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correct initialization

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This commit is contained in:
gfuse
2021-09-07 16:54:38 +02:00
parent 42af3a2c71
commit 4fd88041a0
5 changed files with 437 additions and 526 deletions
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GPU_version/vio/depth_filter_log.txt
+8 -4
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@@ -1,4 +1,8 @@
[15:30:07.498] init depth filter
[15:30:30.322] DepthFilter: RESET.
[15:31:47.121] DepthFilter stop thread invoked.
[15:31:47.121] DepthFilter interrupt and join thread
[16:51:13.330] init depth filter
[16:51:25.142] DepthFilter: RESET.
[16:51:43.454] add key frame
[16:51:43.454] update seed
[16:51:43.455] init seeds
[16:51:43.457] DepthFilter: Initialized 87 new seeds
[16:52:16.423] DepthFilter stop thread invoked.
[16:52:16.423] DepthFilter interrupt and join thread
GPU_version/vio/frame_handler_log.txt
+419 -516
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@@ -1,516 +1,419 @@
[15:30:30.330] Init: frame zero: 0.000000, 0.000000 0.000000
[15:30:30.330] Init: Selected first frame.
[15:30:30.427] Init: px average disparity is:0.036371 ,While minimum is: 30.000000 KLT tracked : 139
[15:30:30.427] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:30.524] Init: px average disparity is:0.049982 ,While minimum is: 30.000000 KLT tracked : 139
[15:30:30.525] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:30.624] Init: px average disparity is:0.058295 ,While minimum is: 30.000000 KLT tracked : 139
[15:30:30.624] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:30.727] Init: px average disparity is:0.046907 ,While minimum is: 30.000000 KLT tracked : 139
[15:30:30.727] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:30.824] Init: px average disparity is:0.049769 ,While minimum is: 30.000000 KLT tracked : 139
[15:30:30.824] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:30.925] Init: px average disparity is:0.054387 ,While minimum is: 30.000000 KLT tracked : 139
[15:30:30.925] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:31.026] Init: px average disparity is:0.051497 ,While minimum is: 30.000000 KLT tracked : 139
[15:30:31.026] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:31.125] Init: px average disparity is:0.055474 ,While minimum is: 30.000000 KLT tracked : 139
[15:30:31.125] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:31.226] Init: px average disparity is:0.047644 ,While minimum is: 30.000000 KLT tracked : 139
[15:30:31.226] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:31.329] Init: px average disparity is:0.081485 ,While minimum is: 30.000000 KLT tracked : 139
[15:30:31.329] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:31.425] Init: px average disparity is:7.170009 ,While minimum is: 30.000000 KLT tracked : 139
[15:30:31.425] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:31.528] Init: px average disparity is:14.283019 ,While minimum is: 30.000000 KLT tracked : 131
[15:30:31.528] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:31.628] Init: px average disparity is:17.173102 ,While minimum is: 30.000000 KLT tracked : 124
[15:30:31.628] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:31.728] Init: px average disparity is:16.165114 ,While minimum is: 30.000000 KLT tracked : 123
[15:30:31.728] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:31.828] Init: px average disparity is:13.608046 ,While minimum is: 30.000000 KLT tracked : 123
[15:30:31.828] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:31.926] Init: px average disparity is:11.944953 ,While minimum is: 30.000000 KLT tracked : 123
[15:30:31.926] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:32.024] Init: px average disparity is:9.199830 ,While minimum is: 30.000000 KLT tracked : 122
[15:30:32.024] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:32.128] Init: px average disparity is:9.240884 ,While minimum is: 30.000000 KLT tracked : 122
[15:30:32.128] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:32.229] Init: px average disparity is:8.478064 ,While minimum is: 30.000000 KLT tracked : 121
[15:30:32.229] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:32.326] Init: px average disparity is:10.545638 ,While minimum is: 30.000000 KLT tracked : 121
[15:30:32.326] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:32.427] Init: px average disparity is:10.189366 ,While minimum is: 30.000000 KLT tracked : 121
[15:30:32.427] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:32.528] Init: px average disparity is:9.422281 ,While minimum is: 30.000000 KLT tracked : 121
[15:30:32.528] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:32.627] Init: px average disparity is:9.428868 ,While minimum is: 30.000000 KLT tracked : 121
[15:30:32.627] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:32.728] Init: px average disparity is:9.693335 ,While minimum is: 30.000000 KLT tracked : 121
[15:30:32.728] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:32.837] Init: px average disparity is:11.856301 ,While minimum is: 30.000000 KLT tracked : 120
[15:30:32.837] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:32.927] Init: px average disparity is:11.480432 ,While minimum is: 30.000000 KLT tracked : 120
[15:30:32.927] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:33.029] Init: px average disparity is:12.262572 ,While minimum is: 30.000000 KLT tracked : 120
[15:30:33.029] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:33.127] Init: px average disparity is:9.402030 ,While minimum is: 30.000000 KLT tracked : 109
[15:30:33.127] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:33.227] Init: px average disparity is:8.380981 ,While minimum is: 30.000000 KLT tracked : 100
[15:30:33.227] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:33.329] Init: px average disparity is:9.396996 ,While minimum is: 30.000000 KLT tracked : 100
[15:30:33.329] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:33.425] Init: px average disparity is:8.621306 ,While minimum is: 30.000000 KLT tracked : 99
[15:30:33.425] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:33.528] Init: px average disparity is:8.713953 ,While minimum is: 30.000000 KLT tracked : 99
[15:30:33.528] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:33.634] Init: px average disparity is:10.034264 ,While minimum is: 30.000000 KLT tracked : 98
[15:30:33.634] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:33.728] Init: px average disparity is:10.506833 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:33.728] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:33.826] Init: px average disparity is:12.408866 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:33.826] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:33.926] Init: px average disparity is:11.468771 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:33.926] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:34.025] Init: px average disparity is:10.407345 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:34.025] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:34.129] Init: px average disparity is:10.335327 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:34.129] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:34.228] Init: px average disparity is:10.202416 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:34.228] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:34.329] Init: px average disparity is:10.288406 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:34.329] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:34.427] Init: px average disparity is:10.270807 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:34.427] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:34.528] Init: px average disparity is:10.249354 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:34.528] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:34.626] Init: px average disparity is:10.251442 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:34.626] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:34.727] Init: px average disparity is:10.286003 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:34.727] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:34.827] Init: px average disparity is:10.152584 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:34.827] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:34.927] Init: px average disparity is:10.132516 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:34.927] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:35.026] Init: px average disparity is:10.194353 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:35.026] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:35.129] Init: px average disparity is:10.172247 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:35.129] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:35.226] Init: px average disparity is:10.240655 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:35.226] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:35.328] Init: px average disparity is:10.233074 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:35.328] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:35.427] Init: px average disparity is:10.133897 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:35.427] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:35.529] Init: px average disparity is:10.163725 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:35.529] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:35.628] Init: px average disparity is:10.222874 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:35.628] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:35.729] Init: px average disparity is:10.261694 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:35.729] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:35.829] Init: px average disparity is:10.267448 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:35.829] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:35.926] Init: px average disparity is:10.135959 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:35.926] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:36.030] Init: px average disparity is:10.252439 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:36.030] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:36.131] Init: px average disparity is:10.227142 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:36.131] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:36.227] Init: px average disparity is:10.259772 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:36.227] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:36.326] Init: px average disparity is:10.251031 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:36.326] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:36.427] Init: px average disparity is:10.260130 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:36.427] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:36.527] Init: px average disparity is:10.247340 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:36.528] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:36.629] Init: px average disparity is:10.186346 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:36.629] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:36.727] Init: px average disparity is:10.137828 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:36.727] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:36.827] Init: px average disparity is:10.226063 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:36.827] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:36.927] Init: px average disparity is:10.320538 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:36.927] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:37.028] Init: px average disparity is:10.223420 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:37.028] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:37.127] Init: px average disparity is:10.347357 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:37.127] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:37.234] Init: px average disparity is:10.157928 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:37.234] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:37.329] Init: px average disparity is:10.222194 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:37.329] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:37.438] Init: px average disparity is:10.251769 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:37.438] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:37.529] Init: px average disparity is:10.222131 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:37.529] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:37.627] Init: px average disparity is:10.232337 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:37.628] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:37.726] Init: px average disparity is:10.237536 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:37.726] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:37.827] Init: px average disparity is:10.282337 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:37.827] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:37.927] Init: px average disparity is:10.270175 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:37.927] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:38.026] Init: px average disparity is:10.206514 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:38.026] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:38.128] Init: px average disparity is:10.241267 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:38.129] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:38.225] Init: px average disparity is:10.141367 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:38.226] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:38.329] Init: px average disparity is:10.248750 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:38.329] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:38.428] Init: px average disparity is:10.221989 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:38.428] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:38.529] Init: px average disparity is:10.216355 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:38.529] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:38.631] Init: px average disparity is:10.219806 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:38.631] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:38.726] Init: px average disparity is:10.257169 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:38.726] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:38.824] Init: px average disparity is:10.158695 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:38.824] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:38.927] Init: px average disparity is:10.264931 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:38.928] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:39.028] Init: px average disparity is:10.282706 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:39.028] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:39.127] Init: px average disparity is:10.188245 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:39.127] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:39.227] Init: px average disparity is:10.237752 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:39.227] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:39.330] Init: px average disparity is:10.276601 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:39.330] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:39.426] Init: px average disparity is:10.241680 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:39.426] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:39.527] Init: px average disparity is:10.251192 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:39.528] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:39.628] Init: px average disparity is:10.171053 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:39.628] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:39.728] Init: px average disparity is:10.244646 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:39.728] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:39.828] Init: px average disparity is:10.203797 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:39.828] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:39.931] Init: px average disparity is:10.201256 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:39.931] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:40.029] Init: px average disparity is:10.136497 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:40.029] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:40.128] Init: px average disparity is:10.135943 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:40.128] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:40.226] Init: px average disparity is:10.248781 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:40.226] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:40.326] Init: px average disparity is:10.247617 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:40.326] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:40.426] Init: px average disparity is:10.267410 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:40.426] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:40.531] Init: px average disparity is:10.266867 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:40.531] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:40.629] Init: px average disparity is:10.264840 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:40.629] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:40.730] Init: px average disparity is:10.337304 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:40.730] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:40.826] Init: px average disparity is:10.128865 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:40.826] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:40.935] Init: px average disparity is:10.269877 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:40.935] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:41.027] Init: px average disparity is:10.337045 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:41.027] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:41.129] Init: px average disparity is:10.129750 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:41.129] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:41.229] Init: px average disparity is:10.168965 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:41.229] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:41.332] Init: px average disparity is:10.191896 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:41.332] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:41.426] Init: px average disparity is:10.238642 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:41.427] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:41.527] Init: px average disparity is:10.223198 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:41.527] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:41.630] Init: px average disparity is:10.282554 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:41.630] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:41.726] Init: px average disparity is:10.176952 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:41.726] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:41.826] Init: px average disparity is:10.238094 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:41.826] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:41.932] Init: px average disparity is:10.211476 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:41.932] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:42.027] Init: px average disparity is:10.233704 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:42.027] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:42.130] Init: px average disparity is:10.269705 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:42.130] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:42.231] Init: px average disparity is:10.287704 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:42.231] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:42.332] Init: px average disparity is:10.135574 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:42.332] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:42.430] Init: px average disparity is:10.249979 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:42.430] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:42.525] Init: px average disparity is:10.185653 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:42.525] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:42.627] Init: px average disparity is:10.219771 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:42.627] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:42.726] Init: px average disparity is:10.173549 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:42.726] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:42.831] Init: px average disparity is:10.147496 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:42.831] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:42.928] Init: px average disparity is:10.248013 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:42.928] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:43.030] Init: px average disparity is:10.263723 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:43.030] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:43.128] Init: px average disparity is:10.254862 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:43.128] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:43.228] Init: px average disparity is:10.270866 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:43.228] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:43.328] Init: px average disparity is:10.216670 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:43.328] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:43.433] Init: px average disparity is:10.217332 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:43.433] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:43.526] Init: px average disparity is:10.240237 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:43.526] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:43.630] Init: px average disparity is:10.193919 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:43.630] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:43.728] Init: px average disparity is:10.352347 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:43.728] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:43.830] Init: px average disparity is:10.186599 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:43.830] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:43.927] Init: px average disparity is:10.249947 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:43.927] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:44.034] Init: px average disparity is:10.126938 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:44.034] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:44.128] Init: px average disparity is:10.134148 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:44.128] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:44.228] Init: px average disparity is:10.290771 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:44.228] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:44.330] Init: px average disparity is:10.226093 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:44.330] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:44.430] Init: px average disparity is:10.265580 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:44.430] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:44.529] Init: px average disparity is:10.237849 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:44.529] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:44.630] Init: px average disparity is:10.284607 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:44.630] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:44.728] Init: px average disparity is:10.243096 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:44.728] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:44.831] Init: px average disparity is:10.328327 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:44.831] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:44.928] Init: px average disparity is:10.264396 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:44.928] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:45.030] Init: px average disparity is:10.196906 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:45.030] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:45.129] Init: px average disparity is:10.149259 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:45.129] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:45.229] Init: px average disparity is:10.172362 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:45.229] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:45.327] Init: px average disparity is:10.299432 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:45.327] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:45.427] Init: px average disparity is:10.251815 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:45.427] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:45.530] Init: px average disparity is:10.272047 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:45.530] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:45.628] Init: px average disparity is:10.222494 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:45.628] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:45.729] Init: px average disparity is:10.276493 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:45.729] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:45.831] Init: px average disparity is:10.266866 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:45.831] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:45.927] Init: px average disparity is:10.253621 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:45.927] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:46.028] Init: px average disparity is:10.212135 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:46.028] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:46.126] Init: px average disparity is:10.234589 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:46.126] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:46.228] Init: px average disparity is:10.168199 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:46.228] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:46.328] Init: px average disparity is:10.137210 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:46.328] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:46.430] Init: px average disparity is:10.244415 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:46.430] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:46.526] Init: px average disparity is:10.245816 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:46.526] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:46.629] Init: px average disparity is:10.135106 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:46.629] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:46.729] Init: px average disparity is:10.191597 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:46.729] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:46.827] Init: px average disparity is:10.293023 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:46.827] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:46.927] Init: px average disparity is:10.175095 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:46.927] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:47.031] Init: px average disparity is:10.151985 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:47.031] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:47.130] Init: px average disparity is:10.254288 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:47.130] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:47.231] Init: px average disparity is:10.171402 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:47.231] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:47.327] Init: px average disparity is:10.345112 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:47.327] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:47.432] Init: px average disparity is:10.209089 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:47.432] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:47.529] Init: px average disparity is:10.150739 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:47.529] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:47.630] Init: px average disparity is:10.227470 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:47.630] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:47.729] Init: px average disparity is:10.200847 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:47.729] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:47.831] Init: px average disparity is:10.265641 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:47.831] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:47.929] Init: px average disparity is:10.258678 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:47.929] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:48.030] Init: px average disparity is:10.129732 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:48.031] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:48.127] Init: px average disparity is:8.919098 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:48.127] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:48.232] Init: px average disparity is:11.141585 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:48.233] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:48.329] Init: px average disparity is:21.428871 ,While minimum is: 30.000000 KLT tracked : 97
[15:30:48.329] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:48.435] homography: x=0.124707 y=0.114752 z=0.014338 roll=0.000000 pitch=-0.037199 yaw=0.000000 ekf: x=0.000530 z=-0.085061 pitch=0.821329
[15:30:48.435] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:30.216667 ,While minimum is: 30.000000 KLT tracked: 97
[15:30:48.435] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:48.532] homography: x=0.093242 y=-0.067424 z=-0.030147 roll=-0.000000 pitch=0.025066 yaw=0.000000 ekf: x=0.000524 z=-0.085058 pitch=0.849018
[15:30:48.532] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:39.733290 ,While minimum is: 30.000000 KLT tracked: 97
[15:30:48.532] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:48.635] homography: x=0.090689 y=-0.054505 z=-0.034861 roll=-0.000000 pitch=0.051307 yaw=0.000000 ekf: x=0.000522 z=-0.085057 pitch=0.880347
[15:30:48.635] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:47.865780 ,While minimum is: 30.000000 KLT tracked: 97
[15:30:48.635] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:48.840] homography: x=0.013420 y=-0.012665 z=-0.164996 roll=-0.000000 pitch=0.215542 yaw=0.000000 ekf: x=0.000495 z=-0.085034 pitch=0.975244
[15:30:48.840] homography after fuse: x=0.011998 y=0.000000 z=-0.156199 pitch=0.506209 number of outlier: 86
[15:30:48.840] Init: Homography RANSAC (inlier) is:10 ,While 40 inliers minimum required. px average disparity is:77.466965 ,While minimum is: 30.000000 KLT tracked: 96
[15:30:48.840] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:48.935] homography: x=0.152350 y=-0.226622 z=0.013578 roll=-0.000000 pitch=0.089282 yaw=0.000000 ekf: x=0.007589 z=-0.129037 pitch=0.729120
[15:30:48.935] Init: Homography RANSAC (inlier) is:10 ,While 40 inliers minimum required. px average disparity is:90.535467 ,While minimum is: 30.000000 KLT tracked: 96
[15:30:48.935] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:49.034] homography: x=-0.109386 y=-0.043408 z=-0.000451 roll=-0.000000 pitch=0.389067 yaw=0.000000 ekf: x=0.007580 z=-0.129036 pitch=0.779686
[15:30:49.034] Init: Homography RANSAC (inlier) is:10 ,While 40 inliers minimum required. px average disparity is:106.586972 ,While minimum is: 30.000000 KLT tracked: 96
[15:30:49.034] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:49.130] homography: x=-0.008456 y=-0.014030 z=-0.162773 roll=-0.000000 pitch=0.329301 yaw=0.000000 ekf: x=0.007576 z=-0.129032 pitch=0.815941
[15:30:49.130] homography after fuse: x=-0.006692 y=0.000000 z=-0.159061 pitch=0.515614 number of outlier: 73
[15:30:49.130] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:118.491228 ,While minimum is: 30.000000 KLT tracked: 96
[15:30:49.130] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:49.233] homography: x=-0.091554 y=-0.014444 z=-0.004194 roll=-0.000000 pitch=0.428783 yaw=0.000000 ekf: x=-0.001245 z=-0.147588 pitch=0.661800
[15:30:49.233] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:127.425021 ,While minimum is: 30.000000 KLT tracked: 96
[15:30:49.233] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:49.332] homography: x=-0.070885 y=-0.020653 z=-0.009154 roll=-0.000000 pitch=0.441789 yaw=0.000000 ekf: x=-0.001256 z=-0.147581 pitch=0.704090
[15:30:49.332] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:140.376027 ,While minimum is: 30.000000 KLT tracked: 96
[15:30:49.332] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:49.433] homography: x=-0.082449 y=-0.051878 z=-0.343227 roll=-0.000000 pitch=0.443213 yaw=0.000000 ekf: x=-0.001284 z=-0.147607 pitch=0.763994
[15:30:49.433] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:158.693779 ,While minimum is: 30.000000 KLT tracked: 96
[15:30:49.433] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:49.534] homography: x=-0.097056 y=-0.047788 z=-0.306582 roll=-0.000000 pitch=0.477973 yaw=0.000000 ekf: x=-0.001300 z=-0.147617 pitch=0.799648
[15:30:49.534] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:168.446000 ,While minimum is: 30.000000 KLT tracked: 95
[15:30:49.534] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:49.637] homography: x=-0.121838 y=-0.064095 z=-0.334598 roll=-0.000000 pitch=0.515455 yaw=0.000000 ekf: x=-0.001303 z=-0.147618 pitch=0.849470
[15:30:49.637] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:183.367419 ,While minimum is: 30.000000 KLT tracked: 95
[15:30:49.637] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:49.735] homography: x=-0.166438 y=-0.070723 z=-0.384484 roll=-0.000000 pitch=0.560639 yaw=0.000000 ekf: x=-0.001322 z=-0.147600 pitch=0.896578
[15:30:49.735] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:197.180236 ,While minimum is: 30.000000 KLT tracked: 92
[15:30:49.735] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:49.840] homography: x=-0.171438 y=-0.041576 z=-0.364431 roll=-0.000000 pitch=0.591518 yaw=0.000000 ekf: x=-0.001322 z=-0.147601 pitch=0.935564
[15:30:49.840] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:209.895206 ,While minimum is: 30.000000 KLT tracked: 90
[15:30:49.840] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:49.939] homography: x=-0.193432 y=-0.046395 z=-0.378005 roll=-0.000000 pitch=0.630972 yaw=0.000000 ekf: x=-0.001331 z=-0.147596 pitch=0.985490
[15:30:49.939] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:222.922431 ,While minimum is: 30.000000 KLT tracked: 90
[15:30:49.939] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:50.037] homography: x=0.293994 y=-0.378393 z=-0.098808 roll=-0.000000 pitch=0.402133 yaw=0.000000 ekf: x=-0.001348 z=-0.147600 pitch=1.041979
[15:30:50.037] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:240.603776 ,While minimum is: 30.000000 KLT tracked: 89
[15:30:50.037] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:50.140] homography: x=-0.231897 y=-0.072300 z=-0.372070 roll=-0.000000 pitch=0.721476 yaw=0.000000 ekf: x=-0.001359 z=-0.147607 pitch=1.088843
[15:30:50.140] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:254.785098 ,While minimum is: 30.000000 KLT tracked: 87
[15:30:50.140] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:50.248] homography: x=0.315281 y=-0.350848 z=-0.151791 roll=-0.000000 pitch=0.462112 yaw=0.000000 ekf: x=-0.001379 z=-0.147585 pitch=1.133064
[15:30:50.249] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:266.166812 ,While minimum is: 30.000000 KLT tracked: 87
[15:30:50.249] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:50.353] homography: x=0.261145 y=-0.344729 z=-0.129171 roll=-0.000000 pitch=0.552091 yaw=0.000000 ekf: x=-0.001381 z=-0.147586 pitch=1.180639
[15:30:50.353] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:278.999521 ,While minimum is: 30.000000 KLT tracked: 87
[15:30:50.353] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:30:50.715] homography: x=-0.096932 y=-1.404568 z=2.436412 roll=-0.000000 pitch=1.325065 yaw=0.000000 ekf: x=-0.001424 z=-0.147578 pitch=1.368958
[15:30:50.715] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:313.067175 ,While minimum is: 30.000000 KLT tracked: 83
[15:30:50.715] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:01.415] homography: x=-0.634917 y=-0.460429 z=1.062357 roll=-0.000000 pitch=1.416131 yaw=0.000000 ekf: x=-0.001637 z=-0.147545 pitch=0.282065
[15:31:01.415] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:319.914132 ,While minimum is: 30.000000 KLT tracked: 80
[15:31:01.415] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:01.616] homography: x=-0.639023 y=-0.125681 z=-0.627024 roll=-0.000000 pitch=0.852995 yaw=0.000000 ekf: x=-0.001669 z=-0.147590 pitch=0.170624
[15:31:01.616] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:297.016337 ,While minimum is: 30.000000 KLT tracked: 80
[15:31:01.616] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:01.770] homography: x=-0.424498 y=-0.086347 z=-0.464744 roll=-0.000000 pitch=0.785374 yaw=0.000000 ekf: x=-0.001673 z=-0.147606 pitch=0.089728
[15:31:01.770] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:272.562182 ,While minimum is: 30.000000 KLT tracked: 80
[15:31:01.770] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:01.859] homography: x=-0.062081 y=0.069720 z=-0.183009 roll=-0.000000 pitch=0.741369 yaw=0.000000 ekf: x=-0.001684 z=-0.147608 pitch=0.037358
[15:31:01.859] homography after fuse: x=-0.055437 y=0.000000 z=-0.179115 pitch=0.471642 number of outlier: 67
[15:31:01.859] Init: Homography RANSAC (inlier) is:11 ,While 40 inliers minimum required. px average disparity is:256.934666 ,While minimum is: 30.000000 KLT tracked: 78
[15:31:01.859] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:01.958] homography: x=-0.038155 y=0.014167 z=-0.228383 roll=-0.000000 pitch=0.682407 yaw=0.000000 ekf: x=-0.034901 z=-0.167081 pitch=0.245908
[15:31:01.958] homography after fuse: x=-0.037797 y=0.000000 z=-0.221639 pitch=0.514998 number of outlier: 74
[15:31:01.958] Init: Homography RANSAC (inlier) is:4 ,While 40 inliers minimum required. px average disparity is:242.717315 ,While minimum is: 30.000000 KLT tracked: 78
[15:31:01.958] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:02.143] homography: x=-0.068253 y=0.030739 z=-0.219402 roll=-0.000000 pitch=0.611323 yaw=0.000000 ekf: x=-0.036734 z=-0.200819 pitch=0.309644
[15:31:02.143] homography after fuse: x=-0.064786 y=0.000000 z=-0.217359 pitch=0.495321 number of outlier: 69
[15:31:02.143] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:214.342061 ,While minimum is: 30.000000 KLT tracked: 78
[15:31:02.143] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:02.245] homography: x=-0.072965 y=0.036892 z=-0.217772 roll=-0.000000 pitch=0.578477 yaw=0.000000 ekf: x=-0.054083 z=-0.211047 pitch=0.382486
[15:31:02.245] homography after fuse: x=-0.070888 y=0.000000 z=-0.217032 pitch=0.502705 number of outlier: 67
[15:31:02.245] Init: Homography RANSAC (inlier) is:10 ,While 40 inliers minimum required. px average disparity is:202.885166 ,While minimum is: 30.000000 KLT tracked: 77
[15:31:02.245] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:02.338] homography: x=-0.112356 y=-0.025431 z=-0.324274 roll=-0.000000 pitch=0.540505 yaw=0.000000 ekf: x=-0.064474 z=-0.214753 pitch=0.403630
[15:31:02.338] Init: Homography RANSAC (inlier) is:10 ,While 40 inliers minimum required. px average disparity is:188.278077 ,While minimum is: 30.000000 KLT tracked: 77
[15:31:02.338] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:02.438] homography: x=0.032883 y=-0.005768 z=-0.057158 roll=-0.000000 pitch=0.452960 yaw=0.000000 ekf: x=-0.064475 z=-0.214750 pitch=0.345601
[15:31:02.438] Init: Homography RANSAC (inlier) is:10 ,While 40 inliers minimum required. px average disparity is:172.295765 ,While minimum is: 30.000000 KLT tracked: 77
[15:31:02.438] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:02.538] homography: x=-0.053426 y=-0.020432 z=-0.122873 roll=-0.000000 pitch=0.461351 yaw=0.000000 ekf: x=-0.064477 z=-0.214754 pitch=0.295406
[15:31:02.538] homography after fuse: x=-0.054642 y=0.000000 z=-0.132980 pitch=0.397001 number of outlier: 53
[15:31:02.538] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:160.664699 ,While minimum is: 30.000000 KLT tracked: 76
[15:31:02.538] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:02.637] homography: x=0.080688 y=-0.011066 z=-0.051899 roll=-0.000000 pitch=0.326615 yaw=0.000000 ekf: x=-0.058408 z=-0.164235 pitch=0.298578
[15:31:02.637] Init: Homography RANSAC (inlier) is:23 ,While 40 inliers minimum required. px average disparity is:144.009483 ,While minimum is: 30.000000 KLT tracked: 76
[15:31:02.637] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:02.735] homography: x=-0.028186 y=-0.020469 z=-0.100084 roll=-0.000000 pitch=0.367871 yaw=0.000000 ekf: x=-0.058429 z=-0.164231 pitch=0.249327
[15:31:02.735] homography after fuse: x=-0.031513 y=0.000000 z=-0.107140 pitch=0.322104 number of outlier: 49
[15:31:02.735] Init: Homography RANSAC (inlier) is:27 ,While 40 inliers minimum required. px average disparity is:128.668095 ,While minimum is: 30.000000 KLT tracked: 76
[15:31:02.735] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:02.837] homography: x=-0.018649 y=-0.014456 z=-0.098415 roll=-0.000000 pitch=0.338185 yaw=0.000000 ekf: x=-0.041799 z=-0.128956 pitch=0.251849
[15:31:02.837] homography after fuse: x=-0.021196 y=0.000000 z=-0.101775 pitch=0.304518 number of outlier: 63
[15:31:02.837] Init: Homography RANSAC (inlier) is:13 ,While 40 inliers minimum required. px average disparity is:118.914593 ,While minimum is: 30.000000 KLT tracked: 76
[15:31:02.837] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:02.936] homography: x=0.005659 y=-0.013880 z=-0.081748 roll=-0.000000 pitch=0.292648 yaw=0.000000 ekf: x=-0.029071 z=-0.112158 pitch=0.231638
[15:31:02.936] homography after fuse: x=0.001838 y=0.000000 z=-0.085094 pitch=0.268280 number of outlier: 56
[15:31:02.936] Init: Homography RANSAC (inlier) is:20 ,While 40 inliers minimum required. px average disparity is:105.168446 ,While minimum is: 30.000000 KLT tracked: 76
[15:31:02.936] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:03.033] homography: x=0.010605 y=-0.016039 z=-0.116425 roll=-0.000000 pitch=0.250515 yaw=0.000000 ekf: x=-0.009972 z=-0.095435 pitch=0.203691
[15:31:03.033] homography after fuse: x=0.008341 y=0.000000 z=-0.114116 pitch=0.231620 number of outlier: 55
[15:31:03.033] Init: Homography RANSAC (inlier) is:21 ,While 40 inliers minimum required. px average disparity is:90.129767 ,While minimum is: 30.000000 KLT tracked: 76
[15:31:03.033] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:03.130] homography: x=0.110050 y=-0.007867 z=-0.023970 roll=-0.000000 pitch=0.102237 yaw=0.000000 ekf: x=0.001337 z=-0.106981 pitch=0.165177
[15:31:03.130] Init: Homography RANSAC (inlier) is:21 ,While 40 inliers minimum required. px average disparity is:74.359467 ,While minimum is: 30.000000 KLT tracked: 76
[15:31:03.130] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:03.334] homography: x=0.022805 y=-0.375718 z=0.070743 roll=-0.000000 pitch=0.093698 yaw=0.000000 ekf: x=0.001313 z=-0.107008 pitch=0.072944
[15:31:03.334] Init: Homography RANSAC (inlier) is:21 ,While 40 inliers minimum required. px average disparity is:49.772399 ,While minimum is: 30.000000 KLT tracked: 76
[15:31:03.334] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:03.436] homography: x=0.037145 y=-0.355903 z=0.060958 roll=-0.000000 pitch=0.048790 yaw=0.000000 ekf: x=0.001304 z=-0.107012 pitch=0.028223
[15:31:03.436] Init: Homography RANSAC (inlier) is:21 ,While 40 inliers minimum required. px average disparity is:38.269844 ,While minimum is: 30.000000 KLT tracked: 76
[15:31:03.436] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:03.529] Init: px average disparity is:26.081087 ,While minimum is: 30.000000 KLT tracked : 76
[15:31:03.529] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:03.632] Init: px average disparity is:14.660668 ,While minimum is: 30.000000 KLT tracked : 76
[15:31:03.632] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:03.729] Init: px average disparity is:9.073184 ,While minimum is: 30.000000 KLT tracked : 76
[15:31:03.729] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:03.833] Init: px average disparity is:13.968868 ,While minimum is: 30.000000 KLT tracked : 76
[15:31:03.833] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:03.930] Init: px average disparity is:23.638823 ,While minimum is: 30.000000 KLT tracked : 76
[15:31:03.930] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:04.137] homography: x=-0.000683 y=-0.323790 z=0.066818 roll=0.000000 pitch=-0.135234 yaw=0.000000 ekf: x=0.001280 z=-0.107062 pitch=-0.281748
[15:31:04.137] Init: Homography RANSAC (inlier) is:21 ,While 40 inliers minimum required. px average disparity is:48.436620 ,While minimum is: 30.000000 KLT tracked: 76
[15:31:04.137] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:04.243] homography: x=0.055066 y=-0.288980 z=0.072289 roll=0.000000 pitch=-0.216259 yaw=0.000000 ekf: x=0.001281 z=-0.107067 pitch=-0.313922
[15:31:04.243] Init: Homography RANSAC (inlier) is:21 ,While 40 inliers minimum required. px average disparity is:57.125449 ,While minimum is: 30.000000 KLT tracked: 76
[15:31:04.243] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:04.649] homography: x=-0.132506 y=0.031574 z=-0.080865 roll=0.000000 pitch=-0.120043 yaw=0.000000 ekf: x=0.001281 z=-0.107086 pitch=-0.463900
[15:31:04.649] Init: Homography RANSAC (inlier) is:21 ,While 40 inliers minimum required. px average disparity is:92.136272 ,While minimum is: 30.000000 KLT tracked: 74
[15:31:04.649] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:04.751] homography: x=0.060775 y=-0.011494 z=-0.080422 roll=0.000000 pitch=-0.266760 yaw=0.000000 ekf: x=0.001286 z=-0.107100 pitch=-0.482171
[15:31:04.751] homography after fuse: x=0.054231 y=0.000000 z=-0.083357 pitch=-0.349619 number of outlier: 66
[15:31:04.751] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:93.957247 ,While minimum is: 30.000000 KLT tracked: 74
[15:31:04.751] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:05.175] homography: x=0.138749 y=-0.049683 z=-0.022668 roll=0.000000 pitch=-0.450786 yaw=0.000000 ekf: x=0.034011 z=-0.092466 pitch=-0.547693
[15:31:05.175] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:132.803122 ,While minimum is: 30.000000 KLT tracked: 73
[15:31:05.175] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:31:06.006] homography: x=0.460182 y=-0.198363 z=-0.737650 roll=0.000000 pitch=-0.551641 yaw=0.000000 ekf: x=0.034032 z=-0.092562 pitch=-0.907435
[15:31:06.006] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:219.943138 ,While minimum is: 30.000000 KLT tracked: 48
[15:31:06.006] Init: distance between two frames x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:25.149] Init: frame zero: 0.000000, 0.000000 0.000000
[16:51:25.149] Init: Selected first frame.
[16:51:25.251] Init: px average disparity is:0.035267 ,While minimum is: 30.000000 KLT tracked : 145
[16:51:25.251] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:25.348] Init: px average disparity is:0.050550 ,While minimum is: 30.000000 KLT tracked : 145
[16:51:25.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:25.445] Init: px average disparity is:0.056162 ,While minimum is: 30.000000 KLT tracked : 145
[16:51:25.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:25.548] Init: px average disparity is:0.046632 ,While minimum is: 30.000000 KLT tracked : 145
[16:51:25.548] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:25.645] Init: px average disparity is:0.049769 ,While minimum is: 30.000000 KLT tracked : 145
[16:51:25.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:25.746] Init: px average disparity is:0.055323 ,While minimum is: 30.000000 KLT tracked : 145
[16:51:25.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:25.845] Init: px average disparity is:0.051805 ,While minimum is: 30.000000 KLT tracked : 145
[16:51:25.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:25.947] Init: px average disparity is:0.061143 ,While minimum is: 30.000000 KLT tracked : 145
[16:51:25.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:26.046] Init: px average disparity is:0.050425 ,While minimum is: 30.000000 KLT tracked : 145
[16:51:26.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:26.148] Init: px average disparity is:0.084229 ,While minimum is: 30.000000 KLT tracked : 145
[16:51:26.149] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:26.246] Init: px average disparity is:7.147144 ,While minimum is: 30.000000 KLT tracked : 145
[16:51:26.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:26.349] Init: px average disparity is:14.274746 ,While minimum is: 30.000000 KLT tracked : 136
[16:51:26.349] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:26.447] Init: px average disparity is:17.156285 ,While minimum is: 30.000000 KLT tracked : 128
[16:51:26.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:26.547] Init: px average disparity is:16.133011 ,While minimum is: 30.000000 KLT tracked : 127
[16:51:26.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:26.647] Init: px average disparity is:13.507024 ,While minimum is: 30.000000 KLT tracked : 127
[16:51:26.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:26.746] Init: px average disparity is:11.938217 ,While minimum is: 30.000000 KLT tracked : 127
[16:51:26.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:26.847] Init: px average disparity is:9.226998 ,While minimum is: 30.000000 KLT tracked : 126
[16:51:26.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:26.946] Init: px average disparity is:9.311476 ,While minimum is: 30.000000 KLT tracked : 126
[16:51:26.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:27.048] Init: px average disparity is:8.665590 ,While minimum is: 30.000000 KLT tracked : 125
[16:51:27.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:27.148] Init: px average disparity is:10.741336 ,While minimum is: 30.000000 KLT tracked : 125
[16:51:27.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:27.246] Init: px average disparity is:10.220709 ,While minimum is: 30.000000 KLT tracked : 125
[16:51:27.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:27.348] Init: px average disparity is:9.905617 ,While minimum is: 30.000000 KLT tracked : 125
[16:51:27.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:27.446] Init: px average disparity is:10.506440 ,While minimum is: 30.000000 KLT tracked : 125
[16:51:27.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:27.547] Init: px average disparity is:9.821336 ,While minimum is: 30.000000 KLT tracked : 125
[16:51:27.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:27.661] Init: px average disparity is:11.904800 ,While minimum is: 30.000000 KLT tracked : 124
[16:51:27.661] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:27.747] Init: px average disparity is:11.945404 ,While minimum is: 30.000000 KLT tracked : 124
[16:51:27.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:27.847] Init: px average disparity is:12.420470 ,While minimum is: 30.000000 KLT tracked : 124
[16:51:27.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:27.948] Init: px average disparity is:9.468600 ,While minimum is: 30.000000 KLT tracked : 113
[16:51:27.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:28.047] Init: px average disparity is:8.398128 ,While minimum is: 30.000000 KLT tracked : 104
[16:51:28.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:28.148] Init: px average disparity is:9.396996 ,While minimum is: 30.000000 KLT tracked : 104
[16:51:28.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:28.250] Init: px average disparity is:8.911869 ,While minimum is: 30.000000 KLT tracked : 103
[16:51:28.250] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:28.349] Init: px average disparity is:8.860572 ,While minimum is: 30.000000 KLT tracked : 103
[16:51:28.349] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:28.455] Init: px average disparity is:10.266339 ,While minimum is: 30.000000 KLT tracked : 102
[16:51:28.455] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:28.549] Init: px average disparity is:10.455943 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:28.549] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:28.647] Init: px average disparity is:12.408866 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:28.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:28.747] Init: px average disparity is:11.468771 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:28.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:28.846] Init: px average disparity is:10.561600 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:28.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:28.947] Init: px average disparity is:10.554434 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:28.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:29.048] Init: px average disparity is:10.399521 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:29.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:29.148] Init: px average disparity is:10.450451 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:29.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:29.250] Init: px average disparity is:10.387251 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:29.250] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:29.349] Init: px average disparity is:10.399986 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:29.349] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:29.448] Init: px average disparity is:10.445816 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:29.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:29.547] Init: px average disparity is:10.464825 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:29.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:29.649] Init: px average disparity is:10.376770 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:29.649] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:29.746] Init: px average disparity is:10.377446 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:29.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:29.849] Init: px average disparity is:10.354339 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:29.849] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:29.948] Init: px average disparity is:10.352330 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:29.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:30.049] Init: px average disparity is:10.337810 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:30.049] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:30.148] Init: px average disparity is:10.342632 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:30.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:30.248] Init: px average disparity is:10.342872 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:30.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:30.349] Init: px average disparity is:10.329524 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:30.349] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:30.448] Init: px average disparity is:10.429458 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:30.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:30.550] Init: px average disparity is:10.382452 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:30.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:30.650] Init: px average disparity is:10.420132 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:30.650] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:30.749] Init: px average disparity is:10.385011 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:30.749] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:30.848] Init: px average disparity is:10.428797 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:30.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:30.949] Init: px average disparity is:10.389961 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:30.949] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:31.048] Init: px average disparity is:10.438266 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:31.049] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:31.147] Init: px average disparity is:10.431377 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:31.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:31.249] Init: px average disparity is:10.367696 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:31.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:31.347] Init: px average disparity is:10.488676 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:31.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:31.447] Init: px average disparity is:10.412518 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:31.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:31.548] Init: px average disparity is:10.428145 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:31.548] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:31.649] Init: px average disparity is:10.414500 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:31.649] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:31.749] Init: px average disparity is:10.433684 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:31.749] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:31.849] Init: px average disparity is:10.448406 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:31.849] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:31.948] Init: px average disparity is:10.516739 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:31.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:32.052] Init: px average disparity is:10.421330 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:32.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:32.150] Init: px average disparity is:10.425308 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:32.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:32.260] Init: px average disparity is:10.417885 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:32.260] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:32.350] Init: px average disparity is:10.421670 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:32.350] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:32.449] Init: px average disparity is:10.410576 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:32.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:32.549] Init: px average disparity is:10.409081 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:32.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:32.650] Init: px average disparity is:10.431493 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:32.650] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:32.747] Init: px average disparity is:10.522435 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:32.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:32.850] Init: px average disparity is:10.402055 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:32.850] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:32.948] Init: px average disparity is:10.437085 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:32.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:33.048] Init: px average disparity is:10.421294 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:33.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:33.147] Init: px average disparity is:10.457828 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:33.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:33.247] Init: px average disparity is:10.423656 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:33.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:33.348] Init: px average disparity is:10.376791 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:33.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:33.448] Init: px average disparity is:10.437825 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:33.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:33.547] Init: px average disparity is:10.391295 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:33.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:33.646] Init: px average disparity is:10.432815 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:33.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:33.749] Init: px average disparity is:10.425155 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:33.749] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:33.848] Init: px average disparity is:10.411447 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:33.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:33.948] Init: px average disparity is:10.402418 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:33.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:34.048] Init: px average disparity is:10.404162 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:34.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:34.150] Init: px average disparity is:10.442841 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:34.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:34.248] Init: px average disparity is:10.401648 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:34.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:34.347] Init: px average disparity is:10.369285 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:34.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:34.447] Init: px average disparity is:10.369822 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:34.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:34.548] Init: px average disparity is:10.402447 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:34.548] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:34.648] Init: px average disparity is:10.401871 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:34.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:34.748] Init: px average disparity is:10.410111 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:34.748] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:34.849] Init: px average disparity is:10.386878 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:34.849] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:34.948] Init: px average disparity is:10.414738 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:34.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:35.047] Init: px average disparity is:10.542195 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:35.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:35.147] Init: px average disparity is:10.432039 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:35.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:35.249] Init: px average disparity is:10.398806 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:35.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:35.351] Init: px average disparity is:10.398707 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:35.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:35.448] Init: px average disparity is:10.372323 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:35.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:35.549] Init: px average disparity is:10.408704 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:35.549] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:35.648] Init: px average disparity is:10.414422 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:35.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:35.750] Init: px average disparity is:10.415939 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:35.750] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:35.847] Init: px average disparity is:10.405481 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:35.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:35.947] Init: px average disparity is:10.364443 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:35.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:36.048] Init: px average disparity is:10.395183 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:36.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:36.150] Init: px average disparity is:10.414995 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:36.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:36.248] Init: px average disparity is:10.415358 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:36.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:36.348] Init: px average disparity is:10.438314 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:36.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:36.447] Init: px average disparity is:10.387413 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:36.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:36.550] Init: px average disparity is:10.401950 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:36.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:36.647] Init: px average disparity is:10.340784 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:36.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:36.749] Init: px average disparity is:10.402032 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:36.749] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:36.849] Init: px average disparity is:10.537194 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:36.849] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:36.949] Init: px average disparity is:10.436823 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:36.949] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:37.051] Init: px average disparity is:10.420065 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:37.051] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:37.148] Init: px average disparity is:10.415492 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:37.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:37.249] Init: px average disparity is:10.401042 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:37.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:37.348] Init: px average disparity is:10.414453 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:37.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:37.447] Init: px average disparity is:10.392325 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:37.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:37.547] Init: px average disparity is:10.412639 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:37.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:37.650] Init: px average disparity is:10.399534 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:37.650] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:37.750] Init: px average disparity is:10.386566 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:37.750] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:37.851] Init: px average disparity is:10.379741 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:37.851] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:37.951] Init: px average disparity is:10.370364 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:37.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:38.050] Init: px average disparity is:10.374172 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:38.050] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:38.148] Init: px average disparity is:10.409318 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:38.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:38.248] Init: px average disparity is:10.386236 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:38.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:38.349] Init: px average disparity is:10.405505 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:38.349] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:38.449] Init: px average disparity is:10.373653 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:38.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:38.548] Init: px average disparity is:10.425362 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:38.548] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:38.648] Init: px average disparity is:10.345233 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:38.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:38.749] Init: px average disparity is:10.352674 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:38.749] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:38.848] Init: px average disparity is:10.366974 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:38.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:38.951] Init: px average disparity is:10.321664 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:38.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:39.051] Init: px average disparity is:10.439774 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:39.051] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:39.148] Init: px average disparity is:10.324516 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:39.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:39.249] Init: px average disparity is:10.373554 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:39.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:39.349] Init: px average disparity is:10.377530 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:39.349] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:39.449] Init: px average disparity is:10.402286 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:39.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:39.548] Init: px average disparity is:10.387350 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:39.548] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:39.648] Init: px average disparity is:10.432136 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:39.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:39.749] Init: px average disparity is:10.379452 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:39.749] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:39.848] Init: px average disparity is:10.389057 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:39.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:39.948] Init: px average disparity is:10.402872 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:39.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:40.051] Init: px average disparity is:10.402454 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:40.051] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:40.147] Init: px average disparity is:10.606451 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:40.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:40.249] Init: px average disparity is:10.426418 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:40.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:40.348] Init: px average disparity is:10.419447 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:40.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:40.447] Init: px average disparity is:10.361332 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:40.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:40.547] Init: px average disparity is:10.392161 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:40.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:40.648] Init: px average disparity is:10.416811 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:40.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:40.748] Init: px average disparity is:10.404925 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:40.748] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:40.848] Init: px average disparity is:10.402330 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:40.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:40.948] Init: px average disparity is:10.392819 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:40.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:41.047] Init: px average disparity is:10.399749 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:41.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:41.149] Init: px average disparity is:10.405592 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:41.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:41.248] Init: px average disparity is:10.376173 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:41.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:41.347] Init: px average disparity is:10.392172 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:41.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:41.447] Init: px average disparity is:10.413026 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:41.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:41.548] Init: px average disparity is:10.414001 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:41.548] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:41.649] Init: px average disparity is:10.393097 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:41.649] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:41.748] Init: px average disparity is:10.420949 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:41.748] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:41.850] Init: px average disparity is:10.398719 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:41.850] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:41.947] Init: px average disparity is:10.408955 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:41.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:42.051] Init: px average disparity is:10.352985 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:42.051] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:42.150] Init: px average disparity is:10.434318 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:42.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:42.250] Init: px average disparity is:10.438124 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:42.250] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:42.350] Init: px average disparity is:10.395993 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:42.350] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:42.450] Init: px average disparity is:10.363872 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:42.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:42.552] Init: px average disparity is:10.422319 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:42.552] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:42.652] Init: px average disparity is:10.384345 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:42.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:42.749] Init: px average disparity is:10.377782 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:42.749] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:42.848] Init: px average disparity is:10.423855 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:42.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:42.950] Init: px average disparity is:9.230475 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:42.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:43.048] Init: px average disparity is:11.280908 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:43.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:43.148] Init: px average disparity is:21.568079 ,While minimum is: 30.000000 KLT tracked : 101
[16:51:43.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:43.252] homography: x=0.155502 y=-0.200249 z=0.027421 roll=0.000000 pitch=-0.076795 yaw=0.000000 ekf: x=-0.000007 z=-0.085053 pitch=0.172412
[16:51:43.252] Init: Homography RANSAC (inlier) is:0 ,While 20 inliers minimum required. px average disparity is:30.510686 ,While minimum is: 30.000000 KLT tracked: 101
[16:51:43.252] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:43.358] homography: x=0.137668 y=-0.202231 z=0.016719 roll=0.000000 pitch=-0.030947 yaw=0.000000 ekf: x=-0.000015 z=-0.085055 pitch=0.203803
[16:51:43.358] Init: Homography RANSAC (inlier) is:0 ,While 20 inliers minimum required. px average disparity is:39.753650 ,While minimum is: 30.000000 KLT tracked: 101
[16:51:43.358] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:51:43.454] homography: x=0.031088 y=-0.033380 z=-0.084881 roll=-0.000000 pitch=0.128941 yaw=0.000000 ekf: x=-0.000016 z=-0.085055 pitch=0.234172
[16:51:43.454] homography after fuse: x=0.027666 y=0.000000 z=-0.084900 pitch=0.169687 number of outlier: 44
[16:51:43.454] Init finished: Homography RANSAC (inlier) is:57 ,While 20 inliers minimum required. px average disparity is:48.078973 ,While minimum is: 30.000000 KLT tracked: 101
[16:51:43.454] Init: distance between the first and current frame is x:0.027666 ,z=-0.084900,angle between two frames: 0.169687
[16:51:43.454] Init: Selected Second frame. The number of features: 9
[16:51:43.737] After Reprojection Map nPoint:9 ,nCell:8 ,nMatches:2 ,distance between two frames x:-0.013556 ,z=-0.009020,angle between two frames:0.114957
[16:51:43.820] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:2 ,distance between two frames x:-0.028197 ,z=0.103688,angle between two frames:0.006299
[16:51:43.934] After Reprojection Map nPoint:2 ,nCell:2 ,nMatches:1 ,distance between two frames x:0.023884 ,z=0.023305,angle between two frames:0.021992
[16:51:44.038] After Reprojection Map nPoint:1 ,nCell:1 ,nMatches:1 ,distance between two frames x:0.053418 ,z=-0.159263,angle between two frames:0.194973
[16:51:44.146] After Reprojection Map nPoint:1 ,nCell:1 ,nMatches:1 ,distance between two frames x:0.447088 ,z=-0.070344,angle between two frames:0.690165
[16:51:44.247] After Reprojection Map nPoint:1 ,nCell:1 ,nMatches:0 ,distance between two frames x:-2.760138 ,z=0.634472,angle between two frames:2.997060
[16:51:44.323] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.002232
[16:51:44.423] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000001,angle between two frames:0.003293
[16:51:44.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.008868
[16:51:44.628] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=0.000001,angle between two frames:0.008619
[16:51:44.722] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.006256
[16:51:44.818] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.009646
[16:51:44.941] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000003,angle between two frames:0.012087
[16:51:45.032] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.001846
[16:51:45.120] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=0.000007,angle between two frames:0.003609
[16:51:45.213] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.007000
[16:51:45.514] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000027 ,z=-0.000009,angle between two frames:0.120072
[16:51:56.215] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000211 ,z=-0.000004,angle between two frames:1.037665
[16:51:56.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000006,angle between two frames:0.091801
[16:51:56.626] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000006,angle between two frames:0.072175
[16:51:56.728] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=0.000000,angle between two frames:0.015380
[16:51:56.818] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000000,angle between two frames:0.009430
[16:51:57.021] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000022 ,z=-0.000028,angle between two frames:0.079253
[16:51:57.134] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000002,angle between two frames:0.013618
[16:51:57.222] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.004935
[16:51:57.322] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=0.000005,angle between two frames:0.018349
[16:51:57.419] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.017951
[16:51:57.514] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000010 ,z=-0.000014,angle between two frames:0.024177
[16:51:57.614] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000003,angle between two frames:0.016909
[16:51:57.725] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.017188
[16:51:57.817] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.009199
[16:51:57.942] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.022337
[16:51:58.025] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.001672
[16:51:58.242] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000015 ,z=-0.000021,angle between two frames:0.065961
[16:51:58.337] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.001432
[16:51:58.419] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.002200
[16:51:58.528] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.017028
[16:51:58.615] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=-0.000007,angle between two frames:0.013799
[16:51:58.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000002,angle between two frames:0.014828
[16:51:58.815] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.016020
[16:51:59.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.068190
[16:51:59.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.015240
[16:51:59.542] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=-0.000007,angle between two frames:0.130974
[16:51:59.619] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.000542
[16:52:00.043] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=-0.000008,angle between two frames:0.130662
[16:52:00.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000065 ,z=-0.000021,angle between two frames:0.310461
GPU_version/vio/param/vo_fast.yaml
+1 -1
View File
@@ -9,7 +9,7 @@ svo:
structureoptim_max_pts: 50
kfselect_mindist: 0.01
poseoptim_thresh: 8.0
init_min_inliers: 40
init_min_inliers: 20
ACC_noise: 0.5 #acc white noise in continuous in EKF
GYO_noise: 0.1 #gyro white noise in continuous in EKF
svo_ekf: 0.1 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
GPU_version/vio/src/frame_handler_mono.cpp
+2 -2
View File
@@ -142,7 +142,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
{
initialization::InitResult res = klt_homography_init_->addSecondFrame(new_frame_);
#if VIO_DEBUG
fprintf(log_,"[%s] Init: distance between two frames x:%f ,z=%f,angle between two frames: %f \n",vio::time_in_HH_MM_SS_MMM().c_str(),
fprintf(log_,"[%s] Init: distance between the first and current frame is x:%f ,z=%f,angle between two frames: %f \n",vio::time_in_HH_MM_SS_MMM().c_str(),
new_frame_->T_f_w_.se2().translation().x()-last_frame_->T_f_w_.se2().translation().x(),
new_frame_->T_f_w_.se2().translation().y()-last_frame_->T_f_w_.se2().translation().y(),
new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch());
@@ -163,7 +163,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
stage_ = STAGE_DEFAULT_FRAME;
klt_homography_init_->reset();
#if VIO_DEBUG
fprintf(log_,"[%s] Init: Selected Second frame. \n",vio::time_in_HH_MM_SS_MMM().c_str());
fprintf(log_,"[%s] Init: Selected Second frame. \t The number of features: %d\n",vio::time_in_HH_MM_SS_MMM().c_str(),new_frame_->fts_.size());
#endif
return RESULT_IS_KEYFRAME;
}
GPU_version/vio/src/initialization.cpp
+7 -3
View File
@@ -48,10 +48,14 @@ InitResult KltHomographyInit::addFirstFrame(FramePtr frame_ref)
InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
{
trackKlt(frame_ref_, frame_cur, px_ref_, px_cur_, f_ref_, f_cur_, disparities_);
if(disparities_.size() < 1)
return NO_KEYFRAME;
if(disparities_.size() < 1){
ukf_->UpdateSvo(0.0,0.0,0.0);
return NO_KEYFRAME;
}
double disparity = vk::getMedian(disparities_);
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 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,
@@ -76,7 +80,7 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
#endif
return NO_KEYFRAME;
}
frame_cur->T_f_w_ = T_cur_from_ref_;
// Rescale the map such that the mean scene depth is equal to the specified scale
/* vector<double> depth_vec;
for(size_t i=0; i<xyz_in_cur_.size(); ++i)