diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt
index 7bd8636..01814b6 100755
--- a/GPU_version/vio/depth_filter_log.txt
+++ b/GPU_version/vio/depth_filter_log.txt
@@ -1,272 +1,168 @@
-[14:17:35.009] New key frame 
-[14:17:35.009] BA loop run 
-[14:17:35.010] init error: 148.036207 
-[14:17:35.011] end error: 0.026000 
-[14:17:35.957] New key frame 
-[14:17:35.957] BA loop run 
-[14:17:35.958] init error: 38918.365174 
-[14:17:35.958] end error: 0.013444 
-[14:17:36.925] New key frame 
-[14:17:36.925] BA loop run 
-[14:17:36.926] init error: 212.526317 
-[14:17:36.927] end error: 0.000262 
-[14:17:37.760] New key frame 
-[14:17:37.760] BA loop run 
-[14:17:37.760] init error: 138.384450 
-[14:17:37.761] end error: 0.000041 
-[14:17:37.847] New key frame 
-[14:17:37.847] BA loop run 
-[14:17:37.847] init error: 89.222508 
-[14:17:37.848] end error: 0.000252 
-[14:17:38.645] New key frame 
-[14:17:38.645] BA loop run 
-[14:17:38.645] init error: 10.820945 
-[14:17:38.646] end error: 0.000143 
-[14:17:39.342] New key frame 
-[14:17:39.342] BA loop run 
-[14:17:39.343] init error: 8.056582 
-[14:17:39.343] end error: 0.000025 
-[14:17:39.768] New key frame 
-[14:17:39.769] BA loop run 
-[14:17:39.769] init error: 17.415217 
-[14:17:39.770] end error: 0.000767 
-[14:17:40.130] New key frame 
-[14:17:40.130] BA loop run 
-[14:17:40.130] init error: 32.854374 
-[14:17:40.131] end error: 0.000032 
-[14:17:40.925] New key frame 
-[14:17:40.925] BA loop run 
-[14:17:40.925] init error: 78.734056 
-[14:17:40.926] end error: 0.000000 
-[14:17:41.579] New key frame 
-[14:17:41.579] BA loop run 
-[14:17:41.579] init error: 60.909114 
-[14:17:41.580] end error: 0.000000 
-[14:17:41.938] New key frame 
-[14:17:41.938] BA loop run 
-[14:17:41.939] init error: 46.031892 
-[14:17:41.940] end error: 0.000042 
-[14:17:42.150] New key frame 
-[14:17:42.150] BA loop run 
-[14:17:42.150] init error: 1076.813205 
-[14:17:42.152] end error: 0.000812 
-[14:17:42.345] New key frame 
-[14:17:42.345] BA loop run 
-[14:17:42.346] init error: 754.379730 
-[14:17:42.347] end error: 0.081436 
-[14:17:42.756] New key frame 
-[14:17:42.756] BA loop run 
-[14:17:42.757] init error: 2677.765414 
-[14:17:42.895] end error: 0.001519 
-[14:17:43.028] New key frame 
-[14:17:43.028] BA loop run 
-[14:17:43.029] init error: 146.947081 
-[14:17:43.145] end error: 0.002729 
-[14:17:43.437] New key frame 
-[14:17:43.437] BA loop run 
-[14:17:43.438] init error: 13982.056448 
-[14:17:43.553] end error: 0.004119 
-[14:17:43.771] New key frame 
-[14:17:43.771] BA loop run 
-[14:17:43.772] init error: 76.715863 
-[14:17:43.773] end error: 0.007292 
-[14:17:43.858] New key frame 
-[14:17:43.858] BA loop run 
-[14:17:43.858] init error: 215.511731 
-[14:17:43.860] end error: 0.000221 
-[14:17:43.938] New key frame 
-[14:17:43.938] BA loop run 
-[14:17:43.939] init error: 81.875323 
-[14:17:43.940] end error: 0.000025 
-[14:17:44.118] New key frame 
-[14:17:44.118] BA loop run 
-[14:17:44.118] init error: 2422.342876 
-[14:17:44.119] end error: 0.000097 
-[14:17:44.221] New key frame 
-[14:17:44.221] BA loop run 
-[14:17:44.221] init error: 207.581916 
-[14:17:44.223] end error: 0.000000 
-[14:17:44.328] New key frame 
-[14:17:44.328] BA loop run 
-[14:17:44.328] init error: 162.566432 
-[14:17:44.329] end error: 0.001409 
-[14:17:44.422] New key frame 
-[14:17:44.422] BA loop run 
-[14:17:44.423] init error: 14435.424627 
-[14:17:44.425] end error: 7.540367 
-[14:17:44.519] New key frame 
-[14:17:44.519] BA loop run 
-[14:17:44.520] init error: 133.788853 
-[14:17:44.524] end error: 1.809725 
-[14:17:44.638] New key frame 
-[14:17:44.638] BA loop run 
-[14:17:44.639] init error: 1324.756419 
-[14:17:44.641] end error: 0.000203 
-[14:17:44.720] New key frame 
-[14:17:44.720] BA loop run 
-[14:17:44.721] init error: 566.029171 
-[14:17:44.723] end error: 0.000364 
-[14:17:44.827] New key frame 
-[14:17:44.827] BA loop run 
-[14:17:44.828] init error: 13851.507144 
-[14:17:44.829] end error: 0.000267 
-[14:17:44.934] New key frame 
-[14:17:44.934] BA loop run 
-[14:17:44.935] init error: 187.782764 
-[14:17:44.937] end error: 0.000267 
-[14:17:45.035] New key frame 
-[14:17:45.035] BA loop run 
-[14:17:45.035] init error: 839.892009 
-[14:17:45.037] end error: 0.000267 
-[14:17:45.135] New key frame 
-[14:17:45.135] BA loop run 
-[14:17:45.136] init error: 82.259093 
-[14:17:45.138] end error: 0.004693 
-[14:17:45.222] New key frame 
-[14:17:45.222] BA loop run 
-[14:17:45.223] init error: 1073.580439 
-[14:17:45.224] end error: 0.001541 
-[14:17:45.328] New key frame 
-[14:17:45.328] BA loop run 
-[14:17:45.329] init error: 893.975632 
-[14:17:45.331] end error: 0.001541 
-[14:17:45.435] New key frame 
-[14:17:45.435] BA loop run 
-[14:17:45.436] init error: 162.307891 
-[14:17:45.439] end error: 0.001541 
-[14:17:45.537] New key frame 
-[14:17:45.538] BA loop run 
-[14:17:45.539] init error: 494869.499643 
-[14:17:45.541] end error: 0.502589 
-[14:17:45.636] New key frame 
-[14:17:45.636] BA loop run 
-[14:17:45.637] init error: 713.370566 
-[14:17:45.638] end error: 0.058017 
-[14:17:45.744] New key frame 
-[14:17:45.744] BA loop run 
-[14:17:45.745] init error: 749.167754 
-[14:17:45.749] end error: 0.779043 
-[14:17:45.846] New key frame 
-[14:17:45.846] BA loop run 
-[14:17:45.847] init error: 12412.756356 
-[14:17:45.850] end error: 1.941401 
-[14:17:45.938] New key frame 
-[14:17:45.938] BA loop run 
-[14:17:45.939] init error: 1009.645679 
-[14:17:45.943] end error: 1.298569 
-[14:17:46.130] New key frame 
-[14:17:46.130] BA loop run 
-[14:17:46.131] init error: 1805.845656 
-[14:17:46.136] end error: 52.687598 
-[14:17:46.225] New key frame 
-[14:17:46.225] BA loop run 
-[14:17:46.227] init error: 1384.023739 
-[14:17:46.231] end error: 3.293355 
-[14:17:46.332] New key frame 
-[14:17:46.332] BA loop run 
-[14:17:46.334] init error: 1916.816311 
-[14:17:46.340] end error: 15.678229 
-[14:17:46.422] New key frame 
-[14:17:46.422] BA loop run 
-[14:17:46.424] init error: 1364.949035 
-[14:17:46.430] end error: 11.994543 
-[14:17:46.542] New key frame 
-[14:17:46.542] BA loop run 
-[14:17:46.544] init error: 1803.705818 
-[14:17:46.549] end error: 13.248052 
-[14:17:46.735] New key frame 
-[14:17:46.735] BA loop run 
-[14:17:46.737] init error: 359.627244 
-[14:17:46.744] end error: 15.917097 
-[14:17:46.848] New key frame 
-[14:17:46.848] BA loop run 
-[14:17:46.850] init error: 132.767637 
-[14:17:46.859] end error: 7.496239 
-[14:17:46.942] New key frame 
-[14:17:46.942] BA loop run 
-[14:17:46.945] init error: 273.140713 
-[14:17:46.955] end error: 9.084497 
-[14:17:47.035] New key frame 
-[14:17:47.035] BA loop run 
-[14:17:47.038] init error: 44858.514613 
-[14:17:47.092] end error: 23.858194 
-[14:17:47.261] New key frame 
-[14:17:47.261] BA loop run 
-[14:17:47.265] init error: 19240.174352 
-[14:17:47.425] end error: 33.269102 
-[14:17:47.443] New key frame 
-[14:17:47.443] BA loop run 
-[14:17:47.451] init error: 9490.855291 
-[14:17:47.791] end error: 60.008907 
-[14:17:47.877] New key frame 
-[14:17:47.877] BA loop run 
-[14:17:47.885] init error: 250641.349869 
-[14:17:48.203] end error: 95.233779 
-[14:17:49.274] New key frame 
-[14:17:49.274] BA loop run 
-[14:17:49.278] init error: 9949.519439 
-[14:17:49.559] end error: 50.564651 
-[14:17:50.848] New key frame 
-[14:17:50.848] BA loop run 
-[14:17:50.852] init error: 5178.825342 
-[14:17:50.979] end error: 22.268369 
-[14:17:51.763] New key frame 
-[14:17:51.764] BA loop run 
-[14:17:51.767] init error: 543.547794 
-[14:17:52.061] end error: 17.817167 
-[14:17:52.065] New key frame 
-[14:17:52.066] BA loop run 
-[14:17:52.077] init error: 1339.153605 
-[14:17:52.261] end error: 20.246683 
-[14:17:56.550] New key frame 
-[14:17:56.550] BA loop run 
-[14:17:56.554] init error: 8303.291564 
-[14:17:56.629] end error: 26.594103 
-[14:17:57.059] New key frame 
-[14:17:57.059] BA loop run 
-[14:17:57.063] init error: 91935.690165 
-[14:17:57.271] end error: 38.526509 
-[14:17:57.852] New key frame 
-[14:17:57.852] BA loop run 
-[14:17:57.858] init error: 232131.159180 
-[14:17:57.996] end error: 61.418385 
-[14:17:58.081] New key frame 
-[14:17:58.081] BA loop run 
-[14:17:58.089] init error: 9070.775705 
-[14:17:58.447] end error: 34.291902 
-[14:17:58.494] New key frame 
-[14:17:58.494] BA loop run 
-[14:17:58.500] init error: 68366.090407 
-[14:17:58.991] end error: 113.614379 
-[14:17:59.249] New key frame 
-[14:17:59.249] BA loop run 
-[14:17:59.253] init error: 1635180.603207 
-[14:17:59.360] end error: 198.804844 
-[14:18:00.085] New key frame 
-[14:18:00.085] BA loop run 
-[14:18:00.090] init error: 131349.804393 
-[14:18:00.273] end error: 1609.872889 
-[14:18:00.682] New key frame 
-[14:18:00.682] BA loop run 
-[14:18:00.687] init error: 12215847.631416 
-[14:18:00.909] end error: 523.178192 
-[14:18:01.335] New key frame 
-[14:18:01.335] BA loop run 
-[14:18:01.341] init error: 1425.392849 
-[14:18:01.786] end error: 104.404989 
-[14:18:01.795] New key frame 
-[14:18:01.795] BA loop run 
-[14:18:01.803] init error: 65647.241336 
-[14:18:02.125] end error: 85.889376 
-[14:18:02.141] New key frame 
-[14:18:02.141] BA loop run 
-[14:18:02.149] init error: 556607.881609 
-[14:18:02.371] end error: 312.798019 
-[14:18:02.682] New key frame 
-[14:18:02.682] BA loop run 
-[14:18:02.688] init error: 1285.331214 
-[14:18:02.907] end error: 54.310029 
-[14:18:02.923] New key frame 
-[14:18:02.923] BA loop run 
-[14:18:02.932] init error: 63079.696761 
-[14:18:03.756] end error: 27.679050 
+[14:54:18.504] New key frame 
+[14:54:18.504] BA loop run 
+[14:54:18.505] init error: 24.763610 
+[14:54:18.506] end error: 0.000054 
+[14:54:19.426] New key frame 
+[14:54:19.426] BA loop run 
+[14:54:19.426] init error: 12.320394 
+[14:54:19.428] end error: 0.002815 
+[14:54:19.527] New key frame 
+[14:54:19.527] BA loop run 
+[14:54:19.528] init error: 323.515875 
+[14:54:19.529] end error: 0.003837 
+[14:54:19.645] New key frame 
+[14:54:19.645] BA loop run 
+[14:54:19.645] init error: 2.917523 
+[14:54:19.647] end error: 0.000002 
+[14:54:19.756] New key frame 
+[14:54:19.756] BA loop run 
+[14:54:19.756] init error: 2.562036 
+[14:54:19.758] end error: 0.041513 
+[14:54:19.866] New key frame 
+[14:54:19.866] BA loop run 
+[14:54:19.867] init error: 1910.325804 
+[14:54:19.867] end error: 0.000167 
+[14:54:19.963] New key frame 
+[14:54:19.963] BA loop run 
+[14:54:19.963] init error: 289.670025 
+[14:54:19.964] end error: 0.000167 
+[14:54:20.055] New key frame 
+[14:54:20.055] BA loop run 
+[14:54:20.055] init error: 194.073707 
+[14:54:20.060] end error: 0.074585 
+[14:54:20.501] New key frame 
+[14:54:20.501] BA loop run 
+[14:54:20.501] init error: 4052.719150 
+[14:54:20.504] end error: 0.478617 
+[14:54:21.096] New key frame 
+[14:54:21.096] BA loop run 
+[14:54:21.097] init error: 597.219624 
+[14:54:21.101] end error: 0.836308 
+[14:54:21.315] New key frame 
+[14:54:21.315] BA loop run 
+[14:54:21.316] init error: 6935.758919 
+[14:54:21.322] end error: 3.265738 
+[14:54:21.763] New key frame 
+[14:54:21.763] BA loop run 
+[14:54:21.764] init error: 161.973034 
+[14:54:21.975] end error: 2.271218 
+[14:54:22.267] New key frame 
+[14:54:22.267] BA loop run 
+[14:54:22.268] init error: 95.065037 
+[14:54:22.391] end error: 2.446271 
+[14:54:22.941] New key frame 
+[14:54:22.941] BA loop run 
+[14:54:22.943] init error: 4603.510437 
+[14:54:22.951] end error: 2.320479 
+[14:54:24.537] New key frame 
+[14:54:24.537] BA loop run 
+[14:54:24.540] init error: 2029.462857 
+[14:54:24.722] end error: 4.087532 
+[14:54:25.356] New key frame 
+[14:54:25.356] BA loop run 
+[14:54:25.358] init error: 75690.392815 
+[14:54:25.518] end error: 5.770364 
+[14:54:25.673] New key frame 
+[14:54:25.673] BA loop run 
+[14:54:25.674] init error: 15240.984229 
+[14:54:26.122] end error: 4.056428 
+[14:54:26.123] New key frame 
+[14:54:26.123] BA loop run 
+[14:54:26.127] init error: 386.422521 
+[14:54:26.710] end error: 3.468697 
+[14:54:27.018] New key frame 
+[14:54:27.018] BA loop run 
+[14:54:27.020] init error: 2927.060707 
+[14:54:27.234] end error: 3.722009 
+[14:54:27.501] New key frame 
+[14:54:27.501] BA loop run 
+[14:54:27.503] init error: 68846.950097 
+[14:54:27.510] end error: 3.166685 
+[14:54:27.930] New key frame 
+[14:54:27.930] BA loop run 
+[14:54:27.932] init error: 13881.061617 
+[14:54:27.997] end error: 8.823857 
+[14:54:28.144] New key frame 
+[14:54:28.144] BA loop run 
+[14:54:28.147] init error: 3859.481635 
+[14:54:28.329] end error: 8.667055 
+[14:54:28.590] New key frame 
+[14:54:28.590] BA loop run 
+[14:54:28.592] init error: 4412.399485 
+[14:54:28.992] end error: 7.702882 
+[14:54:28.994] New key frame 
+[14:54:28.994] BA loop run 
+[14:54:28.998] init error: 2083.696145 
+[14:54:29.013] end error: 11.568292 
+[14:54:29.168] New key frame 
+[14:54:29.168] BA loop run 
+[14:54:29.171] init error: 5318.544608 
+[14:54:29.355] end error: 80.936368 
+[14:54:29.366] New key frame 
+[14:54:29.366] BA loop run 
+[14:54:29.370] init error: 518178.847730 
+[14:54:29.381] end error: 234.161606 
+[14:54:29.759] New key frame 
+[14:54:29.759] BA loop run 
+[14:54:29.761] init error: 122235.358731 
+[14:54:29.769] end error: 62.169895 
+[14:54:30.253] New key frame 
+[14:54:30.253] BA loop run 
+[14:54:30.255] init error: 1847824.989597 
+[14:54:30.262] end error: 75.517423 
+[14:54:31.363] New key frame 
+[14:54:31.363] BA loop run 
+[14:54:31.365] init error: 43049.124812 
+[14:54:31.372] end error: 45.707574 
+[14:54:33.254] New key frame 
+[14:54:33.254] BA loop run 
+[14:54:33.256] init error: 332144.508586 
+[14:54:33.262] end error: 24.205326 
+[14:54:40.425] New key frame 
+[14:54:40.425] BA loop run 
+[14:54:40.427] init error: 8015.415519 
+[14:54:40.435] end error: 32.395425 
+[14:54:40.540] New key frame 
+[14:54:40.540] BA loop run 
+[14:54:40.542] init error: 12811.599311 
+[14:54:40.552] end error: 21.742364 
+[14:54:41.772] New key frame 
+[14:54:41.772] BA loop run 
+[14:54:41.775] init error: 7821.177608 
+[14:54:41.786] end error: 21.977430 
+[14:54:41.903] New key frame 
+[14:54:41.903] BA loop run 
+[14:54:41.905] init error: 78.574760 
+[14:54:42.003] end error: 9.756280 
+[14:54:42.173] New key frame 
+[14:54:42.173] BA loop run 
+[14:54:42.176] init error: 955.246709 
+[14:54:42.717] end error: 16.657278 
+[14:54:42.722] New key frame 
+[14:54:42.727] BA loop run 
+[14:54:42.733] init error: 41010.712911 
+[14:54:43.336] end error: 85.405648 
+[14:54:43.340] New key frame 
+[14:54:43.340] BA loop run 
+[14:54:43.345] init error: 75196195.162744 
+[14:54:43.675] end error: 462.211381 
+[14:54:43.692] New key frame 
+[14:54:43.692] BA loop run 
+[14:54:43.698] init error: 803.385900 
+[14:54:44.528] end error: 40.007984 
+[14:54:44.740] New key frame 
+[14:54:44.740] BA loop run 
+[14:54:44.744] init error: 508388.132806 
+[14:54:45.066] end error: 85.428830 
+[14:54:45.068] New key frame 
+[14:54:45.068] BA loop run 
+[14:54:45.075] init error: 50137.336823 
+[14:54:45.344] end error: 39.905726 
+[14:54:45.346] New key frame 
+[14:54:45.349] BA loop run 
+[14:54:45.366] init error: 21223.109285 
+[14:54:46.055] end error: 52.832861 
+[14:54:46.058] New key frame 
+[14:54:46.058] BA loop run 
+[14:54:46.064] init error: 907829.961200 
+[14:54:46.734] end error: 86.036304 
diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt
index 58c01c6..89b95f0 100755
--- a/GPU_version/vio/frame_handler_log.txt
+++ b/GPU_version/vio/frame_handler_log.txt
@@ -1,1172 +1,1019 @@
-[14:17:33.040] frame process finished the id is: 0 the obs is:0 
-[14:17:33.114] frame process finished the id is: 1 the obs is:0 
-[14:17:33.211] Init: frame zero: 0.000000, 0.000000 0.000000
-[14:17:33.211] Init: Selected first frame. 
-[14:17:33.211] frame process finished the id is: 2 the obs is:0 
-[14:17:33.247] Init: px average disparity is:0.152753 ,While minimum is: 10.000000  KLT tracked : 109
-[14:17:33.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:33.247] frame process finished the id is: 3 the obs is:0 
-[14:17:33.354] Init: px average disparity is:0.221920 ,While minimum is: 10.000000  KLT tracked : 109
-[14:17:33.354] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:33.354] frame process finished the id is: 4 the obs is:0 
-[14:17:33.454] Init: px average disparity is:0.152235 ,While minimum is: 10.000000  KLT tracked : 109
-[14:17:33.454] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:33.454] frame process finished the id is: 5 the obs is:0 
-[14:17:33.553] Init: px average disparity is:0.197958 ,While minimum is: 10.000000  KLT tracked : 109
-[14:17:33.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:33.553] frame process finished the id is: 6 the obs is:0 
-[14:17:33.652] Init: px average disparity is:0.221111 ,While minimum is: 10.000000  KLT tracked : 109
-[14:17:33.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:33.653] frame process finished the id is: 7 the obs is:0 
-[14:17:33.753] Init: px average disparity is:0.224726 ,While minimum is: 10.000000  KLT tracked : 109
-[14:17:33.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:33.754] frame process finished the id is: 8 the obs is:0 
-[14:17:33.853] Init: px average disparity is:0.158653 ,While minimum is: 10.000000  KLT tracked : 109
-[14:17:33.854] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:33.854] frame process finished the id is: 9 the obs is:0 
-[14:17:33.953] Odometry x=0.000000, y=0.000000, theta=-0.000000
-[14:17:33.959] Init: px average disparity is:0.179287 ,While minimum is: 10.000000  KLT tracked : 109
-[14:17:33.959] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:33.959] frame process finished the id is: 10 the obs is:0 
-[14:17:34.032] Odometry x=0.000001, y=0.000002, theta=-0.033384
-[14:17:34.053] Init: px average disparity is:0.148421 ,While minimum is: 10.000000  KLT tracked : 109
-[14:17:34.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:34.053] frame process finished the id is: 11 the obs is:0 
-[14:17:34.133] Odometry x=0.000002, y=0.000006, theta=-0.059152
-[14:17:34.152] Init: px average disparity is:0.137330 ,While minimum is: 10.000000  KLT tracked : 109
-[14:17:34.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:34.153] frame process finished the id is: 12 the obs is:0 
-[14:17:34.233] Odometry x=-0.000001, y=0.000007, theta=-0.010588
-[14:17:34.254] Init: px average disparity is:4.945143 ,While minimum is: 10.000000  KLT tracked : 109
-[14:17:34.254] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:34.254] frame process finished the id is: 13 the obs is:0 
-[14:17:34.333] Odometry x=0.000001, y=0.000014, theta=-0.041203
-[14:17:34.426] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:11.912397 ,While minimum is: 10.000000  KLT tracked: 109
-[14:17:34.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:34.426] frame process finished the id is: 14 the obs is:0 
-[14:17:34.436] Odometry x=-0.000005, y=0.000005, theta=-0.060683
-[14:17:34.508] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:19.121424 ,While minimum is: 10.000000  KLT tracked: 109
-[14:17:34.508] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:34.508] frame process finished the id is: 15 the obs is:0 
-[14:17:34.534] Odometry x=0.000001, y=0.000008, theta=-0.096554
-[14:17:34.608] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:29.212896 ,While minimum is: 10.000000  KLT tracked: 109
-[14:17:34.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:34.609] frame process finished the id is: 16 the obs is:0 
-[14:17:34.632] Odometry x=0.000010, y=0.000007, theta=-0.128577
-[14:17:34.710] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:40.866547 ,While minimum is: 10.000000  KLT tracked: 109
-[14:17:34.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:34.710] frame process finished the id is: 17 the obs is:0 
-[14:17:34.734] Odometry x=0.000007, y=0.000021, theta=-0.161569
-[14:17:34.810] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:51.065260 ,While minimum is: 10.000000  KLT tracked: 109
-[14:17:34.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:34.810] frame process finished the id is: 18 the obs is:0 
-[14:17:34.835] Odometry x=0.000028, y=0.000021, theta=-0.186796
-[14:17:34.909] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required.  px average disparity is:58.238817 ,While minimum is: 10.000000  KLT tracked: 108
-[14:17:34.909] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:17:34.909] frame process finished the id is: 19 the obs is:0 
-[14:17:34.935] Odometry x=0.000061, y=0.030524, theta=-0.027505
-[14:17:35.009] Init finished: Homography RANSAC (inlier) is:32 ,While 30 inliers minimum required.  px average disparity is:68.778966 ,While minimum is: 10.000000  KLT tracked: 106
-[14:17:35.009] Init: distance between the first and current frame is x:0.000072 ,z=0.030526,angle between two frames: -0.066461 
-[14:17:35.009] Init: Selected Second frame. 	 The number of features: 32 depth mean:-0.088795 min:-0.104966
-[14:17:35.009] frame process finished the id is: 20 the obs is:32 
-[14:17:35.036] Odometry x=0.000072, y=0.030526, theta=-0.066461
-[14:17:35.132] After Reprojection Map nPoint:30 ,nCell:13 ,nMatches:7 ,distance between ekf and vo x:-0.000056 ,z=0.000083,angle between two frames:0.002048
-[14:17:35.132] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 	 error init =0.166260 	 error end=0.166260
-[14:17:35.132] After pose optimization, distance between ekf and vo x:-0.000056 ,z=0.000083,angle between two frames:0.002048
-[14:17:35.132] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16
-[14:17:35.132] need key frame pitch dis: 0.073403 translation dif:0.030599
-[14:17:35.132] frame process finished the id is: 21 the obs is:16 
-[14:17:35.134] Odometry x=0.000027, y=0.030599, theta=-0.073403
-[14:17:35.232] Odometry x=0.000029, y=0.030602, theta=-0.108281
-[14:17:35.233] After Reprojection Map nPoint:16 ,nCell:8 ,nMatches:4 ,distance between ekf and vo x:-0.000039 ,z=0.000109,angle between two frames:0.001623
-[14:17:35.233] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.115153 	 error end=0.115153
-[14:17:35.233] After pose optimization, distance between ekf and vo x:-0.000039 ,z=0.000109,angle between two frames:0.001623
-[14:17:35.233] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:17:35.233] need key frame pitch dis: 0.094771 translation dif:0.030676
-[14:17:35.233] frame process finished the id is: 22 the obs is:12 
-[14:17:35.336] Odometry x=0.000019, y=0.030631, theta=-0.133360
-[14:17:35.346] After Reprojection Map nPoint:12 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000069 ,z=0.000227,angle between two frames:0.000541
-[14:17:35.346] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.008140 	 error end=0.008140
-[14:17:35.346] After pose optimization, distance between ekf and vo x:0.000069 ,z=0.000227,angle between two frames:0.000541
-[14:17:35.346] frame process finished the id is: 22 the obs is:12 
-[14:17:35.432] Odometry x=0.000022, y=0.030634, theta=-0.169501
-[14:17:35.449] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000038 ,z=0.000095,angle between two frames:0.000450
-[14:17:35.449] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.038191 	 error end=0.001896
-[14:17:35.449] After pose optimization, distance between ekf and vo x:-0.022580 ,z=-0.020162,angle between two frames:0.364014
-[14:17:35.449] frame process finished the id is: 22 the obs is:12 
-[14:17:35.533] Odometry x=0.000032, y=0.030640, theta=-0.199362
-[14:17:35.552] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000042 ,z=0.000092,angle between two frames:0.000422
-[14:17:35.553] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.002990 	 error end=0.002033
-[14:17:35.553] After pose optimization, distance between ekf and vo x:-0.004065 ,z=-0.005341,angle between two frames:0.091732
-[14:17:35.553] frame process finished the id is: 22 the obs is:12 
-[14:17:35.634] Odometry x=0.000031, y=0.030652, theta=-0.229320
-[14:17:35.653] After Reprojection Map nPoint:12 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:-0.000019 ,z=0.000051,angle between two frames:0.000675
-[14:17:35.653] n deleted obs = 9 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 	 error init =0.316580 	 error end=0.316580
-[14:17:35.653] After pose optimization, distance between ekf and vo x:-0.000019 ,z=0.000051,angle between two frames:0.000675
-[14:17:35.653] frame process finished the id is: 22 the obs is:12 
-[14:17:35.733] Odometry x=0.000038, y=0.030655, theta=-0.257499
-[14:17:35.749] After Reprojection Map nPoint:12 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:-0.000006 ,z=0.000036,angle between two frames:0.000346
-[14:17:35.749] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.443885 	 error end=0.443885
-[14:17:35.749] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000036,angle between two frames:0.000346
-[14:17:35.749] frame process finished the id is: 22 the obs is:12 
-[14:17:35.833] Odometry x=0.000044, y=0.030664, theta=-0.287655
-[14:17:35.856] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000066 ,z=0.000030,angle between two frames:0.000769
-[14:17:35.857] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.250647 	 error end=0.211315
-[14:17:35.857] After pose optimization, distance between ekf and vo x:-0.004850 ,z=-0.004684,angle between two frames:0.093950
-[14:17:35.857] frame process finished the id is: 22 the obs is:12 
-[14:17:35.933] Odometry x=0.000047, y=0.030673, theta=-0.317832
-[14:17:35.957] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000026 ,z=0.000006,angle between two frames:0.000117
-[14:17:35.957] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001963 	 error end=0.001958
-[14:17:35.957] After pose optimization, distance between ekf and vo x:-0.000052 ,z=-0.000064,angle between two frames:0.001379
-[14:17:35.957] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
-[14:17:35.957] need key frame pitch dis: 0.320719 translation dif:0.030618
-[14:17:35.957] Choose frame as a key frame Scene Depth mean:-0.118279 ,depth min:-0.263959
-[14:17:35.957] frame process finished the id is: 29 the obs is:10 
-[14:17:36.035] Odometry x=0.000005, y=0.030618, theta=-0.320719
-[14:17:36.064] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:0.000008 ,z=0.000007,angle between two frames:0.000839
-[14:17:36.064] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.058377 	 error end=0.058377
-[14:17:36.064] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000007,angle between two frames:0.000839
-[14:17:36.064] frame process finished the id is: 29 the obs is:10 
-[14:17:36.133] Odometry x=0.000013, y=0.030631, theta=-0.357805
-[14:17:36.172] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000828
-[14:17:36.172] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.888757 	 error end=0.123728
-[14:17:36.172] After pose optimization, distance between ekf and vo x:0.076042 ,z=0.364257,angle between two frames:1.524953
-[14:17:36.172] frame process finished the id is: 29 the obs is:10 
-[14:17:36.235] Odometry x=0.000017, y=0.030635, theta=-0.390466
-[14:17:36.280] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000006 ,z=0.000002,angle between two frames:0.000778
-[14:17:36.280] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.002256 	 error end=0.002256
-[14:17:36.280] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000002,angle between two frames:0.000778
-[14:17:36.280] frame process finished the id is: 29 the obs is:10 
-[14:17:36.333] Odometry x=0.000020, y=0.030647, theta=-0.423969
-[14:17:36.380] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000008 ,z=0.000010,angle between two frames:0.000415
-[14:17:36.381] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.235785 	 error end=0.005178
-[14:17:36.381] After pose optimization, distance between ekf and vo x:0.170064 ,z=0.137829,angle between two frames:2.649012
-[14:17:36.381] frame process finished the id is: 29 the obs is:10 
-[14:17:36.435] Odometry x=0.000026, y=0.030654, theta=-0.453336
-[14:17:36.488] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000026 ,z=0.000004,angle between two frames:0.000416
-[14:17:36.489] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.057739 	 error end=0.057739
-[14:17:36.489] After pose optimization, distance between ekf and vo x:0.000026 ,z=0.000004,angle between two frames:0.000416
-[14:17:36.489] frame process finished the id is: 29 the obs is:10 
-[14:17:36.533] Odometry x=0.000031, y=0.030661, theta=-0.482162
-[14:17:36.598] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000010 ,z=-0.000003,angle between two frames:0.000804
-[14:17:36.598] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.483707 	 error end=0.038380
-[14:17:36.598] After pose optimization, distance between ekf and vo x:0.188485 ,z=0.151080,angle between two frames:2.570711
-[14:17:36.598] frame process finished the id is: 29 the obs is:10 
-[14:17:36.633] Odometry x=0.000040, y=0.030661, theta=-0.510375
-[14:17:36.707] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:-0.000011 ,z=0.000005,angle between two frames:0.000741
-[14:17:36.707] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.316954 	 error end=0.316954
-[14:17:36.707] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000005,angle between two frames:0.000741
-[14:17:36.707] frame process finished the id is: 29 the obs is:10 
-[14:17:36.737] Odometry x=0.000050, y=0.030654, theta=-0.533616
-[14:17:36.816] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=-0.000008,angle between two frames:0.000568
-[14:17:36.816] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 	 error init =0.018561 	 error end=0.011371
-[14:17:36.816] After pose optimization, distance between ekf and vo x:-0.021599 ,z=-0.001631,angle between two frames:0.134262
-[14:17:36.816] frame process finished the id is: 29 the obs is:10 
-[14:17:36.834] Odometry x=0.000057, y=0.030661, theta=-0.557850
-[14:17:36.925] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000012 ,z=-0.000004,angle between two frames:0.000782
-[14:17:36.925] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000110 	 error end=0.000108
-[14:17:36.925] After pose optimization, distance between ekf and vo x:0.000240 ,z=0.000127,angle between two frames:0.005032
-[14:17:36.925] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
-[14:17:36.925] need key frame pitch dis: 0.565626 translation dif:0.030775
-[14:17:36.925] Choose frame as a key frame Scene Depth mean:-0.121912 ,depth min:-0.234133
-[14:17:36.925] frame process finished the id is: 38 the obs is:10 
-[14:17:36.933] Odometry x=0.000269, y=0.030774, theta=-0.565626
-[14:17:37.033] Odometry x=0.000275, y=0.030780, theta=-0.592936
-[14:17:37.034] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000062 ,z=0.000043,angle between two frames:0.000899
-[14:17:37.034] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 	 error init =0.633928 	 error end=0.311548
-[14:17:37.034] After pose optimization, distance between ekf and vo x:-0.008634 ,z=-0.008228,angle between two frames:0.164363
-[14:17:37.034] frame process finished the id is: 38 the obs is:10 
-[14:17:37.133] Odometry x=0.000281, y=0.030786, theta=-0.620030
-[14:17:37.135] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000085 ,z=0.000036,angle between two frames:0.000804
-[14:17:37.135] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.237053 	 error end=0.237053
-[14:17:37.135] After pose optimization, distance between ekf and vo x:-0.000085 ,z=0.000036,angle between two frames:0.000804
-[14:17:37.135] frame process finished the id is: 38 the obs is:10 
-[14:17:37.233] Odometry x=0.000297, y=0.030789, theta=-0.653528
-[14:17:37.244] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000005 ,z=0.000027,angle between two frames:0.000498
-[14:17:37.244] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =15.939688 	 error end=0.492550
-[14:17:37.244] After pose optimization, distance between ekf and vo x:36.716784 ,z=22.151519,angle between two frames:3.101275
-[14:17:37.244] frame process finished the id is: 38 the obs is:10 
-[14:17:37.333] Odometry x=0.000299, y=0.030793, theta=-0.678943
-[14:17:37.353] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000001 ,z=0.000028,angle between two frames:0.000480
-[14:17:37.353] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 	 error init =7.645796 	 error end=0.188832
-[14:17:37.353] After pose optimization, distance between ekf and vo x:-0.336405 ,z=-0.329852,angle between two frames:1.083767
-[14:17:37.353] frame process finished the id is: 38 the obs is:10 
-[14:17:37.435] Odometry x=0.000300, y=0.030793, theta=-0.706659
-[14:17:37.449] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:-0.000013 ,z=0.000017,angle between two frames:0.000239
-[14:17:37.449] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.107943 	 error end=0.003017
-[14:17:37.449] After pose optimization, distance between ekf and vo x:0.013908 ,z=0.013177,angle between two frames:0.214052
-[14:17:37.449] frame process finished the id is: 38 the obs is:10 
-[14:17:37.529] Odometry x=0.000305, y=0.030800, theta=-0.733274
-[14:17:37.557] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000019 ,z=0.000021,angle between two frames:0.000446
-[14:17:37.557] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =1.539121 	 error end=0.181546
-[14:17:37.557] After pose optimization, distance between ekf and vo x:-0.056209 ,z=-0.016987,angle between two frames:0.244516
-[14:17:37.557] frame process finished the id is: 38 the obs is:10 
-[14:17:37.625] Odometry x=0.000305, y=0.030800, theta=-0.765872
-[14:17:37.656] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:-0.000043 ,z=0.000030,angle between two frames:0.000427
-[14:17:37.656] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 	 error init =0.686621 	 error end=0.413722
-[14:17:37.656] After pose optimization, distance between ekf and vo x:0.025241 ,z=0.008801,angle between two frames:0.397557
-[14:17:37.656] frame process finished the id is: 38 the obs is:10 
-[14:17:37.728] Odometry x=0.000316, y=0.030812, theta=-0.794576
-[14:17:37.759] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000051 ,z=0.000028,angle between two frames:0.000547
-[14:17:37.759] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000004 	 error end=0.000004
-[14:17:37.759] After pose optimization, distance between ekf and vo x:-0.000050 ,z=0.000028,angle between two frames:0.000552
-[14:17:37.760] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
-[14:17:37.760] need key frame pitch dis: 0.804916 translation dif:0.030834
-[14:17:37.760] Choose frame as a key frame Scene Depth mean:-0.115129 ,depth min:-0.215199
-[14:17:37.760] frame process finished the id is: 46 the obs is:10 
-[14:17:37.827] Odometry x=0.000316, y=0.030828, theta=-0.829949
-[14:17:37.846] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000005 ,z=-0.000010,angle between two frames:0.000067
-[14:17:37.846] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001287 	 error end=0.001281
-[14:17:37.846] After pose optimization, distance between ekf and vo x:-0.000129 ,z=-0.000075,angle between two frames:0.001607
-[14:17:37.846] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
-[14:17:37.847] need key frame pitch dis: 0.819847 translation dif:0.030777
-[14:17:37.847] Choose frame as a key frame Scene Depth mean:-0.018546 ,depth min:-0.191593
-[14:17:37.847] frame process finished the id is: 47 the obs is:10 
-[14:17:37.935] Odometry x=0.000278, y=0.030820, theta=-0.855971
-[14:17:37.946] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000070 ,z=0.000000,angle between two frames:0.000527
-[14:17:37.946] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 	 error init =0.376051 	 error end=0.376051
-[14:17:37.946] After pose optimization, distance between ekf and vo x:-0.000070 ,z=0.000000,angle between two frames:0.000527
-[14:17:37.946] frame process finished the id is: 47 the obs is:10 
-[14:17:38.028] Odometry x=0.000297, y=0.030815, theta=-0.886126
-[14:17:38.052] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000082 ,z=0.000013,angle between two frames:0.000704
-[14:17:38.052] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.041952 	 error end=0.041952
-[14:17:38.052] After pose optimization, distance between ekf and vo x:-0.000082 ,z=0.000013,angle between two frames:0.000704
-[14:17:38.052] frame process finished the id is: 47 the obs is:10 
-[14:17:38.126] Odometry x=0.000313, y=0.030811, theta=-0.915540
-[14:17:38.151] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:3 ,distance between ekf and vo x:-0.000085 ,z=0.000253,angle between two frames:0.001308
-[14:17:38.151] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.039391 	 error end=0.039391
-[14:17:38.151] After pose optimization, distance between ekf and vo x:-0.000085 ,z=0.000253,angle between two frames:0.001308
-[14:17:38.151] frame process finished the id is: 47 the obs is:10 
-[14:17:38.228] Odometry x=0.000324, y=0.030811, theta=-0.945050
-[14:17:38.243] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:3 ,distance between ekf and vo x:-0.000012 ,z=0.000005,angle between two frames:0.000112
-[14:17:38.243] n deleted obs = 9 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 	 error init =0.296844 	 error end=0.286874
-[14:17:38.243] After pose optimization, distance between ekf and vo x:0.000705 ,z=-0.016588,angle between two frames:0.012527
-[14:17:38.243] frame process finished the id is: 47 the obs is:10 
-[14:17:38.334] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:3 ,distance between ekf and vo x:-0.000011 ,z=0.000006,angle between two frames:0.000110
-[14:17:38.334] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.088800 	 error end=0.082173
-[14:17:38.334] After pose optimization, distance between ekf and vo x:0.001177 ,z=0.020047,angle between two frames:0.020569
-[14:17:38.334] frame process finished the id is: 47 the obs is:10 
-[14:17:38.336] Odometry x=0.000329, y=0.030811, theta=-0.979453
-[14:17:38.428] Odometry x=0.000338, y=0.030804, theta=-1.007612
-[14:17:38.429] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:-0.000011 ,z=0.000007,angle between two frames:0.000114
-[14:17:38.429] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.061262 	 error end=0.061262
-[14:17:38.429] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000007,angle between two frames:0.000114
-[14:17:38.429] frame process finished the id is: 47 the obs is:10 
-[14:17:38.526] Odometry x=0.000342, y=0.030812, theta=-1.035196
-[14:17:38.544] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000090 ,z=0.000034,angle between two frames:0.000704
-[14:17:38.545] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 	 error init =0.438534 	 error end=0.304894
-[14:17:38.545] After pose optimization, distance between ekf and vo x:-0.025264 ,z=0.086070,angle between two frames:0.253255
-[14:17:38.545] frame process finished the id is: 47 the obs is:10 
-[14:17:38.628] Odometry x=0.000348, y=0.030810, theta=-1.062313
-[14:17:38.644] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:-0.000029 ,z=0.000009,angle between two frames:0.000251
-[14:17:38.644] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000823 	 error end=0.000823
-[14:17:38.644] After pose optimization, distance between ekf and vo x:-0.000107 ,z=0.000223,angle between two frames:0.000383
-[14:17:38.644] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
-[14:17:38.645] need key frame pitch dis: 1.072530 translation dif:0.030975
-[14:17:38.645] Choose frame as a key frame Scene Depth mean:-0.129660 ,depth min:-0.477509
-[14:17:38.645] frame process finished the id is: 55 the obs is:10 
-[14:17:38.726] Odometry x=0.000324, y=0.030861, theta=-1.092317
-[14:17:38.751] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000008 ,z=0.000006,angle between two frames:0.000867
-[14:17:38.751] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.676896 	 error end=0.676896
-[14:17:38.751] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000006,angle between two frames:0.000867
-[14:17:38.751] frame process finished the id is: 55 the obs is:10 
-[14:17:38.828] Odometry x=0.000331, y=0.030853, theta=-1.120743
-[14:17:38.858] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000635
-[14:17:38.858] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.129702 	 error end=0.129702
-[14:17:38.858] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000635
-[14:17:38.858] frame process finished the id is: 55 the obs is:10 
-[14:17:38.926] Odometry x=0.000350, y=0.030853, theta=-1.147164
-[14:17:38.950] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000007 ,z=-0.000003,angle between two frames:0.000472
-[14:17:38.951] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.216056 	 error end=0.110136
-[14:17:38.951] After pose optimization, distance between ekf and vo x:-0.010617 ,z=0.018821,angle between two frames:0.140903
-[14:17:38.951] frame process finished the id is: 55 the obs is:10 
-[14:17:39.028] Odometry x=0.000358, y=0.030851, theta=-1.169404
-[14:17:39.052] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000003 ,z=0.000002,angle between two frames:0.000292
-[14:17:39.052] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.025889 	 error end=0.025889
-[14:17:39.052] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000002,angle between two frames:0.000292
-[14:17:39.052] frame process finished the id is: 55 the obs is:10 
-[14:17:39.130] Odometry x=0.000359, y=0.030845, theta=-1.194154
-[14:17:39.146] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:0.000004 ,z=0.000010,angle between two frames:0.000142
-[14:17:39.146] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.224238 	 error end=0.224238
-[14:17:39.146] After pose optimization, distance between ekf and vo x:0.000004 ,z=0.000010,angle between two frames:0.000142
-[14:17:39.146] frame process finished the id is: 55 the obs is:10 
-[14:17:39.226] Odometry x=0.000365, y=0.030844, theta=-1.218433
-[14:17:39.240] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000004 ,z=0.000010,angle between two frames:0.000141
-[14:17:39.240] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.015633 	 error end=0.015633
-[14:17:39.240] After pose optimization, distance between ekf and vo x:0.000004 ,z=0.000010,angle between two frames:0.000141
-[14:17:39.240] frame process finished the id is: 55 the obs is:10 
-[14:17:39.328] Odometry x=0.000370, y=0.030844, theta=-1.246419
-[14:17:39.342] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000005 ,z=0.000013,angle between two frames:0.000289
-[14:17:39.342] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000049 	 error end=0.000049
-[14:17:39.342] After pose optimization, distance between ekf and vo x:-0.000014 ,z=0.000014,angle between two frames:0.000258
-[14:17:39.342] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
-[14:17:39.342] need key frame pitch dis: 1.235503 translation dif:0.030856
-[14:17:39.342] Choose frame as a key frame Scene Depth mean:-0.120012 ,depth min:-0.379499
-[14:17:39.342] frame process finished the id is: 62 the obs is:10 
-[14:17:39.430] Odometry x=0.000365, y=0.030846, theta=-1.276010
-[14:17:39.451] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:-0.000033 ,z=0.000074,angle between two frames:0.000495
-[14:17:39.452] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.007541 	 error end=0.004142
-[14:17:39.452] After pose optimization, distance between ekf and vo x:0.018390 ,z=0.005584,angle between two frames:0.599523
-[14:17:39.452] frame process finished the id is: 62 the obs is:10 
-[14:17:39.527] Odometry x=0.000377, y=0.030846, theta=-1.302286
-[14:17:39.554] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000020 ,z=0.000041,angle between two frames:0.000094
-[14:17:39.554] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001756 	 error end=0.001381
-[14:17:39.554] After pose optimization, distance between ekf and vo x:-0.015433 ,z=-0.008083,angle between two frames:0.109007
-[14:17:39.554] frame process finished the id is: 62 the obs is:10 
-[14:17:39.630] Odometry x=0.000382, y=0.030839, theta=-1.333366
-[14:17:39.658] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000016 ,z=0.000066,angle between two frames:0.000570
-[14:17:39.658] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.025968 	 error end=0.005834
-[14:17:39.659] After pose optimization, distance between ekf and vo x:-0.062477 ,z=-0.020906,angle between two frames:0.407186
-[14:17:39.659] frame process finished the id is: 62 the obs is:10 
-[14:17:39.728] Odometry x=0.000375, y=0.030840, theta=-1.365034
-[14:17:39.768] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000012 ,z=0.000051,angle between two frames:0.000258
-[14:17:39.768] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000283 	 error end=0.000279
-[14:17:39.768] After pose optimization, distance between ekf and vo x:0.000640 ,z=0.000316,angle between two frames:0.012433
-[14:17:39.768] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
-[14:17:39.768] need key frame pitch dis: 1.380491 translation dif:0.031124
-[14:17:39.768] Choose frame as a key frame Scene Depth mean:-0.128732 ,depth min:-0.470421
-[14:17:39.768] frame process finished the id is: 66 the obs is:10 
-[14:17:39.831] Odometry x=0.000937, y=0.031110, theta=-1.380491
-[14:17:39.856] After Reprojection Map nPoint:20 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000024
-[14:17:39.856] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.390052 	 error end=0.066300
-[14:17:39.856] After pose optimization, distance between ekf and vo x:0.020317 ,z=0.009093,angle between two frames:0.417515
-[14:17:39.856] frame process finished the id is: 66 the obs is:10 
-[14:17:39.928] Odometry x=0.000942, y=0.031108, theta=-1.411656
-[14:17:39.948] After Reprojection Map nPoint:20 ,nCell:5 ,nMatches:3 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000024
-[14:17:39.948] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.020333 	 error end=0.020135
-[14:17:39.948] After pose optimization, distance between ekf and vo x:-0.003272 ,z=0.001843,angle between two frames:0.004904
-[14:17:39.948] frame process finished the id is: 66 the obs is:10 
-[14:17:40.030] Odometry x=0.000946, y=0.031098, theta=-1.440146
-[14:17:40.039] After Reprojection Map nPoint:20 ,nCell:5 ,nMatches:3 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000034
-[14:17:40.040] n deleted obs = 20 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 	 error init =0.180772 	 error end=0.152976
-[14:17:40.040] After pose optimization, distance between ekf and vo x:-0.041685 ,z=0.017411,angle between two frames:0.030760
-[14:17:40.040] frame process finished the id is: 66 the obs is:10 
-[14:17:40.129] Odometry x=0.000950, y=0.031093, theta=-1.470239
-[14:17:40.129] After Reprojection Map nPoint:20 ,nCell:5 ,nMatches:3 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000034
-[14:17:40.129] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 	 error init =0.000004 	 error end=0.000004
-[14:17:40.130] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000034
-[14:17:40.130] Update EKF and 3D points the number of feature in the new frame: 20 and number of obs: 20
-[14:17:40.130] need key frame pitch dis: 1.457643 translation dif:0.031110
-[14:17:40.130] Choose frame as a key frame Scene Depth mean:-0.100051 ,depth min:-0.387941
-[14:17:40.130] frame process finished the id is: 70 the obs is:20 
-[14:17:40.233] Odometry x=0.000956, y=0.031090, theta=-1.499245
-[14:17:40.234] After Reprojection Map nPoint:26 ,nCell:9 ,nMatches:4 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000025
-[14:17:40.234] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 	 error init =0.048872 	 error end=0.048872
-[14:17:40.234] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000025
-[14:17:40.234] Update EKF and 3D points the number of feature in the new frame: 19 and number of obs: 19
-[14:17:40.234] need key frame pitch dis: 0.097405 translation dif:0.000021
-[14:17:40.234] frame process finished the id is: 71 the obs is:19 
-[14:17:40.328] After Reprojection Map nPoint:29 ,nCell:15 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000022
-[14:17:40.328] Odometry x=0.000953, y=0.031084, theta=-1.521393
-[14:17:40.328] n deleted obs = 13 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 	 error init =0.008707 	 error end=0.008707
-[14:17:40.328] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000022
-[14:17:40.328] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16
-[14:17:40.328] need key frame pitch dis: 0.118114 translation dif:0.000024
-[14:17:40.328] frame process finished the id is: 72 the obs is:16 
-[14:17:40.432] Odometry x=0.000955, y=0.031079, theta=-1.534832
-[14:17:40.434] After Reprojection Map nPoint:26 ,nCell:15 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=-0.000003,angle between two frames:0.000102
-[14:17:40.434] n deleted obs = 13 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 	 error init =0.294961 	 error end=0.294961
-[14:17:40.434] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000003,angle between two frames:0.000102
-[14:17:40.434] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13
-[14:17:40.434] need key frame pitch dis: 0.164334 translation dif:0.000038
-[14:17:40.434] frame process finished the id is: 73 the obs is:13 
-[14:17:40.528] After Reprojection Map nPoint:23 ,nCell:13 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000023
-[14:17:40.528] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 	 error init =0.008890 	 error end=0.008890
-[14:17:40.528] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000023
-[14:17:40.528] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18
-[14:17:40.528] need key frame pitch dis: 0.165732 translation dif:0.000045
-[14:17:40.528] frame process finished the id is: 74 the obs is:18 
-[14:17:40.536] Odometry x=0.000957, y=0.031070, theta=-1.546224
-[14:17:40.625] After Reprojection Map nPoint:28 ,nCell:17 ,nMatches:3 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000022
-[14:17:40.625] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 	 error init =0.127769 	 error end=0.127769
-[14:17:40.625] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000022
-[14:17:40.625] Update EKF and 3D points the number of feature in the new frame: 23 and number of obs: 23
-[14:17:40.625] need key frame pitch dis: 0.171641 translation dif:0.000046
-[14:17:40.625] frame process finished the id is: 75 the obs is:23 
-[14:17:40.628] Odometry x=0.000957, y=0.031069, theta=-1.552132
-[14:17:40.727] After Reprojection Map nPoint:31 ,nCell:19 ,nMatches:2 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000014
-[14:17:40.728] n deleted obs = 15 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 	 error init =0.052355 	 error end=0.045503
-[14:17:40.728] After pose optimization, distance between ekf and vo x:0.163219 ,z=0.009314,angle between two frames:0.106699
-[14:17:40.728] frame process finished the id is: 75 the obs is:23 
-[14:17:40.733] Odometry x=0.000965, y=0.031067, theta=-1.590134
-[14:17:40.829] After Reprojection Map nPoint:33 ,nCell:20 ,nMatches:3 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000008
-[14:17:40.830] Odometry x=0.000970, y=0.031075, theta=-1.610303
-[14:17:40.830] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 	 error init =0.045366 	 error end=0.040249
-[14:17:40.830] After pose optimization, distance between ekf and vo x:0.002988 ,z=0.008822,angle between two frames:0.024678
-[14:17:40.830] frame process finished the id is: 75 the obs is:23 
-[14:17:40.924] After Reprojection Map nPoint:31 ,nCell:19 ,nMatches:2 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000017
-[14:17:40.925] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 	 error init =0.042561 	 error end=0.042561
-[14:17:40.925] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000017
-[14:17:40.925] Update EKF and 3D points the number of feature in the new frame: 23 and number of obs: 23
-[14:17:40.925] need key frame pitch dis: 0.233653 translation dif:0.000055
-[14:17:40.925] Choose frame as a key frame Scene Depth mean:-0.177675 ,depth min:-0.443118
-[14:17:40.925] frame process finished the id is: 78 the obs is:23 
-[14:17:40.929] Odometry x=0.000975, y=0.031071, theta=-1.614144
-[14:17:41.026] Odometry x=0.000984, y=0.031067, theta=-1.651110
-[14:17:41.042] After Reprojection Map nPoint:37 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000001 ,z=-0.000004,angle between two frames:0.000196
-[14:17:41.043] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 	 error init =0.074254 	 error end=0.034984
-[14:17:41.043] After pose optimization, distance between ekf and vo x:0.021514 ,z=-0.007820,angle between two frames:0.753349
-[14:17:41.043] frame process finished the id is: 78 the obs is:23 
-[14:17:41.126] Odometry x=0.000987, y=0.031069, theta=-1.688869
-[14:17:41.152] After Reprojection Map nPoint:55 ,nCell:14 ,nMatches:12 ,distance between ekf and vo x:-0.000001 ,z=-0.000011,angle between two frames:0.000566
-[14:17:41.155] n deleted obs = 11 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =44 	 error init =0.233128 	 error end=0.044000
-[14:17:41.155] After pose optimization, distance between ekf and vo x:0.011219 ,z=-0.000806,angle between two frames:0.341909
-[14:17:41.155] frame process finished the id is: 78 the obs is:23 
-[14:17:41.226] Odometry x=0.000991, y=0.031064, theta=-1.720039
-[14:17:41.266] After Reprojection Map nPoint:61 ,nCell:18 ,nMatches:14 ,distance between ekf and vo x:-0.000001 ,z=-0.000009,angle between two frames:0.000493
-[14:17:41.266] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =47 	 error init =0.047119 	 error end=0.044561
-[14:17:41.266] After pose optimization, distance between ekf and vo x:-0.005575 ,z=0.003617,angle between two frames:0.103101
-[14:17:41.266] frame process finished the id is: 78 the obs is:23 
-[14:17:41.332] Odometry x=0.000989, y=0.031054, theta=-1.746687
-[14:17:41.371] After Reprojection Map nPoint:64 ,nCell:22 ,nMatches:14 ,distance between ekf and vo x:-0.000003 ,z=-0.000010,angle between two frames:0.000438
-[14:17:41.372] n deleted obs = 34 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 	 error init =0.620978 	 error end=0.130866
-[14:17:41.372] After pose optimization, distance between ekf and vo x:0.012041 ,z=0.008270,angle between two frames:0.217632
-[14:17:41.372] frame process finished the id is: 78 the obs is:23 
-[14:17:41.426] Odometry x=0.000992, y=0.031050, theta=-1.775129
-[14:17:41.470] After Reprojection Map nPoint:58 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000005 ,z=-0.000006,angle between two frames:0.000280
-[14:17:41.472] n deleted obs = 23 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 	 error init =0.153159 	 error end=0.083661
-[14:17:41.472] After pose optimization, distance between ekf and vo x:0.044486 ,z=0.004707,angle between two frames:0.484869
-[14:17:41.472] frame process finished the id is: 78 the obs is:23 
-[14:17:41.526] Odometry x=0.000996, y=0.031047, theta=-1.793765
-[14:17:41.579] After Reprojection Map nPoint:59 ,nCell:17 ,nMatches:13 ,distance between ekf and vo x:-0.000002 ,z=-0.000009,angle between two frames:0.000408
-[14:17:41.579] n deleted obs = 29 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 	 error init =0.129837 	 error end=0.129837
-[14:17:41.579] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000009,angle between two frames:0.000408
-[14:17:41.579] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30
-[14:17:41.579] need key frame pitch dis: 1.861151 translation dif:0.193890
-[14:17:41.579] Choose frame as a key frame Scene Depth mean:-0.052735 ,depth min:-0.482028
-[14:17:41.579] frame process finished the id is: 84 the obs is:30 
-[14:17:41.632] Odometry x=0.000997, y=0.031037, theta=-1.798531
-[14:17:41.665] After Reprojection Map nPoint:30 ,nCell:12 ,nMatches:12 ,distance between ekf and vo x:-0.000005 ,z=-0.000001,angle between two frames:0.000027
-[14:17:41.666] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 	 error init =0.019935 	 error end=0.015254
-[14:17:41.666] After pose optimization, distance between ekf and vo x:-0.022048 ,z=-0.025149,angle between two frames:0.102068
-[14:17:41.666] frame process finished the id is: 84 the obs is:30 
-[14:17:41.727] Odometry x=0.001002, y=0.031032, theta=-1.834020
-[14:17:41.760] After Reprojection Map nPoint:23 ,nCell:11 ,nMatches:11 ,distance between ekf and vo x:-0.000052 ,z=-0.000004,angle between two frames:0.000162
-[14:17:41.760] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 	 error init =0.489249 	 error end=0.122501
-[14:17:41.760] After pose optimization, distance between ekf and vo x:0.021834 ,z=0.008344,angle between two frames:0.450011
-[14:17:41.760] frame process finished the id is: 84 the obs is:30 
-[14:17:41.827] Odometry x=0.001006, y=0.031023, theta=-1.868667
-[14:17:41.848] After Reprojection Map nPoint:27 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000006 ,z=-0.000000,angle between two frames:0.000031
-[14:17:41.849] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 	 error init =0.006765 	 error end=0.005118
-[14:17:41.850] After pose optimization, distance between ekf and vo x:-0.013354 ,z=-0.017143,angle between two frames:0.092841
-[14:17:41.850] frame process finished the id is: 84 the obs is:30 
-[14:17:41.932] Odometry x=0.000999, y=0.031023, theta=-1.898390
-[14:17:41.938] After Reprojection Map nPoint:30 ,nCell:15 ,nMatches:13 ,distance between ekf and vo x:-0.000005 ,z=0.000000,angle between two frames:0.000021
-[14:17:41.938] n deleted obs = 10 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 	 error init =0.149112 	 error end=0.149112
-[14:17:41.938] After pose optimization, distance between ekf and vo x:-0.000005 ,z=0.000000,angle between two frames:0.000021
-[14:17:41.938] Update EKF and 3D points the number of feature in the new frame: 20 and number of obs: 20
-[14:17:41.938] need key frame pitch dis: 1.908344 translation dif:0.031039
-[14:17:41.938] Choose frame as a key frame Scene Depth mean:-0.033879 ,depth min:-0.249363
-[14:17:41.938] frame process finished the id is: 88 the obs is:20 
-[14:17:42.026] Odometry x=0.000995, y=0.031015, theta=-1.931764
-[14:17:42.047] After Reprojection Map nPoint:20 ,nCell:12 ,nMatches:9 ,distance between ekf and vo x:-0.000109 ,z=0.000010,angle between two frames:0.000240
-[14:17:42.048] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 	 error init =0.225036 	 error end=0.029750
-[14:17:42.048] After pose optimization, distance between ekf and vo x:0.004820 ,z=-0.010626,angle between two frames:0.176194
-[14:17:42.048] frame process finished the id is: 88 the obs is:20 
-[14:17:42.132] Odometry x=0.000998, y=0.031002, theta=-1.964633
-[14:17:42.149] After Reprojection Map nPoint:20 ,nCell:11 ,nMatches:8 ,distance between ekf and vo x:-0.000054 ,z=0.000016,angle between two frames:0.000103
-[14:17:42.149] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 	 error init =0.115793 	 error end=0.115793
-[14:17:42.149] After pose optimization, distance between ekf and vo x:-0.000054 ,z=0.000016,angle between two frames:0.000103
-[14:17:42.149] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15
-[14:17:42.149] need key frame pitch dis: 1.966788 translation dif:0.031022
-[14:17:42.150] Choose frame as a key frame Scene Depth mean:-0.035629 ,depth min:-0.182883
-[14:17:42.150] frame process finished the id is: 90 the obs is:15 
-[14:17:42.226] Odometry x=0.000953, y=0.031007, theta=-1.966788
-[14:17:42.247] After Reprojection Map nPoint:38 ,nCell:10 ,nMatches:10 ,distance between ekf and vo x:-0.000057 ,z=0.000005,angle between two frames:0.000213
-[14:17:42.247] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 	 error init =0.219366 	 error end=0.201792
-[14:17:42.247] After pose optimization, distance between ekf and vo x:0.008789 ,z=-0.006065,angle between two frames:0.089661
-[14:17:42.247] frame process finished the id is: 90 the obs is:15 
-[14:17:42.332] Odometry x=0.000955, y=0.030998, theta=-1.985804
-[14:17:42.345] After Reprojection Map nPoint:45 ,nCell:11 ,nMatches:11 ,distance between ekf and vo x:-0.000057 ,z=0.000005,angle between two frames:0.000220
-[14:17:42.345] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =43 	 error init =0.002065 	 error end=0.002065
-[14:17:42.345] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000005,angle between two frames:0.000220
-[14:17:42.345] Update EKF and 3D points the number of feature in the new frame: 43 and number of obs: 43
-[14:17:42.345] need key frame pitch dis: 0.547005 translation dif:0.218780
-[14:17:42.345] Choose frame as a key frame Scene Depth mean:-0.092766 ,depth min:-0.731261
-[14:17:42.345] frame process finished the id is: 92 the obs is:43 
-[14:17:42.427] Odometry x=0.000909, y=0.031005, theta=-1.974402
-[14:17:42.446] After Reprojection Map nPoint:38 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000059 ,z=0.000027,angle between two frames:0.000038
-[14:17:42.448] n deleted obs = 19 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 	 error init =0.296211 	 error end=0.164208
-[14:17:42.448] After pose optimization, distance between ekf and vo x:0.008172 ,z=0.059873,angle between two frames:0.144352
-[14:17:42.448] frame process finished the id is: 92 the obs is:43 
-[14:17:42.527] Odometry x=0.000916, y=0.031010, theta=-2.014006
-[14:17:42.548] After Reprojection Map nPoint:39 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000056 ,z=0.000029,angle between two frames:0.000060
-[14:17:42.549] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 	 error init =0.010124 	 error end=0.008924
-[14:17:42.549] After pose optimization, distance between ekf and vo x:0.001746 ,z=0.020926,angle between two frames:0.050711
-[14:17:42.549] frame process finished the id is: 92 the obs is:43 
-[14:17:42.632] Odometry x=0.000925, y=0.031000, theta=-2.052104
-[14:17:42.656] After Reprojection Map nPoint:36 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000199 ,z=0.000039,angle between two frames:0.000400
-[14:17:42.657] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 	 error init =0.328813 	 error end=0.195208
-[14:17:42.657] After pose optimization, distance between ekf and vo x:0.058048 ,z=0.121658,angle between two frames:0.283179
-[14:17:42.657] frame process finished the id is: 92 the obs is:43 
-[14:17:42.727] Odometry x=0.000927, y=0.030964, theta=-2.084836
-[14:17:42.756] After Reprojection Map nPoint:39 ,nCell:17 ,nMatches:8 ,distance between ekf and vo x:-0.000134 ,z=0.000038,angle between two frames:0.000194
-[14:17:42.756] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 	 error init =0.000153 	 error end=0.000153
-[14:17:42.756] After pose optimization, distance between ekf and vo x:-0.000134 ,z=0.000038,angle between two frames:0.000194
-[14:17:42.756] Update EKF and 3D points the number of feature in the new frame: 38 and number of obs: 38
-[14:17:42.756] need key frame pitch dis: 2.060128 translation dif:0.031036
-[14:17:42.756] Choose frame as a key frame Scene Depth mean:-0.105259 ,depth min:-0.466868
-[14:17:42.756] frame process finished the id is: 96 the obs is:38 
-[14:17:42.828] Odometry x=0.000812, y=0.031026, theta=-2.060128
-[14:17:42.936] Odometry x=0.000808, y=0.031013, theta=-2.093451
-[14:17:43.027] After Reprojection Map nPoint:35 ,nCell:11 ,nMatches:8 ,distance between ekf and vo x:-0.000037 ,z=0.000026,angle between two frames:0.000103
-[14:17:43.027] n deleted obs = 13 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 	 error init =0.025452 	 error end=0.025452
-[14:17:43.027] After pose optimization, distance between ekf and vo x:-0.000037 ,z=0.000026,angle between two frames:0.000103
-[14:17:43.027] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22
-[14:17:43.028] need key frame pitch dis: 2.068477 translation dif:0.031054
-[14:17:43.028] Choose frame as a key frame Scene Depth mean:-0.177384 ,depth min:-0.359913
-[14:17:43.028] frame process finished the id is: 97 the obs is:22 
-[14:17:43.029] Odometry x=0.000781, y=0.031044, theta=-2.068477
-[14:17:43.129] Odometry x=0.000780, y=0.031035, theta=-2.099133
-[14:17:43.233] Odometry x=0.000784, y=0.031025, theta=-2.134981
-[14:17:43.242] After Reprojection Map nPoint:47 ,nCell:16 ,nMatches:14 ,distance between ekf and vo x:-0.000112 ,z=0.000088,angle between two frames:0.000228
-[14:17:43.242] n deleted obs = 13 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 	 error init =0.563471 	 error end=0.108424
-[14:17:43.242] After pose optimization, distance between ekf and vo x:-0.085577 ,z=0.027870,angle between two frames:0.929748
-[14:17:43.242] frame process finished the id is: 97 the obs is:22 
-[14:17:43.335] Odometry x=0.000781, y=0.031023, theta=-2.165399
-[14:17:43.353] After Reprojection Map nPoint:51 ,nCell:14 ,nMatches:10 ,distance between ekf and vo x:-0.000059 ,z=0.000070,angle between two frames:0.000137
-[14:17:43.355] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 	 error init =0.193456 	 error end=0.018358
-[14:17:43.355] After pose optimization, distance between ekf and vo x:0.069569 ,z=-0.086102,angle between two frames:0.481600
-[14:17:43.355] frame process finished the id is: 97 the obs is:22 
-[14:17:43.428] Odometry x=0.000782, y=0.031011, theta=-2.200768
-[14:17:43.435] After Reprojection Map nPoint:55 ,nCell:24 ,nMatches:11 ,distance between ekf and vo x:-0.000002 ,z=0.000003,angle between two frames:0.000005
-[14:17:43.437] n deleted obs = 17 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 	 error init =0.046889 	 error end=0.033719
-[14:17:43.437] After pose optimization, distance between ekf and vo x:0.001513 ,z=-0.006265,angle between two frames:0.009245
-[14:17:43.437] Update EKF and 3D points the number of feature in the new frame: 38 and number of obs: 38
-[14:17:43.437] need key frame pitch dis: 2.335113 translation dif:0.312572
-[14:17:43.437] Choose frame as a key frame Scene Depth mean:-0.109556 ,depth min:-0.437783
-[14:17:43.437] frame process finished the id is: 100 the obs is:38 
-[14:17:43.531] Odometry x=0.001178, y=0.029371, theta=-2.227479
-[14:17:43.543] After Reprojection Map nPoint:54 ,nCell:14 ,nMatches:10 ,distance between ekf and vo x:0.000004 ,z=-0.000004,angle between two frames:0.000004
-[14:17:43.553] n deleted obs = 26 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 	 error init =0.203432 	 error end=0.113909
-[14:17:43.553] After pose optimization, distance between ekf and vo x:-0.072441 ,z=-0.053930,angle between two frames:0.103563
-[14:17:43.553] frame process finished the id is: 100 the obs is:38 
-[14:17:43.628] Odometry x=0.001183, y=0.029376, theta=-2.256247
-[14:17:43.680] After Reprojection Map nPoint:37 ,nCell:11 ,nMatches:8 ,distance between ekf and vo x:0.000008 ,z=-0.000007,angle between two frames:0.000006
-[14:17:43.680] n deleted obs = 30 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.393509 	 error end=0.393509
-[14:17:43.680] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000007,angle between two frames:0.000006
-[14:17:43.680] frame process finished the id is: 100 the obs is:38 
-[14:17:43.730] Odometry x=0.001182, y=0.029370, theta=-2.272334
-[14:17:43.771] After Reprojection Map nPoint:38 ,nCell:12 ,nMatches:7 ,distance between ekf and vo x:0.000006 ,z=-0.000007,angle between two frames:0.000005
-[14:17:43.771] n deleted obs = 13 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 	 error init =0.095132 	 error end=0.095132
-[14:17:43.771] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000007,angle between two frames:0.000005
-[14:17:43.771] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25
-[14:17:43.771] need key frame pitch dis: 0.494548 translation dif:1.257378
-[14:17:43.771] Choose frame as a key frame Scene Depth mean:-0.092938 ,depth min:-0.534190
-[14:17:43.771] frame process finished the id is: 103 the obs is:25 
-[14:17:43.828] Odometry x=0.001187, y=0.029356, theta=-2.277041
-[14:17:43.857] After Reprojection Map nPoint:25 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000072
-[14:17:43.857] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 	 error init =0.001294 	 error end=0.001294
-[14:17:43.857] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000072
-[14:17:43.857] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24
-[14:17:43.858] need key frame pitch dis: 2.282636 translation dif:0.029378
-[14:17:43.858] Choose frame as a key frame Scene Depth mean:-0.009380 ,depth min:-0.151048
-[14:17:43.858] frame process finished the id is: 104 the obs is:24 
-[14:17:43.928] Odometry x=0.001188, y=0.029354, theta=-2.282636
-[14:17:43.938] After Reprojection Map nPoint:36 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:0.000003 ,z=-0.000003,angle between two frames:0.000024
-[14:17:43.938] n deleted obs = 20 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 	 error init =0.013991 	 error end=0.013991
-[14:17:43.938] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000003,angle between two frames:0.000024
-[14:17:43.938] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16
-[14:17:43.938] need key frame pitch dis: 0.512635 translation dif:1.257375
-[14:17:43.938] Choose frame as a key frame Scene Depth mean:-0.159998 ,depth min:-0.639578
-[14:17:43.938] frame process finished the id is: 105 the obs is:16 
-[14:17:44.018] After Reprojection Map nPoint:27 ,nCell:6 ,nMatches:3 ,distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000019
-[14:17:44.019] n deleted obs = 25 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 	 error init =0.542041 	 error end=0.509467
-[14:17:44.019] After pose optimization, distance between ekf and vo x:0.033803 ,z=0.022945,angle between two frames:0.027258
-[14:17:44.019] frame process finished the id is: 105 the obs is:16 
-[14:17:44.031] Odometry x=0.001185, y=0.029349, theta=-2.324827
-[14:17:44.117] After Reprojection Map nPoint:25 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:-0.000000 ,z=-0.000010,angle between two frames:0.000026
-[14:17:44.118] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 	 error init =0.000480 	 error end=0.000480
-[14:17:44.118] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000010,angle between two frames:0.000026
-[14:17:44.118] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24
-[14:17:44.118] need key frame pitch dis: 0.548075 translation dif:1.257360
-[14:17:44.118] Choose frame as a key frame Scene Depth mean:0.034920 ,depth min:-0.481129
-[14:17:44.118] frame process finished the id is: 107 the obs is:24 
-[14:17:44.129] Odometry x=0.001186, y=0.029338, theta=-2.330568
-[14:17:44.219] After Reprojection Map nPoint:44 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:0.000016 ,z=-0.000020,angle between two frames:0.000004
-[14:17:44.220] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 	 error init =0.006701 	 error end=0.006700
-[14:17:44.220] After pose optimization, distance between ekf and vo x:0.000319 ,z=0.000265,angle between two frames:0.000023
-[14:17:44.220] Update EKF and 3D points the number of feature in the new frame: 20 and number of obs: 20
-[14:17:44.221] need key frame pitch dis: 0.552805 translation dif:1.257656
-[14:17:44.221] Choose frame as a key frame Scene Depth mean:0.261234 ,depth min:-0.540074
-[14:17:44.221] frame process finished the id is: 108 the obs is:20 
-[14:17:44.231] Odometry x=0.001460, y=0.029561, theta=-2.335298
-[14:17:44.325] After Reprojection Map nPoint:54 ,nCell:14 ,nMatches:8 ,distance between ekf and vo x:-0.000004 ,z=-0.000003,angle between two frames:0.000014
-[14:17:44.327] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =42 	 error init =0.028781 	 error end=0.018567
-[14:17:44.327] After pose optimization, distance between ekf and vo x:0.003711 ,z=0.002286,angle between two frames:0.000671
-[14:17:44.327] Update EKF and 3D points the number of feature in the new frame: 42 and number of obs: 42
-[14:17:44.328] need key frame pitch dis: 1.355624 translation dif:0.018052
-[14:17:44.328] Choose frame as a key frame Scene Depth mean:0.118041 ,depth min:-0.674972
-[14:17:44.328] frame process finished the id is: 109 the obs is:42 
-[14:17:44.329] Odometry x=0.004679, y=0.031526, theta=-2.364449
-[14:17:44.419] After Reprojection Map nPoint:71 ,nCell:9 ,nMatches:9 ,distance between ekf and vo x:-0.000005 ,z=-0.000007,angle between two frames:0.000007
-[14:17:44.422] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =59 	 error init =0.114434 	 error end=0.112826
-[14:17:44.422] After pose optimization, distance between ekf and vo x:0.006320 ,z=0.003503,angle between two frames:0.011954
-[14:17:44.422] Update EKF and 3D points the number of feature in the new frame: 59 and number of obs: 59
-[14:17:44.422] need key frame pitch dis: 1.350531 translation dif:0.024147
-[14:17:44.422] Choose frame as a key frame Scene Depth mean:0.048659 ,depth min:-1.176254
-[14:17:44.422] frame process finished the id is: 110 the obs is:59 
-[14:17:44.431] Odometry x=0.010136, y=0.034553, theta=-2.359356
-[14:17:44.519] After Reprojection Map nPoint:55 ,nCell:14 ,nMatches:6 ,distance between ekf and vo x:-0.000002 ,z=-0.000002,angle between two frames:0.000004
-[14:17:44.519] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 	 error init =0.052849 	 error end=0.052774
-[14:17:44.519] After pose optimization, distance between ekf and vo x:-0.000865 ,z=-0.001477,angle between two frames:0.003803
-[14:17:44.519] Update EKF and 3D points the number of feature in the new frame: 31 and number of obs: 31
-[14:17:44.519] need key frame pitch dis: 1.359647 translation dif:0.022755
-[14:17:44.519] Choose frame as a key frame Scene Depth mean:0.101017 ,depth min:-0.868756
-[14:17:44.519] frame process finished the id is: 111 the obs is:31 
-[14:17:44.529] Odometry x=0.009388, y=0.033265, theta=-2.368472
-[14:17:44.632] Odometry x=0.009387, y=0.033261, theta=-2.401806
-[14:17:44.637] After Reprojection Map nPoint:39 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:0.000012 ,z=-0.000003,angle between two frames:0.000004
-[14:17:44.638] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 	 error init =0.000611 	 error end=0.000611
-[14:17:44.638] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000003,angle between two frames:0.000004
-[14:17:44.638] Update EKF and 3D points the number of feature in the new frame: 36 and number of obs: 36
-[14:17:44.638] need key frame pitch dis: 0.020063 translation dif:0.373250
-[14:17:44.638] Choose frame as a key frame Scene Depth mean:0.202316 ,depth min:-0.736470
-[14:17:44.638] frame process finished the id is: 112 the obs is:36 
-[14:17:44.718] After Reprojection Map nPoint:45 ,nCell:14 ,nMatches:5 ,distance between ekf and vo x:0.000006 ,z=-0.000002,angle between two frames:0.000000
-[14:17:44.720] n deleted obs = 20 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 	 error init =0.046531 	 error end=0.044381
-[14:17:44.720] After pose optimization, distance between ekf and vo x:0.002713 ,z=0.002103,angle between two frames:0.000021
-[14:17:44.720] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25
-[14:17:44.720] need key frame pitch dis: 2.669085 translation dif:0.221168
-[14:17:44.720] Choose frame as a key frame Scene Depth mean:0.250193 ,depth min:-1.543818
-[14:17:44.720] frame process finished the id is: 113 the obs is:25 
-[14:17:44.735] Odometry x=0.011747, y=0.035081, theta=-2.416048
-[14:17:44.826] After Reprojection Map nPoint:58 ,nCell:11 ,nMatches:8 ,distance between ekf and vo x:0.000004 ,z=0.000034,angle between two frames:0.000030
-[14:17:44.826] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =52 	 error init =0.007764 	 error end=0.007764
-[14:17:44.826] After pose optimization, distance between ekf and vo x:0.000004 ,z=0.000034,angle between two frames:0.000030
-[14:17:44.826] Update EKF and 3D points the number of feature in the new frame: 52 and number of obs: 52
-[14:17:44.827] need key frame pitch dis: 2.306695 translation dif:0.145343
-[14:17:44.827] Choose frame as a key frame Scene Depth mean:0.122305 ,depth min:-1.540117
-[14:17:44.827] frame process finished the id is: 114 the obs is:52 
-[14:17:44.832] Odometry x=0.011748, y=0.035106, theta=-2.420648
-[14:17:44.929] Odometry x=0.011743, y=0.035103, theta=-2.456156
-[14:17:44.934] After Reprojection Map nPoint:49 ,nCell:10 ,nMatches:7 ,distance between ekf and vo x:-0.000011 ,z=0.000074,angle between two frames:0.000034
-[14:17:44.934] n deleted obs = 18 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 	 error init =0.422170 	 error end=0.422170
-[14:17:44.934] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000074,angle between two frames:0.000034
-[14:17:44.934] Update EKF and 3D points the number of feature in the new frame: 31 and number of obs: 31
-[14:17:44.934] need key frame pitch dis: 2.325419 translation dif:0.142912
-[14:17:44.934] Choose frame as a key frame Scene Depth mean:-0.151899 ,depth min:-1.177553
-[14:17:44.934] frame process finished the id is: 115 the obs is:31 
-[14:17:45.032] Odometry x=0.011731, y=0.035109, theta=-2.488041
-[14:17:45.034] After Reprojection Map nPoint:56 ,nCell:14 ,nMatches:6 ,distance between ekf and vo x:0.000143 ,z=0.000002,angle between two frames:0.000076
-[14:17:45.034] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 	 error init =0.057075 	 error end=0.057075
-[14:17:45.034] After pose optimization, distance between ekf and vo x:0.000143 ,z=0.000002,angle between two frames:0.000076
-[14:17:45.034] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48
-[14:17:45.034] need key frame pitch dis: 0.505820 translation dif:0.783541
-[14:17:45.034] Choose frame as a key frame Scene Depth mean:-0.067153 ,depth min:-1.203356
-[14:17:45.035] frame process finished the id is: 116 the obs is:48 
-[14:17:45.129] Odometry x=0.011766, y=0.035119, theta=-2.506569
-[14:17:45.134] After Reprojection Map nPoint:53 ,nCell:15 ,nMatches:8 ,distance between ekf and vo x:0.000037 ,z=-0.000005,angle between two frames:0.000029
-[14:17:45.134] n deleted obs = 23 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 	 error init =0.392176 	 error end=0.370412
-[14:17:45.134] After pose optimization, distance between ekf and vo x:-0.035738 ,z=-0.033514,angle between two frames:0.000425
-[14:17:45.134] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30
-[14:17:45.135] need key frame pitch dis: 0.708500 translation dif:0.497186
-[14:17:45.135] Choose frame as a key frame Scene Depth mean:-0.344572 ,depth min:-1.930995
-[14:17:45.135] frame process finished the id is: 117 the obs is:30 
-[14:17:45.219] After Reprojection Map nPoint:59 ,nCell:9 ,nMatches:9 ,distance between ekf and vo x:-0.000006 ,z=-0.000011,angle between two frames:0.000005
-[14:17:45.222] n deleted obs = 32 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 	 error init =0.142491 	 error end=0.132344
-[14:17:45.222] After pose optimization, distance between ekf and vo x:0.082204 ,z=0.015513,angle between two frames:0.001851
-[14:17:45.222] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27
-[14:17:45.222] need key frame pitch dis: 0.674724 translation dif:1.105884
-[14:17:45.222] Choose frame as a key frame Scene Depth mean:1.150179 ,depth min:-1.479753
-[14:17:45.222] frame process finished the id is: 118 the obs is:27 
-[14:17:45.233] Odometry x=0.059497, y=0.026206, theta=-2.491471
-[14:17:45.327] After Reprojection Map nPoint:67 ,nCell:22 ,nMatches:8 ,distance between ekf and vo x:-0.000048 ,z=0.000028,angle between two frames:0.000000
-[14:17:45.327] n deleted obs = 34 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 	 error init =0.143250 	 error end=0.143250
-[14:17:45.327] After pose optimization, distance between ekf and vo x:-0.000048 ,z=0.000028,angle between two frames:0.000000
-[14:17:45.327] Update EKF and 3D points the number of feature in the new frame: 33 and number of obs: 33
-[14:17:45.328] need key frame pitch dis: 1.147248 translation dif:0.853555
-[14:17:45.328] Choose frame as a key frame Scene Depth mean:-0.685966 ,depth min:-1.673299
-[14:17:45.328] frame process finished the id is: 119 the obs is:33 
-[14:17:45.331] Odometry x=0.059453, y=0.026227, theta=-2.496656
-[14:17:45.428] Odometry x=0.059459, y=0.026229, theta=-2.531047
-[14:17:45.434] After Reprojection Map nPoint:78 ,nCell:18 ,nMatches:11 ,distance between ekf and vo x:0.000033 ,z=0.000023,angle between two frames:0.000110
-[14:17:45.434] n deleted obs = 17 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =61 	 error init =0.071238 	 error end=0.071238
-[14:17:45.434] After pose optimization, distance between ekf and vo x:0.000033 ,z=0.000023,angle between two frames:0.000110
-[14:17:45.434] Update EKF and 3D points the number of feature in the new frame: 61 and number of obs: 61
-[14:17:45.435] need key frame pitch dis: 1.156043 translation dif:0.853528
-[14:17:45.435] Choose frame as a key frame Scene Depth mean:-0.605343 ,depth min:-2.598762
-[14:17:45.435] frame process finished the id is: 120 the obs is:61 
-[14:17:45.532] Odometry x=0.059479, y=0.026241, theta=-2.505452
-[14:17:45.533] After Reprojection Map nPoint:90 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:0.000007 ,z=-0.000001,angle between two frames:0.000000
-[14:17:45.536] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =84 	 error init =0.005460 	 error end=0.005389
-[14:17:45.536] After pose optimization, distance between ekf and vo x:-0.002061 ,z=-0.001412,angle between two frames:0.000006
-[14:17:45.536] Update EKF and 3D points the number of feature in the new frame: 84 and number of obs: 84
-[14:17:45.537] need key frame pitch dis: 0.153695 translation dif:0.798613
-[14:17:45.537] Choose frame as a key frame Scene Depth mean:-1.313869 ,depth min:-7.583737
-[14:17:45.537] frame process finished the id is: 121 the obs is:84 
-[14:17:45.634] Odometry x=0.059121, y=0.025981, theta=-2.541745
-[14:17:45.635] After Reprojection Map nPoint:106 ,nCell:20 ,nMatches:14 ,distance between ekf and vo x:0.000017 ,z=0.000002,angle between two frames:0.000000
-[14:17:45.635] n deleted obs = 45 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =61 	 error init =0.239029 	 error end=0.239029
-[14:17:45.635] After pose optimization, distance between ekf and vo x:0.000017 ,z=0.000002,angle between two frames:0.000000
-[14:17:45.635] Update EKF and 3D points the number of feature in the new frame: 61 and number of obs: 61
-[14:17:45.636] need key frame pitch dis: 0.857136 translation dif:1.070930
-[14:17:45.636] Choose frame as a key frame Scene Depth mean:-0.862185 ,depth min:-7.674482
-[14:17:45.636] frame process finished the id is: 122 the obs is:61 
-[14:17:45.736] Odometry x=0.058903, y=0.025827, theta=-2.567929
-[14:17:45.742] After Reprojection Map nPoint:144 ,nCell:28 ,nMatches:19 ,distance between ekf and vo x:0.000072 ,z=-0.000001,angle between two frames:0.000007
-[14:17:45.743] n deleted obs = 35 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =109 	 error init =0.072476 	 error end=0.072476
-[14:17:45.743] After pose optimization, distance between ekf and vo x:0.000072 ,z=-0.000001,angle between two frames:0.000007
-[14:17:45.743] Update EKF and 3D points the number of feature in the new frame: 109 and number of obs: 109
-[14:17:45.744] need key frame pitch dis: 3.028776 translation dif:0.103982
-[14:17:45.744] Choose frame as a key frame Scene Depth mean:-0.165706 ,depth min:-7.761196
-[14:17:45.744] frame process finished the id is: 123 the obs is:109 
-[14:17:45.833] Odometry x=0.058919, y=0.025826, theta=-2.606685
-[14:17:45.840] After Reprojection Map nPoint:111 ,nCell:15 ,nMatches:15 ,distance between ekf and vo x:0.000010 ,z=-0.000009,angle between two frames:0.000000
-[14:17:45.845] n deleted obs = 30 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =81 	 error init =0.129382 	 error end=0.118157
-[14:17:45.845] After pose optimization, distance between ekf and vo x:0.034512 ,z=-0.031367,angle between two frames:0.010563
-[14:17:45.845] Update EKF and 3D points the number of feature in the new frame: 81 and number of obs: 81
-[14:17:45.846] need key frame pitch dis: 0.120459 translation dif:0.362510
-[14:17:45.846] Choose frame as a key frame Scene Depth mean:-0.586972 ,depth min:-7.590113
-[14:17:45.846] frame process finished the id is: 124 the obs is:81 
-[14:17:45.934] Odometry x=0.089013, y=-0.001502, theta=-2.594565
-[14:17:45.937] After Reprojection Map nPoint:99 ,nCell:16 ,nMatches:13 ,distance between ekf and vo x:0.000007 ,z=-0.000011,angle between two frames:0.000000
-[14:17:45.937] n deleted obs = 28 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =71 	 error init =0.106379 	 error end=0.106379
-[14:17:45.937] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000011,angle between two frames:0.000000
-[14:17:45.937] Update EKF and 3D points the number of feature in the new frame: 71 and number of obs: 71
-[14:17:45.938] need key frame pitch dis: 3.107251 translation dif:0.263070
-[14:17:45.938] Choose frame as a key frame Scene Depth mean:-0.488808 ,depth min:-4.074483
-[14:17:45.938] frame process finished the id is: 125 the obs is:71 
-[14:17:46.021] After Reprojection Map nPoint:127 ,nCell:32 ,nMatches:16 ,distance between ekf and vo x:-0.000004 ,z=0.000001,angle between two frames:0.000000
-[14:17:46.021] n deleted obs = 55 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =72 	 error init =0.506529 	 error end=0.456462
-[14:17:46.021] After pose optimization, distance between ekf and vo x:0.000880 ,z=0.005147,angle between two frames:0.036642
-[14:17:46.021] frame process finished the id is: 125 the obs is:71 
-[14:17:46.036] Odometry x=0.089012, y=-0.001510, theta=-2.635827
-[14:17:46.122] After Reprojection Map nPoint:168 ,nCell:59 ,nMatches:19 ,distance between ekf and vo x:-0.000004 ,z=0.000001,angle between two frames:0.000000
-[14:17:46.129] n deleted obs = 63 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =105 	 error init =0.014489 	 error end=0.014460
-[14:17:46.129] After pose optimization, distance between ekf and vo x:-0.000091 ,z=-0.000344,angle between two frames:0.000087
-[14:17:46.129] Update EKF and 3D points the number of feature in the new frame: 105 and number of obs: 105
-[14:17:46.130] need key frame pitch dis: 2.844565 translation dif:0.374731
-[14:17:46.130] Choose frame as a key frame Scene Depth mean:-0.650127 ,depth min:-3.606172
-[14:17:46.130] frame process finished the id is: 127 the obs is:105 
-[14:17:46.133] Odometry x=0.088935, y=-0.001811, theta=-2.639913
-[14:17:46.224] After Reprojection Map nPoint:144 ,nCell:39 ,nMatches:15 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
-[14:17:46.224] n deleted obs = 27 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =117 	 error init =0.005628 	 error end=0.005628
-[14:17:46.224] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
-[14:17:46.224] Update EKF and 3D points the number of feature in the new frame: 117 and number of obs: 117
-[14:17:46.225] need key frame pitch dis: 5.307460 translation dif:0.288943
-[14:17:46.225] Choose frame as a key frame Scene Depth mean:-0.607659 ,depth min:-5.145612
-[14:17:46.225] frame process finished the id is: 128 the obs is:117 
-[14:17:46.227] Odometry x=0.088936, y=-0.001814, theta=-2.645925
-[14:17:46.325] After Reprojection Map nPoint:151 ,nCell:35 ,nMatches:17 ,distance between ekf and vo x:0.000001 ,z=0.000001,angle between two frames:0.000000
-[14:17:46.331] n deleted obs = 39 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =112 	 error init =0.112444 	 error end=0.108618
-[14:17:46.331] After pose optimization, distance between ekf and vo x:0.027410 ,z=-0.005193,angle between two frames:0.012308
-[14:17:46.331] Update EKF and 3D points the number of feature in the new frame: 112 and number of obs: 112
-[14:17:46.332] need key frame pitch dis: 2.762602 translation dif:0.421619
-[14:17:46.332] Choose frame as a key frame Scene Depth mean:-0.269320 ,depth min:-3.839063
-[14:17:46.332] frame process finished the id is: 129 the obs is:112 
-[14:17:46.334] Odometry x=0.112619, y=-0.006306, theta=-2.639280
-[14:17:46.421] After Reprojection Map nPoint:133 ,nCell:45 ,nMatches:13 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
-[14:17:46.422] n deleted obs = 58 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =75 	 error init =0.080940 	 error end=0.080940
-[14:17:46.422] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
-[14:17:46.422] Update EKF and 3D points the number of feature in the new frame: 75 and number of obs: 75
-[14:17:46.422] need key frame pitch dis: 0.021229 translation dif:0.267109
-[14:17:46.422] Choose frame as a key frame Scene Depth mean:-0.191657 ,depth min:-5.597909
-[14:17:46.422] frame process finished the id is: 130 the obs is:75 
-[14:17:46.426] Odometry x=0.112618, y=-0.006310, theta=-2.644305
-[14:17:46.533] Odometry x=0.112619, y=-0.006311, theta=-2.682147
-[14:17:46.540] After Reprojection Map nPoint:125 ,nCell:24 ,nMatches:16 ,distance between ekf and vo x:0.000030 ,z=-0.000002,angle between two frames:0.000014
-[14:17:46.540] n deleted obs = 16 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =109 	 error init =0.062011 	 error end=0.062011
-[14:17:46.540] After pose optimization, distance between ekf and vo x:0.000030 ,z=-0.000002,angle between two frames:0.000014
-[14:17:46.540] Update EKF and 3D points the number of feature in the new frame: 109 and number of obs: 109
-[14:17:46.541] need key frame pitch dis: 5.691297 translation dif:0.145031
-[14:17:46.541] Choose frame as a key frame Scene Depth mean:-0.629436 ,depth min:-5.061188
-[14:17:46.542] frame process finished the id is: 131 the obs is:109 
-[14:17:46.629] Odometry x=0.112624, y=-0.006319, theta=-2.716980
-[14:17:46.632] After Reprojection Map nPoint:129 ,nCell:31 ,nMatches:15 ,distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000000
-[14:17:46.633] n deleted obs = 32 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =97 	 error init =0.046364 	 error end=0.038374
-[14:17:46.633] After pose optimization, distance between ekf and vo x:0.000370 ,z=-0.001292,angle between two frames:0.051321
-[14:17:46.633] frame process finished the id is: 131 the obs is:109 
-[14:17:46.732] Odometry x=0.112618, y=-0.006322, theta=-2.747546
-[14:17:46.733] After Reprojection Map nPoint:181 ,nCell:41 ,nMatches:22 ,distance between ekf and vo x:0.000008 ,z=-0.000002,angle between two frames:0.000000
-[14:17:46.733] n deleted obs = 47 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =134 	 error init =0.057066 	 error end=0.056959
-[14:17:46.733] After pose optimization, distance between ekf and vo x:0.000116 ,z=0.000038,angle between two frames:0.000309
-[14:17:46.733] Update EKF and 3D points the number of feature in the new frame: 134 and number of obs: 134
-[14:17:46.735] need key frame pitch dis: 5.580164 translation dif:0.183671
-[14:17:46.735] Choose frame as a key frame Scene Depth mean:-0.313890 ,depth min:-7.690437
-[14:17:46.735] frame process finished the id is: 133 the obs is:134 
-[14:17:46.830] Odometry x=0.112645, y=-0.006322, theta=-2.773879
-[14:17:46.841] After Reprojection Map nPoint:140 ,nCell:39 ,nMatches:15 ,distance between ekf and vo x:0.000007 ,z=0.000003,angle between two frames:0.000000
-[14:17:46.847] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =116 	 error init =0.016113 	 error end=0.008340
-[14:17:46.847] After pose optimization, distance between ekf and vo x:-0.007865 ,z=-0.003243,angle between two frames:0.013273
-[14:17:46.847] Update EKF and 3D points the number of feature in the new frame: 116 and number of obs: 116
-[14:17:46.847] need key frame pitch dis: 5.657409 translation dif:0.111885
-[14:17:46.848] Choose frame as a key frame Scene Depth mean:-0.268876 ,depth min:-3.764472
-[14:17:46.848] frame process finished the id is: 134 the obs is:116 
-[14:17:46.932] Odometry x=0.105843, y=-0.009122, theta=-2.754615
-[14:17:46.935] After Reprojection Map nPoint:177 ,nCell:30 ,nMatches:22 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
-[14:17:46.941] n deleted obs = 33 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =144 	 error init =0.011068 	 error end=0.010293
-[14:17:46.941] After pose optimization, distance between ekf and vo x:0.008791 ,z=0.003261,angle between two frames:0.002555
-[14:17:46.941] Update EKF and 3D points the number of feature in the new frame: 144 and number of obs: 144
-[14:17:46.942] need key frame pitch dis: 5.671283 translation dif:0.081411
-[14:17:46.942] Choose frame as a key frame Scene Depth mean:-0.009033 ,depth min:-3.752031
-[14:17:46.942] frame process finished the id is: 135 the obs is:144 
-[14:17:47.032] After Reprojection Map nPoint:220 ,nCell:42 ,nMatches:26 ,distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000000
-[14:17:47.033] n deleted obs = 41 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =179 	 error init =0.012299 	 error end=0.012299
-[14:17:47.033] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000000
-[14:17:47.033] Update EKF and 3D points the number of feature in the new frame: 179 and number of obs: 179
-[14:17:47.034] need key frame pitch dis: 5.846334 translation dif:0.103350
-[14:17:47.034] Choose frame as a key frame Scene Depth mean:-0.103796 ,depth min:-5.141072
-[14:17:47.035] frame process finished the id is: 136 the obs is:179 
-[14:17:47.036] Odometry x=0.111008, y=-0.007213, theta=-2.768385
-[14:17:47.130] Odometry x=0.111008, y=-0.007216, theta=-2.792808
-[14:17:47.232] Odometry x=0.111008, y=-0.007217, theta=-2.813384
-[14:17:47.259] After Reprojection Map nPoint:228 ,nCell:32 ,nMatches:29 ,distance between ekf and vo x:0.000002 ,z=-0.000006,angle between two frames:0.000000
-[14:17:47.260] n deleted obs = 74 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =154 	 error init =0.069790 	 error end=0.069790
-[14:17:47.260] After pose optimization, distance between ekf and vo x:0.000002 ,z=-0.000006,angle between two frames:0.000000
-[14:17:47.260] Update EKF and 3D points the number of feature in the new frame: 154 and number of obs: 154
-[14:17:47.261] need key frame pitch dis: 5.835239 translation dif:0.047755
-[14:17:47.261] Choose frame as a key frame Scene Depth mean:-0.416039 ,depth min:-3.596367
-[14:17:47.261] frame process finished the id is: 137 the obs is:154 
-[14:17:47.331] Odometry x=0.111002, y=-0.007214, theta=-2.839242
-[14:17:47.434] Odometry x=0.111013, y=-0.007222, theta=-2.867305
-[14:17:47.439] After Reprojection Map nPoint:176 ,nCell:44 ,nMatches:19 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
-[14:17:47.440] n deleted obs = 47 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =129 	 error init =0.014927 	 error end=0.014927
-[14:17:47.440] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
-[14:17:47.440] Update EKF and 3D points the number of feature in the new frame: 129 and number of obs: 129
-[14:17:47.443] need key frame pitch dis: 5.848557 translation dif:0.085481
-[14:17:47.443] Choose frame as a key frame Scene Depth mean:-0.682121 ,depth min:-5.158236
-[14:17:47.443] frame process finished the id is: 138 the obs is:129 
-[14:17:47.534] Odometry x=0.111005, y=-0.007222, theta=-2.820242
-[14:17:47.635] Odometry x=0.111005, y=-0.007233, theta=-2.843152
-[14:17:47.737] Odometry x=0.111013, y=-0.007236, theta=-2.876932
-[14:17:47.834] Odometry x=0.111006, y=-0.007239, theta=-2.911886
-[14:17:47.870] After Reprojection Map nPoint:194 ,nCell:39 ,nMatches:23 ,distance between ekf and vo x:0.000004 ,z=-0.000005,angle between two frames:0.000000
-[14:17:47.874] n deleted obs = 51 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =143 	 error init =0.246701 	 error end=0.092692
-[14:17:47.874] After pose optimization, distance between ekf and vo x:-0.037145 ,z=-0.012703,angle between two frames:0.011044
-[14:17:47.874] Update EKF and 3D points the number of feature in the new frame: 143 and number of obs: 143
-[14:17:47.877] need key frame pitch dis: 0.237549 translation dif:0.073459
-[14:17:47.877] Choose frame as a key frame Scene Depth mean:-0.381865 ,depth min:-5.163739
-[14:17:47.877] frame process finished the id is: 139 the obs is:143 
-[14:17:47.931] Odometry x=0.078648, y=-0.018289, theta=-2.845691
-[14:17:48.034] Odometry x=0.078649, y=-0.018289, theta=-2.878192
-[14:17:48.131] Odometry x=0.078641, y=-0.018290, theta=-2.907786
-[14:17:48.233] Odometry x=0.078634, y=-0.018290, theta=-2.937501
-[14:17:48.330] Odometry x=0.078630, y=-0.018287, theta=-2.967705
-[14:17:48.431] Odometry x=0.078626, y=-0.018297, theta=-2.998487
-[14:17:48.530] Odometry x=0.078617, y=-0.018300, theta=-3.026186
-[14:17:48.630] Odometry x=0.078618, y=-0.018302, theta=-3.052833
-[14:17:48.728] Odometry x=0.078621, y=-0.018302, theta=-3.084657
-[14:17:48.831] Odometry x=0.078620, y=-0.018307, theta=-3.116712
-[14:17:48.938] Odometry x=0.078616, y=-0.018307, theta=3.139647
-[14:17:49.032] Odometry x=0.078615, y=-0.018311, theta=3.111786
-[14:17:49.133] Odometry x=0.078609, y=-0.018306, theta=3.080153
-[14:17:49.230] Odometry x=0.078610, y=-0.018307, theta=3.055212
-[14:17:49.265] After Reprojection Map nPoint:179 ,nCell:32 ,nMatches:22 ,distance between ekf and vo x:0.000003 ,z=0.000003,angle between two frames:0.000000
-[14:17:49.272] n deleted obs = 41 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =138 	 error init =0.007948 	 error end=0.007810
-[14:17:49.272] After pose optimization, distance between ekf and vo x:0.001626 ,z=-0.000002,angle between two frames:0.000332
-[14:17:49.272] Update EKF and 3D points the number of feature in the new frame: 138 and number of obs: 138
-[14:17:49.274] need key frame pitch dis: 5.350311 translation dif:0.078702
-[14:17:49.274] Choose frame as a key frame Scene Depth mean:-0.049148 ,depth min:-2.017863
-[14:17:49.274] frame process finished the id is: 140 the obs is:138 
-[14:17:49.334] Odometry x=0.080031, y=-0.018315, theta=2.274874
-[14:17:49.432] Odometry x=0.080024, y=-0.018315, theta=2.245732
-[14:17:49.534] Odometry x=0.080020, y=-0.018310, theta=2.212208
-[14:17:49.642] Odometry x=0.080018, y=-0.018317, theta=2.179416
-[14:17:49.735] Odometry x=0.080012, y=-0.018311, theta=2.150446
-[14:17:49.831] Odometry x=0.080011, y=-0.018316, theta=2.121592
-[14:17:49.931] Odometry x=0.080015, y=-0.018331, theta=2.090969
-[14:17:50.027] Odometry x=0.080020, y=-0.018319, theta=2.065034
-[14:17:50.128] Odometry x=0.080022, y=-0.018320, theta=2.033559
-[14:17:50.227] Odometry x=0.080021, y=-0.018321, theta=2.005984
-[14:17:50.329] Odometry x=0.080014, y=-0.018317, theta=1.978783
-[14:17:50.430] Odometry x=0.080018, y=-0.018317, theta=1.951936
-[14:17:50.530] Odometry x=0.080013, y=-0.018312, theta=1.922669
-[14:17:50.637] Odometry x=0.080004, y=-0.018316, theta=1.894506
-[14:17:50.730] Odometry x=0.079995, y=-0.018314, theta=1.870171
-[14:17:50.829] Odometry x=0.079992, y=-0.018314, theta=1.845269
-[14:17:50.846] After Reprojection Map nPoint:157 ,nCell:23 ,nMatches:21 ,distance between ekf and vo x:-0.000004 ,z=-0.000005,angle between two frames:0.000004
-[14:17:50.847] n deleted obs = 31 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =126 	 error init =0.044731 	 error end=0.044731
-[14:17:50.847] After pose optimization, distance between ekf and vo x:-0.000004 ,z=-0.000005,angle between two frames:0.000004
-[14:17:50.847] Update EKF and 3D points the number of feature in the new frame: 126 and number of obs: 126
-[14:17:50.847] need key frame pitch dis: 4.974072 translation dif:0.077447
-[14:17:50.847] Choose frame as a key frame Scene Depth mean:0.052800 ,depth min:-1.345864
-[14:17:50.848] frame process finished the id is: 141 the obs is:126 
-[14:17:50.928] Odometry x=0.079982, y=-0.018308, theta=1.811258
-[14:17:51.029] Odometry x=0.079976, y=-0.018307, theta=1.782378
-[14:17:51.129] Odometry x=0.079971, y=-0.018309, theta=1.751571
-[14:17:51.227] Odometry x=0.079972, y=-0.018320, theta=1.724487
-[14:17:51.329] Odometry x=0.079961, y=-0.018316, theta=1.698211
-[14:17:51.432] Odometry x=0.079959, y=-0.018317, theta=1.670237
-[14:17:51.531] Odometry x=0.079958, y=-0.018320, theta=1.642486
-[14:17:51.630] Odometry x=0.079953, y=-0.018328, theta=1.612288
-[14:17:51.730] Odometry x=0.079949, y=-0.018330, theta=1.586042
-[14:17:51.759] After Reprojection Map nPoint:106 ,nCell:35 ,nMatches:12 ,distance between ekf and vo x:0.000009 ,z=0.000015,angle between two frames:0.000297
-[14:17:51.763] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =101 	 error init =0.000683 	 error end=0.000680
-[14:17:51.763] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000006,angle between two frames:0.000208
-[14:17:51.763] Update EKF and 3D points the number of feature in the new frame: 101 and number of obs: 101
-[14:17:51.763] need key frame pitch dis: 1.412647 translation dif:0.050333
-[14:17:51.763] Choose frame as a key frame Scene Depth mean:0.119270 ,depth min:-0.893633
-[14:17:51.763] frame process finished the id is: 142 the obs is:101 
-[14:17:51.830] Odometry x=0.079964, y=-0.018329, theta=1.605822
-[14:17:51.932] Odometry x=0.079960, y=-0.018327, theta=1.580898
-[14:17:52.008] After Reprojection Map nPoint:135 ,nCell:48 ,nMatches:13 ,distance between ekf and vo x:0.000010 ,z=-0.000003,angle between two frames:0.000133
-[14:17:52.028] Odometry x=0.079962, y=-0.018334, theta=1.551296
-[14:17:52.063] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =121 	 error init =0.008824 	 error end=0.008824
-[14:17:52.063] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000003,angle between two frames:0.000133
-[14:17:52.063] Update EKF and 3D points the number of feature in the new frame: 121 and number of obs: 121
-[14:17:52.064] need key frame pitch dis: 1.525213 translation dif:0.057281
-[14:17:52.064] Choose frame as a key frame Scene Depth mean:0.186279 ,depth min:-0.801845
-[14:17:52.065] frame process finished the id is: 143 the obs is:121 
-[14:17:52.133] Odometry x=0.079969, y=-0.018334, theta=1.594509
-[14:17:52.232] Odometry x=0.079963, y=-0.018331, theta=1.558662
-[14:17:52.332] Odometry x=0.079961, y=-0.018330, theta=1.531064
-[14:17:52.436] Odometry x=0.079965, y=-0.018326, theta=1.502420
-[14:17:52.538] Odometry x=0.079961, y=-0.018320, theta=1.479649
-[14:17:52.638] Odometry x=0.079963, y=-0.018313, theta=1.449839
-[14:17:52.734] Odometry x=0.079948, y=-0.018308, theta=1.420580
-[14:17:52.837] Odometry x=0.079947, y=-0.018308, theta=1.389363
-[14:17:52.939] Odometry x=0.079943, y=-0.018307, theta=1.356425
-[14:17:53.034] Odometry x=0.079948, y=-0.018301, theta=1.325641
-[14:17:53.135] Odometry x=0.079940, y=-0.018310, theta=1.298889
-[14:17:53.235] Odometry x=0.079938, y=-0.018309, theta=1.272355
-[14:17:53.333] Odometry x=0.079930, y=-0.018301, theta=1.239809
-[14:17:53.435] Odometry x=0.079928, y=-0.018301, theta=1.212280
-[14:17:53.534] Odometry x=0.079933, y=-0.018302, theta=1.184456
-[14:17:53.634] Odometry x=0.079921, y=-0.018291, theta=1.157710
-[14:17:53.734] Odometry x=0.079916, y=-0.018287, theta=1.129303
-[14:17:53.843] Odometry x=0.079916, y=-0.018285, theta=1.102872
-[14:17:53.931] Odometry x=0.079913, y=-0.018276, theta=1.074168
-[14:17:54.035] Odometry x=0.079893, y=-0.018279, theta=1.047390
-[14:17:54.139] Odometry x=0.079883, y=-0.018283, theta=1.019023
-[14:17:54.228] Odometry x=0.079879, y=-0.018281, theta=0.990211
-[14:17:54.334] Odometry x=0.079869, y=-0.018273, theta=0.963797
-[14:17:54.431] Odometry x=0.079866, y=-0.018243, theta=0.934434
-[14:17:54.531] Odometry x=0.079854, y=-0.018240, theta=0.906861
-[14:17:54.631] Odometry x=0.079851, y=-0.018234, theta=0.879409
-[14:17:54.727] Odometry x=0.079841, y=-0.018226, theta=0.848354
-[14:17:54.827] Odometry x=0.079840, y=-0.018223, theta=0.819554
-[14:17:54.934] Odometry x=0.079830, y=-0.018221, theta=0.792396
-[14:17:55.035] Odometry x=0.079830, y=-0.018227, theta=0.763693
-[14:17:55.129] Odometry x=0.079828, y=-0.018225, theta=0.737156
-[14:17:55.234] Odometry x=0.079816, y=-0.018223, theta=0.706456
-[14:17:55.332] Odometry x=0.079823, y=-0.018221, theta=0.678069
-[14:17:55.431] Odometry x=0.079816, y=-0.018219, theta=0.650722
-[14:17:55.527] Odometry x=0.079811, y=-0.018223, theta=0.626719
-[14:17:55.633] Odometry x=0.079808, y=-0.018221, theta=0.601263
-[14:17:55.734] Odometry x=0.079808, y=-0.018217, theta=0.570558
-[14:17:55.839] Odometry x=0.079814, y=-0.018203, theta=0.536976
-[14:17:55.929] Odometry x=0.079817, y=-0.018195, theta=0.507972
-[14:17:56.038] Odometry x=0.079819, y=-0.018184, theta=0.478026
-[14:17:56.128] Odometry x=0.079822, y=-0.018178, theta=0.445508
-[14:17:56.229] Odometry x=0.079818, y=-0.018161, theta=0.414376
-[14:17:56.335] Odometry x=0.079812, y=-0.018156, theta=0.387509
-[14:17:56.434] Odometry x=0.079814, y=-0.018154, theta=0.357921
-[14:17:56.440] After Reprojection Map nPoint:56 ,nCell:17 ,nMatches:7 ,distance between ekf and vo x:0.000004 ,z=-0.000005,angle between two frames:0.000006
-[14:17:56.440] n deleted obs = 32 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 	 error init =1.086133 	 error end=0.691838
-[14:17:56.440] After pose optimization, distance between ekf and vo x:-0.044779 ,z=-0.036181,angle between two frames:0.323736
-[14:17:56.440] frame process finished the id is: 143 the obs is:121 
-[14:17:56.531] Odometry x=0.079809, y=-0.018147, theta=0.329290
-[14:17:56.549] After Reprojection Map nPoint:96 ,nCell:38 ,nMatches:10 ,distance between ekf and vo x:0.000058 ,z=-0.000076,angle between two frames:0.000151
-[14:17:56.549] n deleted obs = 29 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =67 	 error init =0.009773 	 error end=0.009773
-[14:17:56.549] After pose optimization, distance between ekf and vo x:0.000058 ,z=-0.000076,angle between two frames:0.000151
-[14:17:56.549] Update EKF and 3D points the number of feature in the new frame: 67 and number of obs: 67
-[14:17:56.550] need key frame pitch dis: 1.098358 translation dif:0.086567
-[14:17:56.550] Choose frame as a key frame Scene Depth mean:0.113863 ,depth min:-0.112049
-[14:17:56.550] frame process finished the id is: 145 the obs is:67 
-[14:17:56.629] Odometry x=0.079828, y=-0.018163, theta=0.308416
-[14:17:56.722] After Reprojection Map nPoint:88 ,nCell:19 ,nMatches:10 ,distance between ekf and vo x:0.000040 ,z=0.000047,angle between two frames:0.000481
-[14:17:56.723] n deleted obs = 22 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =66 	 error init =0.302162 	 error end=0.191513
-[14:17:56.723] After pose optimization, distance between ekf and vo x:-0.006271 ,z=-0.030306,angle between two frames:0.226677
-[14:17:56.723] frame process finished the id is: 145 the obs is:67 
-[14:17:56.735] Odometry x=0.079826, y=-0.018149, theta=0.283818
-[14:17:56.833] Odometry x=0.079828, y=-0.018142, theta=0.262874
-[14:17:56.848] After Reprojection Map nPoint:80 ,nCell:21 ,nMatches:9 ,distance between ekf and vo x:0.000141 ,z=0.000056,angle between two frames:0.000169
-[14:17:56.848] n deleted obs = 28 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =52 	 error init =0.979359 	 error end=0.494228
-[14:17:56.848] After pose optimization, distance between ekf and vo x:-0.036104 ,z=-0.061549,angle between two frames:0.584089
-[14:17:56.848] frame process finished the id is: 145 the obs is:67 
-[14:17:56.931] Odometry x=0.079831, y=-0.018138, theta=0.239935
-[14:17:56.952] After Reprojection Map nPoint:127 ,nCell:19 ,nMatches:16 ,distance between ekf and vo x:0.000088 ,z=0.000041,angle between two frames:0.000140
-[14:17:56.953] n deleted obs = 44 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =83 	 error init =0.513830 	 error end=0.158065
-[14:17:56.953] After pose optimization, distance between ekf and vo x:0.072124 ,z=-0.101826,angle between two frames:0.772576
-[14:17:56.953] frame process finished the id is: 145 the obs is:67 
-[14:17:57.026] Odometry x=0.079830, y=-0.018128, theta=0.209668
-[14:17:57.057] After Reprojection Map nPoint:116 ,nCell:18 ,nMatches:14 ,distance between ekf and vo x:-0.000034 ,z=0.000003,angle between two frames:0.000088
-[14:17:57.058] n deleted obs = 20 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =96 	 error init =0.226150 	 error end=0.226150
-[14:17:57.058] After pose optimization, distance between ekf and vo x:-0.000034 ,z=0.000003,angle between two frames:0.000088
-[14:17:57.058] Update EKF and 3D points the number of feature in the new frame: 96 and number of obs: 96
-[14:17:57.059] need key frame pitch dis: 3.340108 translation dif:0.102754
-[14:17:57.059] Choose frame as a key frame Scene Depth mean:-0.023126 ,depth min:-2.934427
-[14:17:57.059] frame process finished the id is: 149 the obs is:96 
-[14:17:57.126] Odometry x=0.079801, y=-0.018122, theta=0.205508
-[14:17:57.232] After Reprojection Map nPoint:147 ,nCell:32 ,nMatches:18 ,distance between ekf and vo x:0.000055 ,z=-0.000008,angle between two frames:0.000273
-[14:17:57.232] Odometry x=0.079801, y=-0.018111, theta=0.164411
-[14:17:57.273] n deleted obs = 34 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =113 	 error init =2.361523 	 error end=0.024944
-[14:17:57.273] After pose optimization, distance between ekf and vo x:4.546921 ,z=-4.369146,angle between two frames:2.256805
-[14:17:57.273] frame process finished the id is: 149 the obs is:96 
-[14:17:57.329] Odometry x=0.079795, y=-0.018113, theta=0.130053
-[14:17:57.435] Odometry x=0.079795, y=-0.018109, theta=0.098886
-[14:17:57.454] After Reprojection Map nPoint:163 ,nCell:44 ,nMatches:18 ,distance between ekf and vo x:-0.000141 ,z=0.000002,angle between two frames:0.000001
-[14:17:57.454] n deleted obs = 61 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =102 	 error init =0.243497 	 error end=0.172269
-[14:17:57.454] After pose optimization, distance between ekf and vo x:-0.073433 ,z=-0.009184,angle between two frames:0.146543
-[14:17:57.454] frame process finished the id is: 149 the obs is:96 
-[14:17:57.529] Odometry x=0.079795, y=-0.018102, theta=0.068788
-[14:17:57.587] After Reprojection Map nPoint:170 ,nCell:24 ,nMatches:22 ,distance between ekf and vo x:-0.000276 ,z=-0.000141,angle between two frames:0.000056
-[14:17:57.588] n deleted obs = 62 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =108 	 error init =0.407914 	 error end=0.248482
-[14:17:57.588] After pose optimization, distance between ekf and vo x:-0.173888 ,z=-0.032317,angle between two frames:0.164435
-[14:17:57.588] frame process finished the id is: 149 the obs is:96 
-[14:17:57.632] Odometry x=0.079798, y=-0.018092, theta=0.037715
-[14:17:57.719] After Reprojection Map nPoint:207 ,nCell:57 ,nMatches:23 ,distance between ekf and vo x:-0.000210 ,z=-0.000293,angle between two frames:0.000108
-[14:17:57.720] n deleted obs = 63 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =144 	 error init =0.111435 	 error end=0.091579
-[14:17:57.720] After pose optimization, distance between ekf and vo x:-0.059292 ,z=-0.037982,angle between two frames:0.736010
-[14:17:57.720] frame process finished the id is: 149 the obs is:96 
-[14:17:57.734] Odometry x=0.079788, y=-0.018079, theta=0.011724
-[14:17:57.832] Odometry x=0.079793, y=-0.018077, theta=-0.015178
-[14:17:57.850] After Reprojection Map nPoint:230 ,nCell:45 ,nMatches:29 ,distance between ekf and vo x:-0.000201 ,z=-0.000027,angle between two frames:0.000060
-[14:17:57.851] n deleted obs = 78 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =152 	 error init =0.694951 	 error end=0.694951
-[14:17:57.851] After pose optimization, distance between ekf and vo x:-0.000201 ,z=-0.000027,angle between two frames:0.000060
-[14:17:57.851] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152
-[14:17:57.852] need key frame pitch dis: 3.098890 translation dif:0.071215
-[14:17:57.852] Choose frame as a key frame Scene Depth mean:0.130146 ,depth min:-2.226590
-[14:17:57.852] frame process finished the id is: 154 the obs is:152 
-[14:17:57.931] Odometry x=0.079611, y=-0.018100, theta=0.004148
-[14:17:58.028] Odometry x=0.079612, y=-0.018093, theta=-0.030738
-[14:17:58.077] After Reprojection Map nPoint:225 ,nCell:57 ,nMatches:29 ,distance between ekf and vo x:-0.000016 ,z=-0.000188,angle between two frames:0.000047
-[14:17:58.078] n deleted obs = 45 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =180 	 error init =0.119434 	 error end=0.119434
-[14:17:58.078] After pose optimization, distance between ekf and vo x:-0.000016 ,z=-0.000188,angle between two frames:0.000047
-[14:17:58.078] Update EKF and 3D points the number of feature in the new frame: 180 and number of obs: 180
-[14:17:58.080] need key frame pitch dis: 3.099064 translation dif:0.069037
-[14:17:58.081] Choose frame as a key frame Scene Depth mean:0.853857 ,depth min:-8.472989
-[14:17:58.081] frame process finished the id is: 155 the obs is:180 
-[14:17:58.132] Odometry x=0.079599, y=-0.018257, theta=-0.004830
-[14:17:58.233] Odometry x=0.079601, y=-0.018261, theta=-0.032757
-[14:17:58.332] Odometry x=0.079602, y=-0.018257, theta=-0.064482
-[14:17:58.427] Odometry x=0.079596, y=-0.018241, theta=-0.095258
-[14:17:58.490] After Reprojection Map nPoint:266 ,nCell:63 ,nMatches:33 ,distance between ekf and vo x:-0.000349 ,z=0.000382,angle between two frames:0.000003
-[14:17:58.491] n deleted obs = 71 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =195 	 error init =1.221752 	 error end=1.221752
-[14:17:58.491] After pose optimization, distance between ekf and vo x:-0.000349 ,z=0.000382,angle between two frames:0.000003
-[14:17:58.491] Update EKF and 3D points the number of feature in the new frame: 195 and number of obs: 195
-[14:17:58.494] need key frame pitch dis: 3.098452 translation dif:0.060041
-[14:17:58.494] Choose frame as a key frame Scene Depth mean:0.068821 ,depth min:-8.524571
-[14:17:58.494] frame process finished the id is: 156 the obs is:195 
-[14:17:58.532] Odometry x=0.079294, y=-0.017918, theta=-0.020212
-[14:17:58.634] Odometry x=0.079299, y=-0.017909, theta=-0.049881
-[14:17:58.732] Odometry x=0.079300, y=-0.017904, theta=-0.079804
-[14:17:58.834] Odometry x=0.079299, y=-0.017902, theta=-0.107207
-[14:17:58.863] After Reprojection Map nPoint:298 ,nCell:81 ,nMatches:32 ,distance between ekf and vo x:-0.000132 ,z=0.000134,angle between two frames:0.000003
-[14:17:58.930] Odometry x=0.079298, y=-0.017890, theta=-0.134290
-[14:17:58.993] n deleted obs = 138 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =160 	 error init =0.683892 	 error end=0.235900
-[14:17:58.993] After pose optimization, distance between ekf and vo x:0.861892 ,z=-0.113574,angle between two frames:0.937494
-[14:17:58.993] frame process finished the id is: 156 the obs is:195 
-[14:17:59.032] Odometry x=0.079302, y=-0.017887, theta=-0.165314
-[14:17:59.128] Odometry x=0.079312, y=-0.017881, theta=-0.194285
-[14:17:59.234] Odometry x=0.079318, y=-0.017871, theta=-0.221229
-[14:17:59.246] After Reprojection Map nPoint:425 ,nCell:112 ,nMatches:47 ,distance between ekf and vo x:-0.000150 ,z=0.000331,angle between two frames:0.000034
-[14:17:59.247] n deleted obs = 155 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 	 error init =0.409285 	 error end=0.409285
-[14:17:59.247] After pose optimization, distance between ekf and vo x:-0.000150 ,z=0.000331,angle between two frames:0.000034
-[14:17:59.247] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270
-[14:17:59.248] need key frame pitch dis: 2.928748 translation dif:0.055311
-[14:17:59.248] Choose frame as a key frame Scene Depth mean:0.403925 ,depth min:-2.419670
-[14:17:59.249] frame process finished the id is: 158 the obs is:270 
-[14:17:59.336] Odometry x=0.079275, y=-0.017789, theta=-0.237575
-[14:17:59.428] Odometry x=0.079288, y=-0.017782, theta=-0.268828
-[14:17:59.539] Odometry x=0.079285, y=-0.017780, theta=-0.297591
-[14:17:59.542] After Reprojection Map nPoint:405 ,nCell:77 ,nMatches:48 ,distance between ekf and vo x:-0.000000 ,z=0.000006,angle between two frames:0.000007
-[14:17:59.543] n deleted obs = 124 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =281 	 error init =0.879295 	 error end=0.226094
-[14:17:59.543] After pose optimization, distance between ekf and vo x:0.777518 ,z=-0.465019,angle between two frames:0.563926
-[14:17:59.543] frame process finished the id is: 158 the obs is:270 
-[14:17:59.631] Odometry x=0.079282, y=-0.017766, theta=-0.321853
-[14:17:59.729] Odometry x=0.079276, y=-0.017760, theta=-0.352211
-[14:17:59.740] After Reprojection Map nPoint:467 ,nCell:120 ,nMatches:53 ,distance between ekf and vo x:0.000004 ,z=0.000018,angle between two frames:0.000013
-[14:17:59.742] n deleted obs = 164 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =303 	 error init =2.210082 	 error end=0.204793
-[14:17:59.742] After pose optimization, distance between ekf and vo x:1.503001 ,z=-0.428541,angle between two frames:1.934799
-[14:17:59.742] frame process finished the id is: 158 the obs is:270 
-[14:17:59.827] Odometry x=0.079289, y=-0.017744, theta=-0.382353
-[14:17:59.918] After Reprojection Map nPoint:438 ,nCell:123 ,nMatches:49 ,distance between ekf and vo x:0.000017 ,z=0.000058,angle between two frames:0.000042
-[14:17:59.919] n deleted obs = 195 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =243 	 error init =0.630428 	 error end=0.159389
-[14:17:59.919] After pose optimization, distance between ekf and vo x:-0.280374 ,z=0.129075,angle between two frames:1.022709
-[14:17:59.919] frame process finished the id is: 158 the obs is:270 
-[14:17:59.929] Odometry x=0.079297, y=-0.017741, theta=-0.411561
-[14:18:00.033] Odometry x=0.079304, y=-0.017730, theta=-0.438118
-[14:18:00.082] After Reprojection Map nPoint:468 ,nCell:129 ,nMatches:52 ,distance between ekf and vo x:0.000009 ,z=0.000030,angle between two frames:0.000017
-[14:18:00.083] n deleted obs = 160 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =308 	 error init =0.291458 	 error end=0.291458
-[14:18:00.083] After pose optimization, distance between ekf and vo x:0.000009 ,z=0.000030,angle between two frames:0.000017
-[14:18:00.083] Update EKF and 3D points the number of feature in the new frame: 308 and number of obs: 308
-[14:18:00.085] need key frame pitch dis: 2.699843 translation dif:0.054104
-[14:18:00.085] Choose frame as a key frame Scene Depth mean:0.029665 ,depth min:-2.413023
-[14:18:00.085] frame process finished the id is: 162 the obs is:308 
-[14:18:00.130] Odometry x=0.079308, y=-0.017712, theta=-0.418490
-[14:18:00.231] Odometry x=0.079311, y=-0.017712, theta=-0.451115
-[14:18:00.307] After Reprojection Map nPoint:541 ,nCell:135 ,nMatches:60 ,distance between ekf and vo x:0.000007 ,z=0.000020,angle between two frames:0.000010
-[14:18:00.308] n deleted obs = 144 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =397 	 error init =0.599511 	 error end=0.090786
-[14:18:00.308] After pose optimization, distance between ekf and vo x:2.664734 ,z=-1.594079,angle between two frames:2.554626
-[14:18:00.308] frame process finished the id is: 162 the obs is:308 
-[14:18:00.333] Odometry x=0.079314, y=-0.017704, theta=-0.487681
-[14:18:00.431] Odometry x=0.079325, y=-0.017708, theta=-0.519653
-[14:18:00.500] After Reprojection Map nPoint:485 ,nCell:86 ,nMatches:60 ,distance between ekf and vo x:0.000000 ,z=0.000002,angle between two frames:0.000025
-[14:18:00.502] n deleted obs = 139 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =346 	 error init =0.799223 	 error end=0.139171
-[14:18:00.502] After pose optimization, distance between ekf and vo x:-0.053994 ,z=0.106352,angle between two frames:0.164918
-[14:18:00.502] frame process finished the id is: 162 the obs is:308 
-[14:18:00.533] Odometry x=0.079341, y=-0.017701, theta=-0.545888
-[14:18:00.630] Odometry x=0.079340, y=-0.017694, theta=-0.569538
-[14:18:00.662] After Reprojection Map nPoint:463 ,nCell:93 ,nMatches:57 ,distance between ekf and vo x:0.000000 ,z=0.000019,angle between two frames:0.000120
-[14:18:00.679] n deleted obs = 117 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =346 	 error init =0.511741 	 error end=0.055728
-[14:18:00.679] After pose optimization, distance between ekf and vo x:-0.139278 ,z=0.088459,angle between two frames:0.013602
-[14:18:00.679] Update EKF and 3D points the number of feature in the new frame: 346 and number of obs: 346
-[14:18:00.681] need key frame pitch dis: 2.552837 translation dif:0.197100
-[14:18:00.681] Choose frame as a key frame Scene Depth mean:-0.031416 ,depth min:-1.439866
-[14:18:00.682] frame process finished the id is: 165 the obs is:346 
-[14:18:00.730] Odometry x=-0.042048, y=0.059398, theta=-0.565498
-[14:18:00.832] Odometry x=-0.042042, y=0.059400, theta=-0.601135
-[14:18:00.928] Odometry x=-0.042039, y=0.059403, theta=-0.630621
-[14:18:00.960] After Reprojection Map nPoint:427 ,nCell:165 ,nMatches:40 ,distance between ekf and vo x:0.000016 ,z=0.000008,angle between two frames:0.000007
-[14:18:00.989] n deleted obs = 74 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =353 	 error init =0.036717 	 error end=0.036273
-[14:18:00.990] After pose optimization, distance between ekf and vo x:-0.007072 ,z=0.017104,angle between two frames:0.047599
-[14:18:00.990] frame process finished the id is: 165 the obs is:346 
-[14:18:01.031] Odometry x=-0.042037, y=0.059418, theta=-0.658150
-[14:18:01.128] Odometry x=-0.042031, y=0.059422, theta=-0.688270
-[14:18:01.172] After Reprojection Map nPoint:458 ,nCell:135 ,nMatches:52 ,distance between ekf and vo x:0.000026 ,z=0.000022,angle between two frames:0.000226
-[14:18:01.185] n deleted obs = 133 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =325 	 error init =0.050564 	 error end=0.044659
-[14:18:01.185] After pose optimization, distance between ekf and vo x:-0.018056 ,z=0.024151,angle between two frames:0.095166
-[14:18:01.185] frame process finished the id is: 165 the obs is:346 
-[14:18:01.232] Odometry x=-0.042021, y=0.059428, theta=-0.721509
-[14:18:01.330] Odometry x=-0.042019, y=0.059431, theta=-0.748162
-[14:18:01.333] After Reprojection Map nPoint:347 ,nCell:112 ,nMatches:38 ,distance between ekf and vo x:0.000029 ,z=0.000020,angle between two frames:0.000250
-[14:18:01.333] n deleted obs = 61 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =286 	 error init =0.024174 	 error end=0.024174
-[14:18:01.333] After pose optimization, distance between ekf and vo x:0.000029 ,z=0.000020,angle between two frames:0.000250
-[14:18:01.333] Update EKF and 3D points the number of feature in the new frame: 286 and number of obs: 286
-[14:18:01.335] need key frame pitch dis: 0.706743 translation dif:0.079140
-[14:18:01.335] Choose frame as a key frame Scene Depth mean:-0.034763 ,depth min:-1.238251
-[14:18:01.335] frame process finished the id is: 168 the obs is:286 
-[14:18:01.431] Odometry x=-0.042002, y=0.059434, theta=-0.770995
-[14:18:01.532] Odometry x=-0.041996, y=0.059436, theta=-0.800361
-[14:18:01.678] After Reprojection Map nPoint:386 ,nCell:106 ,nMatches:42 ,distance between ekf and vo x:0.000004 ,z=0.000000,angle between two frames:0.000047
-[14:18:01.789] n deleted obs = 89 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =297 	 error init =0.030419 	 error end=0.030419
-[14:18:01.789] After pose optimization, distance between ekf and vo x:0.000004 ,z=0.000000,angle between two frames:0.000047
-[14:18:01.789] Update EKF and 3D points the number of feature in the new frame: 297 and number of obs: 297
-[14:18:01.792] need key frame pitch dis: 0.717789 translation dif:0.088833
-[14:18:01.792] Choose frame as a key frame Scene Depth mean:-0.088586 ,depth min:-1.535118
-[14:18:01.795] frame process finished the id is: 169 the obs is:297 
-[14:18:02.136] After Reprojection Map nPoint:401 ,nCell:193 ,nMatches:34 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
-[14:18:02.137] n deleted obs = 116 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =285 	 error init =0.091820 	 error end=0.091820
-[14:18:02.137] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
-[14:18:02.137] Update EKF and 3D points the number of feature in the new frame: 285 and number of obs: 285
-[14:18:02.140] need key frame pitch dis: 2.317930 translation dif:0.164592
-[14:18:02.140] Choose frame as a key frame Scene Depth mean:-0.038439 ,depth min:-2.102304
-[14:18:02.153] frame process finished the id is: 170 the obs is:285 
-[14:18:02.522] After Reprojection Map nPoint:317 ,nCell:68 ,nMatches:43 ,distance between ekf and vo x:0.000006 ,z=-0.000001,angle between two frames:0.000005
-[14:18:02.523] n deleted obs = 91 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 	 error init =0.329886 	 error end=0.071153
-[14:18:02.523] After pose optimization, distance between ekf and vo x:-0.011445 ,z=0.047037,angle between two frames:0.314895
-[14:18:02.523] frame process finished the id is: 170 the obs is:285 
-[14:18:02.668] After Reprojection Map nPoint:326 ,nCell:79 ,nMatches:39 ,distance between ekf and vo x:0.000032 ,z=-0.000010,angle between two frames:0.000026
-[14:18:02.680] n deleted obs = 98 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =228 	 error init =0.063023 	 error end=0.043130
-[14:18:02.680] After pose optimization, distance between ekf and vo x:-0.013263 ,z=0.009766,angle between two frames:0.011898
-[14:18:02.680] Update EKF and 3D points the number of feature in the new frame: 228 and number of obs: 228
-[14:18:02.682] need key frame pitch dis: 3.836804 translation dif:0.224979
-[14:18:02.682] Choose frame as a key frame Scene Depth mean:-0.143504 ,depth min:-1.210018
-[14:18:02.682] frame process finished the id is: 172 the obs is:228 
-[14:18:02.884] After Reprojection Map nPoint:294 ,nCell:76 ,nMatches:36 ,distance between ekf and vo x:0.000002 ,z=-0.000001,angle between two frames:0.000001
-[14:18:02.921] n deleted obs = 66 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =228 	 error init =0.040014 	 error end=0.039815
-[14:18:02.921] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000902,angle between two frames:0.003789
-[14:18:02.921] Update EKF and 3D points the number of feature in the new frame: 228 and number of obs: 228
-[14:18:02.923] need key frame pitch dis: 3.576388 translation dif:0.196453
-[14:18:02.923] Choose frame as a key frame Scene Depth mean:-0.211435 ,depth min:-2.097322
-[14:18:02.937] frame process finished the id is: 173 the obs is:228 
-[14:18:03.356] After Reprojection Map nPoint:298 ,nCell:79 ,nMatches:36 ,distance between ekf and vo x:0.000026 ,z=-0.000003,angle between two frames:0.000050
-[14:18:03.770] n deleted obs = 50 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =248 	 error init =0.110872 	 error end=0.033288
-[14:18:03.770] After pose optimization, distance between ekf and vo x:-0.019060 ,z=-0.013658,angle between two frames:0.120049
-[14:18:03.770] frame process finished the id is: 173 the obs is:228 
-[14:18:03.992] After Reprojection Map nPoint:408 ,nCell:94 ,nMatches:50 ,distance between ekf and vo x:0.000005 ,z=-0.000005,angle between two frames:0.000007
-[14:18:03.993] n deleted obs = 77 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =331 	 error init =0.155138 	 error end=0.042299
-[14:18:03.993] After pose optimization, distance between ekf and vo x:-0.040108 ,z=-0.014812,angle between two frames:0.233844
-[14:18:03.993] frame process finished the id is: 173 the obs is:228 
+[14:54:17.017] frame process finished the id is: 0 the obs is:0 
+[14:54:17.105] frame process finished the id is: 1 the obs is:0 
+[14:54:17.205] Init: frame zero: 0.000000, 0.000000 0.000000
+[14:54:17.205] Init: Selected first frame. 
+[14:54:17.205] frame process finished the id is: 2 the obs is:0 
+[14:54:17.240] Init: px average disparity is:0.152753 ,While minimum is: 10.000000  KLT tracked : 109
+[14:54:17.240] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[14:54:17.240] frame process finished the id is: 3 the obs is:0 
+[14:54:17.344] Init: px average disparity is:0.221920 ,While minimum is: 10.000000  KLT tracked : 109
+[14:54:17.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[14:54:17.344] frame process finished the id is: 4 the obs is:0 
+[14:54:17.438] Init: px average disparity is:0.152235 ,While minimum is: 10.000000  KLT tracked : 109
+[14:54:17.438] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[14:54:17.438] frame process finished the id is: 5 the obs is:0 
+[14:54:17.545] Init: px average disparity is:0.197958 ,While minimum is: 10.000000  KLT tracked : 109
+[14:54:17.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[14:54:17.545] frame process finished the id is: 6 the obs is:0 
+[14:54:17.638] Init: px average disparity is:0.221111 ,While minimum is: 10.000000  KLT tracked : 109
+[14:54:17.638] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[14:54:17.638] frame process finished the id is: 7 the obs is:0 
+[14:54:17.746] Init: px average disparity is:0.224726 ,While minimum is: 10.000000  KLT tracked : 109
+[14:54:17.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[14:54:17.746] frame process finished the id is: 8 the obs is:0 
+[14:54:17.840] Init: px average disparity is:0.158653 ,While minimum is: 10.000000  KLT tracked : 109
+[14:54:17.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[14:54:17.840] frame process finished the id is: 9 the obs is:0 
+[14:54:17.936] Odometry x=0.000000, y=0.000000, theta=-0.000000
+[14:54:17.950] Init: px average disparity is:0.179287 ,While minimum is: 10.000000  KLT tracked : 109
+[14:54:17.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[14:54:17.951] frame process finished the id is: 10 the obs is:0 
+[14:54:18.028] Odometry x=0.000001, y=0.000003, theta=-0.033384
+[14:54:18.039] Init: px average disparity is:0.148421 ,While minimum is: 10.000000  KLT tracked : 109
+[14:54:18.039] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[14:54:18.039] frame process finished the id is: 11 the obs is:0 
+[14:54:18.126] Odometry x=0.000002, y=0.000007, theta=-0.059169
+[14:54:18.146] Init: px average disparity is:0.137330 ,While minimum is: 10.000000  KLT tracked : 109
+[14:54:18.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[14:54:18.146] frame process finished the id is: 12 the obs is:0 
+[14:54:18.229] Odometry x=0.000009, y=0.000010, theta=-0.083266
+[14:54:18.239] Init: px average disparity is:4.945143 ,While minimum is: 10.000000  KLT tracked : 109
+[14:54:18.239] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[14:54:18.239] frame process finished the id is: 13 the obs is:0 
+[14:54:18.327] Odometry x=0.000004, y=0.000024, theta=-0.090806
+[14:54:18.420] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:11.912397 ,While minimum is: 10.000000  KLT tracked: 109
+[14:54:18.420] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[14:54:18.420] frame process finished the id is: 14 the obs is:0 
+[14:54:18.430] Odometry x=0.000013, y=0.000033, theta=-0.115987
+[14:54:18.504] Init finished: Homography RANSAC (inlier) is:46 ,While 30 inliers minimum required.  px average disparity is:19.121424 ,While minimum is: 10.000000  KLT tracked: 109
+[14:54:18.504] Init: distance between the first and current frame is x:0.000053 ,z=0.047140,angle between two frames: -0.019482 
+[14:54:18.504] Init: Selected Second frame. 	 The number of features: 46 depth mean:0.000000 min:179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000
+[14:54:18.504] frame process finished the id is: 15 the obs is:46 
+[14:54:18.527] Odometry x=0.000053, y=0.047140, theta=-0.019482
+[14:54:18.614] After Reprojection Map nPoint:44 ,nCell:25 ,nMatches:12 ,distance between ekf and vo x:0.000222 ,z=-0.000068,angle between two frames:0.010889
+[14:54:18.614] n deleted obs = 22 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 	 error init =0.026117 	 error end=0.026117
+[14:54:18.614] After pose optimization, distance between ekf and vo x:0.000222 ,z=-0.000068,angle between two frames:0.010889
+[14:54:18.614] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22
+[14:54:18.614] need key frame pitch dis: 0.034566 translation dif:0.047084
+[14:54:18.614] frame process finished the id is: 16 the obs is:22 
+[14:54:18.629] Odometry x=0.000247, y=0.047084, theta=-0.034566
+[14:54:18.712] After Reprojection Map nPoint:21 ,nCell:12 ,nMatches:6 ,distance between ekf and vo x:-0.000021 ,z=0.000026,angle between two frames:0.000047
+[14:54:18.712] n deleted obs = 9 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.007593 	 error end=0.007593
+[14:54:18.712] After pose optimization, distance between ekf and vo x:-0.000021 ,z=0.000026,angle between two frames:0.000047
+[14:54:18.712] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
+[14:54:18.712] need key frame pitch dis: 0.040527 translation dif:0.047113
+[14:54:18.712] frame process finished the id is: 17 the obs is:12 
+[14:54:18.732] Odometry x=0.000227, y=0.047113, theta=-0.040527
+[14:54:18.823] After Reprojection Map nPoint:12 ,nCell:8 ,nMatches:4 ,distance between ekf and vo x:-0.000020 ,z=0.000050,angle between two frames:0.001460
+[14:54:18.823] n deleted obs = 10 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 	 error init =0.078066 	 error end=0.078066
+[14:54:18.823] After pose optimization, distance between ekf and vo x:-0.000020 ,z=0.000050,angle between two frames:0.001460
+[14:54:18.823] frame process finished the id is: 17 the obs is:12 
+[14:54:18.828] Odometry x=0.000236, y=0.047120, theta=-0.076638
+[14:54:18.927] Odometry x=0.000240, y=0.047123, theta=-0.106932
+[14:54:18.929] After Reprojection Map nPoint:12 ,nCell:10 ,nMatches:4 ,distance between ekf and vo x:-0.000007 ,z=0.000075,angle between two frames:0.001121
+[14:54:18.929] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 	 error init =0.107885 	 error end=0.107885
+[14:54:18.929] After pose optimization, distance between ekf and vo x:-0.000007 ,z=0.000075,angle between two frames:0.001121
+[14:54:18.929] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11
+[14:54:18.929] need key frame pitch dis: 0.095284 translation dif:0.047175
+[14:54:18.929] frame process finished the id is: 19 the obs is:11 
+[14:54:19.015] After Reprojection Map nPoint:11 ,nCell:8 ,nMatches:4 ,distance between ekf and vo x:0.000001 ,z=0.000017,angle between two frames:0.000460
+[14:54:19.015] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.024415 	 error end=0.024415
+[14:54:19.015] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000017,angle between two frames:0.000460
+[14:54:19.015] frame process finished the id is: 19 the obs is:11 
+[14:54:19.029] Odometry x=0.000249, y=0.047148, theta=-0.136488
+[14:54:19.113] After Reprojection Map nPoint:11 ,nCell:8 ,nMatches:4 ,distance between ekf and vo x:0.000002 ,z=0.000016,angle between two frames:0.000438
+[14:54:19.113] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.003593 	 error end=0.003593
+[14:54:19.113] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000016,angle between two frames:0.000438
+[14:54:19.113] frame process finished the id is: 19 the obs is:11 
+[14:54:19.126] Odometry x=0.000256, y=0.047155, theta=-0.170117
+[14:54:19.219] After Reprojection Map nPoint:11 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:0.000001 ,z=0.000005,angle between two frames:0.000158
+[14:54:19.219] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.005338 	 error end=0.005338
+[14:54:19.219] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000005,angle between two frames:0.000158
+[14:54:19.219] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[14:54:19.219] need key frame pitch dis: 0.199333 translation dif:0.047164
+[14:54:19.219] frame process finished the id is: 22 the obs is:10 
+[14:54:19.226] Odometry x=0.000263, y=0.047163, theta=-0.199333
+[14:54:19.330] Odometry x=0.000265, y=0.047166, theta=-0.232529
+[14:54:19.332] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:0.000002 ,z=0.000024,angle between two frames:0.000384
+[14:54:19.332] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.006127 	 error end=0.006127
+[14:54:19.332] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000024,angle between two frames:0.000384
+[14:54:19.332] frame process finished the id is: 22 the obs is:10 
+[14:54:19.426] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:0.000005 ,z=0.000025,angle between two frames:0.000398
+[14:54:19.426] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000120 	 error end=0.000120
+[14:54:19.426] After pose optimization, distance between ekf and vo x:0.000005 ,z=0.000025,angle between two frames:0.000398
+[14:54:19.426] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[14:54:19.426] need key frame pitch dis: 0.270087 translation dif:0.047193
+[14:54:19.426] Choose frame as a key frame Scene Depth mean:0.175471 ,depth min:-0.045412
+[14:54:19.426] frame process finished the id is: 24 the obs is:10 
+[14:54:19.427] Odometry x=0.000270, y=0.047192, theta=-0.270087
+[14:54:19.526] Odometry x=0.000276, y=0.047200, theta=-0.306402
+[14:54:19.527] After Reprojection Map nPoint:20 ,nCell:9 ,nMatches:3 ,distance between ekf and vo x:-0.000071 ,z=-0.000069,angle between two frames:0.000250
+[14:54:19.527] n deleted obs = 10 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.316362 	 error end=0.316362
+[14:54:19.527] After pose optimization, distance between ekf and vo x:-0.000071 ,z=-0.000069,angle between two frames:0.000250
+[14:54:19.527] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[14:54:19.527] need key frame pitch dis: 0.290474 translation dif:0.047147
+[14:54:19.527] Choose frame as a key frame Scene Depth mean:0.002830 ,depth min:-0.063514
+[14:54:19.527] frame process finished the id is: 25 the obs is:10 
+[14:54:19.628] Odometry x=0.000258, y=0.047192, theta=-0.333688
+[14:54:19.644] After Reprojection Map nPoint:20 ,nCell:12 ,nMatches:4 ,distance between ekf and vo x:0.000288 ,z=0.000477,angle between two frames:0.000594
+[14:54:19.644] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 	 error init =0.011332 	 error end=0.011332
+[14:54:19.644] After pose optimization, distance between ekf and vo x:0.000288 ,z=0.000477,angle between two frames:0.000594
+[14:54:19.644] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13
+[14:54:19.645] need key frame pitch dis: 2.681055 translation dif:0.136111
+[14:54:19.645] Choose frame as a key frame Scene Depth mean:0.006587 ,depth min:-0.039641
+[14:54:19.645] frame process finished the id is: 26 the obs is:13 
+[14:54:19.726] Odometry x=0.000326, y=0.047301, theta=-0.354805
+[14:54:19.755] After Reprojection Map nPoint:23 ,nCell:12 ,nMatches:4 ,distance between ekf and vo x:0.000167 ,z=0.000261,angle between two frames:0.001750
+[14:54:19.755] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 	 error init =0.060890 	 error end=0.060780
+[14:54:19.755] After pose optimization, distance between ekf and vo x:0.000881 ,z=0.000036,angle between two frames:0.001847
+[14:54:19.755] Update EKF and 3D points the number of feature in the new frame: 19 and number of obs: 19
+[14:54:19.756] need key frame pitch dis: 3.466740 translation dif:0.115690
+[14:54:19.756] Choose frame as a key frame Scene Depth mean:-0.018072 ,depth min:-0.044756
+[14:54:19.756] frame process finished the id is: 27 the obs is:19 
+[14:54:19.828] Odometry x=0.000585, y=0.047371, theta=-0.375975
+[14:54:19.866] After Reprojection Map nPoint:27 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:0.000170 ,z=0.000197,angle between two frames:0.001295
+[14:54:19.866] n deleted obs = 11 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 	 error init =0.018018 	 error end=0.018018
+[14:54:19.866] After pose optimization, distance between ekf and vo x:0.000170 ,z=0.000197,angle between two frames:0.001295
+[14:54:19.866] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16
+[14:54:19.866] need key frame pitch dis: 3.502776 translation dif:0.067176
+[14:54:19.866] Choose frame as a key frame Scene Depth mean:0.147456 ,depth min:-0.037518
+[14:54:19.866] frame process finished the id is: 28 the obs is:16 
+[14:54:19.926] Odometry x=0.000734, y=0.047546, theta=-0.378829
+[14:54:19.962] After Reprojection Map nPoint:34 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000064 ,z=0.000028,angle between two frames:0.000338
+[14:54:19.963] n deleted obs = 9 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 	 error init =0.258612 	 error end=0.258612
+[14:54:19.963] After pose optimization, distance between ekf and vo x:0.000064 ,z=0.000028,angle between two frames:0.000338
+[14:54:19.963] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25
+[14:54:19.963] need key frame pitch dis: 3.428077 translation dif:0.103991
+[14:54:19.963] Choose frame as a key frame Scene Depth mean:0.144530 ,depth min:-0.451551
+[14:54:19.963] frame process finished the id is: 29 the obs is:25 
+[14:54:20.028] Odometry x=0.000798, y=0.047567, theta=-0.382598
+[14:54:20.052] After Reprojection Map nPoint:47 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:0.000004 ,z=0.000005,angle between two frames:0.000011
+[14:54:20.054] n deleted obs = 20 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 	 error init =0.038628 	 error end=0.038239
+[14:54:20.054] After pose optimization, distance between ekf and vo x:-0.000145 ,z=-0.000112,angle between two frames:0.004012
+[14:54:20.054] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27
+[14:54:20.055] need key frame pitch dis: 0.287961 translation dif:0.274969
+[14:54:20.055] Choose frame as a key frame Scene Depth mean:-0.012413 ,depth min:-0.403853
+[14:54:20.055] frame process finished the id is: 30 the obs is:27 
+[14:54:20.126] Odometry x=0.000679, y=0.047475, theta=-0.384137
+[14:54:20.162] After Reprojection Map nPoint:71 ,nCell:20 ,nMatches:9 ,distance between ekf and vo x:0.000013 ,z=0.000010,angle between two frames:0.000212
+[14:54:20.162] n deleted obs = 34 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 	 error init =0.157086 	 error end=0.057609
+[14:54:20.162] After pose optimization, distance between ekf and vo x:0.017944 ,z=-0.033712,angle between two frames:0.771400
+[14:54:20.162] frame process finished the id is: 30 the obs is:27 
+[14:54:20.228] Odometry x=0.000682, y=0.047481, theta=-0.422430
+[14:54:20.275] After Reprojection Map nPoint:53 ,nCell:18 ,nMatches:7 ,distance between ekf and vo x:0.000032 ,z=0.000039,angle between two frames:0.000041
+[14:54:20.275] n deleted obs = 18 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 	 error init =0.118154 	 error end=0.064805
+[14:54:20.275] After pose optimization, distance between ekf and vo x:-0.013412 ,z=-0.017342,angle between two frames:0.398810
+[14:54:20.275] frame process finished the id is: 30 the obs is:27 
+[14:54:20.326] Odometry x=0.000684, y=0.047484, theta=-0.459092
+[14:54:20.389] After Reprojection Map nPoint:56 ,nCell:22 ,nMatches:7 ,distance between ekf and vo x:0.000016 ,z=0.000012,angle between two frames:0.000147
+[14:54:20.389] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 	 error init =0.169727 	 error end=0.065500
+[14:54:20.389] After pose optimization, distance between ekf and vo x:-0.027245 ,z=-0.014687,angle between two frames:0.498360
+[14:54:20.389] frame process finished the id is: 30 the obs is:27 
+[14:54:20.428] Odometry x=0.000699, y=0.047487, theta=-0.489686
+[14:54:20.500] After Reprojection Map nPoint:54 ,nCell:22 ,nMatches:7 ,distance between ekf and vo x:0.000015 ,z=0.000010,angle between two frames:0.000135
+[14:54:20.500] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =47 	 error init =0.003153 	 error end=0.003153
+[14:54:20.500] After pose optimization, distance between ekf and vo x:0.000015 ,z=0.000010,angle between two frames:0.000135
+[14:54:20.500] Update EKF and 3D points the number of feature in the new frame: 47 and number of obs: 47
+[14:54:20.501] need key frame pitch dis: 3.542908 translation dif:0.215977
+[14:54:20.501] Choose frame as a key frame Scene Depth mean:-0.000590 ,depth min:-0.422220
+[14:54:20.501] frame process finished the id is: 34 the obs is:47 
+[14:54:20.526] Odometry x=0.000714, y=0.047500, theta=-0.493649
+[14:54:20.595] After Reprojection Map nPoint:82 ,nCell:13 ,nMatches:12 ,distance between ekf and vo x:0.000008 ,z=0.000003,angle between two frames:0.000023
+[14:54:20.595] n deleted obs = 47 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 	 error init =0.439152 	 error end=0.209551
+[14:54:20.595] After pose optimization, distance between ekf and vo x:-0.003518 ,z=-0.005790,angle between two frames:0.026336
+[14:54:20.595] frame process finished the id is: 34 the obs is:47 
+[14:54:20.628] Odometry x=0.000722, y=0.047502, theta=-0.524612
+[14:54:20.692] After Reprojection Map nPoint:61 ,nCell:14 ,nMatches:9 ,distance between ekf and vo x:0.000007 ,z=0.000002,angle between two frames:0.000010
+[14:54:20.695] n deleted obs = 23 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 	 error init =0.012770 	 error end=0.012115
+[14:54:20.695] After pose optimization, distance between ekf and vo x:-0.001106 ,z=-0.000850,angle between two frames:0.023408
+[14:54:20.695] frame process finished the id is: 34 the obs is:47 
+[14:54:20.730] Odometry x=0.000732, y=0.047503, theta=-0.546693
+[14:54:20.792] After Reprojection Map nPoint:88 ,nCell:18 ,nMatches:15 ,distance between ekf and vo x:0.000010 ,z=0.000003,angle between two frames:0.000016
+[14:54:20.793] n deleted obs = 22 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =66 	 error init =4.818979 	 error end=0.258196
+[14:54:20.793] After pose optimization, distance between ekf and vo x:2.184906 ,z=1.737040,angle between two frames:2.938534
+[14:54:20.793] frame process finished the id is: 34 the obs is:47 
+[14:54:20.828] Odometry x=0.000739, y=0.047507, theta=-0.570371
+[14:54:20.901] After Reprojection Map nPoint:87 ,nCell:13 ,nMatches:12 ,distance between ekf and vo x:0.000006 ,z=0.000001,angle between two frames:0.000009
+[14:54:20.902] n deleted obs = 37 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =50 	 error init =0.057842 	 error end=0.055419
+[14:54:20.902] After pose optimization, distance between ekf and vo x:-0.000988 ,z=-0.002408,angle between two frames:0.046339
+[14:54:20.902] frame process finished the id is: 34 the obs is:47 
+[14:54:20.926] Odometry x=0.000745, y=0.047510, theta=-0.595427
+[14:54:20.998] After Reprojection Map nPoint:77 ,nCell:16 ,nMatches:13 ,distance between ekf and vo x:0.000006 ,z=0.000001,angle between two frames:0.000005
+[14:54:20.998] n deleted obs = 30 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =47 	 error init =0.235329 	 error end=0.057904
+[14:54:20.998] After pose optimization, distance between ekf and vo x:-0.019773 ,z=-0.028402,angle between two frames:0.634446
+[14:54:20.998] frame process finished the id is: 34 the obs is:47 
+[14:54:21.028] Odometry x=0.000753, y=0.047511, theta=-0.620309
+[14:54:21.093] After Reprojection Map nPoint:63 ,nCell:12 ,nMatches:9 ,distance between ekf and vo x:0.000005 ,z=0.000001,angle between two frames:0.000002
+[14:54:21.096] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =63 	 error init =0.000096 	 error end=0.000095
+[14:54:21.096] After pose optimization, distance between ekf and vo x:-0.000056 ,z=0.000094,angle between two frames:0.000760
+[14:54:21.096] Update EKF and 3D points the number of feature in the new frame: 63 and number of obs: 63
+[14:54:21.096] need key frame pitch dis: 0.555964 translation dif:0.096206
+[14:54:21.096] Choose frame as a key frame Scene Depth mean:0.052905 ,depth min:-0.410202
+[14:54:21.096] frame process finished the id is: 40 the obs is:63 
+[14:54:21.127] Odometry x=0.000708, y=0.047596, theta=-0.624484
+[14:54:21.218] After Reprojection Map nPoint:76 ,nCell:12 ,nMatches:10 ,distance between ekf and vo x:0.000014 ,z=-0.000007,angle between two frames:0.000295
+[14:54:21.219] n deleted obs = 18 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =58 	 error init =0.073928 	 error end=0.060493
+[14:54:21.219] After pose optimization, distance between ekf and vo x:-0.006177 ,z=-0.002089,angle between two frames:0.126436
+[14:54:21.219] frame process finished the id is: 40 the obs is:63 
+[14:54:21.226] Odometry x=0.000720, y=0.047599, theta=-0.662872
+[14:54:21.314] After Reprojection Map nPoint:86 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.000010
+[14:54:21.315] n deleted obs = 38 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 	 error init =0.058936 	 error end=0.058936
+[14:54:21.315] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.000010
+[14:54:21.315] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48
+[14:54:21.315] need key frame pitch dis: 0.651414 translation dif:0.039945
+[14:54:21.315] Choose frame as a key frame Scene Depth mean:0.040038 ,depth min:-0.419961
+[14:54:21.315] frame process finished the id is: 42 the obs is:48 
+[14:54:21.326] Odometry x=0.000723, y=0.047601, theta=-0.666553
+[14:54:21.423] After Reprojection Map nPoint:108 ,nCell:19 ,nMatches:15 ,distance between ekf and vo x:0.000005 ,z=0.000003,angle between two frames:0.000102
+[14:54:21.425] n deleted obs = 41 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =67 	 error init =0.288397 	 error end=0.079066
+[14:54:21.425] After pose optimization, distance between ekf and vo x:-0.005754 ,z=0.007815,angle between two frames:0.421562
+[14:54:21.425] frame process finished the id is: 42 the obs is:48 
+[14:54:21.429] Odometry x=0.000724, y=0.047601, theta=-0.698738
+[14:54:21.522] Odometry x=0.000728, y=0.047607, theta=-0.727005
+[14:54:21.540] After Reprojection Map nPoint:116 ,nCell:22 ,nMatches:15 ,distance between ekf and vo x:0.000003 ,z=0.000000,angle between two frames:0.000002
+[14:54:21.545] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =112 	 error init =0.000916 	 error end=0.000613
+[14:54:21.545] After pose optimization, distance between ekf and vo x:-0.000086 ,z=0.000084,angle between two frames:0.050877
+[14:54:21.545] frame process finished the id is: 42 the obs is:48 
+[14:54:21.618] Odometry x=0.000728, y=0.047607, theta=-0.762099
+[14:54:21.646] After Reprojection Map nPoint:83 ,nCell:17 ,nMatches:10 ,distance between ekf and vo x:0.000003 ,z=-0.000000,angle between two frames:0.000008
+[14:54:21.646] n deleted obs = 20 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =63 	 error init =0.213214 	 error end=0.113779
+[14:54:21.646] After pose optimization, distance between ekf and vo x:-0.020201 ,z=0.018617,angle between two frames:0.551873
+[14:54:21.646] frame process finished the id is: 42 the obs is:48 
+[14:54:21.722] Odometry x=0.000739, y=0.047619, theta=-0.791353
+[14:54:21.761] After Reprojection Map nPoint:88 ,nCell:14 ,nMatches:12 ,distance between ekf and vo x:0.000012 ,z=-0.000002,angle between two frames:0.000006
+[14:54:21.762] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =64 	 error init =0.003894 	 error end=0.003894
+[14:54:21.762] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000002,angle between two frames:0.000006
+[14:54:21.762] Update EKF and 3D points the number of feature in the new frame: 64 and number of obs: 64
+[14:54:21.763] need key frame pitch dis: 0.860215 translation dif:0.019216
+[14:54:21.763] Choose frame as a key frame Scene Depth mean:0.008543 ,depth min:-0.327669
+[14:54:21.763] frame process finished the id is: 46 the obs is:64 
+[14:54:21.820] Odometry x=0.000756, y=0.047622, theta=-0.795728
+[14:54:21.928] Odometry x=0.000759, y=0.047629, theta=-0.833463
+[14:54:21.939] After Reprojection Map nPoint:140 ,nCell:28 ,nMatches:18 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000011
+[14:54:21.977] n deleted obs = 48 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =92 	 error init =0.069463 	 error end=0.061306
+[14:54:21.977] After pose optimization, distance between ekf and vo x:-0.004162 ,z=-0.007763,angle between two frames:0.042063
+[14:54:21.977] frame process finished the id is: 46 the obs is:64 
+[14:54:22.021] Odometry x=0.000772, y=0.047620, theta=-0.866023
+[14:54:22.119] Odometry x=0.000782, y=0.047613, theta=-0.891817
+[14:54:22.146] After Reprojection Map nPoint:83 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:0.000002 ,z=-0.000001,angle between two frames:0.000006
+[14:54:22.147] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =80 	 error init =0.012436 	 error end=0.012376
+[14:54:22.147] After pose optimization, distance between ekf and vo x:-0.001511 ,z=-0.000497,angle between two frames:0.043132
+[14:54:22.147] frame process finished the id is: 46 the obs is:64 
+[14:54:22.221] Odometry x=0.000790, y=0.047613, theta=-0.921535
+[14:54:22.265] After Reprojection Map nPoint:88 ,nCell:18 ,nMatches:11 ,distance between ekf and vo x:0.000037 ,z=-0.000024,angle between two frames:0.000173
+[14:54:22.265] n deleted obs = 20 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =68 	 error init =0.007688 	 error end=0.007688
+[14:54:22.265] After pose optimization, distance between ekf and vo x:0.000037 ,z=-0.000024,angle between two frames:0.000173
+[14:54:22.265] Update EKF and 3D points the number of feature in the new frame: 68 and number of obs: 68
+[14:54:22.267] need key frame pitch dis: 0.959650 translation dif:0.019134
+[14:54:22.267] Choose frame as a key frame Scene Depth mean:0.026508 ,depth min:-0.342568
+[14:54:22.267] frame process finished the id is: 49 the obs is:68 
+[14:54:22.320] Odometry x=0.000829, y=0.047592, theta=-0.926551
+[14:54:22.430] Odometry x=0.000832, y=0.047592, theta=-0.966014
+[14:54:22.439] After Reprojection Map nPoint:65 ,nCell:20 ,nMatches:8 ,distance between ekf and vo x:0.000005 ,z=-0.000003,angle between two frames:0.000052
+[14:54:22.439] n deleted obs = 27 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 	 error init =0.243308 	 error end=0.196810
+[14:54:22.439] After pose optimization, distance between ekf and vo x:-0.004321 ,z=-0.002820,angle between two frames:0.143039
+[14:54:22.439] frame process finished the id is: 49 the obs is:68 
+[14:54:22.520] Odometry x=0.000853, y=0.047581, theta=-1.001766
+[14:54:22.593] After Reprojection Map nPoint:76 ,nCell:12 ,nMatches:10 ,distance between ekf and vo x:0.000105 ,z=0.000042,angle between two frames:0.000507
+[14:54:22.593] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =64 	 error init =0.047560 	 error end=0.045176
+[14:54:22.593] After pose optimization, distance between ekf and vo x:-0.003557 ,z=-0.001418,angle between two frames:0.089974
+[14:54:22.593] frame process finished the id is: 49 the obs is:68 
+[14:54:22.622] Odometry x=0.000862, y=0.047577, theta=-1.028350
+[14:54:22.711] After Reprojection Map nPoint:70 ,nCell:12 ,nMatches:10 ,distance between ekf and vo x:0.000104 ,z=0.000035,angle between two frames:0.000519
+[14:54:22.712] n deleted obs = 18 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =52 	 error init =0.086349 	 error end=0.058874
+[14:54:22.712] After pose optimization, distance between ekf and vo x:-0.037146 ,z=-0.015374,angle between two frames:0.301735
+[14:54:22.712] frame process finished the id is: 49 the obs is:68 
+[14:54:22.719] Odometry x=0.000864, y=0.047567, theta=-1.053823
+[14:54:22.821] Odometry x=0.000866, y=0.047563, theta=-1.083592
+[14:54:22.828] After Reprojection Map nPoint:66 ,nCell:16 ,nMatches:8 ,distance between ekf and vo x:0.000094 ,z=0.000027,angle between two frames:0.000499
+[14:54:22.828] n deleted obs = 36 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 	 error init =0.245527 	 error end=0.169957
+[14:54:22.828] After pose optimization, distance between ekf and vo x:-0.031977 ,z=-0.014198,angle between two frames:0.214066
+[14:54:22.828] frame process finished the id is: 49 the obs is:68 
+[14:54:22.919] Odometry x=0.000885, y=0.047564, theta=-1.110055
+[14:54:22.940] After Reprojection Map nPoint:78 ,nCell:17 ,nMatches:9 ,distance between ekf and vo x:0.000094 ,z=0.000071,angle between two frames:0.000646
+[14:54:22.940] n deleted obs = 49 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 	 error init =0.422378 	 error end=0.422378
+[14:54:22.940] After pose optimization, distance between ekf and vo x:0.000094 ,z=0.000071,angle between two frames:0.000646
+[14:54:22.940] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29
+[14:54:22.941] need key frame pitch dis: 1.004893 translation dif:0.055486
+[14:54:22.941] Choose frame as a key frame Scene Depth mean:0.014962 ,depth min:-0.163052
+[14:54:22.941] frame process finished the id is: 54 the obs is:29 
+[14:54:23.021] Odometry x=0.000954, y=0.047624, theta=-1.090550
+[14:54:23.036] After Reprojection Map nPoint:88 ,nCell:18 ,nMatches:14 ,distance between ekf and vo x:0.000001 ,z=-0.000001,angle between two frames:0.000023
+[14:54:23.036] n deleted obs = 46 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =42 	 error init =0.127944 	 error end=0.119840
+[14:54:23.036] After pose optimization, distance between ekf and vo x:-0.002627 ,z=-0.001822,angle between two frames:0.059391
+[14:54:23.036] frame process finished the id is: 54 the obs is:29 
+[14:54:23.123] Odometry x=0.000955, y=0.047620, theta=-1.118022
+[14:54:23.153] After Reprojection Map nPoint:88 ,nCell:21 ,nMatches:11 ,distance between ekf and vo x:0.000100 ,z=0.000010,angle between two frames:0.000390
+[14:54:23.156] n deleted obs = 33 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =55 	 error init =0.099820 	 error end=0.084622
+[14:54:23.156] After pose optimization, distance between ekf and vo x:-0.016136 ,z=0.003825,angle between two frames:0.163446
+[14:54:23.156] frame process finished the id is: 54 the obs is:29 
+[14:54:23.219] Odometry x=0.000962, y=0.047619, theta=-1.142759
+[14:54:23.266] After Reprojection Map nPoint:80 ,nCell:17 ,nMatches:9 ,distance between ekf and vo x:0.000092 ,z=-0.000065,angle between two frames:0.000147
+[14:54:23.267] n deleted obs = 25 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =55 	 error init =0.184607 	 error end=0.118810
+[14:54:23.267] After pose optimization, distance between ekf and vo x:-0.012197 ,z=-0.001537,angle between two frames:0.164144
+[14:54:23.267] frame process finished the id is: 54 the obs is:29 
+[14:54:23.321] Odometry x=0.000966, y=0.047620, theta=-1.171830
+[14:54:23.381] After Reprojection Map nPoint:67 ,nCell:24 ,nMatches:8 ,distance between ekf and vo x:0.000072 ,z=-0.000047,angle between two frames:0.000236
+[14:54:23.384] n deleted obs = 10 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =57 	 error init =0.008247 	 error end=0.003512
+[14:54:23.384] After pose optimization, distance between ekf and vo x:0.003000 ,z=-0.003124,angle between two frames:0.090817
+[14:54:23.384] frame process finished the id is: 54 the obs is:29 
+[14:54:23.423] Odometry x=0.000966, y=0.047619, theta=-1.206984
+[14:54:23.494] After Reprojection Map nPoint:65 ,nCell:24 ,nMatches:8 ,distance between ekf and vo x:0.000037 ,z=-0.000018,angle between two frames:0.000122
+[14:54:23.496] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =51 	 error init =0.002696 	 error end=0.001924
+[14:54:23.496] After pose optimization, distance between ekf and vo x:-0.001454 ,z=-0.001288,angle between two frames:0.032309
+[14:54:23.496] frame process finished the id is: 54 the obs is:29 
+[14:54:23.520] Odometry x=0.000978, y=0.047619, theta=-1.233297
+[14:54:23.599] After Reprojection Map nPoint:70 ,nCell:21 ,nMatches:10 ,distance between ekf and vo x:0.000018 ,z=-0.000007,angle between two frames:0.000105
+[14:54:23.599] n deleted obs = 21 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =49 	 error init =0.355966 	 error end=0.027159
+[14:54:23.599] After pose optimization, distance between ekf and vo x:-0.013455 ,z=-0.007557,angle between two frames:0.341697
+[14:54:23.599] frame process finished the id is: 54 the obs is:29 
+[14:54:23.623] Odometry x=0.000983, y=0.047612, theta=-1.264552
+[14:54:23.700] After Reprojection Map nPoint:66 ,nCell:19 ,nMatches:9 ,distance between ekf and vo x:0.000017 ,z=0.000001,angle between two frames:0.000075
+[14:54:23.700] n deleted obs = 28 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 	 error init =0.188956 	 error end=0.092442
+[14:54:23.700] After pose optimization, distance between ekf and vo x:-0.000826 ,z=-0.001610,angle between two frames:0.074292
+[14:54:23.700] frame process finished the id is: 54 the obs is:29 
+[14:54:23.720] Odometry x=0.000981, y=0.047610, theta=-1.295400
+[14:54:23.808] After Reprojection Map nPoint:54 ,nCell:10 ,nMatches:9 ,distance between ekf and vo x:0.000044 ,z=-0.000029,angle between two frames:0.000174
+[14:54:23.808] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =46 	 error init =0.457182 	 error end=0.016283
+[14:54:23.808] After pose optimization, distance between ekf and vo x:0.018933 ,z=-0.008310,angle between two frames:0.609622
+[14:54:23.808] frame process finished the id is: 54 the obs is:29 
+[14:54:23.822] Odometry x=0.000989, y=0.047599, theta=-1.329081
+[14:54:23.923] Odometry x=0.000995, y=0.047600, theta=-1.355867
+[14:54:23.924] After Reprojection Map nPoint:74 ,nCell:27 ,nMatches:10 ,distance between ekf and vo x:0.000052 ,z=-0.000064,angle between two frames:0.000184
+[14:54:23.927] n deleted obs = 22 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =52 	 error init =0.353205 	 error end=0.082966
+[14:54:23.927] After pose optimization, distance between ekf and vo x:-0.039029 ,z=-0.014205,angle between two frames:0.615245
+[14:54:23.927] frame process finished the id is: 54 the obs is:29 
+[14:54:24.020] Odometry x=0.001002, y=0.047597, theta=-1.383019
+[14:54:24.039] After Reprojection Map nPoint:75 ,nCell:28 ,nMatches:8 ,distance between ekf and vo x:0.000038 ,z=-0.000049,angle between two frames:0.000169
+[14:54:24.039] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =61 	 error init =0.181115 	 error end=0.025538
+[14:54:24.039] After pose optimization, distance between ekf and vo x:-0.050850 ,z=0.017569,angle between two frames:0.364917
+[14:54:24.039] frame process finished the id is: 54 the obs is:29 
+[14:54:24.123] Odometry x=0.001009, y=0.047590, theta=-1.411627
+[14:54:24.151] After Reprojection Map nPoint:72 ,nCell:24 ,nMatches:10 ,distance between ekf and vo x:0.000023 ,z=-0.000036,angle between two frames:0.000183
+[14:54:24.151] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =68 	 error init =0.507586 	 error end=0.072033
+[14:54:24.151] After pose optimization, distance between ekf and vo x:0.305686 ,z=7.517312,angle between two frames:0.111137
+[14:54:24.151] frame process finished the id is: 54 the obs is:29 
+[14:54:24.227] Odometry x=0.001014, y=0.047588, theta=-1.444109
+[14:54:24.247] After Reprojection Map nPoint:80 ,nCell:29 ,nMatches:11 ,distance between ekf and vo x:0.000001 ,z=0.000000,angle between two frames:0.000023
+[14:54:24.250] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =72 	 error init =2.083615 	 error end=0.013318
+[14:54:24.250] After pose optimization, distance between ekf and vo x:-1.448216 ,z=1.636250,angle between two frames:1.933260
+[14:54:24.250] frame process finished the id is: 54 the obs is:29 
+[14:54:24.323] Odometry x=0.001022, y=0.047589, theta=-1.475826
+[14:54:24.345] After Reprojection Map nPoint:60 ,nCell:27 ,nMatches:7 ,distance between ekf and vo x:0.000001 ,z=-0.000003,angle between two frames:0.000020
+[14:54:24.345] n deleted obs = 9 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =51 	 error init =0.537776 	 error end=0.073181
+[14:54:24.345] After pose optimization, distance between ekf and vo x:-0.027975 ,z=0.032087,angle between two frames:3.746553
+[14:54:24.345] frame process finished the id is: 54 the obs is:29 
+[14:54:24.426] Odometry x=0.001025, y=0.047592, theta=-1.497506
+[14:54:24.441] After Reprojection Map nPoint:76 ,nCell:31 ,nMatches:10 ,distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000017
+[14:54:24.442] n deleted obs = 18 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =58 	 error init =2.111368 	 error end=0.083466
+[14:54:24.442] After pose optimization, distance between ekf and vo x:0.033614 ,z=0.010277,angle between two frames:0.932374
+[14:54:24.442] frame process finished the id is: 54 the obs is:29 
+[14:54:24.529] Odometry x=0.001023, y=0.047595, theta=-1.514643
+[14:54:24.536] After Reprojection Map nPoint:56 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000017
+[14:54:24.536] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 	 error init =0.019648 	 error end=0.019648
+[14:54:24.536] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000017
+[14:54:24.536] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48
+[14:54:24.537] need key frame pitch dis: 1.416341 translation dif:0.057128
+[14:54:24.537] Choose frame as a key frame Scene Depth mean:-0.011206 ,depth min:-1.373119
+[14:54:24.537] frame process finished the id is: 69 the obs is:48 
+[14:54:24.636] Odometry x=0.001022, y=0.047591, theta=-1.547561
+[14:54:24.707] After Reprojection Map nPoint:78 ,nCell:19 ,nMatches:14 ,distance between ekf and vo x:0.000011 ,z=-0.000041,angle between two frames:0.000960
+[14:54:24.725] Odometry x=0.001031, y=0.047589, theta=-1.578472
+[14:54:24.728] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =74 	 error init =0.010865 	 error end=0.002905
+[14:54:24.728] After pose optimization, distance between ekf and vo x:0.059602 ,z=0.004596,angle between two frames:0.287674
+[14:54:24.728] frame process finished the id is: 69 the obs is:48 
+[14:54:24.834] Odometry x=0.001033, y=0.047595, theta=-1.600480
+[14:54:24.922] After Reprojection Map nPoint:83 ,nCell:27 ,nMatches:11 ,distance between ekf and vo x:-0.000001 ,z=-0.000032,angle between two frames:0.000754
+[14:54:24.922] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =59 	 error init =0.738940 	 error end=0.063394
+[14:54:24.922] After pose optimization, distance between ekf and vo x:-48.407113 ,z=150.861675,angle between two frames:0.098758
+[14:54:24.922] frame process finished the id is: 69 the obs is:48 
+[14:54:24.923] Odometry x=0.001041, y=0.047575, theta=-1.625701
+[14:54:25.020] Odometry x=0.001027, y=0.047566, theta=-1.658397
+[14:54:25.033] After Reprojection Map nPoint:84 ,nCell:27 ,nMatches:12 ,distance between ekf and vo x:-0.000002 ,z=-0.000016,angle between two frames:0.000397
+[14:54:25.033] n deleted obs = 20 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =64 	 error init =0.471302 	 error end=0.062858
+[14:54:25.033] After pose optimization, distance between ekf and vo x:-0.014328 ,z=-0.007226,angle between two frames:0.977569
+[14:54:25.033] frame process finished the id is: 69 the obs is:48 
+[14:54:25.120] Odometry x=0.001045, y=0.047551, theta=-1.691794
+[14:54:25.140] After Reprojection Map nPoint:48 ,nCell:20 ,nMatches:11 ,distance between ekf and vo x:-0.000002 ,z=-0.000013,angle between two frames:0.000322
+[14:54:25.140] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =44 	 error init =0.006118 	 error end=0.002280
+[14:54:25.140] After pose optimization, distance between ekf and vo x:0.006023 ,z=0.027901,angle between two frames:0.646537
+[14:54:25.140] frame process finished the id is: 69 the obs is:48 
+[14:54:25.222] Odometry x=0.001047, y=0.047543, theta=-1.719184
+[14:54:25.246] After Reprojection Map nPoint:43 ,nCell:17 ,nMatches:8 ,distance between ekf and vo x:-0.000005 ,z=-0.000029,angle between two frames:0.000670
+[14:54:25.246] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 	 error init =0.001410 	 error end=0.001294
+[14:54:25.246] After pose optimization, distance between ekf and vo x:0.008548 ,z=-0.004678,angle between two frames:0.025762
+[14:54:25.246] frame process finished the id is: 69 the obs is:48 
+[14:54:25.326] Odometry x=0.001049, y=0.047548, theta=-1.747682
+[14:54:25.353] After Reprojection Map nPoint:47 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:-0.000005 ,z=-0.000027,angle between two frames:0.000652
+[14:54:25.355] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =46 	 error init =0.000238 	 error end=0.000238
+[14:54:25.355] After pose optimization, distance between ekf and vo x:0.000126 ,z=0.000168,angle between two frames:0.003305
+[14:54:25.355] Update EKF and 3D points the number of feature in the new frame: 46 and number of obs: 46
+[14:54:25.356] need key frame pitch dis: 1.723633 translation dif:0.047702
+[14:54:25.356] Choose frame as a key frame Scene Depth mean:-0.021977 ,depth min:-1.512767
+[14:54:25.356] frame process finished the id is: 75 the obs is:46 
+[14:54:25.420] Odometry x=0.001159, y=0.047688, theta=-1.723633
+[14:54:25.522] Odometry x=0.001160, y=0.047679, theta=-1.737890
+[14:54:25.628] Odometry x=0.001161, y=0.047677, theta=-1.777664
+[14:54:25.672] After Reprojection Map nPoint:46 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:0.000002 ,z=-0.000007,angle between two frames:0.000142
+[14:54:25.672] n deleted obs = 18 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 	 error init =0.048629 	 error end=0.048629
+[14:54:25.672] After pose optimization, distance between ekf and vo x:0.000002 ,z=-0.000007,angle between two frames:0.000142
+[14:54:25.672] Update EKF and 3D points the number of feature in the new frame: 28 and number of obs: 28
+[14:54:25.673] need key frame pitch dis: 1.734669 translation dif:0.047687
+[14:54:25.673] Choose frame as a key frame Scene Depth mean:0.081418 ,depth min:-0.122368
+[14:54:25.673] frame process finished the id is: 76 the obs is:28 
+[14:54:25.720] Odometry x=0.001165, y=0.047673, theta=-1.734669
+[14:54:25.821] Odometry x=0.001170, y=0.047666, theta=-1.771591
+[14:54:25.844] After Reprojection Map nPoint:28 ,nCell:11 ,nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000002
+[14:54:25.927] Odometry x=0.001176, y=0.047651, theta=-1.799563
+[14:54:26.020] Odometry x=0.001174, y=0.047643, theta=-1.830122
+[14:54:26.123] n deleted obs = 11 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 	 error init =0.020427 	 error end=0.020427
+[14:54:26.123] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000002
+[14:54:26.123] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17
+[14:54:26.123] need key frame pitch dis: 1.750828 translation dif:0.047674
+[14:54:26.123] Choose frame as a key frame Scene Depth mean:0.124507 ,depth min:-0.120230
+[14:54:26.123] frame process finished the id is: 77 the obs is:17 
+[14:54:26.127] Odometry x=0.001172, y=0.047659, theta=-1.750828
+[14:54:26.219] Odometry x=0.001175, y=0.047651, theta=-1.762124
+[14:54:26.326] Odometry x=0.001173, y=0.047661, theta=-1.779055
+[14:54:26.420] Odometry x=0.001166, y=0.047659, theta=-1.811895
+[14:54:26.521] Odometry x=0.001175, y=0.047667, theta=-1.844874
+[14:54:26.536] After Reprojection Map nPoint:17 ,nCell:10 ,nMatches:4 ,distance between ekf and vo x:-0.000007 ,z=-0.000007,angle between two frames:0.000021
+[14:54:26.626] Odometry x=0.001182, y=0.047669, theta=-1.878139
+[14:54:26.712] n deleted obs = 10 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.329574 	 error end=0.193797
+[14:54:26.712] After pose optimization, distance between ekf and vo x:0.088125 ,z=0.020621,angle between two frames:0.081829
+[14:54:26.712] frame process finished the id is: 77 the obs is:17 
+[14:54:26.722] Odometry x=0.001188, y=0.047671, theta=-1.909672
+[14:54:26.821] Odometry x=0.001193, y=0.047660, theta=-1.938541
+[14:54:26.906] After Reprojection Map nPoint:15 ,nCell:5 ,nMatches:3 ,distance between ekf and vo x:-0.000013 ,z=-0.000015,angle between two frames:0.000298
+[14:54:26.907] n deleted obs = 9 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.332891 	 error end=0.332891
+[14:54:26.907] After pose optimization, distance between ekf and vo x:-0.000013 ,z=-0.000015,angle between two frames:0.000298
+[14:54:26.907] frame process finished the id is: 77 the obs is:17 
+[14:54:26.930] Odometry x=0.001200, y=0.047649, theta=-1.965791
+[14:54:27.018] After Reprojection Map nPoint:17 ,nCell:9 ,nMatches:4 ,distance between ekf and vo x:-0.000013 ,z=-0.000011,angle between two frames:0.000246
+[14:54:27.018] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.045446 	 error end=0.045446
+[14:54:27.018] After pose optimization, distance between ekf and vo x:-0.000013 ,z=-0.000011,angle between two frames:0.000246
+[14:54:27.018] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[14:54:27.018] need key frame pitch dis: 1.969502 translation dif:0.047650
+[14:54:27.018] Choose frame as a key frame Scene Depth mean:0.001381 ,depth min:-0.117121
+[14:54:27.018] frame process finished the id is: 80 the obs is:10 
+[14:54:27.023] Odometry x=0.001190, y=0.047635, theta=-1.969502
+[14:54:27.125] Odometry x=0.001190, y=0.047629, theta=-2.003146
+[14:54:27.171] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:2 ,distance between ekf and vo x:-0.000008 ,z=-0.000010,angle between two frames:0.000226
+[14:54:27.226] Odometry x=0.001201, y=0.047637, theta=-2.035881
+[14:54:27.234] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.004489 	 error end=0.004489
+[14:54:27.234] After pose optimization, distance between ekf and vo x:-0.000008 ,z=-0.000010,angle between two frames:0.000226
+[14:54:27.234] frame process finished the id is: 80 the obs is:10 
+[14:54:27.328] Odometry x=0.001198, y=0.047634, theta=-2.066205
+[14:54:27.403] After Reprojection Map nPoint:69 ,nCell:22 ,nMatches:10 ,distance between ekf and vo x:-0.000004 ,z=-0.000007,angle between two frames:0.000130
+[14:54:27.406] n deleted obs = 20 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =49 	 error init =6.733214 	 error end=0.056900
+[14:54:27.406] After pose optimization, distance between ekf and vo x:0.029059 ,z=0.067971,angle between two frames:1.642534
+[14:54:27.406] frame process finished the id is: 80 the obs is:10 
+[14:54:27.421] Odometry x=0.001202, y=0.047620, theta=-2.101564
+[14:54:27.500] After Reprojection Map nPoint:88 ,nCell:27 ,nMatches:11 ,distance between ekf and vo x:-0.000005 ,z=-0.000005,angle between two frames:0.000103
+[14:54:27.500] n deleted obs = 23 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =65 	 error init =0.257617 	 error end=0.257617
+[14:54:27.500] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000005,angle between two frames:0.000103
+[14:54:27.500] Update EKF and 3D points the number of feature in the new frame: 65 and number of obs: 65
+[14:54:27.501] need key frame pitch dis: 2.308604 translation dif:0.058591
+[14:54:27.501] Choose frame as a key frame Scene Depth mean:-0.031922 ,depth min:-0.491207
+[14:54:27.501] frame process finished the id is: 83 the obs is:65 
+[14:54:27.524] Odometry x=0.001200, y=0.047613, theta=-2.105302
+[14:54:27.606] After Reprojection Map nPoint:118 ,nCell:41 ,nMatches:14 ,distance between ekf and vo x:-0.000003 ,z=-0.000005,angle between two frames:0.000090
+[14:54:27.606] n deleted obs = 27 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =91 	 error init =0.408091 	 error end=0.383732
+[14:54:27.606] After pose optimization, distance between ekf and vo x:0.006456 ,z=0.003266,angle between two frames:0.064078
+[14:54:27.606] frame process finished the id is: 83 the obs is:65 
+[14:54:27.622] Odometry x=0.001198, y=0.047610, theta=-2.139800
+[14:54:27.707] After Reprojection Map nPoint:88 ,nCell:20 ,nMatches:11 ,distance between ekf and vo x:-0.000006 ,z=-0.000009,angle between two frames:0.000101
+[14:54:27.708] n deleted obs = 28 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =60 	 error init =0.102527 	 error end=0.081359
+[14:54:27.708] After pose optimization, distance between ekf and vo x:-0.005232 ,z=0.029995,angle between two frames:0.049234
+[14:54:27.708] frame process finished the id is: 83 the obs is:65 
+[14:54:27.724] Odometry x=0.001198, y=0.047608, theta=-2.152326
+[14:54:27.821] Odometry x=0.001199, y=0.047594, theta=-2.188937
+[14:54:27.828] After Reprojection Map nPoint:92 ,nCell:23 ,nMatches:12 ,distance between ekf and vo x:-0.000011 ,z=-0.000012,angle between two frames:0.000165
+[14:54:27.829] n deleted obs = 30 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =62 	 error init =0.071145 	 error end=0.069853
+[14:54:27.829] After pose optimization, distance between ekf and vo x:-0.000342 ,z=0.003271,angle between two frames:0.026545
+[14:54:27.829] frame process finished the id is: 83 the obs is:65 
+[14:54:27.922] Odometry x=0.001206, y=0.047587, theta=-2.221495
+[14:54:27.929] After Reprojection Map nPoint:97 ,nCell:24 ,nMatches:12 ,distance between ekf and vo x:-0.000005 ,z=-0.000005,angle between two frames:0.000031
+[14:54:27.929] n deleted obs = 31 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =66 	 error init =0.067764 	 error end=0.067764
+[14:54:27.929] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000005,angle between two frames:0.000031
+[14:54:27.929] Update EKF and 3D points the number of feature in the new frame: 66 and number of obs: 66
+[14:54:27.930] need key frame pitch dis: 0.610108 translation dif:0.049565
+[14:54:27.930] Choose frame as a key frame Scene Depth mean:-0.105666 ,depth min:-0.612095
+[14:54:27.930] frame process finished the id is: 87 the obs is:66 
+[14:54:28.024] Odometry x=0.001207, y=0.047583, theta=-2.250535
+[14:54:28.128] Odometry x=0.001210, y=0.047575, theta=-2.284633
+[14:54:28.143] After Reprojection Map nPoint:90 ,nCell:23 ,nMatches:13 ,distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000021
+[14:54:28.143] n deleted obs = 30 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =60 	 error init =0.143042 	 error end=0.143042
+[14:54:28.143] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000021
+[14:54:28.143] Update EKF and 3D points the number of feature in the new frame: 60 and number of obs: 60
+[14:54:28.144] need key frame pitch dis: 2.465840 translation dif:0.029065
+[14:54:28.144] Choose frame as a key frame Scene Depth mean:-0.098015 ,depth min:-0.598322
+[14:54:28.144] frame process finished the id is: 88 the obs is:60 
+[14:54:28.223] Odometry x=0.001197, y=0.047584, theta=-2.220803
+[14:54:28.292] After Reprojection Map nPoint:88 ,nCell:29 ,nMatches:15 ,distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000024
+[14:54:28.322] Odometry x=0.001206, y=0.047579, theta=-2.249204
+[14:54:28.329] n deleted obs = 33 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =55 	 error init =0.321785 	 error end=0.147139
+[14:54:28.329] After pose optimization, distance between ekf and vo x:0.035901 ,z=0.426207,angle between two frames:0.216394
+[14:54:28.329] frame process finished the id is: 88 the obs is:60 
+[14:54:28.441] Odometry x=0.001206, y=0.047572, theta=-2.281584
+[14:54:28.486] After Reprojection Map nPoint:102 ,nCell:23 ,nMatches:14 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000004
+[14:54:28.489] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =90 	 error init =0.009540 	 error end=0.003061
+[14:54:28.489] After pose optimization, distance between ekf and vo x:0.035744 ,z=-0.009888,angle between two frames:0.074135
+[14:54:28.489] frame process finished the id is: 88 the obs is:60 
+[14:54:28.523] Odometry x=0.001205, y=0.047570, theta=-2.312249
+[14:54:28.588] After Reprojection Map nPoint:96 ,nCell:28 ,nMatches:13 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000004
+[14:54:28.589] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =72 	 error init =0.013000 	 error end=0.006232
+[14:54:28.589] After pose optimization, distance between ekf and vo x:0.043879 ,z=0.010250,angle between two frames:0.015146
+[14:54:28.589] Update EKF and 3D points the number of feature in the new frame: 72 and number of obs: 72
+[14:54:28.590] need key frame pitch dis: 2.591958 translation dif:0.025186
+[14:54:28.590] Choose frame as a key frame Scene Depth mean:-0.151692 ,depth min:-0.741338
+[14:54:28.590] frame process finished the id is: 91 the obs is:72 
+[14:54:28.626] Odometry x=0.039429, y=0.056497, theta=-2.329471
+[14:54:28.728] Odometry x=0.039434, y=0.056492, theta=-2.363172
+[14:54:28.839] Odometry x=0.039431, y=0.056491, theta=-2.394171
+[14:54:28.850] After Reprojection Map nPoint:144 ,nCell:38 ,nMatches:18 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000005
+[14:54:28.921] Odometry x=0.039425, y=0.056489, theta=-2.427420
+[14:54:28.993] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =120 	 error init =0.064385 	 error end=0.064385
+[14:54:28.993] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000005
+[14:54:28.993] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120
+[14:54:28.994] need key frame pitch dis: 2.499251 translation dif:0.045672
+[14:54:28.994] Choose frame as a key frame Scene Depth mean:-0.111675 ,depth min:-0.678569
+[14:54:28.994] frame process finished the id is: 92 the obs is:120 
+[14:54:29.026] Odometry x=0.039429, y=0.056493, theta=-2.346619
+[14:54:29.122] Odometry x=0.039428, y=0.056488, theta=-2.378301
+[14:54:29.166] After Reprojection Map nPoint:152 ,nCell:23 ,nMatches:20 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000009
+[14:54:29.167] n deleted obs = 35 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =117 	 error init =0.018359 	 error end=0.018359
+[14:54:29.167] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000009
+[14:54:29.167] Update EKF and 3D points the number of feature in the new frame: 117 and number of obs: 117
+[14:54:29.168] need key frame pitch dis: 0.552284 translation dif:0.027051
+[14:54:29.168] Choose frame as a key frame Scene Depth mean:-0.120506 ,depth min:-0.704536
+[14:54:29.168] frame process finished the id is: 93 the obs is:117 
+[14:54:29.236] Odometry x=0.039427, y=0.056487, theta=-2.355042
+[14:54:29.323] After Reprojection Map nPoint:123 ,nCell:30 ,nMatches:16 ,distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000002
+[14:54:29.325] Odometry x=0.039420, y=0.056484, theta=-2.389795
+[14:54:29.364] n deleted obs = 47 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =76 	 error init =0.044433 	 error end=0.044028
+[14:54:29.364] After pose optimization, distance between ekf and vo x:-0.000762 ,z=-0.000923,angle between two frames:0.004770
+[14:54:29.364] Update EKF and 3D points the number of feature in the new frame: 76 and number of obs: 76
+[14:54:29.365] need key frame pitch dis: 0.547434 translation dif:0.029394
+[14:54:29.365] Choose frame as a key frame Scene Depth mean:-0.186271 ,depth min:-0.703036
+[14:54:29.366] frame process finished the id is: 94 the obs is:76 
+[14:54:29.440] Odometry x=0.038768, y=0.055686, theta=-2.359783
+[14:54:29.528] Odometry x=0.038773, y=0.055677, theta=-2.393344
+[14:54:29.545] After Reprojection Map nPoint:146 ,nCell:23 ,nMatches:20 ,distance between ekf and vo x:-0.000003 ,z=-0.000002,angle between two frames:0.000022
+[14:54:29.553] n deleted obs = 45 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =101 	 error init =0.083092 	 error end=0.069977
+[14:54:29.553] After pose optimization, distance between ekf and vo x:0.031521 ,z=-0.006957,angle between two frames:0.031697
+[14:54:29.553] frame process finished the id is: 94 the obs is:76 
+[14:54:29.626] Odometry x=0.038782, y=0.055668, theta=-2.423746
+[14:54:29.658] After Reprojection Map nPoint:124 ,nCell:20 ,nMatches:15 ,distance between ekf and vo x:-0.000004 ,z=-0.000001,angle between two frames:0.000022
+[14:54:29.663] n deleted obs = 17 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =107 	 error init =0.057819 	 error end=0.051210
+[14:54:29.663] After pose optimization, distance between ekf and vo x:0.004866 ,z=-0.001243,angle between two frames:0.033009
+[14:54:29.663] frame process finished the id is: 94 the obs is:76 
+[14:54:29.729] Odometry x=0.038782, y=0.055670, theta=-2.452167
+[14:54:29.753] After Reprojection Map nPoint:120 ,nCell:24 ,nMatches:15 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000002
+[14:54:29.758] n deleted obs = 30 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =90 	 error init =0.042771 	 error end=0.035853
+[14:54:29.758] After pose optimization, distance between ekf and vo x:0.003829 ,z=-0.003887,angle between two frames:0.007378
+[14:54:29.759] Update EKF and 3D points the number of feature in the new frame: 90 and number of obs: 90
+[14:54:29.759] need key frame pitch dis: 0.761025 translation dif:0.041052
+[14:54:29.759] Choose frame as a key frame Scene Depth mean:-0.082854 ,depth min:-0.804885
+[14:54:29.759] frame process finished the id is: 97 the obs is:90 
+[14:54:29.828] Odometry x=0.039759, y=0.054663, theta=-2.489122
+[14:54:29.850] After Reprojection Map nPoint:120 ,nCell:27 ,nMatches:14 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
+[14:54:29.854] n deleted obs = 23 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =97 	 error init =0.027514 	 error end=0.027487
+[14:54:29.854] After pose optimization, distance between ekf and vo x:0.000647 ,z=0.000144,angle between two frames:0.002521
+[14:54:29.854] Update EKF and 3D points the number of feature in the new frame: 97 and number of obs: 97
+[14:54:29.855] need key frame pitch dis: 0.116496 translation dif:0.005559
+[14:54:29.855] frame process finished the id is: 98 the obs is:97 
+[14:54:29.927] Odometry x=0.041912, y=0.053192, theta=-2.476276
+[14:54:29.949] After Reprojection Map nPoint:168 ,nCell:35 ,nMatches:20 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000002
+[14:54:29.950] n deleted obs = 23 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =145 	 error init =0.033838 	 error end=0.033838
+[14:54:29.950] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000002
+[14:54:29.950] Update EKF and 3D points the number of feature in the new frame: 145 and number of obs: 145
+[14:54:29.950] need key frame pitch dis: 0.122014 translation dif:0.005561
+[14:54:29.950] frame process finished the id is: 99 the obs is:145 
+[14:54:30.030] Odometry x=0.041913, y=0.053190, theta=-2.481794
+[14:54:30.064] After Reprojection Map nPoint:144 ,nCell:41 ,nMatches:15 ,distance between ekf and vo x:0.000001 ,z=-0.000000,angle between two frames:0.000000
+[14:54:30.065] n deleted obs = 36 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =108 	 error init =0.036276 	 error end=0.036254
+[14:54:30.065] After pose optimization, distance between ekf and vo x:0.000848 ,z=-0.000710,angle between two frames:0.000003
+[14:54:30.065] Update EKF and 3D points the number of feature in the new frame: 108 and number of obs: 108
+[14:54:30.065] need key frame pitch dis: 0.126458 translation dif:0.006460
+[14:54:30.065] frame process finished the id is: 100 the obs is:108 
+[14:54:30.121] Odometry x=0.042648, y=0.052576, theta=-2.486237
+[14:54:30.159] After Reprojection Map nPoint:151 ,nCell:49 ,nMatches:16 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:30.159] n deleted obs = 21 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =130 	 error init =0.004226 	 error end=0.004226
+[14:54:30.159] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:30.159] Update EKF and 3D points the number of feature in the new frame: 130 and number of obs: 130
+[14:54:30.160] need key frame pitch dis: 0.131754 translation dif:0.006466
+[14:54:30.160] frame process finished the id is: 101 the obs is:130 
+[14:54:30.223] Odometry x=0.042648, y=0.052570, theta=-2.491534
+[14:54:30.252] After Reprojection Map nPoint:112 ,nCell:47 ,nMatches:11 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
+[14:54:30.252] n deleted obs = 20 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =92 	 error init =0.039951 	 error end=0.039951
+[14:54:30.252] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
+[14:54:30.252] Update EKF and 3D points the number of feature in the new frame: 92 and number of obs: 92
+[14:54:30.253] need key frame pitch dis: 0.789714 translation dif:0.041743
+[14:54:30.253] Choose frame as a key frame Scene Depth mean:9.573212 ,depth min:-9.772418
+[14:54:30.253] frame process finished the id is: 102 the obs is:92 
+[14:54:30.328] Odometry x=0.042646, y=0.052566, theta=-2.496359
+[14:54:30.350] After Reprojection Map nPoint:120 ,nCell:22 ,nMatches:16 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:30.350] n deleted obs = 27 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =93 	 error init =0.031294 	 error end=0.030825
+[14:54:30.350] After pose optimization, distance between ekf and vo x:-0.000700 ,z=0.000268,angle between two frames:0.012595
+[14:54:30.350] Update EKF and 3D points the number of feature in the new frame: 93 and number of obs: 93
+[14:54:30.350] need key frame pitch dis: 0.140315 translation dif:0.006142
+[14:54:30.350] frame process finished the id is: 103 the obs is:93 
+[14:54:30.420] Odometry x=0.042524, y=0.052604, theta=-2.529614
+[14:54:30.444] After Reprojection Map nPoint:120 ,nCell:36 ,nMatches:13 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
+[14:54:30.444] n deleted obs = 17 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =103 	 error init =0.004021 	 error end=0.004021
+[14:54:30.444] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
+[14:54:30.444] Update EKF and 3D points the number of feature in the new frame: 103 and number of obs: 103
+[14:54:30.445] need key frame pitch dis: 0.012918 translation dif:0.000873
+[14:54:30.445] frame process finished the id is: 104 the obs is:103 
+[14:54:30.526] Odometry x=0.042227, y=0.052724, theta=-2.509309
+[14:54:30.554] After Reprojection Map nPoint:142 ,nCell:31 ,nMatches:17 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:30.559] n deleted obs = 34 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =108 	 error init =0.084833 	 error end=0.084736
+[14:54:30.559] After pose optimization, distance between ekf and vo x:0.000535 ,z=0.000360,angle between two frames:0.000025
+[14:54:30.559] Update EKF and 3D points the number of feature in the new frame: 108 and number of obs: 108
+[14:54:30.560] need key frame pitch dis: 0.025518 translation dif:0.000601
+[14:54:30.560] frame process finished the id is: 105 the obs is:108 
+[14:54:30.623] Odometry x=0.042323, y=0.052781, theta=-2.546979
+[14:54:30.664] After Reprojection Map nPoint:140 ,nCell:37 ,nMatches:15 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:30.670] n deleted obs = 64 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =76 	 error init =0.123129 	 error end=0.121509
+[14:54:30.670] After pose optimization, distance between ekf and vo x:0.000735 ,z=0.000125,angle between two frames:0.000026
+[14:54:30.670] Update EKF and 3D points the number of feature in the new frame: 76 and number of obs: 76
+[14:54:30.670] need key frame pitch dis: 0.055201 translation dif:0.000813
+[14:54:30.670] frame process finished the id is: 106 the obs is:76 
+[14:54:30.725] Odometry x=0.042960, y=0.052888, theta=-2.551592
+[14:54:30.764] After Reprojection Map nPoint:126 ,nCell:30 ,nMatches:14 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:30.769] n deleted obs = 35 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =91 	 error init =0.046375 	 error end=0.045275
+[14:54:30.769] After pose optimization, distance between ekf and vo x:0.002571 ,z=-0.001166,angle between two frames:0.033151
+[14:54:30.769] frame process finished the id is: 106 the obs is:76 
+[14:54:30.824] Odometry x=0.042963, y=0.052879, theta=-2.589849
+[14:54:30.862] After Reprojection Map nPoint:137 ,nCell:48 ,nMatches:13 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:30.868] n deleted obs = 30 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =107 	 error init =0.012894 	 error end=0.012630
+[14:54:30.868] After pose optimization, distance between ekf and vo x:0.000604 ,z=-0.000355,angle between two frames:0.013822
+[14:54:30.868] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107
+[14:54:30.868] need key frame pitch dis: 0.109501 translation dif:0.001396
+[14:54:30.868] frame process finished the id is: 108 the obs is:107 
+[14:54:30.921] Odometry x=0.043485, y=0.052569, theta=-2.605892
+[14:54:30.985] After Reprojection Map nPoint:144 ,nCell:43 ,nMatches:15 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:30.992] n deleted obs = 30 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =114 	 error init =0.018214 	 error end=0.017846
+[14:54:30.992] After pose optimization, distance between ekf and vo x:0.001310 ,z=0.000570,angle between two frames:0.000130
+[14:54:30.992] Update EKF and 3D points the number of feature in the new frame: 114 and number of obs: 114
+[14:54:30.992] need key frame pitch dis: 0.113497 translation dif:0.002180
+[14:54:30.992] frame process finished the id is: 109 the obs is:114 
+[14:54:31.029] Odometry x=0.044619, y=0.053059, theta=-2.609888
+[14:54:31.082] After Reprojection Map nPoint:100 ,nCell:40 ,nMatches:10 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:31.082] n deleted obs = 20 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =80 	 error init =0.071792 	 error end=0.071792
+[14:54:31.082] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:31.082] Update EKF and 3D points the number of feature in the new frame: 80 and number of obs: 80
+[14:54:31.083] need key frame pitch dis: 0.116992 translation dif:0.002181
+[14:54:31.083] frame process finished the id is: 110 the obs is:80 
+[14:54:31.121] Odometry x=0.044620, y=0.053057, theta=-2.613384
+[14:54:31.171] After Reprojection Map nPoint:143 ,nCell:58 ,nMatches:14 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
+[14:54:31.172] n deleted obs = 49 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =94 	 error init =0.006764 	 error end=0.006764
+[14:54:31.172] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
+[14:54:31.172] Update EKF and 3D points the number of feature in the new frame: 94 and number of obs: 94
+[14:54:31.172] need key frame pitch dis: 0.119805 translation dif:0.002176
+[14:54:31.172] frame process finished the id is: 111 the obs is:94 
+[14:54:31.224] Odometry x=0.044615, y=0.053058, theta=-2.616196
+[14:54:31.260] After Reprojection Map nPoint:166 ,nCell:52 ,nMatches:19 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:31.267] n deleted obs = 58 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =108 	 error init =0.071006 	 error end=0.070544
+[14:54:31.267] After pose optimization, distance between ekf and vo x:0.000224 ,z=0.000138,angle between two frames:0.000043
+[14:54:31.267] Update EKF and 3D points the number of feature in the new frame: 108 and number of obs: 108
+[14:54:31.267] need key frame pitch dis: 0.123702 translation dif:0.002340
+[14:54:31.267] frame process finished the id is: 112 the obs is:108 
+[14:54:31.324] Odometry x=0.044807, y=0.053178, theta=-2.620093
+[14:54:31.355] After Reprojection Map nPoint:168 ,nCell:60 ,nMatches:17 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
+[14:54:31.362] n deleted obs = 42 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =126 	 error init =0.014118 	 error end=0.014112
+[14:54:31.362] After pose optimization, distance between ekf and vo x:0.000109 ,z=0.000022,angle between two frames:0.000164
+[14:54:31.362] Update EKF and 3D points the number of feature in the new frame: 126 and number of obs: 126
+[14:54:31.363] need key frame pitch dis: 2.912127 translation dif:0.048203
+[14:54:31.363] Choose frame as a key frame Scene Depth mean:3.115899 ,depth min:-26.720061
+[14:54:31.363] frame process finished the id is: 113 the obs is:126 
+[14:54:31.427] Odometry x=0.044905, y=0.053195, theta=-2.623429
+[14:54:31.453] After Reprojection Map nPoint:131 ,nCell:32 ,nMatches:16 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:31.453] n deleted obs = 27 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =104 	 error init =0.105822 	 error end=0.105822
+[14:54:31.453] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:31.453] Update EKF and 3D points the number of feature in the new frame: 104 and number of obs: 104
+[14:54:31.454] need key frame pitch dis: 0.128106 translation dif:0.021590
+[14:54:31.454] frame process finished the id is: 114 the obs is:104 
+[14:54:31.530] Odometry x=0.044909, y=0.053192, theta=-2.629306
+[14:54:31.620] After Reprojection Map nPoint:160 ,nCell:36 ,nMatches:19 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:31.620] n deleted obs = 61 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =99 	 error init =0.153717 	 error end=0.153717
+[14:54:31.620] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:31.620] Update EKF and 3D points the number of feature in the new frame: 99 and number of obs: 99
+[14:54:31.621] need key frame pitch dis: 0.158431 translation dif:0.021606
+[14:54:31.621] frame process finished the id is: 115 the obs is:99 
+[14:54:31.629] Odometry x=0.044907, y=0.053175, theta=-2.659631
+[14:54:31.728] Odometry x=0.044910, y=0.053176, theta=-2.693223
+[14:54:31.828] Odometry x=0.044907, y=0.053170, theta=-2.728989
+[14:54:31.925] Odometry x=0.044898, y=0.053173, theta=-2.760540
+[14:54:32.029] Odometry x=0.044896, y=0.053173, theta=-2.788379
+[14:54:32.126] Odometry x=0.044886, y=0.053171, theta=-2.815796
+[14:54:32.225] Odometry x=0.044885, y=0.053177, theta=-2.846107
+[14:54:32.323] Odometry x=0.044886, y=0.053174, theta=-2.878938
+[14:54:32.424] Odometry x=0.044881, y=0.053174, theta=-2.908021
+[14:54:32.522] Odometry x=0.044873, y=0.053170, theta=-2.935627
+[14:54:32.623] Odometry x=0.044874, y=0.053169, theta=-2.962270
+[14:54:32.719] Odometry x=0.044871, y=0.053166, theta=-2.993586
+[14:54:32.823] Odometry x=0.044868, y=0.053164, theta=-3.022995
+[14:54:32.929] Odometry x=0.044863, y=0.053163, theta=-3.049753
+[14:54:33.027] Odometry x=0.044850, y=0.053170, theta=-3.079482
+[14:54:33.126] Odometry x=0.044850, y=0.053165, theta=-3.110702
+[14:54:33.224] Odometry x=0.044849, y=0.053168, theta=-3.137238
+[14:54:33.250] After Reprojection Map nPoint:88 ,nCell:22 ,nMatches:10 ,distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000000
+[14:54:33.253] n deleted obs = 9 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =79 	 error init =0.002324 	 error end=0.002275
+[14:54:33.253] After pose optimization, distance between ekf and vo x:0.000795 ,z=0.000596,angle between two frames:0.000058
+[14:54:33.253] Update EKF and 3D points the number of feature in the new frame: 79 and number of obs: 79
+[14:54:33.253] need key frame pitch dis: 0.617029 translation dif:0.021236
+[14:54:33.253] Choose frame as a key frame Scene Depth mean:6.759176 ,depth min:-12.329273
+[14:54:33.254] frame process finished the id is: 116 the obs is:79 
+[14:54:33.327] Odometry x=0.045544, y=0.053677, theta=-3.118229
+[14:54:33.425] Odometry x=0.045541, y=0.053675, theta=3.135431
+[14:54:33.527] Odometry x=0.045545, y=0.053670, theta=3.103300
+[14:54:33.624] Odometry x=0.045541, y=0.053671, theta=3.072320
+[14:54:33.727] Odometry x=0.045531, y=0.053672, theta=3.044164
+[14:54:33.827] Odometry x=0.045535, y=0.053668, theta=3.015239
+[14:54:33.924] Odometry x=0.045550, y=0.053662, theta=2.984615
+[14:54:34.022] Odometry x=0.045543, y=0.053673, theta=2.958680
+[14:54:34.119] Odometry x=0.045542, y=0.053677, theta=2.926798
+[14:54:34.222] Odometry x=0.045543, y=0.053678, theta=2.899560
+[14:54:34.319] Odometry x=0.045529, y=0.053674, theta=2.872440
+[14:54:34.421] Odometry x=0.045529, y=0.053679, theta=2.844254
+[14:54:34.521] Odometry x=0.045531, y=0.053673, theta=2.813928
+[14:54:34.630] Odometry x=0.045526, y=0.053671, theta=2.784182
+[14:54:34.723] Odometry x=0.045552, y=0.053660, theta=2.758087
+[14:54:34.821] Odometry x=0.045549, y=0.053654, theta=2.734240
+[14:54:34.833] After Reprojection Map nPoint:131 ,nCell:45 ,nMatches:13 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:34.834] n deleted obs = 44 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =87 	 error init =0.145235 	 error end=0.108223
+[14:54:34.834] After pose optimization, distance between ekf and vo x:-0.007123 ,z=-0.001190,angle between two frames:0.261589
+[14:54:34.834] frame process finished the id is: 116 the obs is:79 
+[14:54:34.923] Odometry x=0.045543, y=0.053654, theta=2.703563
+[14:54:35.022] Odometry x=0.045541, y=0.053655, theta=2.675640
+[14:54:35.122] Odometry x=0.045535, y=0.053649, theta=2.646597
+[14:54:35.220] Odometry x=0.045526, y=0.053645, theta=2.619376
+[14:54:35.320] Odometry x=0.045530, y=0.053642, theta=2.592857
+[14:54:35.425] Odometry x=0.045534, y=0.053642, theta=2.564528
+[14:54:35.523] Odometry x=0.045524, y=0.053641, theta=2.537695
+[14:54:35.623] Odometry x=0.045527, y=0.053632, theta=2.507523
+[14:54:35.723] Odometry x=0.045519, y=0.053635, theta=2.480846
+[14:54:35.735] After Reprojection Map nPoint:116 ,nCell:30 ,nMatches:15 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:35.740] n deleted obs = 28 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =88 	 error init =0.011653 	 error end=0.008796
+[14:54:35.740] After pose optimization, distance between ekf and vo x:-0.006322 ,z=-0.000355,angle between two frames:0.110751
+[14:54:35.740] frame process finished the id is: 116 the obs is:79 
+[14:54:35.823] Odometry x=0.045512, y=0.053627, theta=2.456107
+[14:54:35.830] After Reprojection Map nPoint:129 ,nCell:38 ,nMatches:14 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:35.834] n deleted obs = 31 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =98 	 error init =0.180749 	 error end=0.088691
+[14:54:35.834] After pose optimization, distance between ekf and vo x:-0.006592 ,z=0.005913,angle between two frames:0.596261
+[14:54:35.834] frame process finished the id is: 116 the obs is:79 
+[14:54:35.923] After Reprojection Map nPoint:117 ,nCell:30 ,nMatches:13 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
+[14:54:35.924] n deleted obs = 32 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =85 	 error init =0.076491 	 error end=0.057805
+[14:54:35.924] After pose optimization, distance between ekf and vo x:0.008662 ,z=0.003556,angle between two frames:0.544563
+[14:54:35.924] frame process finished the id is: 116 the obs is:79 
+[14:54:35.926] Odometry x=0.045507, y=0.053626, theta=2.432841
+[14:54:36.029] Odometry x=0.045514, y=0.053622, theta=2.405371
+[14:54:36.127] Odometry x=0.045513, y=0.053615, theta=2.376073
+[14:54:36.226] Odometry x=0.045504, y=0.053613, theta=2.346244
+[14:54:36.326] Odometry x=0.045503, y=0.053614, theta=2.319955
+[14:54:36.424] Odometry x=0.045500, y=0.053617, theta=2.291576
+[14:54:36.522] Odometry x=0.045491, y=0.053621, theta=2.265932
+[14:54:36.632] Odometry x=0.045486, y=0.053628, theta=2.236350
+[14:54:36.727] Odometry x=0.045471, y=0.053620, theta=2.207567
+[14:54:36.822] Odometry x=0.045472, y=0.053613, theta=2.176500
+[14:54:36.932] Odometry x=0.045469, y=0.053609, theta=2.144512
+[14:54:37.027] Odometry x=0.045468, y=0.053625, theta=2.114550
+[14:54:37.127] Odometry x=0.045465, y=0.053622, theta=2.089877
+[14:54:37.227] Odometry x=0.045471, y=0.053619, theta=2.061801
+[14:54:37.326] Odometry x=0.045476, y=0.053624, theta=2.026968
+[14:54:37.423] Odometry x=0.045475, y=0.053621, theta=1.997559
+[14:54:37.530] Odometry x=0.045476, y=0.053627, theta=1.971135
+[14:54:37.624] Odometry x=0.045465, y=0.053624, theta=1.949290
+[14:54:37.726] Odometry x=0.045474, y=0.053616, theta=1.919120
+[14:54:37.831] Odometry x=0.045473, y=0.053617, theta=1.892634
+[14:54:37.924] Odometry x=0.045464, y=0.053614, theta=1.863119
+[14:54:38.026] Odometry x=0.045466, y=0.053612, theta=1.835398
+[14:54:38.132] Odometry x=0.045463, y=0.053626, theta=1.806299
+[14:54:38.224] Odometry x=0.045450, y=0.053622, theta=1.776055
+[14:54:38.327] Odometry x=0.045436, y=0.053621, theta=1.750870
+[14:54:38.423] Odometry x=0.045441, y=0.053627, theta=1.723841
+[14:54:38.526] Odometry x=0.045431, y=0.053623, theta=1.696987
+[14:54:38.623] Odometry x=0.045425, y=0.053624, theta=1.669553
+[14:54:38.721] Odometry x=0.045424, y=0.053624, theta=1.637084
+[14:54:38.823] Odometry x=0.045419, y=0.053627, theta=1.608500
+[14:54:38.924] Odometry x=0.045413, y=0.053638, theta=1.581520
+[14:54:39.027] Odometry x=0.045407, y=0.053631, theta=1.551862
+[14:54:39.125] Odometry x=0.045398, y=0.053625, theta=1.524507
+[14:54:39.227] Odometry x=0.045392, y=0.053624, theta=1.493597
+[14:54:39.324] Odometry x=0.045383, y=0.053619, theta=1.466624
+[14:54:39.422] Odometry x=0.045373, y=0.053618, theta=1.437756
+[14:54:39.520] Odometry x=0.045371, y=0.053616, theta=1.414044
+[14:54:39.623] Odometry x=0.045366, y=0.053615, theta=1.387914
+[14:54:39.726] Odometry x=0.045364, y=0.053620, theta=1.356492
+[14:54:39.829] Odometry x=0.045362, y=0.053637, theta=1.324877
+[14:54:39.922] Odometry x=0.045360, y=0.053645, theta=1.298664
+[14:54:40.031] Odometry x=0.045359, y=0.053655, theta=1.269392
+[14:54:40.123] Odometry x=0.045365, y=0.053657, theta=1.235006
+[14:54:40.226] Odometry x=0.045350, y=0.053668, theta=1.203790
+[14:54:40.329] Odometry x=0.045343, y=0.053667, theta=1.176926
+[14:54:40.425] After Reprojection Map nPoint:71 ,nCell:17 ,nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000000
+[14:54:40.425] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =68 	 error init =0.000500 	 error end=0.000500
+[14:54:40.425] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000000
+[14:54:40.425] Update EKF and 3D points the number of feature in the new frame: 68 and number of obs: 68
+[14:54:40.425] need key frame pitch dis: 0.374707 translation dif:0.070259
+[14:54:40.425] Choose frame as a key frame Scene Depth mean:0.437849 ,depth min:-0.684870
+[14:54:40.425] frame process finished the id is: 121 the obs is:68 
+[14:54:40.427] Odometry x=0.045342, y=0.053670, theta=0.374707
+[14:54:40.524] Odometry x=0.045338, y=0.053675, theta=0.341512
+[14:54:40.537] After Reprojection Map nPoint:67 ,nCell:19 ,nMatches:7 ,distance between ekf and vo x:0.000147 ,z=-0.000048,angle between two frames:0.000027
+[14:54:40.539] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =43 	 error init =0.014116 	 error end=0.013852
+[14:54:40.539] After pose optimization, distance between ekf and vo x:-0.001913 ,z=-0.001795,angle between two frames:0.010201
+[14:54:40.539] Update EKF and 3D points the number of feature in the new frame: 43 and number of obs: 43
+[14:54:40.540] need key frame pitch dis: 3.222373 translation dif:0.022891
+[14:54:40.540] Choose frame as a key frame Scene Depth mean:1.536634 ,depth min:-8.770200
+[14:54:40.540] frame process finished the id is: 122 the obs is:43 
+[14:54:40.620] Odometry x=0.044909, y=0.053277, theta=0.317021
+[14:54:40.640] After Reprojection Map nPoint:68 ,nCell:19 ,nMatches:9 ,distance between ekf and vo x:0.000018 ,z=-0.000005,angle between two frames:0.000009
+[14:54:40.640] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =44 	 error init =0.029721 	 error end=0.029713
+[14:54:40.640] After pose optimization, distance between ekf and vo x:-0.002592 ,z=-0.000239,angle between two frames:0.029659
+[14:54:40.640] frame process finished the id is: 122 the obs is:43 
+[14:54:40.726] Odometry x=0.044908, y=0.053294, theta=0.295002
+[14:54:40.746] After Reprojection Map nPoint:77 ,nCell:23 ,nMatches:10 ,distance between ekf and vo x:0.000144 ,z=0.000030,angle between two frames:0.000072
+[14:54:40.746] n deleted obs = 33 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =44 	 error init =0.142290 	 error end=0.136626
+[14:54:40.746] After pose optimization, distance between ekf and vo x:-0.013180 ,z=-0.000053,angle between two frames:0.179748
+[14:54:40.746] frame process finished the id is: 122 the obs is:43 
+[14:54:40.827] Odometry x=0.044903, y=0.053304, theta=0.274652
+[14:54:40.853] After Reprojection Map nPoint:67 ,nCell:18 ,nMatches:8 ,distance between ekf and vo x:0.000127 ,z=0.000039,angle between two frames:0.000077
+[14:54:40.853] n deleted obs = 17 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =50 	 error init =0.442104 	 error end=0.181812
+[14:54:40.853] After pose optimization, distance between ekf and vo x:-0.096734 ,z=-0.007451,angle between two frames:1.039874
+[14:54:40.853] frame process finished the id is: 122 the obs is:43 
+[14:54:40.925] Odometry x=0.044892, y=0.053319, theta=0.247848
+[14:54:40.959] After Reprojection Map nPoint:103 ,nCell:38 ,nMatches:11 ,distance between ekf and vo x:0.000122 ,z=0.000044,angle between two frames:0.000078
+[14:54:40.963] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =79 	 error init =0.004307 	 error end=0.002859
+[14:54:40.963] After pose optimization, distance between ekf and vo x:-0.022293 ,z=-0.016218,angle between two frames:0.063531
+[14:54:40.963] frame process finished the id is: 122 the obs is:43 
+[14:54:41.019] Odometry x=0.044890, y=0.053329, theta=0.216701
+[14:54:41.076] After Reprojection Map nPoint:117 ,nCell:47 ,nMatches:12 ,distance between ekf and vo x:0.000109 ,z=0.000113,angle between two frames:0.000097
+[14:54:41.076] n deleted obs = 68 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =49 	 error init =0.204432 	 error end=0.159365
+[14:54:41.076] After pose optimization, distance between ekf and vo x:-0.037062 ,z=-0.019382,angle between two frames:0.066556
+[14:54:41.076] frame process finished the id is: 122 the obs is:43 
+[14:54:41.119] Odometry x=0.044880, y=0.053340, theta=0.183976
+[14:54:41.183] After Reprojection Map nPoint:120 ,nCell:25 ,nMatches:15 ,distance between ekf and vo x:0.000183 ,z=0.000068,angle between two frames:0.000097
+[14:54:41.184] n deleted obs = 64 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =56 	 error init =0.464115 	 error end=0.117819
+[14:54:41.184] After pose optimization, distance between ekf and vo x:-0.653805 ,z=-0.848181,angle between two frames:0.623002
+[14:54:41.184] frame process finished the id is: 122 the obs is:43 
+[14:54:41.227] Odometry x=0.044877, y=0.053351, theta=0.149738
+[14:54:41.298] After Reprojection Map nPoint:117 ,nCell:35 ,nMatches:13 ,distance between ekf and vo x:0.000219 ,z=0.000111,angle between two frames:0.000094
+[14:54:41.298] n deleted obs = 64 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =53 	 error init =0.105545 	 error end=0.056291
+[14:54:41.298] After pose optimization, distance between ekf and vo x:-0.128619 ,z=-0.205406,angle between two frames:0.162532
+[14:54:41.298] frame process finished the id is: 122 the obs is:43 
+[14:54:41.329] Odometry x=0.044866, y=0.053354, theta=0.117719
+[14:54:41.410] After Reprojection Map nPoint:189 ,nCell:67 ,nMatches:20 ,distance between ekf and vo x:0.000281 ,z=-0.000100,angle between two frames:0.000050
+[14:54:41.411] n deleted obs = 83 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =106 	 error init =0.034076 	 error end=0.025503
+[14:54:41.411] After pose optimization, distance between ekf and vo x:-0.089173 ,z=0.011269,angle between two frames:1.049364
+[14:54:41.411] frame process finished the id is: 122 the obs is:43 
+[14:54:41.420] Odometry x=0.044870, y=0.053361, theta=0.089309
+[14:54:41.523] Odometry x=0.044870, y=0.053371, theta=0.060178
+[14:54:41.524] After Reprojection Map nPoint:192 ,nCell:68 ,nMatches:18 ,distance between ekf and vo x:0.000234 ,z=-0.000136,angle between two frames:0.000024
+[14:54:41.526] n deleted obs = 97 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =95 	 error init =0.063968 	 error end=0.023456
+[14:54:41.526] After pose optimization, distance between ekf and vo x:-0.023760 ,z=0.029251,angle between two frames:0.940016
+[14:54:41.526] frame process finished the id is: 122 the obs is:43 
+[14:54:41.625] Odometry x=0.044869, y=0.053376, theta=0.029206
+[14:54:41.649] After Reprojection Map nPoint:191 ,nCell:78 ,nMatches:18 ,distance between ekf and vo x:0.000821 ,z=-0.000652,angle between two frames:0.000042
+[14:54:41.651] n deleted obs = 58 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =133 	 error init =0.038750 	 error end=0.025445
+[14:54:41.651] After pose optimization, distance between ekf and vo x:-0.058287 ,z=-0.009704,angle between two frames:0.051715
+[14:54:41.651] frame process finished the id is: 122 the obs is:43 
+[14:54:41.727] Odometry x=0.044863, y=0.053384, theta=0.003608
+[14:54:41.771] After Reprojection Map nPoint:246 ,nCell:83 ,nMatches:27 ,distance between ekf and vo x:0.001411 ,z=-0.001407,angle between two frames:0.000015
+[14:54:41.771] n deleted obs = 82 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =164 	 error init =0.042313 	 error end=0.042313
+[14:54:41.771] After pose optimization, distance between ekf and vo x:0.001411 ,z=-0.001407,angle between two frames:0.000015
+[14:54:41.771] Update EKF and 3D points the number of feature in the new frame: 164 and number of obs: 164
+[14:54:41.772] need key frame pitch dis: 2.934390 translation dif:0.029180
+[14:54:41.772] Choose frame as a key frame Scene Depth mean:-491.670447 ,depth min:-33291.900303
+[14:54:41.772] frame process finished the id is: 133 the obs is:164 
+[14:54:41.825] Odometry x=0.046094, y=0.052157, theta=-0.000045
+[14:54:41.901] After Reprojection Map nPoint:233 ,nCell:76 ,nMatches:26 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
+[14:54:41.902] n deleted obs = 69 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =164 	 error init =0.028216 	 error end=0.015267
+[14:54:41.902] After pose optimization, distance between ekf and vo x:-0.128266 ,z=0.118766,angle between two frames:0.001165
+[14:54:41.902] Update EKF and 3D points the number of feature in the new frame: 164 and number of obs: 164
+[14:54:41.903] need key frame pitch dis: 2.943816 translation dif:0.165737
+[14:54:41.903] Choose frame as a key frame Scene Depth mean:-129.061839 ,depth min:-2401.003030
+[14:54:41.903] frame process finished the id is: 134 the obs is:164 
+[14:54:41.934] Odometry x=-0.064751, y=0.154792, theta=-0.006191
+[14:54:42.023] Odometry x=-0.064750, y=0.154791, theta=-0.046954
+[14:54:42.126] Odometry x=-0.064746, y=0.154805, theta=-0.078164
+[14:54:42.172] After Reprojection Map nPoint:271 ,nCell:105 ,nMatches:26 ,distance between ekf and vo x:-0.000006 ,z=-0.000004,angle between two frames:0.000000
+[14:54:42.172] n deleted obs = 98 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 	 error init =0.032251 	 error end=0.032251
+[14:54:42.172] After pose optimization, distance between ekf and vo x:-0.000006 ,z=-0.000004,angle between two frames:0.000000
+[14:54:42.172] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173
+[14:54:42.173] need key frame pitch dis: 2.954308 translation dif:0.187709
+[14:54:42.173] Choose frame as a key frame Scene Depth mean:0.037531 ,depth min:-8.257975
+[14:54:42.173] frame process finished the id is: 135 the obs is:173 
+[14:54:42.225] Odometry x=-0.064752, y=0.154791, theta=-0.019242
+[14:54:42.338] Odometry x=-0.064750, y=0.154794, theta=-0.053861
+[14:54:42.420] Odometry x=-0.064747, y=0.154801, theta=-0.089351
+[14:54:42.469] After Reprojection Map nPoint:310 ,nCell:136 ,nMatches:28 ,distance between ekf and vo x:-0.000118 ,z=0.000052,angle between two frames:0.000009
+[14:54:42.527] Odometry x=-0.064742, y=0.154807, theta=-0.119053
+[14:54:42.626] Odometry x=-0.064747, y=0.154816, theta=-0.149274
+[14:54:42.719] n deleted obs = 105 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =205 	 error init =0.020032 	 error end=0.020032
+[14:54:42.719] After pose optimization, distance between ekf and vo x:-0.000118 ,z=0.000052,angle between two frames:0.000009
+[14:54:42.719] Update EKF and 3D points the number of feature in the new frame: 205 and number of obs: 205
+[14:54:42.721] need key frame pitch dis: 2.859229 translation dif:0.294911
+[14:54:42.721] Choose frame as a key frame Scene Depth mean:-58.734308 ,depth min:-2404.180416
+[14:54:42.722] frame process finished the id is: 136 the obs is:205 
+[14:54:42.738] Odometry x=-0.064852, y=0.154841, theta=-0.039360
+[14:54:42.825] Odometry x=-0.064853, y=0.154843, theta=-0.069985
+[14:54:42.930] Odometry x=-0.064849, y=0.154849, theta=-0.096038
+[14:54:43.025] Odometry x=-0.064862, y=0.154856, theta=-0.128292
+[14:54:43.123] Odometry x=-0.064857, y=0.154862, theta=-0.157395
+[14:54:43.139] After Reprojection Map nPoint:255 ,nCell:81 ,nMatches:26 ,distance between ekf and vo x:-0.000016 ,z=0.000017,angle between two frames:0.000000
+[14:54:43.226] Odometry x=-0.064850, y=0.154876, theta=-0.184858
+[14:54:43.329] Odometry x=-0.064852, y=0.154871, theta=-0.214001
+[14:54:43.338] n deleted obs = 95 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =160 	 error init =0.023912 	 error end=0.023912
+[14:54:43.338] After pose optimization, distance between ekf and vo x:-0.000016 ,z=0.000017,angle between two frames:0.000000
+[14:54:43.338] Update EKF and 3D points the number of feature in the new frame: 160 and number of obs: 160
+[14:54:43.340] need key frame pitch dis: 0.018663 translation dif:0.221880
+[14:54:43.340] Choose frame as a key frame Scene Depth mean:-120.254952 ,depth min:-2403.751247
+[14:54:43.340] frame process finished the id is: 137 the obs is:160 
+[14:54:43.423] Odometry x=-0.064838, y=0.154884, theta=-0.198856
+[14:54:43.532] Odometry x=-0.064833, y=0.154881, theta=-0.226717
+[14:54:43.625] Odometry x=-0.064818, y=0.154884, theta=-0.256598
+[14:54:43.691] After Reprojection Map nPoint:239 ,nCell:101 ,nMatches:22 ,distance between ekf and vo x:0.000028 ,z=0.000171,angle between two frames:0.000000
+[14:54:43.691] n deleted obs = 53 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =186 	 error init =0.044215 	 error end=0.044215
+[14:54:43.691] After pose optimization, distance between ekf and vo x:0.000028 ,z=0.000171,angle between two frames:0.000000
+[14:54:43.691] Update EKF and 3D points the number of feature in the new frame: 186 and number of obs: 186
+[14:54:43.692] need key frame pitch dis: 0.380819 translation dif:0.053965
+[14:54:43.692] Choose frame as a key frame Scene Depth mean:-206.594480 ,depth min:-2401.183540
+[14:54:43.692] frame process finished the id is: 138 the obs is:186 
+[14:54:43.722] Odometry x=-0.064831, y=0.155016, theta=-0.117696
+[14:54:43.820] Odometry x=-0.064825, y=0.155027, theta=-0.154098
+[14:54:43.920] Odometry x=-0.064818, y=0.155024, theta=-0.190504
+[14:54:44.028] Odometry x=-0.064811, y=0.155037, theta=-0.218126
+[14:54:44.116] After Reprojection Map nPoint:256 ,nCell:97 ,nMatches:27 ,distance between ekf and vo x:0.000081 ,z=0.000140,angle between two frames:0.000000
+[14:54:44.125] Odometry x=-0.064808, y=0.155040, theta=-0.244387
+[14:54:44.225] Odometry x=-0.064804, y=0.155045, theta=-0.272506
+[14:54:44.326] Odometry x=-0.064787, y=0.155061, theta=-0.305578
+[14:54:44.426] Odometry x=-0.064782, y=0.155070, theta=-0.335502
+[14:54:44.524] Odometry x=-0.064768, y=0.155076, theta=-0.362165
+[14:54:44.530] n deleted obs = 42 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =214 	 error init =0.017079 	 error end=0.016989
+[14:54:44.530] After pose optimization, distance between ekf and vo x:0.000380 ,z=0.001599,angle between two frames:0.000012
+[14:54:44.530] Update EKF and 3D points the number of feature in the new frame: 214 and number of obs: 214
+[14:54:44.532] need key frame pitch dis: 0.162397 translation dif:0.030851
+[14:54:44.532] frame process finished the id is: 139 the obs is:214 
+[14:54:44.626] Odometry x=-0.064686, y=0.155488, theta=-0.320391
+[14:54:44.725] Odometry x=-0.064689, y=0.155494, theta=-0.353150
+[14:54:44.739] After Reprojection Map nPoint:190 ,nCell:86 ,nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000002,angle between two frames:0.000000
+[14:54:44.739] n deleted obs = 17 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 	 error init =0.017046 	 error end=0.017046
+[14:54:44.739] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000002,angle between two frames:0.000000
+[14:54:44.739] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173
+[14:54:44.740] need key frame pitch dis: 0.213247 translation dif:0.030730
+[14:54:44.740] Choose frame as a key frame Scene Depth mean:-109.510734 ,depth min:-2367.466798
+[14:54:44.740] frame process finished the id is: 140 the obs is:173 
+[14:54:44.822] Odometry x=-0.064639, y=0.155682, theta=-0.337382
+[14:54:44.923] Odometry x=-0.064630, y=0.155686, theta=-0.364568
+[14:54:45.018] After Reprojection Map nPoint:88 ,nCell:49 ,nMatches:6 ,distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.000000
+[14:54:45.025] Odometry x=-0.064622, y=0.155670, theta=-0.390590
+[14:54:45.067] n deleted obs = 19 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =69 	 error init =0.038656 	 error end=0.038656
+[14:54:45.067] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.000000
+[14:54:45.067] Update EKF and 3D points the number of feature in the new frame: 69 and number of obs: 69
+[14:54:45.068] need key frame pitch dis: 0.226386 translation dif:0.049292
+[14:54:45.068] Choose frame as a key frame Scene Depth mean:0.116715 ,depth min:-1.978781
+[14:54:45.068] frame process finished the id is: 141 the obs is:69 
+[14:54:45.127] Odometry x=-0.064574, y=0.155976, theta=-0.262149
+[14:54:45.225] Odometry x=-0.064569, y=0.155977, theta=-0.294846
+[14:54:45.322] Odometry x=-0.064565, y=0.155980, theta=-0.327654
+[14:54:45.340] After Reprojection Map nPoint:125 ,nCell:59 ,nMatches:10 ,distance between ekf and vo x:0.000034 ,z=0.000016,angle between two frames:0.000002
+[14:54:45.345] n deleted obs = 34 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =91 	 error init =0.096905 	 error end=0.096905
+[14:54:45.345] After pose optimization, distance between ekf and vo x:0.000034 ,z=0.000016,angle between two frames:0.000002
+[14:54:45.345] Update EKF and 3D points the number of feature in the new frame: 91 and number of obs: 91
+[14:54:45.346] need key frame pitch dis: 2.627618 translation dif:0.195288
+[14:54:45.346] Choose frame as a key frame Scene Depth mean:0.157314 ,depth min:-9.739112
+[14:54:45.346] frame process finished the id is: 142 the obs is:91 
+[14:54:45.424] Odometry x=-0.064539, y=0.155991, theta=-0.274442
+[14:54:45.526] Odometry x=-0.064532, y=0.155991, theta=-0.308714
+[14:54:45.656] After Reprojection Map nPoint:168 ,nCell:74 ,nMatches:15 ,distance between ekf and vo x:0.000004 ,z=0.000000,angle between two frames:0.000004
+[14:54:46.057] n deleted obs = 27 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =141 	 error init =0.015688 	 error end=0.015688
+[14:54:46.057] After pose optimization, distance between ekf and vo x:0.000004 ,z=0.000000,angle between two frames:0.000004
+[14:54:46.057] Update EKF and 3D points the number of feature in the new frame: 141 and number of obs: 141
+[14:54:46.057] need key frame pitch dis: 0.234688 translation dif:0.092221
+[14:54:46.058] Choose frame as a key frame Scene Depth mean:0.234359 ,depth min:-9.720966
+[14:54:46.058] frame process finished the id is: 143 the obs is:141 
+[14:54:46.505] After Reprojection Map nPoint:255 ,nCell:112 ,nMatches:23 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000002
+[14:54:46.746] n deleted obs = 60 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =195 	 error init =0.011132 	 error end=0.010251
+[14:54:46.746] After pose optimization, distance between ekf and vo x:-0.011279 ,z=0.006137,angle between two frames:0.054483
+[14:54:46.746] frame process finished the id is: 143 the obs is:141 
+[14:54:46.979] After Reprojection Map nPoint:272 ,nCell:70 ,nMatches:32 ,distance between ekf and vo x:-0.000013 ,z=-0.000001,angle between two frames:0.000075
+[14:54:46.980] n deleted obs = 45 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =227 	 error init =0.115634 	 error end=0.115634
+[14:54:46.980] After pose optimization, distance between ekf and vo x:-0.000013 ,z=-0.000001,angle between two frames:0.000075
+[14:54:46.980] Update EKF and 3D points the number of feature in the new frame: 227 and number of obs: 227
+[14:54:46.981] need key frame pitch dis: 0.180271 translation dif:0.029027
+[14:54:46.981] frame process finished the id is: 145 the obs is:227 
+[14:54:47.186] After Reprojection Map nPoint:302 ,nCell:118 ,nMatches:28 ,distance between ekf and vo x:0.000003 ,z=0.000023,angle between two frames:0.000000
+[14:54:47.186] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =278 	 error init =0.013832 	 error end=0.013832
+[14:54:47.186] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000023,angle between two frames:0.000000
+[14:54:47.186] Update EKF and 3D points the number of feature in the new frame: 278 and number of obs: 278
+[14:54:47.188] need key frame pitch dis: 0.187163 translation dif:0.029027
+[14:54:47.188] frame process finished the id is: 146 the obs is:278 
+[14:54:47.391] After Reprojection Map nPoint:314 ,nCell:140 ,nMatches:26 ,distance between ekf and vo x:0.000035 ,z=-0.000006,angle between two frames:0.000000
+[14:54:47.392] n deleted obs = 37 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =277 	 error init =0.075724 	 error end=0.075724
+[14:54:47.392] After pose optimization, distance between ekf and vo x:0.000035 ,z=-0.000006,angle between two frames:0.000000
+[14:54:47.392] Update EKF and 3D points the number of feature in the new frame: 277 and number of obs: 277
+[14:54:47.393] need key frame pitch dis: 0.193161 translation dif:0.028993
+[14:54:47.393] frame process finished the id is: 147 the obs is:277 
diff --git a/GPU_version/vio/src/math_utils.cpp b/GPU_version/vio/src/math_utils.cpp
index e3ca59d..9267e2b 100644
--- a/GPU_version/vio/src/math_utils.cpp
+++ b/GPU_version/vio/src/math_utils.cpp
@@ -19,15 +19,32 @@ Vector3d
 triangulateFeatureNonLin(const Matrix3d& R,  const Vector3d& t,
                          const Vector3d& feature1, const Vector3d& feature2 )
 {
-  Vector3d R_F2 = R * feature2;
+  Vector3d R_F2 = R * feature2;//T*A=R*A+t
   Vector2d b;
+  /*
+   * b=cross(t,f1)
+   *   corss(t,Rf2)
+   * */
   b[0] = t.dot(feature1);
   b[1] = t.dot(R_F2);//cross(t,R*f2)
   Matrix2d A;
+  /**
+   * A<< cross(f1,f1), -z
+   *     z           , -corss(R*f2,R*f2)
+   *
+   * det(A)= -corss(R*f2,R*f2)*cross(f1,f1) + pow(z,2)
+   */
   A(0,0) = feature1.dot(feature1);
-  A(1,0) = feature1.dot(R_F2);
+  A(1,0) = feature1.dot(R_F2);//z
   A(0,1) = -A(1,0);
   A(1,1) = -R_F2.dot(R_F2);
+  /*
+   * A_inv<< cross(f1,f1)/det(A) , z/det(A)
+   *         -z/det(A)           , -corss(R*f2,R*f2)/det(A)
+   *
+   * lambda[0]= cross(t,f1)*cross(f1,f1)/det(A) + corss(t,Rf2)*z/det(A)
+   * lambda[1]= -cross(t,f1)*z/det(A) -   corss(t,Rf2) * corss(R*f2,R*f2)/det(A)
+   * */
   Vector2d lambda = A.inverse() * b;
   Vector3d xm = lambda[0] * feature1;
   Vector3d xn = t + lambda[1] * R_F2;
diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp
index b3e22f6..1e7b6c9 100644
--- a/GPU_version/vio/src/reprojector.cpp
+++ b/GPU_version/vio/src/reprojector.cpp
@@ -145,7 +145,7 @@ namespace vio {
                         SE3 T_ref_cur=it_frame.item.first->se3().inverse()*frame->se3();
                         // pose with respect to reference frame
                         Vector3d pos=vk::triangulateFeatureNonLin(T_ref_cur.rotation_matrix(),T_ref_cur.translation(),
-                                                                        frame->c2f(px),(*it_ref)->f);
+                                                                  (*it_ref)->f,frame->c2f(px));
                         // point in world frame
                         std::shared_ptr<Point> new_point=std::make_shared<Point>(it_frame.item.first->se3()*pos,(*it_ref));
                         frame->addFeature(std::make_shared<Feature>(frame,