->Cov_ = result.first; diff --git a/GPU_version/vio/src/initialization.cpp b/GPU_version/vio/src/initialization.cpp index 969defd..bfc0b8d 100644 --- a/GPU_version/vio/src/initialization.cpp +++ b/GPU_version/vio/src/initialization.cpp @@ -51,7 +51,7 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur) { trackKlt(frame_ref_, frame_cur, px_ref_, px_cur_, features_ref_, disparities_); if(disparities_.size() < 1){ - ukf_->UpdateSvo(0.0,0.0,0.0); + ukf_->UpdateVO(0.0,0.0,0.0); return NO_KEYFRAME; } if(disparities_.size() < 20){ @@ -64,7 +64,7 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur) double disparity = vk::getMean(disparities_,min,max); if(disparity < Config::initMinDisparity()){ auto result=ukf_->get_location(); - if(fabs(result.second.se2().translation().x())>0.2 || fabs(result.second.pitch())>0.0698132)ukf_->UpdateSvo(0.0,result.second.se2().translation().y(),0.0); + if(fabs(result.second.se2().translation().x())>0.2 || fabs(result.second.pitch())>0.0698132)ukf_->UpdateVO(0.0,result.second.se2().translation().y(),0.0); #if VIO_DEBUG fprintf(log_,"[%s] Init: px average disparity is:%f ,While minimum is: %f KLT tracked : %d\n",vio::time_in_HH_MM_SS_MMM().c_str(), disparity, diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp index c386d05..c09c20f 100644 --- a/GPU_version/vio/src/reprojector.cpp +++ b/GPU_version/vio/src/reprojector.cpp @@ -109,6 +109,7 @@ namespace vio { } overlap_kfs.reserve(options_.max_n_kfs); std::vector added_keypoints; + int points_count=0; for (auto &&it_frame:_for(close_kfs)) { if (it_frame.index > options_.max_n_kfs)continue; overlap_kfs.push_back(pair(it_frame.item.first, 0)); @@ -153,6 +154,7 @@ namespace vio { frame->fts_.back()->point->last_frame_overlap_id_=it_frame.item.first->id_; grid_.cells.at(k)->push_back(Candidate(frame->fts_.back()->point, px)); overlap_kfs.back().second++; + ++points_count; }else{ if(!matcher_.findMatchDirect(*(*it_ref)->point, *frame, px))continue; @@ -163,10 +165,12 @@ namespace vio { added_keypoints.push_back(match.trainIdx); grid_.cells.at(k)->push_back(Candidate(frame->fts_.back()->point, px)); overlap_kfs.back().second++; + ++points_count; } } ++it_ref; } + if(points_count>300)return; } /* std::cerr<<"here\n"; exit(0);*/