diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt deleted file mode 100755 index 6c26898..0000000 --- a/GPU_version/vio/depth_filter_log.txt +++ /dev/null @@ -1,276 +0,0 @@ -[09:40:58.480] New key frame -[09:40:58.480] BA loop run -[09:41:00.861] New key frame -[09:41:00.861] BA loop run -[09:41:01.109] New key frame -[09:41:01.109] BA loop run -[09:41:03.381] New key frame -[09:41:03.381] BA loop run -[09:41:03.643] New key frame -[09:41:03.643] BA loop run -[09:41:05.992] New key frame -[09:41:05.992] BA loop run -[09:41:06.314] New key frame -[09:41:06.314] BA loop run -[09:41:06.317] init error: 33.593490 -[09:41:06.319] end error: 0.507104 -[09:41:06.693] New key frame -[09:41:06.693] BA loop run -[09:41:06.699] init error: 623.796692 -[09:41:06.713] end error: 25.966885 -[09:41:07.465] New key frame -[09:41:07.465] BA loop run -[09:41:07.473] init error: 200.281248 -[09:41:07.483] end error: 20.162876 -[09:41:08.373] New key frame -[09:41:08.373] BA loop run -[09:41:08.385] init error: 188.665690 -[09:41:08.401] end error: 11.829465 -[09:41:09.273] New key frame -[09:41:09.273] BA loop run -[09:41:09.283] init error: 250.915563 -[09:41:09.297] end error: 17.902582 -[09:41:09.929] New key frame -[09:41:09.929] BA loop run -[09:41:09.941] init error: 366.126323 -[09:41:09.961] end error: 50.177894 -[09:41:10.778] New key frame -[09:41:10.778] BA loop run -[09:41:10.791] init error: 441.157738 -[09:41:10.819] end error: 82.281770 -[09:41:11.918] New key frame -[09:41:11.918] BA loop run -[09:41:11.934] init error: 522.351362 -[09:41:11.967] end error: 106.476498 -[09:41:13.129] New key frame -[09:41:13.129] BA loop run -[09:41:13.148] init error: 502.660293 -[09:41:13.184] end error: 133.579220 -[09:41:14.243] New key frame -[09:41:14.243] BA loop run -[09:41:14.267] init error: 759.602149 -[09:41:14.314] end error: 143.566244 -[09:41:15.446] New key frame -[09:41:15.446] BA loop run -[09:41:15.473] init error: 807.280252 -[09:41:15.519] end error: 149.477329 -[09:41:18.367] New key frame -[09:41:18.367] BA loop run -[09:41:18.388] init error: 552.413383 -[09:41:18.430] end error: 135.149830 -[09:41:19.476] New key frame -[09:41:19.476] BA loop run -[09:41:19.498] init error: 551.733477 -[09:41:19.543] end error: 162.408624 -[09:41:20.993] New key frame -[09:41:20.994] BA loop run -[09:41:21.021] init error: 577.582127 -[09:41:21.072] end error: 347.637686 -[09:41:22.124] New key frame -[09:41:22.124] BA loop run -[09:41:22.154] init error: 869.217739 -[09:41:22.210] end error: 257.272977 -[09:41:23.753] New key frame -[09:41:23.753] BA loop run -[09:41:23.789] init error: 750.787054 -[09:41:23.857] end error: 278.771803 -[09:41:26.151] New key frame -[09:41:26.151] BA loop run -[09:41:26.174] init error: 542.304782 -[09:41:26.225] end error: 342.676558 -[09:41:27.557] New key frame -[09:41:27.557] BA loop run -[09:41:27.589] init error: 1106927.312549 -[09:41:27.648] end error: 2472.238543 -[09:41:28.886] New key frame -[09:41:28.886] BA loop run -[09:41:28.922] init error: 34347.971388 -[09:41:28.978] end error: 702.902792 -[09:41:31.077] New key frame -[09:41:31.077] BA loop run -[09:41:31.106] init error: 162312.913853 -[09:41:31.163] end error: 1352.654551 -[09:41:35.100] New key frame -[09:41:35.100] BA loop run -[09:41:35.141] init error: 2602712.759146 -[09:41:35.218] end error: 2988.467651 -[09:41:40.197] New key frame -[09:41:40.197] BA loop run -[09:41:40.242] init error: 78346.175119 -[09:41:40.338] end error: 3325.693257 -[09:41:46.517] New key frame -[09:41:46.517] BA loop run -[09:41:46.565] init error: 497489.318251 -[09:41:46.648] end error: 2435.150457 -[09:41:51.887] New key frame -[09:41:51.887] BA loop run -[09:41:51.924] init error: 826678.283964 -[09:41:52.014] end error: 5042.615786 -[09:42:01.253] New key frame -[09:42:01.253] BA loop run -[09:42:01.278] init error: 1134531.628111 -[09:42:01.329] end error: 1492.806564 -[09:42:03.799] New key frame -[09:42:03.799] BA loop run -[09:42:03.823] init error: 29620.317170 -[09:42:03.873] end error: 1113.873776 -[09:42:07.284] New key frame -[09:42:07.284] BA loop run -[09:42:07.309] init error: 1239494.297594 -[09:42:07.356] end error: 960.417044 -[09:42:10.434] New key frame -[09:42:10.434] BA loop run -[09:42:10.464] init error: 4244493.292235 -[09:42:10.509] end error: 2438.454006 -[09:42:12.097] New key frame -[09:42:12.097] BA loop run -[09:42:12.117] init error: 2019166.708812 -[09:42:12.147] end error: 1708.994479 -[09:42:13.681] New key frame -[09:42:13.681] BA loop run -[09:42:13.700] init error: 222025.551054 -[09:42:13.729] end error: 1232.584233 -[09:42:15.073] New key frame -[09:42:15.073] BA loop run -[09:42:15.091] init error: 22879.374140 -[09:42:15.117] end error: 739.349639 -[09:42:16.062] New key frame -[09:42:16.062] BA loop run -[09:42:16.081] init error: 2679.501733 -[09:42:16.106] end error: 1164.563693 -[09:42:17.575] New key frame -[09:42:17.575] BA loop run -[09:42:17.587] init error: 34584.249826 -[09:42:17.604] end error: 243.975915 -[09:42:18.528] New key frame -[09:42:18.528] BA loop run -[09:42:18.540] init error: 205309.228156 -[09:42:18.555] end error: 329.519674 -[09:42:19.361] New key frame -[09:42:19.361] BA loop run -[09:42:19.378] init error: 247752.403596 -[09:42:19.403] end error: 1926.209132 -[09:42:20.292] New key frame -[09:42:20.292] BA loop run -[09:42:20.309] init error: 3772923.591496 -[09:42:20.336] end error: 13015.806800 -[09:42:21.203] New key frame -[09:42:21.203] BA loop run -[09:42:21.220] init error: 8100411.130081 -[09:42:21.247] end error: 2354.665901 -[09:42:22.371] New key frame -[09:42:22.371] BA loop run -[09:42:22.385] init error: 13252893.163963 -[09:42:22.405] end error: 3955.403400 -[09:42:22.995] New key frame -[09:42:22.995] BA loop run -[09:42:23.007] init error: 50246.031351 -[09:42:23.023] end error: 1239.502501 -[09:42:23.544] New key frame -[09:42:23.544] BA loop run -[09:42:23.553] init error: 24423.596147 -[09:42:23.567] end error: 542.436572 -[09:42:24.189] New key frame -[09:42:24.189] BA loop run -[09:42:24.201] init error: 17867.188215 -[09:42:24.221] end error: 426.323018 -[09:42:24.729] New key frame -[09:42:24.729] BA loop run -[09:42:24.739] init error: 275724.909064 -[09:42:24.754] end error: 521.643418 -[09:42:25.897] New key frame -[09:42:25.897] BA loop run -[09:42:25.906] init error: 262049.700145 -[09:42:25.919] end error: 377.674704 -[09:42:26.242] New key frame -[09:42:26.242] BA loop run -[09:42:26.256] init error: 39784.857158 -[09:42:26.275] end error: 1360.159533 -[09:42:26.567] New key frame -[09:42:26.567] BA loop run -[09:42:26.579] init error: 2829.343323 -[09:42:26.593] end error: 177.152274 -[09:42:26.861] New key frame -[09:42:26.861] BA loop run -[09:42:26.872] init error: 463.093803 -[09:42:26.886] end error: 108.046460 -[09:42:27.222] New key frame -[09:42:27.222] BA loop run -[09:42:27.234] init error: 253.449879 -[09:42:27.251] end error: 46.918466 -[09:42:27.558] New key frame -[09:42:27.558] BA loop run -[09:42:27.571] init error: 270.531664 -[09:42:27.588] end error: 211.306909 -[09:42:28.026] New key frame -[09:42:28.026] BA loop run -[09:42:28.035] init error: 106.215440 -[09:42:28.050] end error: 48.649958 -[09:42:28.471] New key frame -[09:42:28.471] BA loop run -[09:42:28.484] init error: 540.109305 -[09:42:28.500] end error: 94.974361 -[09:42:28.783] New key frame -[09:42:28.783] BA loop run -[09:42:28.797] init error: 311.232055 -[09:42:28.814] end error: 71.629348 -[09:42:29.526] New key frame -[09:42:29.526] BA loop run -[09:42:29.537] init error: 641.110125 -[09:42:29.553] end error: 61.509066 -[09:42:30.216] New key frame -[09:42:30.217] BA loop run -[09:42:30.228] init error: 1528.464094 -[09:42:30.246] end error: 533.391239 -[09:42:30.900] New key frame -[09:42:30.900] BA loop run -[09:42:30.913] init error: 1306.140162 -[09:42:30.932] end error: 279.868488 -[09:42:31.537] New key frame -[09:42:31.537] BA loop run -[09:42:31.551] init error: 6952.845242 -[09:42:31.580] end error: 264.563956 -[09:42:32.261] New key frame -[09:42:32.261] BA loop run -[09:42:32.275] init error: 863.549138 -[09:42:32.297] end error: 275.322912 -[09:42:33.012] New key frame -[09:42:33.012] BA loop run -[09:42:33.029] init error: 49464.954650 -[09:42:33.056] end error: 303.622631 -[09:42:33.638] New key frame -[09:42:33.638] BA loop run -[09:42:33.653] init error: 607.686003 -[09:42:33.683] end error: 339.169231 -[09:42:34.299] New key frame -[09:42:34.299] BA loop run -[09:42:34.314] init error: 1902.522594 -[09:42:34.348] end error: 397.317811 -[09:42:35.240] New key frame -[09:42:35.240] BA loop run -[09:42:35.257] init error: 2445.150875 -[09:42:35.292] end error: 402.052507 -[09:42:35.825] New key frame -[09:42:35.825] BA loop run -[09:42:35.845] init error: 17776.183805 -[09:42:35.877] end error: 539.861068 -[09:42:36.930] New key frame -[09:42:36.930] BA loop run -[09:42:36.952] init error: 12225.169084 -[09:42:36.986] end error: 637.005548 -[09:42:38.052] New key frame -[09:42:38.052] BA loop run -[09:42:38.079] init error: 389723.394965 -[09:42:38.118] end error: 873.699531 -[09:42:39.254] New key frame -[09:42:39.254] BA loop run -[09:42:39.277] init error: 3285148.506519 -[09:42:39.313] end error: 1445.314082 -[09:42:40.617] New key frame -[09:42:40.617] BA loop run -[09:42:40.638] init error: 2817319.087931 -[09:42:40.679] end error: 3234.274176 -[09:42:41.978] New key frame -[09:42:41.978] BA loop run -[09:42:42.003] init error: 445458.985445 -[09:42:42.042] end error: 4705.423805 diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index b2d4807..38bf8a1 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,1233 +1,1267 @@ -[09:40:53.506] Init: frame zero: 0.000000, 0.000000 0.000000 -[09:40:53.506] Init: Selected first frame. -[09:40:53.506] frame process finished the id is: 0 the obs is:0 -[09:40:53.525] Init: px average disparity is:0.035702 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:53.525] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:53.525] frame process finished the id is: 1 the obs is:0 -[09:40:53.628] Init: px average disparity is:0.035710 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:53.628] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:53.628] frame process finished the id is: 2 the obs is:0 -[09:40:53.719] Init: px average disparity is:0.027114 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:53.719] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:53.719] frame process finished the id is: 3 the obs is:0 -[09:40:53.826] Init: px average disparity is:0.028933 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:53.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:53.826] frame process finished the id is: 4 the obs is:0 -[09:40:53.926] Init: px average disparity is:0.032903 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:53.926] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:53.926] frame process finished the id is: 5 the obs is:0 -[09:40:54.023] Init: px average disparity is:0.029436 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:54.023] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:54.023] frame process finished the id is: 6 the obs is:0 -[09:40:54.127] Init: px average disparity is:0.030897 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:54.127] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:54.127] frame process finished the id is: 7 the obs is:0 -[09:40:54.226] Init: px average disparity is:0.029863 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:54.226] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:54.226] frame process finished the id is: 8 the obs is:0 -[09:40:54.312] Init: px average disparity is:0.033033 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:54.312] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:54.312] frame process finished the id is: 9 the obs is:0 -[09:40:54.410] Init: px average disparity is:0.032262 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:54.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:54.410] frame process finished the id is: 10 the obs is:0 -[09:40:54.513] Init: px average disparity is:0.028435 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:54.513] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:54.513] frame process finished the id is: 11 the obs is:0 -[09:40:54.610] Init: px average disparity is:0.038753 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:54.610] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:54.610] frame process finished the id is: 12 the obs is:0 -[09:40:54.680] Odometry x=0.000000, y=0.000000, theta=-0.000000 -[09:40:54.723] Init: px average disparity is:0.033534 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:54.724] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:54.724] frame process finished the id is: 13 the obs is:0 -[09:40:54.811] Init: px average disparity is:0.028411 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:54.811] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:54.811] frame process finished the id is: 14 the obs is:0 -[09:40:54.915] Odometry x=0.000000, y=0.019186, theta=-0.000001 -[09:40:54.916] Init: px average disparity is:0.146053 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:54.916] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:54.916] frame process finished the id is: 15 the obs is:0 -[09:40:55.013] Init: px average disparity is:6.453716 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:55.013] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:55.013] frame process finished the id is: 16 the obs is:0 -[09:40:55.130] Init: px average disparity is:4.606047 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:55.130] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:55.130] frame process finished the id is: 17 the obs is:0 -[09:40:55.172] Odometry x=-0.000011, y=0.050473, theta=0.001345 -[09:40:55.242] Init: px average disparity is:4.914490 ,While minimum is: 10.000000 KLT tracked : 895 -[09:40:55.242] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:55.242] frame process finished the id is: 18 the obs is:0 -[09:40:55.318] Init: px average disparity is:9.779386 ,While minimum is: 10.000000 KLT tracked : 894 -[09:40:55.318] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:55.318] frame process finished the id is: 19 the obs is:0 -[09:40:55.448] Odometry x=-0.000050, y=0.081230, theta=0.007113 -[09:40:55.543] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:12.724287 ,While minimum is: 10.000000 KLT tracked: 894 -[09:40:55.543] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:55.543] frame process finished the id is: 20 the obs is:0 -[09:40:55.642] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:15.784901 ,While minimum is: 10.000000 KLT tracked: 886 -[09:40:55.642] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:55.642] frame process finished the id is: 21 the obs is:0 -[09:40:55.656] Odometry x=-0.000205, y=0.110666, theta=0.011254 -[09:40:55.737] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:19.932699 ,While minimum is: 10.000000 KLT tracked: 886 -[09:40:55.737] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:55.737] frame process finished the id is: 22 the obs is:0 -[09:40:55.833] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:29.431135 ,While minimum is: 10.000000 KLT tracked: 886 -[09:40:55.833] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:55.833] frame process finished the id is: 23 the obs is:0 -[09:40:55.932] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:27.322477 ,While minimum is: 10.000000 KLT tracked: 886 -[09:40:55.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:55.932] frame process finished the id is: 24 the obs is:0 -[09:40:55.961] Odometry x=-0.000652, y=0.139534, theta=0.023360 -[09:40:56.034] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:28.563515 ,While minimum is: 10.000000 KLT tracked: 885 -[09:40:56.034] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:56.034] frame process finished the id is: 25 the obs is:0 -[09:40:56.135] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:34.025076 ,While minimum is: 10.000000 KLT tracked: 885 -[09:40:56.135] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:56.135] frame process finished the id is: 26 the obs is:0 -[09:40:56.188] Odometry x=-0.001450, y=0.168635, theta=0.026067 -[09:40:56.242] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:41.010966 ,While minimum is: 10.000000 KLT tracked: 881 -[09:40:56.242] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:56.242] frame process finished the id is: 27 the obs is:0 -[09:40:56.348] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:45.944527 ,While minimum is: 10.000000 KLT tracked: 878 -[09:40:56.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:56.348] frame process finished the id is: 28 the obs is:0 -[09:40:56.424] Odometry x=-0.002104, y=0.198150, theta=0.028046 -[09:40:56.457] Init: Homography RANSAC (inlier) is:11 ,While 40 inliers minimum required. px average disparity is:45.699337 ,While minimum is: 10.000000 KLT tracked: 830 -[09:40:56.457] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:56.457] frame process finished the id is: 29 the obs is:0 -[09:40:56.563] Init: Homography RANSAC (inlier) is:11 ,While 40 inliers minimum required. px average disparity is:42.626934 ,While minimum is: 10.000000 KLT tracked: 782 -[09:40:56.563] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:56.563] frame process finished the id is: 30 the obs is:0 -[09:40:56.665] Init: Homography RANSAC (inlier) is:11 ,While 40 inliers minimum required. px average disparity is:45.790834 ,While minimum is: 10.000000 KLT tracked: 752 -[09:40:56.665] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:56.665] frame process finished the id is: 31 the obs is:0 -[09:40:56.683] Odometry x=-0.003401, y=0.226799, theta=0.043467 -[09:40:56.768] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:43.837225 ,While minimum is: 10.000000 KLT tracked: 747 -[09:40:56.768] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:56.768] frame process finished the id is: 32 the obs is:0 -[09:40:56.876] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:48.270128 ,While minimum is: 10.000000 KLT tracked: 745 -[09:40:56.876] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:56.876] frame process finished the id is: 33 the obs is:0 -[09:40:56.910] Odometry x=-0.004087, y=0.254973, theta=0.046361 -[09:40:56.984] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:53.263817 ,While minimum is: 10.000000 KLT tracked: 739 -[09:40:56.984] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:56.984] frame process finished the id is: 34 the obs is:0 -[09:40:57.091] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:49.658570 ,While minimum is: 10.000000 KLT tracked: 730 -[09:40:57.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:57.091] frame process finished the id is: 35 the obs is:0 -[09:40:57.144] Odometry x=-0.005145, y=0.283227, theta=0.036339 -[09:40:57.197] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:43.750100 ,While minimum is: 10.000000 KLT tracked: 730 -[09:40:57.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:57.197] frame process finished the id is: 36 the obs is:0 -[09:40:57.398] Odometry x=-0.006364, y=0.308442, theta=0.050757 -[09:40:57.422] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:83.974566 ,While minimum is: 10.000000 KLT tracked: 717 -[09:40:57.422] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:57.422] frame process finished the id is: 37 the obs is:0 -[09:40:57.535] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:41.953191 ,While minimum is: 10.000000 KLT tracked: 701 -[09:40:57.535] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:57.535] frame process finished the id is: 38 the obs is:0 -[09:40:57.642] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:41.888250 ,While minimum is: 10.000000 KLT tracked: 695 -[09:40:57.642] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:57.642] frame process finished the id is: 39 the obs is:0 -[09:40:57.654] Odometry x=-0.007589, y=0.334618, theta=0.039153 -[09:40:57.757] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:49.870523 ,While minimum is: 10.000000 KLT tracked: 695 -[09:40:57.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:57.757] frame process finished the id is: 40 the obs is:0 -[09:40:57.865] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:50.665882 ,While minimum is: 10.000000 KLT tracked: 695 -[09:40:57.865] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:57.865] frame process finished the id is: 41 the obs is:0 -[09:40:57.972] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:56.009120 ,While minimum is: 10.000000 KLT tracked: 695 -[09:40:57.972] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:57.972] frame process finished the id is: 42 the obs is:0 -[09:40:57.990] Odometry x=-0.007544, y=0.360293, theta=0.040040 -[09:40:58.077] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:55.714196 ,While minimum is: 10.000000 KLT tracked: 694 -[09:40:58.077] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:58.077] frame process finished the id is: 43 the obs is:0 -[09:40:58.156] Odometry x=-0.008603, y=0.383888, theta=0.036397 -[09:40:58.183] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:54.680003 ,While minimum is: 10.000000 KLT tracked: 690 -[09:40:58.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:40:58.183] frame process finished the id is: 44 the obs is:0 -[09:40:58.304] Init finished: Homography RANSAC (inlier) is:129 ,While 40 inliers minimum required. px average disparity is:59.199233 ,While minimum is: 10.000000 KLT tracked: 685 -[09:40:58.304] Init: distance between the first and current frame is x:-0.006425 ,z=0.400390,angle between two frames: 0.021282 -[09:40:58.305] Init: Selected Second frame. The number of features: 129 depth mean:0.527025 min:0.367460 -[09:40:58.305] frame process finished the id is: 45 the obs is:129 -[09:40:58.405] Odometry x=-0.006425, y=0.400390, theta=0.021282 -[09:40:58.479] After Reprojection Map nMatches:84 ,distance between ekf and vo x:-0.002271 ,z=0.003035,angle between two frames:0.001663 -[09:40:58.480] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =35 error init =0.149598 error end=0.211313 -[09:40:58.480] After pose optimization, distance between ekf and vo x:-0.002271 ,z=0.003035,angle between two frames:0.001663 -[09:40:58.480] Update EKF and 3D points the number of feature in the new frame: 602 and number of obs: 602 -[09:40:58.480] frame Scene Depth mean:0.464886 ,depth min:0.441050 -[09:40:58.480] need key frame pitch dis: 0.018428 translation dif:0.415128 -[09:40:58.480] Choose frame as a key frame Scene Depth mean:0.464886 ,depth min:0.441050 -[09:40:58.480] frame process finished the id is: 46 the obs is:602 -[09:40:58.648] Odometry x=-0.007555, y=0.415059, theta=0.018428 -[09:40:58.684] After Reprojection Map nMatches:197 ,distance between ekf and vo x:-0.002244 ,z=0.003428,angle between two frames:0.000267 -[09:40:58.685] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =96 error init =0.206220 error end=0.105032 -[09:40:58.685] After pose optimization, distance between ekf and vo x:-0.730353 ,z=1.119042,angle between two frames:0.274612 -[09:40:58.685] frame process finished the id is: 46 the obs is:602 -[09:40:58.906] After Reprojection Map nMatches:369 ,distance between ekf and vo x:0.000228 ,z=0.001091,angle between two frames:0.000253 -[09:40:58.907] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =177 error init =0.145620 error end=0.059699 -[09:40:58.907] After pose optimization, distance between ekf and vo x:0.000228 ,z=0.001091,angle between two frames:0.000253 -[09:40:58.907] Update EKF and 3D points the number of feature in the new frame: 592 and number of obs: 592 -[09:40:58.907] frame Scene Depth mean:0.797635 ,depth min:0.052652 -[09:40:58.909] need key frame pitch dis: 0.004833 translation dif:0.032556 -[09:40:58.909] frame process finished the id is: 48 the obs is:592 -[09:40:58.928] Odometry x=-0.007647, y=0.432923, theta=0.026115 -[09:40:59.126] After Reprojection Map nMatches:395 ,distance between ekf and vo x:0.000853 ,z=0.001797,angle between two frames:0.000748 -[09:40:59.127] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =185 error init =0.302466 error end=0.058207 -[09:40:59.127] After pose optimization, distance between ekf and vo x:0.000853 ,z=0.001797,angle between two frames:0.000748 -[09:40:59.127] Update EKF and 3D points the number of feature in the new frame: 610 and number of obs: 610 -[09:40:59.127] frame Scene Depth mean:2.146869 ,depth min:0.056473 -[09:40:59.128] need key frame pitch dis: 0.022443 translation dif:0.027772 -[09:40:59.128] frame process finished the id is: 49 the obs is:609 -[09:40:59.161] Odometry x=-0.007151, y=0.442828, theta=0.040871 -[09:40:59.332] After Reprojection Map nMatches:495 ,distance between ekf and vo x:-0.000062 ,z=0.000192,angle between two frames:0.000002 -[09:40:59.333] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =207 error init =0.328820 error end=0.105660 -[09:40:59.333] After pose optimization, distance between ekf and vo x:-0.000062 ,z=0.000192,angle between two frames:0.000002 -[09:40:59.333] Update EKF and 3D points the number of feature in the new frame: 591 and number of obs: 591 -[09:40:59.333] frame Scene Depth mean:1.804431 ,depth min:0.050333 -[09:40:59.335] need key frame pitch dis: 0.018489 translation dif:0.035073 -[09:40:59.335] frame process finished the id is: 50 the obs is:590 -[09:40:59.411] Odometry x=-0.002852, y=0.449816, theta=0.036917 -[09:40:59.545] After Reprojection Map nMatches:448 ,distance between ekf and vo x:-0.000078 ,z=0.000170,angle between two frames:0.000001 -[09:40:59.546] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =155 error init =0.241802 error end=0.058454 -[09:40:59.546] After pose optimization, distance between ekf and vo x:-0.000078 ,z=0.000170,angle between two frames:0.000001 -[09:40:59.546] Update EKF and 3D points the number of feature in the new frame: 492 and number of obs: 492 -[09:40:59.546] frame Scene Depth mean:1.677247 ,depth min:0.052089 -[09:40:59.548] need key frame pitch dis: 0.012699 translation dif:0.044376 -[09:40:59.548] frame process finished the id is: 51 the obs is:491 -[09:40:59.664] Odometry x=-0.002262, y=0.459119, theta=0.031127 -[09:40:59.713] After Reprojection Map nMatches:334 ,distance between ekf and vo x:-0.000064 ,z=0.000126,angle between two frames:0.000001 -[09:40:59.714] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =127 error init =0.289352 error end=0.076939 -[09:40:59.714] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.000126,angle between two frames:0.000001 -[09:40:59.714] Update EKF and 3D points the number of feature in the new frame: 534 and number of obs: 534 -[09:40:59.714] frame Scene Depth mean:1.110744 ,depth min:0.056975 -[09:40:59.715] need key frame pitch dis: 0.011789 translation dif:0.055479 -[09:40:59.715] frame process finished the id is: 52 the obs is:532 -[09:40:59.910] After Reprojection Map nMatches:307 ,distance between ekf and vo x:-0.000195 ,z=0.000482,angle between two frames:0.000009 -[09:40:59.911] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =109 error init =0.336209 error end=0.052011 -[09:40:59.911] After pose optimization, distance between ekf and vo x:-0.001158 ,z=0.000957,angle between two frames:0.000064 -[09:40:59.911] Update EKF and 3D points the number of feature in the new frame: 501 and number of obs: 501 -[09:40:59.911] frame Scene Depth mean:1.448776 ,depth min:0.050270 -[09:40:59.911] need key frame pitch dis: 0.011655 translation dif:0.058402 -[09:40:59.911] frame process finished the id is: 53 the obs is:500 -[09:40:59.967] Odometry x=-0.002950, y=0.473279, theta=0.030083 -[09:41:00.104] After Reprojection Map nMatches:221 ,distance between ekf and vo x:0.000036 ,z=0.000291,angle between two frames:0.000009 -[09:41:00.104] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =101 error init =0.268617 error end=0.050507 -[09:41:00.104] After pose optimization, distance between ekf and vo x:0.000036 ,z=0.000291,angle between two frames:0.000009 -[09:41:00.104] Update EKF and 3D points the number of feature in the new frame: 394 and number of obs: 394 -[09:41:00.104] frame Scene Depth mean:1.507324 ,depth min:0.050277 -[09:41:00.105] need key frame pitch dis: 0.019800 translation dif:0.067102 -[09:41:00.105] frame process finished the id is: 54 the obs is:392 -[09:41:00.141] Odometry x=-0.000957, y=0.481836, theta=0.038228 -[09:41:00.269] After Reprojection Map nMatches:268 ,distance between ekf and vo x:-0.000209 ,z=0.000382,angle between two frames:0.000003 -[09:41:00.269] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =147 error init =0.358063 error end=0.090081 -[09:41:00.269] After pose optimization, distance between ekf and vo x:-0.000209 ,z=0.000382,angle between two frames:0.000003 -[09:41:00.269] Update EKF and 3D points the number of feature in the new frame: 423 and number of obs: 423 -[09:41:00.269] frame Scene Depth mean:2.350734 ,depth min:0.053452 -[09:41:00.270] need key frame pitch dis: 0.005177 translation dif:0.077800 -[09:41:00.270] frame process finished the id is: 55 the obs is:421 -[09:41:00.428] Odometry x=-0.001648, y=0.492635, theta=0.023605 -[09:41:00.460] After Reprojection Map nMatches:283 ,distance between ekf and vo x:-0.000572 ,z=0.001004,angle between two frames:0.000009 -[09:41:00.460] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =112 error init =0.296584 error end=0.077188 -[09:41:00.460] After pose optimization, distance between ekf and vo x:-0.000572 ,z=0.001004,angle between two frames:0.000009 -[09:41:00.460] Update EKF and 3D points the number of feature in the new frame: 418 and number of obs: 418 -[09:41:00.461] frame Scene Depth mean:1.957325 ,depth min:0.059408 -[09:41:00.461] need key frame pitch dis: 0.012872 translation dif:0.088254 -[09:41:00.461] frame process finished the id is: 56 the obs is:418 -[09:41:00.639] Odometry x=-0.001953, y=0.503136, theta=0.031300 -[09:41:00.659] After Reprojection Map nMatches:201 ,distance between ekf and vo x:-0.000847 ,z=0.001646,angle between two frames:0.000031 -[09:41:00.660] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =69 error init =0.270795 error end=0.066667 -[09:41:00.660] After pose optimization, distance between ekf and vo x:-0.000847 ,z=0.001646,angle between two frames:0.000031 -[09:41:00.660] Update EKF and 3D points the number of feature in the new frame: 456 and number of obs: 456 -[09:41:00.660] frame Scene Depth mean:1.873183 ,depth min:0.068878 -[09:41:00.660] need key frame pitch dis: 0.010417 translation dif:0.098666 -[09:41:00.660] frame process finished the id is: 57 the obs is:455 -[09:41:00.859] After Reprojection Map nMatches:197 ,distance between ekf and vo x:-0.000719 ,z=0.001358,angle between two frames:0.000026 -[09:41:00.860] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =102 error init =0.351837 error end=0.049772 -[09:41:00.860] After pose optimization, distance between ekf and vo x:-0.000719 ,z=0.001358,angle between two frames:0.000026 -[09:41:00.860] Update EKF and 3D points the number of feature in the new frame: 502 and number of obs: 502 -[09:41:00.860] frame Scene Depth mean:2.279728 ,depth min:0.052217 -[09:41:00.861] need key frame pitch dis: 0.010077 translation dif:0.101163 -[09:41:00.861] Choose frame as a key frame Scene Depth mean:2.279728 ,depth min:0.052217 -[09:41:00.861] frame process finished the id is: 58 the obs is:502 -[09:41:00.898] Odometry x=-0.002665, y=0.516104, theta=0.028505 -[09:41:01.107] After Reprojection Map nMatches:399 ,distance between ekf and vo x:-0.000222 ,z=0.000684,angle between two frames:0.000012 -[09:41:01.109] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =82 error init =0.364688 error end=0.043327 -[09:41:01.109] After pose optimization, distance between ekf and vo x:0.000253 ,z=0.000201,angle between two frames:0.000017 -[09:41:01.109] Update EKF and 3D points the number of feature in the new frame: 374 and number of obs: 374 -[09:41:01.109] frame Scene Depth mean:2.440521 ,depth min:0.050663 -[09:41:01.109] need key frame pitch dis: 0.011908 translation dif:0.110433 -[09:41:01.109] Choose frame as a key frame Scene Depth mean:2.440521 ,depth min:0.050663 -[09:41:01.109] frame process finished the id is: 59 the obs is:367 -[09:41:01.163] Odometry x=-0.002172, y=0.525361, theta=0.030336 -[09:41:01.375] After Reprojection Map nMatches:564 ,distance between ekf and vo x:-0.000130 ,z=0.000469,angle between two frames:0.000010 -[09:41:01.376] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =290 error init =0.379718 error end=0.020646 -[09:41:01.376] After pose optimization, distance between ekf and vo x:-0.000130 ,z=0.000469,angle between two frames:0.000010 -[09:41:01.376] Update EKF and 3D points the number of feature in the new frame: 521 and number of obs: 521 -[09:41:01.376] frame Scene Depth mean:0.780466 ,depth min:0.050014 -[09:41:01.378] need key frame pitch dis: 0.004258 translation dif:0.022051 -[09:41:01.378] frame process finished the id is: 60 the obs is:509 -[09:41:01.393] Odometry x=0.000718, y=0.537894, theta=0.024247 -[09:41:01.622] After Reprojection Map nMatches:712 ,distance between ekf and vo x:-0.000080 ,z=0.000281,angle between two frames:0.000003 -[09:41:01.624] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =400 error init =0.228477 error end=0.034752 -[09:41:01.624] After pose optimization, distance between ekf and vo x:-0.000080 ,z=0.000281,angle between two frames:0.000003 -[09:41:01.624] Update EKF and 3D points the number of feature in the new frame: 578 and number of obs: 578 -[09:41:01.624] frame Scene Depth mean:0.688556 ,depth min:0.051151 -[09:41:01.626] need key frame pitch dis: 0.006881 translation dif:0.023102 -[09:41:01.626] frame process finished the id is: 61 the obs is:571 -[09:41:01.644] Odometry x=0.000624, y=0.548293, theta=0.037217 -[09:41:01.872] After Reprojection Map nMatches:678 ,distance between ekf and vo x:-0.000141 ,z=0.000271,angle between two frames:0.000004 -[09:41:01.874] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =335 error init =0.235078 error end=0.046074 -[09:41:01.874] After pose optimization, distance between ekf and vo x:-0.000141 ,z=0.000271,angle between two frames:0.000004 -[09:41:01.874] Update EKF and 3D points the number of feature in the new frame: 511 and number of obs: 511 -[09:41:01.874] frame Scene Depth mean:0.883474 ,depth min:0.050433 -[09:41:01.876] need key frame pitch dis: 0.013575 translation dif:0.028231 -[09:41:01.876] frame process finished the id is: 62 the obs is:508 -[09:41:01.975] Odometry x=-0.000589, y=0.553548, theta=0.043910 -[09:41:02.117] After Reprojection Map nMatches:625 ,distance between ekf and vo x:-0.000270 ,z=0.000505,angle between two frames:0.000006 -[09:41:02.119] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =310 error init =0.236867 error end=0.046464 -[09:41:02.119] After pose optimization, distance between ekf and vo x:-0.000270 ,z=0.000505,angle between two frames:0.000006 -[09:41:02.119] Update EKF and 3D points the number of feature in the new frame: 465 and number of obs: 465 -[09:41:02.119] frame Scene Depth mean:1.183168 ,depth min:0.051523 -[09:41:02.121] need key frame pitch dis: 0.025540 translation dif:0.038951 -[09:41:02.121] frame process finished the id is: 63 the obs is:462 -[09:41:02.140] Odometry x=-0.000458, y=0.564275, theta=0.055876 -[09:41:02.358] After Reprojection Map nMatches:566 ,distance between ekf and vo x:-0.000106 ,z=0.000158,angle between two frames:0.000001 -[09:41:02.360] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =247 error init =0.222335 error end=0.069216 -[09:41:02.360] After pose optimization, distance between ekf and vo x:-0.000106 ,z=0.000158,angle between two frames:0.000001 -[09:41:02.360] Update EKF and 3D points the number of feature in the new frame: 482 and number of obs: 482 -[09:41:02.360] frame Scene Depth mean:1.571676 ,depth min:0.053471 -[09:41:02.362] need key frame pitch dis: 0.043331 translation dif:0.059554 -[09:41:02.362] frame process finished the id is: 64 the obs is:476 -[09:41:02.445] Odometry x=-0.002183, y=0.575656, theta=0.071835 -[09:41:02.627] After Reprojection Map nMatches:493 ,distance between ekf and vo x:-0.000322 ,z=0.000550,angle between two frames:0.000003 -[09:41:02.628] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =256 error init =0.230440 error end=0.046634 -[09:41:02.629] After pose optimization, distance between ekf and vo x:-0.000322 ,z=0.000550,angle between two frames:0.000003 -[09:41:02.629] Update EKF and 3D points the number of feature in the new frame: 459 and number of obs: 459 -[09:41:02.629] frame Scene Depth mean:2.006282 ,depth min:0.050739 -[09:41:02.630] need key frame pitch dis: 0.050298 translation dif:0.070036 -[09:41:02.630] frame process finished the id is: 65 the obs is:455 -[09:41:02.645] Odometry x=-0.002980, y=0.586140, theta=0.078803 -[09:41:02.852] After Reprojection Map nMatches:528 ,distance between ekf and vo x:-0.000197 ,z=0.000417,angle between two frames:0.000006 -[09:41:02.853] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =304 error init =0.244882 error end=0.056468 -[09:41:02.853] After pose optimization, distance between ekf and vo x:-0.000197 ,z=0.000417,angle between two frames:0.000006 -[09:41:02.853] Update EKF and 3D points the number of feature in the new frame: 396 and number of obs: 396 -[09:41:02.854] frame Scene Depth mean:1.254536 ,depth min:0.051162 -[09:41:02.856] need key frame pitch dis: 0.052269 translation dif:0.073909 -[09:41:02.856] frame process finished the id is: 66 the obs is:392 -[09:41:02.896] Odometry x=-0.004107, y=0.599245, theta=0.082605 -[09:41:03.128] After Reprojection Map nMatches:581 ,distance between ekf and vo x:-0.000239 ,z=0.000420,angle between two frames:0.000004 -[09:41:03.129] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =312 error init =0.244771 error end=0.059682 -[09:41:03.129] After pose optimization, distance between ekf and vo x:-0.000239 ,z=0.000420,angle between two frames:0.000004 -[09:41:03.129] Update EKF and 3D points the number of feature in the new frame: 551 and number of obs: 551 -[09:41:03.130] frame Scene Depth mean:1.739959 ,depth min:0.059510 -[09:41:03.132] need key frame pitch dis: 0.053350 translation dif:0.094441 -[09:41:03.132] frame process finished the id is: 67 the obs is:545 -[09:41:03.148] Odometry x=-0.005509, y=0.610502, theta=0.081855 -[09:41:03.377] After Reprojection Map nMatches:581 ,distance between ekf and vo x:-0.000063 ,z=0.000117,angle between two frames:0.000002 -[09:41:03.379] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =244 error init =0.262960 error end=0.066523 -[09:41:03.379] After pose optimization, distance between ekf and vo x:-0.000063 ,z=0.000117,angle between two frames:0.000002 -[09:41:03.379] Update EKF and 3D points the number of feature in the new frame: 496 and number of obs: 496 -[09:41:03.379] frame Scene Depth mean:2.209747 ,depth min:0.052318 -[09:41:03.380] need key frame pitch dis: 0.061953 translation dif:0.109217 -[09:41:03.380] Choose frame as a key frame Scene Depth mean:2.209747 ,depth min:0.052318 -[09:41:03.381] frame process finished the id is: 68 the obs is:494 -[09:41:03.383] Odometry x=-0.006265, y=0.625262, theta=0.090458 -[09:41:03.635] Odometry x=-0.007526, y=0.639167, theta=0.090576 -[09:41:03.639] After Reprojection Map nMatches:490 ,distance between ekf and vo x:-0.000041 ,z=0.000115,angle between two frames:0.000001 -[09:41:03.641] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =142 error init =0.275552 error end=0.088453 -[09:41:03.641] After pose optimization, distance between ekf and vo x:-0.000041 ,z=0.000115,angle between two frames:0.000001 -[09:41:03.641] Update EKF and 3D points the number of feature in the new frame: 496 and number of obs: 496 -[09:41:03.641] frame Scene Depth mean:2.981177 ,depth min:0.057977 -[09:41:03.642] need key frame pitch dis: 0.062063 translation dif:0.120602 -[09:41:03.642] Choose frame as a key frame Scene Depth mean:2.981177 ,depth min:0.057977 -[09:41:03.643] frame process finished the id is: 69 the obs is:495 -[09:41:03.947] After Reprojection Map nMatches:454 ,distance between ekf and vo x:-0.000214 ,z=0.000544,angle between two frames:0.000012 -[09:41:03.949] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =140 error init =0.328661 error end=0.076117 -[09:41:03.949] After pose optimization, distance between ekf and vo x:-0.000214 ,z=0.000544,angle between two frames:0.000012 -[09:41:03.949] Update EKF and 3D points the number of feature in the new frame: 469 and number of obs: 469 -[09:41:03.949] frame Scene Depth mean:1.618325 ,depth min:0.056532 -[09:41:03.950] need key frame pitch dis: 0.001278 translation dif:0.012464 -[09:41:03.950] frame process finished the id is: 70 the obs is:469 -[09:41:04.279] After Reprojection Map nMatches:571 ,distance between ekf and vo x:-0.000005 ,z=0.000326,angle between two frames:0.000015 -[09:41:04.281] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =267 error init =0.338718 error end=0.041757 -[09:41:04.281] After pose optimization, distance between ekf and vo x:-0.000005 ,z=0.000326,angle between two frames:0.000015 -[09:41:04.281] Update EKF and 3D points the number of feature in the new frame: 489 and number of obs: 489 -[09:41:04.281] frame Scene Depth mean:1.194486 ,depth min:0.050220 -[09:41:04.283] need key frame pitch dis: 0.001561 translation dif:0.001256 -[09:41:04.283] frame process finished the id is: 71 the obs is:489 -[09:41:04.622] After Reprojection Map nMatches:610 ,distance between ekf and vo x:0.000021 ,z=0.000222,angle between two frames:0.000008 -[09:41:04.624] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =248 error init =0.311300 error end=0.056725 -[09:41:04.624] After pose optimization, distance between ekf and vo x:0.000021 ,z=0.000222,angle between two frames:0.000008 -[09:41:04.624] Update EKF and 3D points the number of feature in the new frame: 510 and number of obs: 510 -[09:41:04.624] frame Scene Depth mean:0.852661 ,depth min:0.050574 -[09:41:04.626] need key frame pitch dis: 0.001583 translation dif:0.001276 -[09:41:04.626] frame process finished the id is: 72 the obs is:510 -[09:41:04.987] After Reprojection Map nMatches:599 ,distance between ekf and vo x:-0.000005 ,z=0.000264,angle between two frames:0.000027 -[09:41:04.988] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =216 error init =0.330215 error end=0.057884 -[09:41:04.988] After pose optimization, distance between ekf and vo x:-0.000005 ,z=0.000264,angle between two frames:0.000027 -[09:41:04.989] Update EKF and 3D points the number of feature in the new frame: 497 and number of obs: 497 -[09:41:04.989] frame Scene Depth mean:1.218659 ,depth min:0.051074 -[09:41:04.991] need key frame pitch dis: 0.001591 translation dif:0.001291 -[09:41:04.991] frame process finished the id is: 73 the obs is:497 -[09:41:05.299] After Reprojection Map nMatches:555 ,distance between ekf and vo x:0.000122 ,z=0.000081,angle between two frames:0.000005 -[09:41:05.300] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =229 error init =0.282954 error end=0.057632 -[09:41:05.300] After pose optimization, distance between ekf and vo x:0.000122 ,z=0.000081,angle between two frames:0.000005 -[09:41:05.300] Update EKF and 3D points the number of feature in the new frame: 509 and number of obs: 509 -[09:41:05.301] frame Scene Depth mean:0.921183 ,depth min:0.050149 -[09:41:05.304] need key frame pitch dis: 0.001589 translation dif:0.001249 -[09:41:05.304] frame process finished the id is: 74 the obs is:509 -[09:41:05.408] Odometry x=-0.007448, y=0.637857, theta=0.088979 -[09:41:05.637] After Reprojection Map nMatches:544 ,distance between ekf and vo x:0.000091 ,z=0.000209,angle between two frames:0.000066 -[09:41:05.639] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =242 error init =0.278376 error end=0.051959 -[09:41:05.639] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000209,angle between two frames:0.000066 -[09:41:05.639] Update EKF and 3D points the number of feature in the new frame: 524 and number of obs: 524 -[09:41:05.639] frame Scene Depth mean:1.104202 ,depth min:0.050195 -[09:41:05.642] need key frame pitch dis: 0.007204 translation dif:0.001794 -[09:41:05.642] frame process finished the id is: 75 the obs is:524 -[09:41:05.665] Odometry x=-0.007267, y=0.638412, theta=0.083364 -[09:41:05.970] Odometry x=-0.007239, y=0.638458, theta=0.066255 -[09:41:05.987] After Reprojection Map nMatches:692 ,distance between ekf and vo x:-0.000072 ,z=0.000351,angle between two frames:0.000078 -[09:41:05.989] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =335 error init =0.266353 error end=0.063812 -[09:41:05.989] After pose optimization, distance between ekf and vo x:-0.000072 ,z=0.000351,angle between two frames:0.000078 -[09:41:05.989] Update EKF and 3D points the number of feature in the new frame: 593 and number of obs: 593 -[09:41:05.989] frame Scene Depth mean:1.079901 ,depth min:0.054504 -[09:41:05.992] need key frame pitch dis: 0.201667 translation dif:0.001897 -[09:41:05.992] Choose frame as a key frame Scene Depth mean:1.079901 ,depth min:0.054504 -[09:41:05.992] frame process finished the id is: 76 the obs is:593 -[09:41:06.158] Odometry x=-0.007246, y=0.638488, theta=-0.095197 -[09:41:06.309] After Reprojection Map nMatches:741 ,distance between ekf and vo x:0.000321 ,z=-0.000210,angle between two frames:0.000207 -[09:41:06.311] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =158 error init =0.209692 error end=0.135609 -[09:41:06.311] After pose optimization, distance between ekf and vo x:0.155231 ,z=-0.118613,angle between two frames:0.006446 -[09:41:06.311] Update EKF and 3D points the number of feature in the new frame: 418 and number of obs: 418 -[09:41:06.311] frame Scene Depth mean:1.010436 ,depth min:0.096359 -[09:41:06.314] need key frame pitch dis: 0.286832 translation dif:0.037769 -[09:41:06.314] Choose frame as a key frame Scene Depth mean:1.010436 ,depth min:0.096359 -[09:41:06.314] frame process finished the id is: 77 the obs is:418 -[09:41:06.403] Odometry x=0.028722, y=0.611033, theta=-0.196374 -[09:41:06.683] After Reprojection Map nMatches:765 ,distance between ekf and vo x:0.000120 ,z=0.000064,angle between two frames:0.000019 -[09:41:06.685] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =571 error init =0.172192 error end=0.052837 -[09:41:06.685] After pose optimization, distance between ekf and vo x:0.000120 ,z=0.000064,angle between two frames:0.000019 -[09:41:06.685] Update EKF and 3D points the number of feature in the new frame: 666 and number of obs: 666 -[09:41:06.685] frame Scene Depth mean:1.684894 ,depth min:0.052840 -[09:41:06.692] need key frame pitch dis: 0.335442 translation dif:0.037551 -[09:41:06.692] Choose frame as a key frame Scene Depth mean:1.684894 ,depth min:0.052840 -[09:41:06.693] frame process finished the id is: 78 the obs is:666 -[09:41:07.455] After Reprojection Map nMatches:1002 ,distance between ekf and vo x:0.000060 ,z=0.000015,angle between two frames:0.000003 -[09:41:07.459] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =392 error init =0.349230 error end=0.323362 -[09:41:07.459] After pose optimization, distance between ekf and vo x:0.000060 ,z=0.000015,angle between two frames:0.000003 -[09:41:07.459] Update EKF and 3D points the number of feature in the new frame: 835 and number of obs: 835 -[09:41:07.459] frame Scene Depth mean:1.297089 ,depth min:0.050126 -[09:41:07.465] need key frame pitch dis: 0.342046 translation dif:0.037492 -[09:41:07.465] Choose frame as a key frame Scene Depth mean:1.297089 ,depth min:0.050126 -[09:41:07.465] frame process finished the id is: 79 the obs is:835 -[09:41:07.649] Odometry x=0.028875, y=0.612193, theta=-0.251589 -[09:41:07.964] Odometry x=0.029141, y=0.613009, theta=-0.260699 -[09:41:08.184] Odometry x=0.031289, y=0.620865, theta=-0.254879 -[09:41:08.358] After Reprojection Map nMatches:1601 ,distance between ekf and vo x:0.000274 ,z=0.000025,angle between two frames:0.000012 -[09:41:08.365] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =762 error init =0.190564 error end=0.196601 -[09:41:08.365] After pose optimization, distance between ekf and vo x:0.070110 ,z=-0.013454,angle between two frames:0.004922 -[09:41:08.365] Update EKF and 3D points the number of feature in the new frame: 1172 and number of obs: 1172 -[09:41:08.365] frame Scene Depth mean:0.584533 ,depth min:0.051543 -[09:41:08.373] need key frame pitch dis: 0.340930 translation dif:0.058017 -[09:41:08.373] Choose frame as a key frame Scene Depth mean:0.584533 ,depth min:0.051543 -[09:41:08.373] frame process finished the id is: 80 the obs is:1164 -[09:41:08.408] Odometry x=0.051728, y=0.626922, theta=-0.250472 -[09:41:08.647] Odometry x=0.054230, y=0.636729, theta=-0.251596 -[09:41:08.939] Odometry x=0.057406, y=0.648982, theta=-0.250422 -[09:41:09.156] Odometry x=0.060754, y=0.662067, theta=-0.250491 -[09:41:09.255] After Reprojection Map nMatches:1589 ,distance between ekf and vo x:0.000128 ,z=0.000123,angle between two frames:0.000008 -[09:41:09.261] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =685 error init =0.200177 error end=0.608443 -[09:41:09.261] After pose optimization, distance between ekf and vo x:0.000128 ,z=0.000123,angle between two frames:0.000008 -[09:41:09.261] Update EKF and 3D points the number of feature in the new frame: 1130 and number of obs: 1130 -[09:41:09.262] frame Scene Depth mean:0.915368 ,depth min:0.050420 -[09:41:09.272] need key frame pitch dis: 0.330489 translation dif:0.078266 -[09:41:09.272] Choose frame as a key frame Scene Depth mean:0.915368 ,depth min:0.050420 -[09:41:09.273] frame process finished the id is: 81 the obs is:1105 -[09:41:09.443] Odometry x=0.061048, y=0.665193, theta=-0.240031 -[09:41:09.675] Odometry x=0.063287, y=0.675421, theta=-0.243174 -[09:41:09.916] After Reprojection Map nMatches:1406 ,distance between ekf and vo x:0.000055 ,z=0.000122,angle between two frames:0.000004 -[09:41:09.920] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =782 error init =0.184299 error end=0.181858 -[09:41:09.920] After pose optimization, distance between ekf and vo x:0.000055 ,z=0.000122,angle between two frames:0.000004 -[09:41:09.920] Update EKF and 3D points the number of feature in the new frame: 1055 and number of obs: 1055 -[09:41:09.920] frame Scene Depth mean:0.942338 ,depth min:0.053873 -[09:41:09.929] need key frame pitch dis: 0.629215 translation dif:0.354515 -[09:41:09.929] Choose frame as a key frame Scene Depth mean:0.942338 ,depth min:0.053873 -[09:41:09.929] frame process finished the id is: 82 the obs is:1047 -[09:41:09.977] Odometry x=0.064887, y=0.682839, theta=-0.256150 -[09:41:10.139] Odometry x=0.067350, y=0.692752, theta=-0.265265 -[09:41:10.395] Odometry x=0.069966, y=0.707337, theta=-0.257346 -[09:41:10.683] Odometry x=0.073348, y=0.720335, theta=-0.265202 -[09:41:10.762] After Reprojection Map nMatches:1410 ,distance between ekf and vo x:0.000190 ,z=0.000237,angle between two frames:0.000006 -[09:41:10.766] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =881 error init =0.122438 error end=0.124640 -[09:41:10.767] After pose optimization, distance between ekf and vo x:0.000190 ,z=0.000237,angle between two frames:0.000006 -[09:41:10.767] Update EKF and 3D points the number of feature in the new frame: 975 and number of obs: 975 -[09:41:10.767] frame Scene Depth mean:1.387971 ,depth min:0.051745 -[09:41:10.777] need key frame pitch dis: 0.609872 translation dif:0.389917 -[09:41:10.777] Choose frame as a key frame Scene Depth mean:1.387971 ,depth min:0.051745 -[09:41:10.778] frame process finished the id is: 83 the obs is:949 -[09:41:10.909] Odometry x=0.071238, y=0.720210, theta=-0.236808 -[09:41:11.160] Odometry x=0.073536, y=0.730212, theta=-0.245548 -[09:41:11.405] Odometry x=0.076997, y=0.742517, theta=-0.258388 -[09:41:11.655] Odometry x=0.080366, y=0.755513, theta=-0.277501 -[09:41:11.899] After Reprojection Map nMatches:1582 ,distance between ekf and vo x:0.000356 ,z=0.000234,angle between two frames:0.000010 -[09:41:11.903] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =961 error init =0.103138 error end=0.119049 -[09:41:11.903] After pose optimization, distance between ekf and vo x:0.000356 ,z=0.000234,angle between two frames:0.000010 -[09:41:11.903] Update EKF and 3D points the number of feature in the new frame: 1106 and number of obs: 1106 -[09:41:11.904] frame Scene Depth mean:1.382681 ,depth min:0.053831 -[09:41:11.917] need key frame pitch dis: 0.658882 translation dif:0.426899 -[09:41:11.918] Choose frame as a key frame Scene Depth mean:1.382681 ,depth min:0.053831 -[09:41:11.918] frame process finished the id is: 84 the obs is:1081 -[09:41:11.944] Odometry x=0.080373, y=0.757403, theta=-0.285817 -[09:41:12.177] Odometry x=0.084806, y=0.766743, theta=-0.297395 -[09:41:12.406] Odometry x=0.088535, y=0.779009, theta=-0.299200 -[09:41:12.638] Odometry x=0.092530, y=0.792020, theta=-0.304658 -[09:41:12.905] Odometry x=0.096741, y=0.805241, theta=-0.312118 -[09:41:13.106] After Reprojection Map nMatches:1748 ,distance between ekf and vo x:0.000193 ,z=0.000228,angle between two frames:0.000006 -[09:41:13.114] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =908 error init =0.130519 error end=0.108011 -[09:41:13.114] After pose optimization, distance between ekf and vo x:0.174501 ,z=-0.019787,angle between two frames:0.014261 -[09:41:13.114] Update EKF and 3D points the number of feature in the new frame: 1045 and number of obs: 1045 -[09:41:13.115] frame Scene Depth mean:1.149932 ,depth min:0.054444 -[09:41:13.129] need key frame pitch dis: 0.683115 translation dif:0.492303 -[09:41:13.129] Choose frame as a key frame Scene Depth mean:1.149932 ,depth min:0.054444 -[09:41:13.129] frame process finished the id is: 85 the obs is:1023 -[09:41:13.160] Odometry x=0.137246, y=0.800098, theta=-0.310051 -[09:41:13.412] Odometry x=0.140351, y=0.810522, theta=-0.312632 -[09:41:13.633] Odometry x=0.144787, y=0.823537, theta=-0.317879 -[09:41:13.997] Odometry x=0.148983, y=0.838875, theta=-0.325481 -[09:41:14.172] Odometry x=0.153667, y=0.852692, theta=-0.321442 -[09:41:14.221] After Reprojection Map nMatches:1630 ,distance between ekf and vo x:0.000273 ,z=0.000122,angle between two frames:0.000002 -[09:41:14.225] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1133 error init =0.102987 error end=0.069342 -[09:41:14.225] After pose optimization, distance between ekf and vo x:0.000273 ,z=0.000122,angle between two frames:0.000002 -[09:41:14.225] Update EKF and 3D points the number of feature in the new frame: 1225 and number of obs: 1225 -[09:41:14.225] frame Scene Depth mean:0.830202 ,depth min:0.051709 -[09:41:14.243] need key frame pitch dis: 0.474917 translation dif:0.119929 -[09:41:14.243] Choose frame as a key frame Scene Depth mean:0.830202 ,depth min:0.051709 -[09:41:14.243] frame process finished the id is: 86 the obs is:1190 -[09:41:14.409] Odometry x=0.153720, y=0.851593, theta=-0.311237 -[09:41:14.645] Odometry x=0.157504, y=0.862024, theta=-0.315983 -[09:41:14.895] Odometry x=0.161901, y=0.875147, theta=-0.311879 -[09:41:15.155] Odometry x=0.166397, y=0.889022, theta=-0.306755 -[09:41:15.409] Odometry x=0.170948, y=0.903135, theta=-0.305381 -[09:41:15.422] After Reprojection Map nMatches:1632 ,distance between ekf and vo x:0.000200 ,z=0.000051,angle between two frames:0.000007 -[09:41:15.428] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1028 error init =0.102551 error end=0.098155 -[09:41:15.428] After pose optimization, distance between ekf and vo x:0.000200 ,z=0.000051,angle between two frames:0.000007 -[09:41:15.428] Update EKF and 3D points the number of feature in the new frame: 1124 and number of obs: 1124 -[09:41:15.428] frame Scene Depth mean:1.131222 ,depth min:0.050475 -[09:41:15.446] need key frame pitch dis: 0.684628 translation dif:0.596922 -[09:41:15.446] Choose frame as a key frame Scene Depth mean:1.131222 ,depth min:0.050475 -[09:41:15.446] frame process finished the id is: 87 the obs is:1083 -[09:41:15.640] Odometry x=0.170222, y=0.902040, theta=-0.311564 -[09:41:15.977] Odometry x=0.173211, y=0.911948, theta=-0.314126 -[09:41:16.153] Odometry x=0.177524, y=0.925630, theta=-0.312892 -[09:41:16.400] Odometry x=0.182374, y=0.940706, theta=-0.311576 -[09:41:16.676] Odometry x=0.188772, y=0.956030, theta=-0.268658 -[09:41:16.902] Odometry x=0.192742, y=0.970482, theta=-0.267028 -[09:41:16.948] After Reprojection Map nMatches:1696 ,distance between ekf and vo x:0.000541 ,z=0.000059,angle between two frames:0.000032 -[09:41:16.955] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1031 error init =0.100815 error end=0.113780 -[09:41:16.955] After pose optimization, distance between ekf and vo x:0.255243 ,z=-0.017602,angle between two frames:0.019699 -[09:41:16.955] frame process finished the id is: 87 the obs is:1083 -[09:41:17.150] Odometry x=0.196683, y=0.984959, theta=-0.260307 -[09:41:17.411] Odometry x=0.200544, y=0.999542, theta=-0.248193 -[09:41:17.661] Odometry x=0.204107, y=1.014773, theta=-0.206111 -[09:41:17.941] Odometry x=0.207097, y=1.029315, theta=-0.196647 -[09:41:18.141] Odometry x=0.210175, y=1.044640, theta=-0.200851 -[09:41:18.344] After Reprojection Map nMatches:1517 ,distance between ekf and vo x:0.000845 ,z=0.000024,angle between two frames:0.000060 -[09:41:18.350] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1006 error init =0.057353 error end=0.073205 -[09:41:18.351] After pose optimization, distance between ekf and vo x:0.000845 ,z=0.000024,angle between two frames:0.000060 -[09:41:18.351] Update EKF and 3D points the number of feature in the new frame: 1075 and number of obs: 1075 -[09:41:18.351] frame Scene Depth mean:1.125535 ,depth min:0.051876 -[09:41:18.367] need key frame pitch dis: 0.561079 translation dif:0.739909 -[09:41:18.367] Choose frame as a key frame Scene Depth mean:1.125535 ,depth min:0.051876 -[09:41:18.367] frame process finished the id is: 89 the obs is:1011 -[09:41:18.391] Odometry x=0.209836, y=1.042817, theta=-0.188015 -[09:41:18.655] Odometry x=0.211723, y=1.053967, theta=-0.212290 -[09:41:18.883] Odometry x=0.213403, y=1.068424, theta=-0.243574 -[09:41:19.129] Odometry x=0.216939, y=1.082674, theta=-0.247632 -[09:41:19.428] Odometry x=0.220420, y=1.097080, theta=-0.259808 -[09:41:19.455] After Reprojection Map nMatches:1464 ,distance between ekf and vo x:0.000881 ,z=-0.000298,angle between two frames:0.000067 -[09:41:19.461] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =841 error init =0.083469 error end=0.146402 -[09:41:19.461] After pose optimization, distance between ekf and vo x:0.000881 ,z=-0.000298,angle between two frames:0.000067 -[09:41:19.461] Update EKF and 3D points the number of feature in the new frame: 911 and number of obs: 911 -[09:41:19.461] frame Scene Depth mean:1.224438 ,depth min:0.056727 -[09:41:19.476] need key frame pitch dis: 0.422152 translation dif:0.297681 -[09:41:19.476] Choose frame as a key frame Scene Depth mean:1.224438 ,depth min:0.056727 -[09:41:19.476] frame process finished the id is: 90 the obs is:878 -[09:41:19.650] Odometry x=0.221124, y=1.095650, theta=-0.258472 -[09:41:19.960] Odometry x=0.224109, y=1.106738, theta=-0.267850 -[09:41:20.152] Odometry x=0.229428, y=1.120972, theta=-0.286610 -[09:41:20.393] Odometry x=0.232247, y=1.135327, theta=-0.280597 -[09:41:20.670] Odometry x=0.236175, y=1.149844, theta=-0.254372 -[09:41:20.904] Odometry x=0.240312, y=1.165544, theta=-0.264647 -[09:41:20.974] After Reprojection Map nMatches:1491 ,distance between ekf and vo x:0.000814 ,z=-0.000112,angle between two frames:0.000063 -[09:41:20.979] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =881 error init =0.103326 error end=0.119941 -[09:41:20.979] After pose optimization, distance between ekf and vo x:0.000814 ,z=-0.000112,angle between two frames:0.000063 -[09:41:20.979] Update EKF and 3D points the number of feature in the new frame: 978 and number of obs: 978 -[09:41:20.979] frame Scene Depth mean:1.243574 ,depth min:0.053317 -[09:41:20.993] need key frame pitch dis: 0.452605 translation dif:0.360186 -[09:41:20.993] Choose frame as a key frame Scene Depth mean:1.243574 ,depth min:0.053317 -[09:41:20.993] frame process finished the id is: 91 the obs is:931 -[09:41:21.137] Odometry x=0.236346, y=1.162060, theta=-0.288926 -[09:41:22.103] After Reprojection Map nMatches:1574 ,distance between ekf and vo x:0.000362 ,z=-0.000022,angle between two frames:0.000025 -[09:41:22.108] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =951 error init =0.152635 error end=0.169052 -[09:41:22.108] After pose optimization, distance between ekf and vo x:0.000362 ,z=-0.000022,angle between two frames:0.000025 -[09:41:22.108] Update EKF and 3D points the number of feature in the new frame: 1079 and number of obs: 1079 -[09:41:22.109] frame Scene Depth mean:1.368202 ,depth min:0.057352 -[09:41:22.124] need key frame pitch dis: 0.447545 translation dif:0.361028 -[09:41:22.124] Choose frame as a key frame Scene Depth mean:1.368202 ,depth min:0.057352 -[09:41:22.124] frame process finished the id is: 92 the obs is:1077 -[09:41:22.403] Odometry x=0.236284, y=1.163118, theta=-0.283865 -[09:41:22.677] Odometry x=0.236930, y=1.165511, theta=-0.281925 -[09:41:22.916] Odometry x=0.238780, y=1.172980, theta=-0.280715 -[09:41:23.144] Odometry x=0.241659, y=1.183007, theta=-0.273990 -[09:41:23.382] Odometry x=0.243788, y=1.193728, theta=-0.256383 -[09:41:23.652] Odometry x=0.246449, y=1.204521, theta=-0.256111 -[09:41:23.726] After Reprojection Map nMatches:2024 ,distance between ekf and vo x:0.000335 ,z=-0.000056,angle between two frames:0.000014 -[09:41:23.733] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1065 error init =0.157282 error end=0.273751 -[09:41:23.733] After pose optimization, distance between ekf and vo x:0.000335 ,z=-0.000056,angle between two frames:0.000014 -[09:41:23.733] Update EKF and 3D points the number of feature in the new frame: 1334 and number of obs: 1334 -[09:41:23.734] frame Scene Depth mean:1.533706 ,depth min:0.052325 -[09:41:23.752] need key frame pitch dis: 0.427884 translation dif:0.399940 -[09:41:23.752] Choose frame as a key frame Scene Depth mean:1.533706 ,depth min:0.052325 -[09:41:23.753] frame process finished the id is: 93 the obs is:1320 -[09:41:23.973] Odometry x=0.245929, y=1.203233, theta=-0.264204 -[09:41:24.156] Odometry x=0.246226, y=1.210408, theta=-0.243147 -[09:41:24.405] Odometry x=0.248084, y=1.220328, theta=-0.239772 -[09:41:24.671] Odometry x=0.250630, y=1.230813, theta=-0.232673 -[09:41:24.913] Odometry x=0.253113, y=1.241318, theta=-0.238605 -[09:41:25.167] Odometry x=0.254502, y=1.251736, theta=-0.243363 -[09:41:25.184] After Reprojection Map nMatches:1614 ,distance between ekf and vo x:0.000468 ,z=0.000059,angle between two frames:0.000022 -[09:41:25.195] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =883 error init =0.088954 error end=0.112092 -[09:41:25.195] After pose optimization, distance between ekf and vo x:0.816673 ,z=-0.287658,angle between two frames:0.030513 -[09:41:25.195] frame process finished the id is: 93 the obs is:1320 -[09:41:25.386] Odometry x=0.256884, y=1.262026, theta=-0.240051 -[09:41:25.658] Odometry x=0.259401, y=1.272551, theta=-0.220746 -[09:41:25.929] Odometry x=0.261653, y=1.283145, theta=-0.195140 -[09:41:26.132] After Reprojection Map nMatches:1144 ,distance between ekf and vo x:0.000450 ,z=0.000071,angle between two frames:0.000030 -[09:41:26.136] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =716 error init =0.031451 error end=0.064212 -[09:41:26.136] After pose optimization, distance between ekf and vo x:0.000450 ,z=0.000071,angle between two frames:0.000030 -[09:41:26.136] Update EKF and 3D points the number of feature in the new frame: 768 and number of obs: 768 -[09:41:26.137] frame Scene Depth mean:1.650218 ,depth min:0.054631 -[09:41:26.150] need key frame pitch dis: 0.359463 translation dif:0.479336 -[09:41:26.150] Choose frame as a key frame Scene Depth mean:1.650218 ,depth min:0.054631 -[09:41:26.151] frame process finished the id is: 95 the obs is:740 -[09:41:26.159] Odometry x=0.262835, y=1.285212, theta=-0.195784 -[09:41:26.416] Odometry x=0.264226, y=1.293248, theta=-0.224477 -[09:41:26.633] Odometry x=0.266372, y=1.303874, theta=-0.237428 -[09:41:26.903] Odometry x=0.267197, y=1.314086, theta=-0.221322 -[09:41:27.133] Odometry x=0.269592, y=1.324760, theta=-0.222897 -[09:41:27.391] Odometry x=0.272027, y=1.335448, theta=-0.237997 -[09:41:27.539] After Reprojection Map nMatches:1521 ,distance between ekf and vo x:0.000396 ,z=0.000111,angle between two frames:0.000025 -[09:41:27.543] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =955 error init =0.061876 error end=0.144082 -[09:41:27.543] After pose optimization, distance between ekf and vo x:0.000396 ,z=0.000111,angle between two frames:0.000025 -[09:41:27.543] Update EKF and 3D points the number of feature in the new frame: 1104 and number of obs: 1104 -[09:41:27.543] frame Scene Depth mean:1.899524 ,depth min:0.050360 -[09:41:27.557] need key frame pitch dis: 0.625768 translation dif:1.102052 -[09:41:27.557] Choose frame as a key frame Scene Depth mean:1.899524 ,depth min:0.050360 -[09:41:27.557] frame process finished the id is: 96 the obs is:1088 -[09:41:28.669] Odometry x=0.269707, y=1.324912, theta=-0.236388 -[09:41:28.868] After Reprojection Map nMatches:1471 ,distance between ekf and vo x:0.000574 ,z=0.000076,angle between two frames:0.000031 -[09:41:28.875] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =571 error init =0.124994 error end=0.384961 -[09:41:28.875] After pose optimization, distance between ekf and vo x:0.000574 ,z=0.000076,angle between two frames:0.000031 -[09:41:28.875] Update EKF and 3D points the number of feature in the new frame: 853 and number of obs: 853 -[09:41:28.876] frame Scene Depth mean:1.986773 ,depth min:0.055783 -[09:41:28.885] need key frame pitch dis: 0.625293 translation dif:1.102143 -[09:41:28.886] Choose frame as a key frame Scene Depth mean:1.986773 ,depth min:0.055783 -[09:41:28.886] frame process finished the id is: 97 the obs is:853 -[09:41:28.910] Odometry x=0.269801, y=1.324970, theta=-0.235913 -[09:41:29.165] Odometry x=0.269422, y=1.325372, theta=-0.272584 -[09:41:29.413] Odometry x=0.269435, y=1.325418, theta=-0.359885 -[09:41:29.661] Odometry x=0.269076, y=1.325327, theta=-0.498063 -[09:41:29.965] Odometry x=0.269018, y=1.325682, theta=-0.647662 -[09:41:31.056] After Reprojection Map nMatches:2061 ,distance between ekf and vo x:0.000350 ,z=0.000088,angle between two frames:0.000017 -[09:41:31.064] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =991 error init =0.145381 error end=0.195485 -[09:41:31.064] After pose optimization, distance between ekf and vo x:0.000350 ,z=0.000088,angle between two frames:0.000017 -[09:41:31.064] Update EKF and 3D points the number of feature in the new frame: 1668 and number of obs: 1668 -[09:41:31.064] frame Scene Depth mean:1.656861 ,depth min:0.070560 -[09:41:31.077] need key frame pitch dis: 0.815952 translation dif:0.518001 -[09:41:31.077] Choose frame as a key frame Scene Depth mean:1.656861 ,depth min:0.070560 -[09:41:31.077] frame process finished the id is: 98 the obs is:1667 -[09:41:31.405] Odometry x=0.269325, y=1.325475, theta=-0.652272 -[09:41:31.645] Odometry x=0.269286, y=1.325573, theta=-0.654223 -[09:41:31.980] Odometry x=0.269264, y=1.325641, theta=-0.682549 -[09:41:32.157] Odometry x=0.269145, y=1.325749, theta=-0.760682 -[09:41:32.432] Odometry x=0.269157, y=1.325904, theta=-0.846262 -[09:41:33.955] Odometry x=0.269157, y=1.325905, theta=-0.881703 -[09:41:34.145] Odometry x=0.269158, y=1.325908, theta=-0.913402 -[09:41:34.392] Odometry x=0.269492, y=1.325929, theta=-0.988561 -[09:41:34.657] Odometry x=0.270501, y=1.326250, theta=-1.096960 -[09:41:34.892] Odometry x=0.270504, y=1.326239, theta=-1.174677 -[09:41:35.057] After Reprojection Map nMatches:2926 ,distance between ekf and vo x:0.000070 ,z=-0.000016,angle between two frames:0.000002 -[09:41:35.072] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1744 error init =0.388340 error end=0.134508 -[09:41:35.072] After pose optimization, distance between ekf and vo x:0.045521 ,z=-0.042271,angle between two frames:0.002812 -[09:41:35.072] Update EKF and 3D points the number of feature in the new frame: 2093 and number of obs: 2093 -[09:41:35.073] frame Scene Depth mean:1.804386 ,depth min:0.054097 -[09:41:35.100] need key frame pitch dis: 1.551237 translation dif:1.017927 -[09:41:35.100] Choose frame as a key frame Scene Depth mean:1.804386 ,depth min:0.054097 -[09:41:35.100] frame process finished the id is: 99 the obs is:2093 -[09:41:35.170] Odometry x=0.280742, y=1.316302, theta=-1.178173 -[09:41:35.409] Odometry x=0.280857, y=1.316168, theta=-1.229926 -[09:41:36.399] Odometry x=0.280860, y=1.316169, theta=-1.229002 -[09:41:36.653] Odometry x=0.285944, y=1.317942, theta=-1.227299 -[09:41:36.882] Odometry x=0.302256, y=1.323698, theta=-1.224356 -[09:41:37.159] Odometry x=0.319693, y=1.329994, theta=-1.212870 -[09:41:37.402] Odometry x=0.339172, y=1.336548, theta=-1.216321 -[09:41:37.632] Odometry x=0.355396, y=1.342395, theta=-1.212177 -[09:41:39.401] Odometry x=0.355418, y=1.342418, theta=-1.218436 -[09:41:39.649] Odometry x=0.359062, y=1.343732, theta=-1.217032 -[09:41:39.985] Odometry x=0.365448, y=1.346078, theta=-1.214025 -[09:41:40.137] Odometry x=0.372772, y=1.348796, theta=-1.208452 -[09:41:40.139] After Reprojection Map nMatches:3191 ,distance between ekf and vo x:-0.000071 ,z=-0.000036,angle between two frames:0.000005 -[09:41:40.166] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1612 error init =0.787723 error end=0.156213 -[09:41:40.166] After pose optimization, distance between ekf and vo x:0.020010 ,z=-0.053533,angle between two frames:0.003107 -[09:41:40.166] Update EKF and 3D points the number of feature in the new frame: 2191 and number of obs: 2191 -[09:41:40.167] frame Scene Depth mean:1.552509 ,depth min:0.120623 -[09:41:40.196] need key frame pitch dis: 1.575374 translation dif:1.066001 -[09:41:40.196] Choose frame as a key frame Scene Depth mean:1.552509 ,depth min:0.120623 -[09:41:40.197] frame process finished the id is: 100 the obs is:2191 -[09:41:40.406] Odometry x=0.362147, y=1.331213, theta=-1.202310 -[09:41:40.668] Odometry x=0.368086, y=1.333448, theta=-1.199721 -[09:41:40.918] Odometry x=0.376082, y=1.336504, theta=-1.196974 -[09:41:41.167] Odometry x=0.384955, y=1.340162, theta=-1.195489 -[09:41:41.393] Odometry x=0.394512, y=1.344003, theta=-1.199020 -[09:41:41.644] Odometry x=0.404307, y=1.347594, theta=-1.194918 -[09:41:41.977] Odometry x=0.413653, y=1.351312, theta=-1.190504 -[09:41:42.183] Odometry x=0.423006, y=1.355148, theta=-1.187059 -[09:41:42.394] Odometry x=0.432353, y=1.358939, theta=-1.185066 -[09:41:42.669] Odometry x=0.441660, y=1.362686, theta=-1.179952 -[09:41:42.914] Odometry x=0.450899, y=1.366494, theta=-1.178411 -[09:41:44.175] Odometry x=0.450940, y=1.366342, theta=-1.183560 -[09:41:44.413] Odometry x=0.451105, y=1.366041, theta=-1.239732 -[09:41:44.638] Odometry x=0.450556, y=1.365598, theta=-1.349581 -[09:41:44.913] Odometry x=0.450547, y=1.365597, theta=-1.490607 -[09:41:45.159] Odometry x=0.450551, y=1.365488, theta=-1.639930 -[09:41:46.140] Odometry x=0.450545, y=1.365471, theta=-1.674948 -[09:41:46.400] Odometry x=0.450504, y=1.365404, theta=-1.730184 -[09:41:46.451] After Reprojection Map nMatches:3627 ,distance between ekf and vo x:-0.000172 ,z=-0.000024,angle between two frames:0.000002 -[09:41:46.482] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1664 error init =2.578913 error end=0.272922 -[09:41:46.482] After pose optimization, distance between ekf and vo x:0.037463 ,z=-0.025746,angle between two frames:0.008818 -[09:41:46.482] Update EKF and 3D points the number of feature in the new frame: 2423 and number of obs: 2423 -[09:41:46.483] frame Scene Depth mean:1.522765 ,depth min:0.062446 -[09:41:46.516] need key frame pitch dis: 2.120442 translation dif:1.120431 -[09:41:46.516] Choose frame as a key frame Scene Depth mean:1.522765 ,depth min:0.062446 -[09:41:46.517] frame process finished the id is: 101 the obs is:2416 -[09:41:46.584] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[09:41:46.646] Odometry x=0.438746, y=1.351567, theta=-1.747378 -[09:41:46.657] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[09:41:46.657] frame process finished the id is: 101 the obs is:2416 -[09:41:46.901] Odometry x=0.438747, y=1.351566, theta=-1.804032 -[09:41:47.143] Odometry x=0.438707, y=1.351487, theta=-1.908937 -[09:41:47.396] Odometry x=0.438741, y=1.351364, theta=-2.031490 -[09:41:47.683] Odometry x=0.438709, y=1.351474, theta=-2.169849 -[09:41:48.920] Odometry x=0.438661, y=1.351471, theta=-2.206826 -[09:41:49.140] Odometry x=0.438603, y=1.351442, theta=-2.254574 -[09:41:49.393] Odometry x=0.438510, y=1.351497, theta=-2.343343 -[09:41:49.657] Odometry x=0.438451, y=1.351389, theta=-2.467194 -[09:41:49.957] Odometry x=0.438527, y=1.351304, theta=-2.601025 -[09:41:50.145] Odometry x=0.438531, y=1.351219, theta=-2.728461 -[09:41:51.840] After Reprojection Map nMatches:3315 ,distance between ekf and vo x:-0.000144 ,z=0.000186,angle between two frames:0.000005 -[09:41:51.858] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1982 error init =1.128327 error end=0.132477 -[09:41:51.858] After pose optimization, distance between ekf and vo x:0.069774 ,z=0.122123,angle between two frames:0.003022 -[09:41:51.858] Update EKF and 3D points the number of feature in the new frame: 2257 and number of obs: 2257 -[09:41:51.862] frame Scene Depth mean:0.605433 ,depth min:0.050890 -[09:41:51.885] need key frame pitch dis: 2.823241 translation dif:0.665196 -[09:41:51.885] Choose frame as a key frame Scene Depth mean:0.605433 ,depth min:0.050890 -[09:41:51.887] frame process finished the id is: 103 the obs is:1635 -[09:41:52.666] Odometry x=0.454646, y=1.379448, theta=-2.659562 -[09:41:52.921] Odometry x=0.454644, y=1.379443, theta=-2.661584 -[09:41:53.140] Odometry x=0.454606, y=1.379375, theta=-2.672348 -[09:41:53.402] Odometry x=0.454602, y=1.379372, theta=-2.696174 -[09:41:53.659] Odometry x=0.454477, y=1.379365, theta=-2.725805 -[09:41:54.920] Odometry x=0.454595, y=1.379358, theta=-2.740097 -[09:41:55.185] Odometry x=0.454742, y=1.378990, theta=-2.738958 -[09:41:55.415] Odometry x=0.458265, y=1.370645, theta=-2.737376 -[09:41:55.679] Odometry x=0.461844, y=1.361880, theta=-2.736142 -[09:41:55.955] Odometry x=0.465556, y=1.353217, theta=-2.736166 -[09:41:56.124] Odometry x=0.469536, y=1.344252, theta=-2.734953 -[09:41:56.402] Odometry x=0.473328, y=1.335396, theta=-2.735213 -[09:41:56.639] Odometry x=0.477084, y=1.326521, theta=-2.734593 -[09:41:56.909] Odometry x=0.481035, y=1.317258, theta=-2.735885 -[09:41:56.924] After Reprojection Map nMatches:2720 ,distance between ekf and vo x:-0.000207 ,z=0.000056,angle between two frames:0.000010 -[09:41:56.953] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1104 error init =0.832298 error end=0.463913 -[09:41:56.953] After pose optimization, distance between ekf and vo x:0.338932 ,z=0.165401,angle between two frames:0.003345 -[09:41:56.953] frame process finished the id is: 103 the obs is:1635 -[09:41:57.326] Odometry x=0.485024, y=1.308019, theta=-2.733197 -[09:41:57.548] Odometry x=0.488995, y=1.298819, theta=-2.728711 -[09:41:57.682] Odometry x=0.492535, y=1.290735, theta=-2.728878 -[09:41:58.130] Odometry x=0.496071, y=1.282533, theta=-2.729265 -[09:41:58.264] Odometry x=0.499704, y=1.273902, theta=-2.727498 -[09:41:58.398] Odometry x=0.503557, y=1.265097, theta=-2.725983 -[09:41:58.648] Odometry x=0.507505, y=1.256194, theta=-2.720254 -[09:41:58.906] Odometry x=0.511548, y=1.247170, theta=-2.712063 -[09:41:59.164] Odometry x=0.515897, y=1.237729, theta=-2.704120 -[09:41:59.390] Odometry x=0.520453, y=1.228056, theta=-2.694022 -[09:41:59.678] Odometry x=0.525161, y=1.217473, theta=-2.694689 -[09:41:59.970] Odometry x=0.530567, y=1.205854, theta=-2.698619 -[09:42:00.171] Odometry x=0.535825, y=1.194630, theta=-2.700088 -[09:42:00.410] Odometry x=0.541244, y=1.183198, theta=-2.696789 -[09:42:00.684] Odometry x=0.546737, y=1.171618, theta=-2.699786 -[09:42:00.904] Odometry x=0.552091, y=1.159846, theta=-2.695008 -[09:42:01.151] Odometry x=0.557882, y=1.148085, theta=-2.697926 -[09:42:01.216] After Reprojection Map nMatches:2253 ,distance between ekf and vo x:0.000053 ,z=0.000038,angle between two frames:0.000005 -[09:42:01.233] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1036 error init =1.013825 error end=0.517743 -[09:42:01.233] After pose optimization, distance between ekf and vo x:0.063180 ,z=0.019129,angle between two frames:0.000789 -[09:42:01.233] Update EKF and 3D points the number of feature in the new frame: 1522 and number of obs: 1522 -[09:42:01.234] frame Scene Depth mean:1.036935 ,depth min:0.058379 -[09:42:01.252] need key frame pitch dis: 5.693999 translation dif:1.200342 -[09:42:01.252] Choose frame as a key frame Scene Depth mean:1.036935 ,depth min:0.058379 -[09:42:01.253] frame process finished the id is: 105 the obs is:1497 -[09:42:01.411] Odometry x=0.559712, y=1.180014, theta=-2.709196 -[09:42:01.658] Odometry x=0.563912, y=1.171032, theta=-2.714876 -[09:42:01.940] Odometry x=0.569381, y=1.158841, theta=-2.712073 -[09:42:02.151] Odometry x=0.576391, y=1.143155, theta=-2.707529 -[09:42:02.417] Odometry x=0.581415, y=1.133490, theta=-2.677902 -[09:42:02.646] Odometry x=0.587535, y=1.121383, theta=-2.652039 -[09:42:02.891] Odometry x=0.593828, y=1.109337, theta=-2.651929 -[09:42:03.160] Odometry x=0.600256, y=1.097209, theta=-2.644922 -[09:42:03.397] Odometry x=0.606887, y=1.085097, theta=-2.641830 -[09:42:03.685] Odometry x=0.614033, y=1.072850, theta=-2.647325 -[09:42:03.766] After Reprojection Map nMatches:1765 ,distance between ekf and vo x:-0.000075 ,z=0.000075,angle between two frames:0.000011 -[09:42:03.784] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =660 error init =1.116812 error end=0.404311 -[09:42:03.784] After pose optimization, distance between ekf and vo x:0.026077 ,z=0.010842,angle between two frames:0.000385 -[09:42:03.784] Update EKF and 3D points the number of feature in the new frame: 1029 and number of obs: 1029 -[09:42:03.785] frame Scene Depth mean:1.214485 ,depth min:0.071064 -[09:42:03.798] need key frame pitch dis: 2.174135 translation dif:0.495263 -[09:42:03.798] Choose frame as a key frame Scene Depth mean:1.214485 ,depth min:0.071064 -[09:42:03.799] frame process finished the id is: 106 the obs is:1029 -[09:42:03.994] Odometry x=0.613241, y=1.090246, theta=-2.659720 -[09:42:04.147] Odometry x=0.618391, y=1.081350, theta=-2.662985 -[09:42:04.414] Odometry x=0.624334, y=1.069730, theta=-2.659425 -[09:42:04.637] Odometry x=0.630410, y=1.057666, theta=-2.651926 -[09:42:04.914] Odometry x=0.636873, y=1.045612, theta=-2.647679 -[09:42:05.142] Odometry x=0.643380, y=1.033533, theta=-2.647985 -[09:42:05.388] Odometry x=0.650044, y=1.020598, theta=-2.640214 -[09:42:05.662] Odometry x=0.656663, y=1.008559, theta=-2.635690 -[09:42:05.947] Odometry x=0.663357, y=0.996559, theta=-2.624718 -[09:42:06.152] Odometry x=0.670495, y=0.984230, theta=-2.623808 -[09:42:06.383] Odometry x=0.677491, y=0.971990, theta=-2.618362 -[09:42:06.642] Odometry x=0.684496, y=0.959750, theta=-2.626962 -[09:42:06.907] Odometry x=0.691870, y=0.947846, theta=-2.620819 -[09:42:07.152] Odometry x=0.698853, y=0.935514, theta=-2.621831 -[09:42:07.239] After Reprojection Map nMatches:2069 ,distance between ekf and vo x:-0.000024 ,z=0.000038,angle between two frames:0.000002 -[09:42:07.264] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =951 error init =0.964555 error end=0.378601 -[09:42:07.264] After pose optimization, distance between ekf and vo x:0.030711 ,z=0.015300,angle between two frames:0.000287 -[09:42:07.264] Update EKF and 3D points the number of feature in the new frame: 1490 and number of obs: 1490 -[09:42:07.264] frame Scene Depth mean:1.184033 ,depth min:0.053659 -[09:42:07.283] need key frame pitch dis: 5.611250 translation dif:1.185114 -[09:42:07.283] Choose frame as a key frame Scene Depth mean:1.184033 ,depth min:0.053659 -[09:42:07.284] frame process finished the id is: 107 the obs is:1490 -[09:42:07.407] Odometry x=0.691546, y=0.965291, theta=-2.626447 -[09:42:07.665] Odometry x=0.696613, y=0.955896, theta=-2.632117 -[09:42:07.952] Odometry x=0.703068, y=0.944365, theta=-2.634466 -[09:42:08.149] Odometry x=0.710823, y=0.931933, theta=-2.635480 -[09:42:08.390] Odometry x=0.717717, y=0.919585, theta=-2.637208 -[09:42:08.696] Odometry x=0.724478, y=0.907307, theta=-2.642643 -[09:42:08.894] Odometry x=0.730786, y=0.895515, theta=-2.630617 -[09:42:09.166] Odometry x=0.737650, y=0.883306, theta=-2.634225 -[09:42:09.410] Odometry x=0.744198, y=0.870858, theta=-2.628295 -[09:42:09.655] Odometry x=0.751149, y=0.858663, theta=-2.615521 -[09:42:09.965] Odometry x=0.758498, y=0.846578, theta=-2.611198 -[09:42:10.148] Odometry x=0.765444, y=0.834356, theta=-2.623443 -[09:42:10.397] After Reprojection Map nMatches:1872 ,distance between ekf and vo x:0.000002 ,z=0.000034,angle between two frames:0.000002 -[09:42:10.408] Odometry x=0.772364, y=0.822018, theta=-2.620704 -[09:42:10.417] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =824 error init =1.014096 error end=0.361940 -[09:42:10.417] After pose optimization, distance between ekf and vo x:0.000655 ,z=0.000440,angle between two frames:0.000031 -[09:42:10.418] Update EKF and 3D points the number of feature in the new frame: 1419 and number of obs: 1419 -[09:42:10.418] frame Scene Depth mean:1.093476 ,depth min:0.055041 -[09:42:10.433] need key frame pitch dis: 5.605736 translation dif:1.197561 -[09:42:10.433] Choose frame as a key frame Scene Depth mean:1.093476 ,depth min:0.055041 -[09:42:10.434] frame process finished the id is: 108 the obs is:1416 -[09:42:10.674] Odometry x=0.778513, y=0.811664, theta=-2.618474 -[09:42:10.913] Odometry x=0.785560, y=0.799560, theta=-2.613576 -[09:42:11.140] Odometry x=0.792619, y=0.787443, theta=-2.616008 -[09:42:11.397] Odometry x=0.799710, y=0.775261, theta=-2.611359 -[09:42:11.680] Odometry x=0.806607, y=0.762722, theta=-2.613120 -[09:42:11.943] Odometry x=0.813651, y=0.750521, theta=-2.614273 -[09:42:12.065] After Reprojection Map nMatches:1633 ,distance between ekf and vo x:-0.000006 ,z=0.000021,angle between two frames:0.000001 -[09:42:12.082] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =659 error init =1.527548 error end=0.507510 -[09:42:12.082] After pose optimization, distance between ekf and vo x:0.000844 ,z=0.000497,angle between two frames:0.000024 -[09:42:12.082] Update EKF and 3D points the number of feature in the new frame: 1088 and number of obs: 1088 -[09:42:12.082] frame Scene Depth mean:1.209921 ,depth min:0.050111 -[09:42:12.096] need key frame pitch dis: 5.596949 translation dif:1.211776 -[09:42:12.096] Choose frame as a key frame Scene Depth mean:1.209921 ,depth min:0.050111 -[09:42:12.097] frame process finished the id is: 109 the obs is:1087 -[09:42:12.173] Odometry x=0.809368, y=0.758594, theta=-2.612146 -[09:42:12.402] Odometry x=0.814854, y=0.749257, theta=-2.610061 -[09:42:12.660] Odometry x=0.822064, y=0.737792, theta=-2.614863 -[09:42:12.915] Odometry x=0.829206, y=0.725824, theta=-2.613239 -[09:42:13.167] Odometry x=0.836239, y=0.713756, theta=-2.601165 -[09:42:13.394] Odometry x=0.843431, y=0.701661, theta=-2.590955 -[09:42:13.647] Odometry x=0.850834, y=0.689605, theta=-2.588904 -[09:42:13.655] After Reprojection Map nMatches:1211 ,distance between ekf and vo x:-0.000006 ,z=0.000041,angle between two frames:0.000004 -[09:42:13.668] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =498 error init =0.928208 error end=0.455695 -[09:42:13.668] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000041,angle between two frames:0.000004 -[09:42:13.668] Update EKF and 3D points the number of feature in the new frame: 986 and number of obs: 986 -[09:42:13.668] frame Scene Depth mean:1.492050 ,depth min:0.090325 -[09:42:13.680] need key frame pitch dis: 2.149728 translation dif:0.689935 -[09:42:13.680] Choose frame as a key frame Scene Depth mean:1.492050 ,depth min:0.090325 -[09:42:13.681] frame process finished the id is: 110 the obs is:986 -[09:42:13.985] Odometry x=0.860900, y=0.673249, theta=-2.589418 -[09:42:14.145] Odometry x=0.868534, y=0.661198, theta=-2.582213 -[09:42:14.412] Odometry x=0.876008, y=0.649336, theta=-2.573165 -[09:42:14.656] Odometry x=0.883709, y=0.637364, theta=-2.570089 -[09:42:14.884] Odometry x=0.891368, y=0.625253, theta=-2.563526 -[09:42:15.054] After Reprojection Map nMatches:749 ,distance between ekf and vo x:-0.000002 ,z=0.000013,angle between two frames:0.000000 -[09:42:15.064] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =344 error init =1.164210 error end=0.279462 -[09:42:15.064] After pose optimization, distance between ekf and vo x:0.000639 ,z=0.000566,angle between two frames:0.000014 -[09:42:15.064] Update EKF and 3D points the number of feature in the new frame: 1065 and number of obs: 1065 -[09:42:15.064] frame Scene Depth mean:1.635463 ,depth min:0.066783 -[09:42:15.073] need key frame pitch dis: 5.570934 translation dif:1.255464 -[09:42:15.073] Choose frame as a key frame Scene Depth mean:1.635463 ,depth min:0.066783 -[09:42:15.073] frame process finished the id is: 111 the obs is:1065 -[09:42:15.154] Odometry x=0.886761, y=0.631751, theta=-2.586131 -[09:42:15.386] Odometry x=0.892010, y=0.622577, theta=-2.547542 -[09:42:15.624] Odometry x=0.899823, y=0.611347, theta=-2.529445 -[09:42:15.946] Odometry x=0.907772, y=0.599864, theta=-2.537743 -[09:42:16.045] After Reprojection Map nMatches:629 ,distance between ekf and vo x:0.000006 ,z=0.000045,angle between two frames:0.000000 -[09:42:16.055] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =272 error init =1.196164 error end=0.263623 -[09:42:16.055] After pose optimization, distance between ekf and vo x:0.001257 ,z=0.000815,angle between two frames:0.000001 -[09:42:16.055] Update EKF and 3D points the number of feature in the new frame: 764 and number of obs: 764 -[09:42:16.055] frame Scene Depth mean:1.896271 ,depth min:0.095008 -[09:42:16.062] need key frame pitch dis: 2.114322 translation dif:0.662673 -[09:42:16.062] Choose frame as a key frame Scene Depth mean:1.896271 ,depth min:0.095008 -[09:42:16.062] frame process finished the id is: 112 the obs is:764 -[09:42:16.168] Odometry x=0.909328, y=0.598795, theta=-2.546492 -[09:42:16.415] Odometry x=0.915801, y=0.590264, theta=-2.548535 -[09:42:16.654] Odometry x=0.923005, y=0.579288, theta=-2.529270 -[09:42:16.888] Odometry x=0.930925, y=0.567931, theta=-2.506981 -[09:42:17.147] Odometry x=0.938692, y=0.556179, theta=-2.485601 -[09:42:17.395] Odometry x=0.947289, y=0.545145, theta=-2.465182 -[09:42:17.560] After Reprojection Map nMatches:659 ,distance between ekf and vo x:-0.000032 ,z=0.000112,angle between two frames:0.000014 -[09:42:17.569] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =267 error init =2.017570 error end=0.359108 -[09:42:17.569] After pose optimization, distance between ekf and vo x:0.009283 ,z=0.006437,angle between two frames:0.000146 -[09:42:17.569] Update EKF and 3D points the number of feature in the new frame: 919 and number of obs: 919 -[09:42:17.570] frame Scene Depth mean:1.605568 ,depth min:0.165110 -[09:42:17.575] need key frame pitch dis: 5.475420 translation dif:1.302491 -[09:42:17.575] Choose frame as a key frame Scene Depth mean:1.605568 ,depth min:0.165110 -[09:42:17.575] frame process finished the id is: 113 the obs is:919 -[09:42:17.648] Odometry x=0.947210, y=0.550652, theta=-2.490617 -[09:42:17.948] Odometry x=0.953494, y=0.541975, theta=-2.499375 -[09:42:18.162] Odometry x=0.961697, y=0.531044, theta=-2.510114 -[09:42:18.407] Odometry x=0.969998, y=0.519464, theta=-2.522029 -[09:42:18.515] After Reprojection Map nMatches:588 ,distance between ekf and vo x:-0.000034 ,z=0.000244,angle between two frames:0.000014 -[09:42:18.522] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =274 error init =1.533364 error end=0.251408 -[09:42:18.522] After pose optimization, distance between ekf and vo x:0.000630 ,z=0.000489,angle between two frames:0.000173 -[09:42:18.522] Update EKF and 3D points the number of feature in the new frame: 646 and number of obs: 646 -[09:42:18.522] frame Scene Depth mean:1.920196 ,depth min:0.082818 -[09:42:18.528] need key frame pitch dis: 5.500239 translation dif:1.322972 -[09:42:18.528] Choose frame as a key frame Scene Depth mean:1.920196 ,depth min:0.082818 -[09:42:18.528] frame process finished the id is: 114 the obs is:646 -[09:42:18.666] Odometry x=0.971452, y=0.517268, theta=-2.515436 -[09:42:18.905] Odometry x=0.977738, y=0.508786, theta=-2.516629 -[09:42:19.170] Odometry x=0.985416, y=0.498031, theta=-2.508082 -[09:42:19.335] After Reprojection Map nMatches:955 ,distance between ekf and vo x:-0.000067 ,z=0.000174,angle between two frames:0.000000 -[09:42:19.346] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =628 error init =0.603558 error end=0.141417 -[09:42:19.346] After pose optimization, distance between ekf and vo x:0.012152 ,z=0.008055,angle between two frames:0.000102 -[09:42:19.346] Update EKF and 3D points the number of feature in the new frame: 827 and number of obs: 827 -[09:42:19.346] frame Scene Depth mean:3.427576 ,depth min:0.278773 -[09:42:19.360] need key frame pitch dis: 5.485275 translation dif:1.340412 -[09:42:19.360] Choose frame as a key frame Scene Depth mean:3.427576 ,depth min:0.278773 -[09:42:19.361] frame process finished the id is: 115 the obs is:827 -[09:42:19.407] Odometry x=0.990836, y=0.495518, theta=-2.500472 -[09:42:19.682] Odometry x=0.997804, y=0.488508, theta=-2.494487 -[09:42:19.933] Odometry x=1.006232, y=0.477955, theta=-2.502155 -[09:42:20.149] Odometry x=1.014449, y=0.466808, theta=-2.489250 -[09:42:20.267] After Reprojection Map nMatches:1081 ,distance between ekf and vo x:-0.000027 ,z=0.000148,angle between two frames:0.000020 -[09:42:20.278] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =643 error init =0.835058 error end=0.235729 -[09:42:20.278] After pose optimization, distance between ekf and vo x:0.005283 ,z=0.003600,angle between two frames:0.000316 -[09:42:20.278] Update EKF and 3D points the number of feature in the new frame: 829 and number of obs: 829 -[09:42:20.278] frame Scene Depth mean:3.254676 ,depth min:0.124588 -[09:42:20.291] need key frame pitch dis: 0.151908 translation dif:1.156591 -[09:42:20.291] Choose frame as a key frame Scene Depth mean:3.254676 ,depth min:0.124588 -[09:42:20.292] frame process finished the id is: 116 the obs is:829 -[09:42:20.409] Odometry x=1.016839, y=0.465084, theta=-2.495401 -[09:42:20.653] Odometry x=1.023246, y=0.456353, theta=-2.501273 -[09:42:20.889] Odometry x=1.031589, y=0.445275, theta=-2.486159 -[09:42:21.148] Odometry x=1.040266, y=0.433414, theta=-2.474231 -[09:42:21.186] After Reprojection Map nMatches:893 ,distance between ekf and vo x:0.026541 ,z=0.138970,angle between two frames:0.100014 -[09:42:21.192] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =492 error init =0.351425 error end=0.166316 -[09:42:21.192] After pose optimization, distance between ekf and vo x:0.026541 ,z=0.138970,angle between two frames:0.100014 -[09:42:21.192] Update EKF and 3D points the number of feature in the new frame: 586 and number of obs: 586 -[09:42:21.192] frame Scene Depth mean:2.790955 ,depth min:0.122511 -[09:42:21.202] need key frame pitch dis: 0.185544 translation dif:1.186914 -[09:42:21.202] Choose frame as a key frame Scene Depth mean:2.790955 ,depth min:0.122511 -[09:42:21.203] frame process finished the id is: 117 the obs is:586 -[09:42:21.415] Odometry x=1.047541, y=0.463927, theta=-2.461765 -[09:42:21.642] Odometry x=1.054782, y=0.455297, theta=-2.476303 -[09:42:21.685] After Reprojection Map nMatches:698 ,distance between ekf and vo x:0.057624 ,z=0.276515,angle between two frames:0.200034 -[09:42:21.694] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =415 error init =0.432779 error end=0.128829 -[09:42:21.694] After pose optimization, distance between ekf and vo x:0.061136 ,z=0.280044,angle between two frames:0.200193 -[09:42:21.694] frame process finished the id is: 117 the obs is:586 -[09:42:21.951] Odometry x=1.063280, y=0.444464, theta=-2.487726 -[09:42:22.352] After Reprojection Map nMatches:1028 ,distance between ekf and vo x:0.025521 ,z=0.139039,angle between two frames:0.100000 -[09:42:22.361] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =499 error init =1.132046 error end=0.184849 -[09:42:22.361] After pose optimization, distance between ekf and vo x:0.026044 ,z=0.140692,angle between two frames:0.099896 -[09:42:22.361] Update EKF and 3D points the number of feature in the new frame: 681 and number of obs: 681 -[09:42:22.361] frame Scene Depth mean:3.773182 ,depth min:0.439159 -[09:42:22.370] need key frame pitch dis: 0.161285 translation dif:1.205835 -[09:42:22.370] Choose frame as a key frame Scene Depth mean:3.773182 ,depth min:0.439159 -[09:42:22.371] frame process finished the id is: 119 the obs is:679 -[09:42:22.980] After Reprojection Map nMatches:920 ,distance between ekf and vo x:-0.000043 ,z=0.000069,angle between two frames:0.000014 -[09:42:22.985] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =513 error init =0.878573 error end=0.205877 -[09:42:22.985] After pose optimization, distance between ekf and vo x:-0.000043 ,z=0.000069,angle between two frames:0.000014 -[09:42:22.985] Update EKF and 3D points the number of feature in the new frame: 761 and number of obs: 761 -[09:42:22.985] frame Scene Depth mean:3.476033 ,depth min:0.057341 -[09:42:22.995] need key frame pitch dis: 0.173341 translation dif:1.206109 -[09:42:22.995] Choose frame as a key frame Scene Depth mean:3.476033 ,depth min:0.057341 -[09:42:22.995] frame process finished the id is: 120 the obs is:761 -[09:42:23.526] After Reprojection Map nMatches:925 ,distance between ekf and vo x:-0.000025 ,z=0.000044,angle between two frames:0.000000 -[09:42:23.535] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =421 error init =0.689618 error end=0.471345 -[09:42:23.535] After pose optimization, distance between ekf and vo x:0.030561 ,z=0.025730,angle between two frames:0.000525 -[09:42:23.535] Update EKF and 3D points the number of feature in the new frame: 711 and number of obs: 711 -[09:42:23.535] frame Scene Depth mean:3.199867 ,depth min:0.309404 -[09:42:23.543] need key frame pitch dis: 0.174839 translation dif:1.211972 -[09:42:23.544] Choose frame as a key frame Scene Depth mean:3.199867 ,depth min:0.309404 -[09:42:23.544] frame process finished the id is: 121 the obs is:711 -[09:42:24.170] After Reprojection Map nMatches:869 ,distance between ekf and vo x:-0.000023 ,z=0.000170,angle between two frames:0.000028 -[09:42:24.177] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =481 error init =1.768877 error end=0.179767 -[09:42:24.177] After pose optimization, distance between ekf and vo x:0.074194 ,z=0.076578,angle between two frames:0.001648 -[09:42:24.177] Update EKF and 3D points the number of feature in the new frame: 768 and number of obs: 768 -[09:42:24.177] frame Scene Depth mean:3.343099 ,depth min:0.128053 -[09:42:24.188] need key frame pitch dis: 0.537408 translation dif:1.318523 -[09:42:24.188] Choose frame as a key frame Scene Depth mean:3.343099 ,depth min:0.128053 -[09:42:24.189] frame process finished the id is: 122 the obs is:768 -[09:42:24.653] Odometry x=1.082217, y=0.463948, theta=-2.472149 -[09:42:24.716] After Reprojection Map nMatches:859 ,distance between ekf and vo x:0.000002 ,z=0.000033,angle between two frames:0.000008 -[09:42:24.720] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =469 error init =0.467506 error end=0.235238 -[09:42:24.720] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000033,angle between two frames:0.000008 -[09:42:24.720] Update EKF and 3D points the number of feature in the new frame: 748 and number of obs: 748 -[09:42:24.720] frame Scene Depth mean:3.080643 ,depth min:0.115247 -[09:42:24.729] need key frame pitch dis: 0.177506 translation dif:1.221369 -[09:42:24.729] Choose frame as a key frame Scene Depth mean:3.080643 ,depth min:0.115247 -[09:42:24.729] frame process finished the id is: 123 the obs is:748 -[09:42:24.890] Odometry x=1.082491, y=0.463064, theta=-2.469803 -[09:42:25.172] Odometry x=1.082510, y=0.462965, theta=-2.480399 -[09:42:25.395] Odometry x=1.082480, y=0.462798, theta=-2.552445 -[09:42:25.446] After Reprojection Map nMatches:1223 ,distance between ekf and vo x:-0.000044 ,z=0.000212,angle between two frames:0.000064 -[09:42:25.457] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =716 error init =540.055359 error end=0.285475 -[09:42:25.457] After pose optimization, distance between ekf and vo x:0.158932 ,z=0.131934,angle between two frames:0.002838 -[09:42:25.457] frame process finished the id is: 123 the obs is:748 -[09:42:25.685] Odometry x=1.082477, y=0.462787, theta=-2.620656 -[09:42:25.883] After Reprojection Map nMatches:727 ,distance between ekf and vo x:0.000001 ,z=0.000004,angle between two frames:0.000000 -[09:42:25.889] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =417 error init =11.809457 error end=0.160641 -[09:42:25.889] After pose optimization, distance between ekf and vo x:0.000594 ,z=0.000337,angle between two frames:0.000006 -[09:42:25.889] Update EKF and 3D points the number of feature in the new frame: 567 and number of obs: 567 -[09:42:25.889] frame Scene Depth mean:4.811382 ,depth min:0.171114 -[09:42:25.897] need key frame pitch dis: 0.037689 translation dif:1.221533 -[09:42:25.897] Choose frame as a key frame Scene Depth mean:4.811382 ,depth min:0.171114 -[09:42:25.897] frame process finished the id is: 125 the obs is:565 -[09:42:25.945] Odometry x=1.082619, y=0.462861, theta=-2.684998 -[09:42:26.147] Odometry x=1.082494, y=0.462739, theta=-2.742172 -[09:42:26.228] After Reprojection Map nMatches:649 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 -[09:42:26.234] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =409 error init =0.293940 error end=0.128505 -[09:42:26.234] After pose optimization, distance between ekf and vo x:0.004087 ,z=0.007444,angle between two frames:0.000076 -[09:42:26.234] Update EKF and 3D points the number of feature in the new frame: 529 and number of obs: 529 -[09:42:26.234] frame Scene Depth mean:3.629137 ,depth min:0.608174 -[09:42:26.242] need key frame pitch dis: 0.206154 translation dif:1.319934 -[09:42:26.242] Choose frame as a key frame Scene Depth mean:3.629137 ,depth min:0.608174 -[09:42:26.242] frame process finished the id is: 126 the obs is:527 -[09:42:26.414] Odometry x=1.083536, y=0.464545, theta=-2.803402 -[09:42:26.552] After Reprojection Map nMatches:747 ,distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000 -[09:42:26.559] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =354 error init =0.532870 error end=0.188562 -[09:42:26.559] After pose optimization, distance between ekf and vo x:0.009858 ,z=0.004045,angle between two frames:0.000391 -[09:42:26.559] Update EKF and 3D points the number of feature in the new frame: 534 and number of obs: 534 -[09:42:26.559] frame Scene Depth mean:3.414644 ,depth min:0.232929 -[09:42:26.567] need key frame pitch dis: 0.091376 translation dif:1.321972 -[09:42:26.567] Choose frame as a key frame Scene Depth mean:3.414644 ,depth min:0.232929 -[09:42:26.567] frame process finished the id is: 127 the obs is:534 -[09:42:26.682] Odometry x=1.086305, y=0.461122, theta=-2.918181 -[09:42:26.846] After Reprojection Map nMatches:716 ,distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000000 -[09:42:26.854] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =364 error init =0.559135 error end=0.267759 -[09:42:26.854] After pose optimization, distance between ekf and vo x:0.001634 ,z=0.000392,angle between two frames:0.000017 -[09:42:26.854] Update EKF and 3D points the number of feature in the new frame: 558 and number of obs: 558 -[09:42:26.854] frame Scene Depth mean:4.829224 ,depth min:0.061741 -[09:42:26.861] need key frame pitch dis: 0.025797 translation dif:1.321231 -[09:42:26.861] Choose frame as a key frame Scene Depth mean:4.829224 ,depth min:0.061741 -[09:42:26.861] frame process finished the id is: 128 the obs is:558 -[09:42:26.911] Odometry x=1.085676, y=0.460484, theta=-2.983760 -[09:42:27.163] Odometry x=1.085313, y=0.459811, theta=-3.040591 -[09:42:27.202] After Reprojection Map nMatches:858 ,distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000000 -[09:42:27.211] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =466 error init =0.147371 error end=0.172936 -[09:42:27.211] After pose optimization, distance between ekf and vo x:0.000646 ,z=0.000095,angle between two frames:0.000001 -[09:42:27.211] Update EKF and 3D points the number of feature in the new frame: 764 and number of obs: 764 -[09:42:27.211] frame Scene Depth mean:3.095215 ,depth min:0.230607 -[09:42:27.221] need key frame pitch dis: 0.078502 translation dif:1.320971 -[09:42:27.221] Choose frame as a key frame Scene Depth mean:3.095215 ,depth min:0.230607 -[09:42:27.222] frame process finished the id is: 129 the obs is:764 -[09:42:27.388] Odometry x=1.085519, y=0.459939, theta=-3.088059 -[09:42:27.545] After Reprojection Map nMatches:803 ,distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000000 -[09:42:27.552] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =383 error init =0.236440 error end=0.216073 -[09:42:27.552] After pose optimization, distance between ekf and vo x:0.000273 ,z=0.000014,angle between two frames:0.000011 -[09:42:27.552] Update EKF and 3D points the number of feature in the new frame: 743 and number of obs: 743 -[09:42:27.552] frame Scene Depth mean:2.769153 ,depth min:0.052183 -[09:42:27.558] need key frame pitch dis: 6.139624 translation dif:0.276632 -[09:42:27.558] Choose frame as a key frame Scene Depth mean:2.769153 ,depth min:0.052183 -[09:42:27.558] frame process finished the id is: 130 the obs is:743 -[09:42:27.643] Odometry x=1.084756, y=0.459221, theta=3.133740 -[09:42:27.965] Odometry x=1.084732, y=0.459211, theta=3.091115 -[09:42:28.015] After Reprojection Map nMatches:845 ,distance between ekf and vo x:0.000007 ,z=0.000006,angle between two frames:0.000000 -[09:42:28.019] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =380 error init =0.170105 error end=0.118550 -[09:42:28.019] After pose optimization, distance between ekf and vo x:0.000007 ,z=0.000006,angle between two frames:0.000000 -[09:42:28.019] Update EKF and 3D points the number of feature in the new frame: 749 and number of obs: 749 -[09:42:28.019] frame Scene Depth mean:1.876788 ,depth min:0.060005 -[09:42:28.026] need key frame pitch dis: 0.104110 translation dif:0.158434 -[09:42:28.026] Choose frame as a key frame Scene Depth mean:1.876788 ,depth min:0.060005 -[09:42:28.026] frame process finished the id is: 131 the obs is:735 -[09:42:28.147] Odometry x=1.085140, y=0.458422, theta=-3.124113 -[09:42:28.409] Odometry x=1.084751, y=0.457907, theta=3.081413 -[09:42:28.454] After Reprojection Map nMatches:958 ,distance between ekf and vo x:-0.000000 ,z=0.000003,angle between two frames:0.000000 -[09:42:28.461] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =573 error init =0.123254 error end=0.085419 -[09:42:28.461] After pose optimization, distance between ekf and vo x:0.000283 ,z=0.000009,angle between two frames:0.000004 -[09:42:28.462] Update EKF and 3D points the number of feature in the new frame: 823 and number of obs: 823 -[09:42:28.462] frame Scene Depth mean:1.333970 ,depth min:0.053813 -[09:42:28.470] need key frame pitch dis: 6.194231 translation dif:0.118447 -[09:42:28.470] Choose frame as a key frame Scene Depth mean:1.333970 ,depth min:0.053813 -[09:42:28.471] frame process finished the id is: 132 the obs is:823 -[09:42:28.769] After Reprojection Map nMatches:588 ,distance between ekf and vo x:0.000003 ,z=0.000008,angle between two frames:0.000000 -[09:42:28.777] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =286 error init =0.253312 error end=0.118270 -[09:42:28.777] After pose optimization, distance between ekf and vo x:0.000121 ,z=0.000001,angle between two frames:0.000002 -[09:42:28.777] Update EKF and 3D points the number of feature in the new frame: 426 and number of obs: 426 -[09:42:28.777] frame Scene Depth mean:0.995971 ,depth min:0.051067 -[09:42:28.783] need key frame pitch dis: 0.525861 translation dif:0.029846 -[09:42:28.783] Choose frame as a key frame Scene Depth mean:0.995971 ,depth min:0.051067 -[09:42:28.783] frame process finished the id is: 133 the obs is:414 -[09:42:29.178] Odometry x=1.084736, y=0.457990, theta=-2.491415 -[09:42:29.398] Odometry x=1.084736, y=0.457986, theta=-2.491432 -[09:42:29.507] After Reprojection Map nMatches:1039 ,distance between ekf and vo x:-0.000006 ,z=-0.000034,angle between two frames:0.000000 -[09:42:29.515] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =441 error init =0.160044 error end=0.471497 -[09:42:29.515] After pose optimization, distance between ekf and vo x:0.004652 ,z=0.003774,angle between two frames:0.000296 -[09:42:29.515] Update EKF and 3D points the number of feature in the new frame: 769 and number of obs: 769 -[09:42:29.515] frame Scene Depth mean:1.178615 ,depth min:0.054231 -[09:42:29.525] need key frame pitch dis: 0.517764 translation dif:0.031219 -[09:42:29.525] Choose frame as a key frame Scene Depth mean:1.178615 ,depth min:0.054231 -[09:42:29.526] frame process finished the id is: 134 the obs is:769 -[09:42:29.640] Odometry x=1.085829, y=0.458841, theta=-2.499512 -[09:42:29.979] Odometry x=1.086162, y=0.458817, theta=-2.530487 -[09:42:30.201] After Reprojection Map nMatches:1089 ,distance between ekf and vo x:-0.000001 ,z=-0.000013,angle between two frames:0.000000 -[09:42:30.208] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =412 error init =0.177322 error end=0.237962 -[09:42:30.208] After pose optimization, distance between ekf and vo x:0.003958 ,z=0.002945,angle between two frames:0.000352 -[09:42:30.208] Update EKF and 3D points the number of feature in the new frame: 750 and number of obs: 750 -[09:42:30.208] frame Scene Depth mean:1.545327 ,depth min:0.052476 -[09:42:30.216] need key frame pitch dis: 0.476339 translation dif:0.032522 -[09:42:30.216] Choose frame as a key frame Scene Depth mean:1.545327 ,depth min:0.052476 -[09:42:30.216] frame process finished the id is: 135 the obs is:750 -[09:42:30.887] After Reprojection Map nMatches:936 ,distance between ekf and vo x:0.000002 ,z=-0.000030,angle between two frames:0.000000 -[09:42:30.890] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =501 error init =0.115071 error end=0.098862 -[09:42:30.890] After pose optimization, distance between ekf and vo x:0.000002 ,z=-0.000030,angle between two frames:0.000000 -[09:42:30.890] Update EKF and 3D points the number of feature in the new frame: 672 and number of obs: 672 -[09:42:30.890] frame Scene Depth mean:1.185667 ,depth min:0.052974 -[09:42:30.900] need key frame pitch dis: 0.579690 translation dif:0.118727 -[09:42:30.900] Choose frame as a key frame Scene Depth mean:1.185667 ,depth min:0.052974 -[09:42:30.900] frame process finished the id is: 136 the obs is:672 -[09:42:31.388] Odometry x=1.086387, y=0.458935, theta=-2.546108 -[09:42:31.521] After Reprojection Map nMatches:1019 ,distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000000 -[09:42:31.526] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =458 error init =0.168325 error end=0.170105 -[09:42:31.526] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000000 -[09:42:31.526] Update EKF and 3D points the number of feature in the new frame: 675 and number of obs: 675 -[09:42:31.526] frame Scene Depth mean:0.856482 ,depth min:0.055527 -[09:42:31.536] need key frame pitch dis: 0.579814 translation dif:0.119029 -[09:42:31.536] Choose frame as a key frame Scene Depth mean:0.856482 ,depth min:0.055527 -[09:42:31.537] frame process finished the id is: 137 the obs is:675 -[09:42:31.650] Odometry x=1.086451, y=0.458597, theta=-2.545984 -[09:42:31.989] Odometry x=1.088551, y=0.452193, theta=-2.544477 -[09:42:32.142] Odometry x=1.092320, y=0.446683, theta=-2.542144 -[09:42:32.246] After Reprojection Map nMatches:1027 ,distance between ekf and vo x:0.000018 ,z=-0.000040,angle between two frames:0.000000 -[09:42:32.250] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =448 error init =0.074741 error end=0.261822 -[09:42:32.250] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000040,angle between two frames:0.000000 -[09:42:32.250] Update EKF and 3D points the number of feature in the new frame: 635 and number of obs: 635 -[09:42:32.250] frame Scene Depth mean:0.997182 ,depth min:0.050571 -[09:42:32.260] need key frame pitch dis: 0.581860 translation dif:0.138694 -[09:42:32.260] Choose frame as a key frame Scene Depth mean:0.997182 ,depth min:0.050571 -[09:42:32.261] frame process finished the id is: 138 the obs is:634 -[09:42:32.410] Odometry x=1.096455, y=0.441399, theta=-2.543938 -[09:42:32.666] Odometry x=1.101638, y=0.432468, theta=-2.552582 -[09:42:32.918] Odometry x=1.109237, y=0.420997, theta=-2.544498 -[09:42:32.997] After Reprojection Map nMatches:1055 ,distance between ekf and vo x:0.000001 ,z=-0.000055,angle between two frames:0.000000 -[09:42:33.004] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =366 error init =0.169612 error end=0.308651 -[09:42:33.004] After pose optimization, distance between ekf and vo x:0.000708 ,z=0.000424,angle between two frames:0.000001 -[09:42:33.004] Update EKF and 3D points the number of feature in the new frame: 567 and number of obs: 567 -[09:42:33.004] frame Scene Depth mean:1.149209 ,depth min:0.050992 -[09:42:33.012] need key frame pitch dis: 0.463378 translation dif:0.053070 -[09:42:33.012] Choose frame as a key frame Scene Depth mean:1.149209 ,depth min:0.050992 -[09:42:33.012] frame process finished the id is: 139 the obs is:557 -[09:42:33.154] Odometry x=1.113407, y=0.417371, theta=-2.553898 -[09:42:33.394] Odometry x=1.120402, y=0.408157, theta=-2.557172 -[09:42:33.623] After Reprojection Map nMatches:889 ,distance between ekf and vo x:0.000004 ,z=-0.000038,angle between two frames:0.000000 -[09:42:33.628] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =461 error init =0.126808 error end=0.145539 -[09:42:33.628] After pose optimization, distance between ekf and vo x:0.002689 ,z=0.001758,angle between two frames:0.000024 -[09:42:33.628] Update EKF and 3D points the number of feature in the new frame: 585 and number of obs: 585 -[09:42:33.629] frame Scene Depth mean:0.829958 ,depth min:0.050086 -[09:42:33.637] need key frame pitch dis: 0.464020 translation dif:0.071036 -[09:42:33.637] Choose frame as a key frame Scene Depth mean:0.829958 ,depth min:0.050086 -[09:42:33.638] frame process finished the id is: 140 the obs is:559 -[09:42:33.663] Odometry x=1.126322, y=0.402611, theta=-2.553256 -[09:42:34.281] After Reprojection Map nMatches:900 ,distance between ekf and vo x:0.000003 ,z=-0.000024,angle between two frames:0.000000 -[09:42:34.288] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =441 error init =0.084300 error end=0.254230 -[09:42:34.288] After pose optimization, distance between ekf and vo x:0.012828 ,z=0.008794,angle between two frames:0.000211 -[09:42:34.288] Update EKF and 3D points the number of feature in the new frame: 640 and number of obs: 640 -[09:42:34.288] frame Scene Depth mean:0.964003 ,depth min:0.053545 -[09:42:34.298] need key frame pitch dis: 0.462377 translation dif:0.072856 -[09:42:34.299] Choose frame as a key frame Scene Depth mean:0.964003 ,depth min:0.053545 -[09:42:34.299] frame process finished the id is: 141 the obs is:640 -[09:42:34.408] Odometry x=1.129459, y=0.404728, theta=-2.554899 -[09:42:34.681] Odometry x=1.131009, y=0.402308, theta=-2.553866 -[09:42:34.908] Odometry x=1.137308, y=0.392433, theta=-2.552388 -[09:42:35.177] Odometry x=1.144187, y=0.382319, theta=-2.562693 -[09:42:35.225] After Reprojection Map nMatches:1039 ,distance between ekf and vo x:0.000010 ,z=-0.000055,angle between two frames:0.000000 -[09:42:35.231] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =522 error init =0.119410 error end=0.218447 -[09:42:35.231] After pose optimization, distance between ekf and vo x:0.004303 ,z=0.003144,angle between two frames:0.000072 -[09:42:35.231] Update EKF and 3D points the number of feature in the new frame: 815 and number of obs: 815 -[09:42:35.231] frame Scene Depth mean:1.210239 ,depth min:0.050066 -[09:42:35.240] need key frame pitch dis: 0.465018 translation dif:0.091355 -[09:42:35.240] Choose frame as a key frame Scene Depth mean:1.210239 ,depth min:0.050066 -[09:42:35.240] frame process finished the id is: 142 the obs is:793 -[09:42:35.813] After Reprojection Map nMatches:752 ,distance between ekf and vo x:-0.000000 ,z=-0.000021,angle between two frames:0.000000 -[09:42:35.816] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =407 error init =0.118838 error end=0.355342 -[09:42:35.816] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000021,angle between two frames:0.000000 -[09:42:35.816] Update EKF and 3D points the number of feature in the new frame: 515 and number of obs: 515 -[09:42:35.816] frame Scene Depth mean:1.166304 ,depth min:0.050527 -[09:42:35.824] need key frame pitch dis: 0.465334 translation dif:0.095316 -[09:42:35.824] Choose frame as a key frame Scene Depth mean:1.166304 ,depth min:0.050527 -[09:42:35.825] frame process finished the id is: 143 the obs is:504 -[09:42:36.914] After Reprojection Map nMatches:1060 ,distance between ekf and vo x:0.000006 ,z=-0.000053,angle between two frames:0.000007 -[09:42:36.923] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =410 error init =0.198590 error end=0.464306 -[09:42:36.923] After pose optimization, distance between ekf and vo x:0.021631 ,z=0.015619,angle between two frames:0.001677 -[09:42:36.923] Update EKF and 3D points the number of feature in the new frame: 874 and number of obs: 874 -[09:42:36.923] frame Scene Depth mean:1.276139 ,depth min:0.056251 -[09:42:36.930] need key frame pitch dis: 0.465571 translation dif:0.098513 -[09:42:36.930] Choose frame as a key frame Scene Depth mean:1.276139 ,depth min:0.056251 -[09:42:36.930] frame process finished the id is: 144 the obs is:874 -[09:42:38.019] After Reprojection Map nMatches:1612 ,distance between ekf and vo x:0.000003 ,z=-0.000009,angle between two frames:0.000000 -[09:42:38.031] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =968 error init =0.852761 error end=0.244851 -[09:42:38.031] After pose optimization, distance between ekf and vo x:0.001786 ,z=0.001359,angle between two frames:0.000085 -[09:42:38.031] Update EKF and 3D points the number of feature in the new frame: 1265 and number of obs: 1265 -[09:42:38.032] frame Scene Depth mean:6.318230 ,depth min:0.050066 -[09:42:38.051] need key frame pitch dis: 0.465410 translation dif:0.097120 -[09:42:38.051] Choose frame as a key frame Scene Depth mean:6.318230 ,depth min:0.050066 -[09:42:38.052] frame process finished the id is: 145 the obs is:1258 -[09:42:39.236] After Reprojection Map nMatches:1693 ,distance between ekf and vo x:0.000003 ,z=-0.000003,angle between two frames:0.000000 -[09:42:39.241] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =597 error init =0.108275 error end=2.807017 -[09:42:39.241] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000003,angle between two frames:0.000000 -[09:42:39.241] Update EKF and 3D points the number of feature in the new frame: 1043 and number of obs: 1043 -[09:42:39.241] frame Scene Depth mean:4.449417 ,depth min:0.050447 -[09:42:39.253] need key frame pitch dis: 0.015650 translation dif:0.206572 -[09:42:39.253] Choose frame as a key frame Scene Depth mean:4.449417 ,depth min:0.050447 -[09:42:39.254] frame process finished the id is: 146 the obs is:1036 -[09:42:40.591] After Reprojection Map nMatches:1623 ,distance between ekf and vo x:0.000002 ,z=-0.000019,angle between two frames:0.000000 -[09:42:40.600] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =861 error init =0.136360 error end=0.412945 -[09:42:40.600] After pose optimization, distance between ekf and vo x:0.157046 ,z=0.106696,angle between two frames:0.005295 -[09:42:40.600] Update EKF and 3D points the number of feature in the new frame: 1121 and number of obs: 1121 -[09:42:40.601] frame Scene Depth mean:5.224588 ,depth min:0.093762 -[09:42:40.616] need key frame pitch dis: 0.016287 translation dif:0.229748 -[09:42:40.616] Choose frame as a key frame Scene Depth mean:5.224588 ,depth min:0.093762 -[09:42:40.617] frame process finished the id is: 147 the obs is:1121 -[09:42:41.951] After Reprojection Map nMatches:1780 ,distance between ekf and vo x:0.000007 ,z=-0.000031,angle between two frames:0.000000 -[09:42:41.962] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =681 error init =0.292558 error end=0.622096 -[09:42:41.962] After pose optimization, distance between ekf and vo x:0.005532 ,z=0.003665,angle between two frames:0.000001 -[09:42:41.962] Update EKF and 3D points the number of feature in the new frame: 990 and number of obs: 990 -[09:42:41.963] frame Scene Depth mean:5.492933 ,depth min:0.050115 -[09:42:41.977] need key frame pitch dis: 0.015727 translation dif:0.211981 -[09:42:41.977] Choose frame as a key frame Scene Depth mean:5.492933 ,depth min:0.050115 -[09:42:41.978] frame process finished the id is: 148 the obs is:967 +[10:20:36.543] Init: frame zero: 0.000000, 0.000000 0.000000 +[10:20:36.543] Init: Selected first frame. +[10:20:36.543] frame process finished the id is: 0 the obs is:0 +[10:20:36.564] Init: px average disparity is:0.028000 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:36.564] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:36.564] frame process finished the id is: 1 the obs is:0 +[10:20:36.621] Init: px average disparity is:0.028622 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:36.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:36.621] frame process finished the id is: 2 the obs is:0 +[10:20:36.740] Init: px average disparity is:0.030451 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:36.740] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:36.740] frame process finished the id is: 3 the obs is:0 +[10:20:36.837] Init: px average disparity is:0.032691 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:36.837] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:36.837] frame process finished the id is: 4 the obs is:0 +[10:20:36.935] Init: px average disparity is:0.024697 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:36.935] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:36.935] frame process finished the id is: 5 the obs is:0 +[10:20:37.037] Init: px average disparity is:0.038583 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:37.037] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:37.037] frame process finished the id is: 6 the obs is:0 +[10:20:37.134] Init: px average disparity is:0.028484 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:37.134] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:37.135] frame process finished the id is: 7 the obs is:0 +[10:20:37.232] Init: px average disparity is:0.035371 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:37.233] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:37.233] frame process finished the id is: 8 the obs is:0 +[10:20:37.334] Init: px average disparity is:0.033589 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:37.335] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:37.335] frame process finished the id is: 9 the obs is:0 +[10:20:37.433] Init: px average disparity is:0.034850 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:37.433] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:37.433] frame process finished the id is: 10 the obs is:0 +[10:20:37.532] Init: px average disparity is:0.040350 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:37.533] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:37.533] frame process finished the id is: 11 the obs is:0 +[10:20:37.632] Init: px average disparity is:0.032975 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:37.632] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:37.632] frame process finished the id is: 12 the obs is:0 +[10:20:37.736] Init: px average disparity is:0.031391 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:37.736] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:37.736] frame process finished the id is: 13 the obs is:0 +[10:20:37.834] Init: px average disparity is:0.039691 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:37.834] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:37.834] frame process finished the id is: 14 the obs is:0 +[10:20:37.889] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[10:20:37.945] Init: px average disparity is:0.042275 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:37.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:37.945] frame process finished the id is: 15 the obs is:0 +[10:20:38.036] Init: px average disparity is:0.031575 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:38.036] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:38.036] frame process finished the id is: 16 the obs is:0 +[10:20:38.119] Odometry x=0.000002, y=0.019191, theta=-0.000001 +[10:20:38.139] Init: px average disparity is:0.146645 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:38.139] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:38.139] frame process finished the id is: 17 the obs is:0 +[10:20:38.239] Init: px average disparity is:6.448189 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:38.239] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:38.239] frame process finished the id is: 18 the obs is:0 +[10:20:38.346] Init: px average disparity is:4.621130 ,While minimum is: 10.000000 KLT tracked : 910 +[10:20:38.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:38.346] frame process finished the id is: 19 the obs is:0 +[10:20:38.380] Odometry x=0.000210, y=0.051370, theta=0.002326 +[10:20:38.452] Init: px average disparity is:4.932254 ,While minimum is: 10.000000 KLT tracked : 909 +[10:20:38.452] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:38.452] frame process finished the id is: 20 the obs is:0 +[10:20:38.544] Init: px average disparity is:9.764128 ,While minimum is: 10.000000 KLT tracked : 908 +[10:20:38.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:38.544] frame process finished the id is: 21 the obs is:0 +[10:20:38.655] Odometry x=0.000165, y=0.082183, theta=-0.000114 +[10:20:38.741] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:12.609737 ,While minimum is: 10.000000 KLT tracked: 908 +[10:20:38.741] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:38.741] frame process finished the id is: 22 the obs is:0 +[10:20:38.863] Odometry x=0.000712, y=0.112498, theta=0.001153 +[10:20:38.869] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:15.638974 ,While minimum is: 10.000000 KLT tracked: 900 +[10:20:38.869] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:38.869] frame process finished the id is: 23 the obs is:0 +[10:20:38.967] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:19.774255 ,While minimum is: 10.000000 KLT tracked: 900 +[10:20:38.967] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:38.967] frame process finished the id is: 24 the obs is:0 +[10:20:39.065] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:29.046910 ,While minimum is: 10.000000 KLT tracked: 900 +[10:20:39.065] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:39.065] frame process finished the id is: 25 the obs is:0 +[10:20:39.168] Odometry x=0.000415, y=0.141354, theta=0.007158 +[10:20:39.213] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:27.210892 ,While minimum is: 10.000000 KLT tracked: 900 +[10:20:39.213] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:39.213] frame process finished the id is: 26 the obs is:0 +[10:20:39.344] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:33.829964 ,While minimum is: 10.000000 KLT tracked: 900 +[10:20:39.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:39.344] frame process finished the id is: 27 the obs is:0 +[10:20:39.395] Odometry x=0.000085, y=0.170507, theta=0.015752 +[10:20:39.459] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:40.868315 ,While minimum is: 10.000000 KLT tracked: 896 +[10:20:39.459] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:39.459] frame process finished the id is: 28 the obs is:0 +[10:20:39.584] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:45.785434 ,While minimum is: 10.000000 KLT tracked: 892 +[10:20:39.584] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:39.584] frame process finished the id is: 29 the obs is:0 +[10:20:39.632] Odometry x=-0.000306, y=0.199574, theta=0.013922 +[10:20:39.714] Init: Homography RANSAC (inlier) is:12 ,While 40 inliers minimum required. px average disparity is:45.251815 ,While minimum is: 10.000000 KLT tracked: 839 +[10:20:39.714] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:39.714] frame process finished the id is: 30 the obs is:0 +[10:20:39.856] Init: Homography RANSAC (inlier) is:12 ,While 40 inliers minimum required. px average disparity is:46.818981 ,While minimum is: 10.000000 KLT tracked: 774 +[10:20:39.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:39.856] frame process finished the id is: 31 the obs is:0 +[10:20:39.890] Odometry x=-0.000722, y=0.228585, theta=0.013732 +[10:20:39.973] Init: Homography RANSAC (inlier) is:12 ,While 40 inliers minimum required. px average disparity is:44.211681 ,While minimum is: 10.000000 KLT tracked: 765 +[10:20:39.973] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:39.973] frame process finished the id is: 32 the obs is:0 +[10:20:40.083] Init: Homography RANSAC (inlier) is:12 ,While 40 inliers minimum required. px average disparity is:48.736136 ,While minimum is: 10.000000 KLT tracked: 763 +[10:20:40.084] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:40.084] frame process finished the id is: 33 the obs is:0 +[10:20:40.117] Odometry x=-0.001206, y=0.257173, theta=0.023926 +[10:20:40.189] Init: Homography RANSAC (inlier) is:12 ,While 40 inliers minimum required. px average disparity is:54.130859 ,While minimum is: 10.000000 KLT tracked: 758 +[10:20:40.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:40.189] frame process finished the id is: 34 the obs is:0 +[10:20:40.307] Init: Homography RANSAC (inlier) is:12 ,While 40 inliers minimum required. px average disparity is:50.563251 ,While minimum is: 10.000000 KLT tracked: 748 +[10:20:40.307] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[10:20:40.307] frame process finished the id is: 35 the obs is:0 +[10:20:40.351] Odometry x=-0.001748, y=0.284811, theta=0.023218 +[10:20:40.427] Init finished: Homography RANSAC (inlier) is:52 ,While 40 inliers minimum required. px average disparity is:42.409508 ,While minimum is: 10.000000 KLT tracked: 747 +[10:20:40.427] Init: distance between the first and current frame is x:-0.002220 ,z=0.297182,angle between two frames: 0.039505 +[10:20:40.427] Init: Selected Second frame. The number of features: 52 depth mean:1.063774 min:0.389753 +[10:20:40.427] frame process finished the id is: 36 the obs is:52 +[10:20:40.606] Odometry x=-0.002220, y=0.297182, theta=0.039505 +[10:20:40.612] After Reprojection Map nMatches:63 ,distance between ekf and vo x:0.000406 ,z=0.000702,angle between two frames:0.000282 +[10:20:40.613] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =26 error init =0.066105 error end=0.225931 +[10:20:40.613] After pose optimization, distance between ekf and vo x:0.000406 ,z=0.000702,angle between two frames:0.000282 +[10:20:40.613] Update EKF and 3D points the number of feature in the new frame: 261 and number of obs: 261 +[10:20:40.613] frame Scene Depth mean:1.119326 ,depth min:0.794197 +[10:20:40.613] need key frame pitch dis: 0.039536 translation dif:0.336714 +[10:20:40.613] Choose frame as a key frame Scene Depth mean:1.119326 ,depth min:0.794197 +[10:20:40.613] frame process finished the id is: 37 the obs is:261 +[10:20:40.750] After Reprojection Map nMatches:69 ,distance between ekf and vo x:-0.000645 ,z=0.002144,angle between two frames:0.000132 +[10:20:40.750] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =18 error init =0.186285 error end=0.131089 +[10:20:40.750] After pose optimization, distance between ekf and vo x:-0.000645 ,z=0.002144,angle between two frames:0.000132 +[10:20:40.750] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270 +[10:20:40.750] frame Scene Depth mean:0.896862 ,depth min:0.069069 +[10:20:40.750] need key frame pitch dis: 0.027415 translation dif:0.043238 +[10:20:40.750] frame process finished the id is: 38 the obs is:270 +[10:20:40.860] Odometry x=-0.004052, y=0.340382, theta=0.066920 +[10:20:40.918] After Reprojection Map nMatches:70 ,distance between ekf and vo x:-0.000334 ,z=0.000640,angle between two frames:0.000021 +[10:20:40.918] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =10 error init =0.326376 error end=0.202451 +[10:20:40.918] After pose optimization, distance between ekf and vo x:-0.000334 ,z=0.000640,angle between two frames:0.000021 +[10:20:40.918] Update EKF and 3D points the number of feature in the new frame: 568 and number of obs: 568 +[10:20:40.918] frame Scene Depth mean:0.368712 ,depth min:0.061397 +[10:20:40.918] need key frame pitch dis: 0.041273 translation dif:0.017352 +[10:20:40.918] frame process finished the id is: 39 the obs is:568 +[10:20:41.090] After Reprojection Map nMatches:155 ,distance between ekf and vo x:-0.000233 ,z=0.000620,angle between two frames:0.000013 +[10:20:41.090] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =47 error init =0.450063 error end=0.029717 +[10:20:41.090] After pose optimization, distance between ekf and vo x:-0.000233 ,z=0.000620,angle between two frames:0.000013 +[10:20:41.090] Update EKF and 3D points the number of feature in the new frame: 551 and number of obs: 551 +[10:20:41.090] frame Scene Depth mean:0.671157 ,depth min:0.050425 +[10:20:41.090] need key frame pitch dis: 0.043191 translation dif:0.020706 +[10:20:41.090] frame process finished the id is: 40 the obs is:550 +[10:20:41.198] Odometry x=-0.004957, y=0.357360, theta=0.082727 +[10:20:41.286] After Reprojection Map nMatches:190 ,distance between ekf and vo x:-0.000092 ,z=0.000998,angle between two frames:0.000072 +[10:20:41.287] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =36 error init =0.415568 error end=0.071722 +[10:20:41.287] After pose optimization, distance between ekf and vo x:-0.000092 ,z=0.000998,angle between two frames:0.000072 +[10:20:41.287] Update EKF and 3D points the number of feature in the new frame: 596 and number of obs: 596 +[10:20:41.287] frame Scene Depth mean:0.258915 ,depth min:0.070779 +[10:20:41.287] need key frame pitch dis: 0.055429 translation dif:0.035108 +[10:20:41.287] frame process finished the id is: 41 the obs is:593 +[10:20:41.363] Odometry x=-0.003207, y=0.371798, theta=0.094965 +[10:20:41.456] After Reprojection Map nMatches:188 ,distance between ekf and vo x:-0.000032 ,z=0.000185,angle between two frames:0.000054 +[10:20:41.457] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =81 error init =0.333955 error end=0.033485 +[10:20:41.457] After pose optimization, distance between ekf and vo x:-0.000032 ,z=0.000185,angle between two frames:0.000054 +[10:20:41.457] Update EKF and 3D points the number of feature in the new frame: 604 and number of obs: 604 +[10:20:41.457] frame Scene Depth mean:0.411330 ,depth min:0.053047 +[10:20:41.457] need key frame pitch dis: 0.061488 translation dif:0.046542 +[10:20:41.457] frame process finished the id is: 42 the obs is:601 +[10:20:41.612] Odometry x=-0.006673, y=0.383139, theta=0.101023 +[10:20:41.626] After Reprojection Map nMatches:176 ,distance between ekf and vo x:-0.000093 ,z=0.000114,angle between two frames:0.000000 +[10:20:41.626] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =42 error init =0.439060 error end=0.059366 +[10:20:41.626] After pose optimization, distance between ekf and vo x:-0.000093 ,z=0.000114,angle between two frames:0.000000 +[10:20:41.626] Update EKF and 3D points the number of feature in the new frame: 501 and number of obs: 501 +[10:20:41.626] frame Scene Depth mean:0.573178 ,depth min:0.050062 +[10:20:41.626] need key frame pitch dis: 0.061485 translation dif:0.082856 +[10:20:41.626] frame process finished the id is: 43 the obs is:494 +[10:20:41.796] After Reprojection Map nMatches:145 ,distance between ekf and vo x:0.000016 ,z=0.000263,angle between two frames:0.000526 +[10:20:41.796] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =43 error init =0.466757 error end=0.044010 +[10:20:41.796] After pose optimization, distance between ekf and vo x:0.000016 ,z=0.000263,angle between two frames:0.000526 +[10:20:41.796] Update EKF and 3D points the number of feature in the new frame: 493 and number of obs: 493 +[10:20:41.796] frame Scene Depth mean:0.828621 ,depth min:0.054413 +[10:20:41.797] need key frame pitch dis: 0.049136 translation dif:0.093024 +[10:20:41.797] frame process finished the id is: 44 the obs is:490 +[10:20:41.855] Odometry x=-0.010116, y=0.429495, theta=0.088672 +[10:20:41.976] After Reprojection Map nMatches:169 ,distance between ekf and vo x:-0.000219 ,z=0.000439,angle between two frames:0.000116 +[10:20:41.976] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =77 error init =0.434014 error end=0.037092 +[10:20:41.976] After pose optimization, distance between ekf and vo x:-0.000219 ,z=0.000439,angle between two frames:0.000116 +[10:20:41.976] Update EKF and 3D points the number of feature in the new frame: 545 and number of obs: 545 +[10:20:41.976] frame Scene Depth mean:0.380694 ,depth min:0.050251 +[10:20:41.976] need key frame pitch dis: 0.058835 translation dif:0.105163 +[10:20:41.976] Choose frame as a key frame Scene Depth mean:0.380694 ,depth min:0.050251 +[10:20:41.976] frame process finished the id is: 45 the obs is:534 +[10:20:42.136] Odometry x=-0.012529, y=0.441483, theta=0.098371 +[10:20:42.165] After Reprojection Map nMatches:206 ,distance between ekf and vo x:-0.000069 ,z=0.000103,angle between two frames:0.000033 +[10:20:42.165] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =72 error init =0.352706 error end=0.027013 +[10:20:42.165] After pose optimization, distance between ekf and vo x:-0.000069 ,z=0.000103,angle between two frames:0.000033 +[10:20:42.165] Update EKF and 3D points the number of feature in the new frame: 564 and number of obs: 564 +[10:20:42.165] frame Scene Depth mean:0.425541 ,depth min:0.051662 +[10:20:42.166] need key frame pitch dis: 0.058829 translation dif:0.129908 +[10:20:42.166] Choose frame as a key frame Scene Depth mean:0.425541 ,depth min:0.051662 +[10:20:42.166] frame process finished the id is: 46 the obs is:555 +[10:20:42.358] Odometry x=-0.015150, y=0.469194, theta=0.102875 +[10:20:42.420] After Reprojection Map nMatches:493 ,distance between ekf and vo x:-0.000073 ,z=0.000194,angle between two frames:0.000145 +[10:20:42.421] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =307 error init =0.362770 error end=0.021620 +[10:20:42.421] After pose optimization, distance between ekf and vo x:-0.000073 ,z=0.000194,angle between two frames:0.000145 +[10:20:42.421] Update EKF and 3D points the number of feature in the new frame: 651 and number of obs: 651 +[10:20:42.422] frame Scene Depth mean:0.471851 ,depth min:0.052606 +[10:20:42.424] need key frame pitch dis: 0.010246 translation dif:0.039031 +[10:20:42.424] frame process finished the id is: 47 the obs is:632 +[10:20:42.619] Odometry x=-0.016859, y=0.480273, theta=0.108617 +[10:20:42.651] After Reprojection Map nMatches:800 ,distance between ekf and vo x:-0.000082 ,z=0.000129,angle between two frames:0.000003 +[10:20:42.653] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =424 error init =0.269874 error end=0.081976 +[10:20:42.653] After pose optimization, distance between ekf and vo x:-0.000082 ,z=0.000129,angle between two frames:0.000003 +[10:20:42.653] Update EKF and 3D points the number of feature in the new frame: 717 and number of obs: 717 +[10:20:42.653] frame Scene Depth mean:0.443146 ,depth min:0.050011 +[10:20:42.656] need key frame pitch dis: 0.004510 translation dif:0.024273 +[10:20:42.656] frame process finished the id is: 48 the obs is:701 +[10:20:42.871] Odometry x=-0.017973, y=0.490197, theta=0.102875 +[10:20:42.901] After Reprojection Map nMatches:804 ,distance between ekf and vo x:-0.000130 ,z=0.000204,angle between two frames:0.000006 +[10:20:42.903] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =332 error init =0.279434 error end=0.045169 +[10:20:42.903] After pose optimization, distance between ekf and vo x:-0.000130 ,z=0.000204,angle between two frames:0.000006 +[10:20:42.903] Update EKF and 3D points the number of feature in the new frame: 632 and number of obs: 632 +[10:20:42.903] frame Scene Depth mean:0.766199 ,depth min:0.050464 +[10:20:42.906] need key frame pitch dis: 0.004509 translation dif:0.053977 +[10:20:42.906] frame process finished the id is: 49 the obs is:605 +[10:20:43.155] After Reprojection Map nMatches:737 ,distance between ekf and vo x:-0.000160 ,z=0.000323,angle between two frames:0.000004 +[10:20:43.157] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =352 error init =0.255234 error end=0.077030 +[10:20:43.157] After pose optimization, distance between ekf and vo x:-0.000160 ,z=0.000323,angle between two frames:0.000004 +[10:20:43.157] Update EKF and 3D points the number of feature in the new frame: 609 and number of obs: 609 +[10:20:43.157] frame Scene Depth mean:1.041065 ,depth min:0.051550 +[10:20:43.160] need key frame pitch dis: 0.019534 translation dif:0.056875 +[10:20:43.160] frame process finished the id is: 50 the obs is:607 +[10:20:43.175] Odometry x=-0.021121, y=0.522651, theta=0.117899 +[10:20:43.348] Odometry x=-0.022612, y=0.537913, theta=0.135337 +[10:20:43.382] After Reprojection Map nMatches:532 ,distance between ekf and vo x:-0.000149 ,z=0.000252,angle between two frames:0.000005 +[10:20:43.383] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =232 error init =0.243929 error end=0.064922 +[10:20:43.383] After pose optimization, distance between ekf and vo x:-0.000149 ,z=0.000252,angle between two frames:0.000005 +[10:20:43.383] Update EKF and 3D points the number of feature in the new frame: 425 and number of obs: 425 +[10:20:43.383] frame Scene Depth mean:1.271852 ,depth min:0.054527 +[10:20:43.386] need key frame pitch dis: 0.018263 translation dif:0.084296 +[10:20:43.386] frame process finished the id is: 51 the obs is:413 +[10:20:43.590] After Reprojection Map nMatches:564 ,distance between ekf and vo x:-0.000160 ,z=0.000227,angle between two frames:0.000001 +[10:20:43.591] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =327 error init =0.270805 error end=0.063626 +[10:20:43.591] After pose optimization, distance between ekf and vo x:-0.000160 ,z=0.000227,angle between two frames:0.000001 +[10:20:43.592] Update EKF and 3D points the number of feature in the new frame: 502 and number of obs: 502 +[10:20:43.592] frame Scene Depth mean:1.048272 ,depth min:0.053070 +[10:20:43.594] need key frame pitch dis: 0.018105 translation dif:0.090722 +[10:20:43.594] frame process finished the id is: 52 the obs is:496 +[10:20:43.635] Odometry x=-0.026327, y=0.556118, theta=0.116470 +[10:20:43.806] After Reprojection Map nMatches:583 ,distance between ekf and vo x:-0.000096 ,z=0.000132,angle between two frames:0.000000 +[10:20:43.807] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =236 error init =0.265092 error end=0.057946 +[10:20:43.807] After pose optimization, distance between ekf and vo x:-0.000096 ,z=0.000132,angle between two frames:0.000000 +[10:20:43.807] Update EKF and 3D points the number of feature in the new frame: 492 and number of obs: 492 +[10:20:43.807] frame Scene Depth mean:1.959483 ,depth min:0.058060 +[10:20:43.810] need key frame pitch dis: 0.009601 translation dif:0.104051 +[10:20:43.810] Choose frame as a key frame Scene Depth mean:1.959483 ,depth min:0.058060 +[10:20:43.810] frame process finished the id is: 53 the obs is:486 +[10:20:43.846] Odometry x=-0.024599, y=0.569715, theta=0.107966 +[10:20:44.085] After Reprojection Map nMatches:615 ,distance between ekf and vo x:-0.000251 ,z=0.000374,angle between two frames:0.000002 +[10:20:44.087] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =260 error init =0.324858 error end=0.040353 +[10:20:44.087] After pose optimization, distance between ekf and vo x:-0.000251 ,z=0.000374,angle between two frames:0.000002 +[10:20:44.087] Update EKF and 3D points the number of feature in the new frame: 604 and number of obs: 604 +[10:20:44.087] frame Scene Depth mean:2.121447 ,depth min:0.052486 +[10:20:44.089] need key frame pitch dis: 0.009726 translation dif:0.112490 +[10:20:44.089] Choose frame as a key frame Scene Depth mean:2.121447 ,depth min:0.052486 +[10:20:44.089] frame process finished the id is: 54 the obs is:602 +[10:20:44.106] Odometry x=-0.025555, y=0.578101, theta=0.108091 +[10:20:44.370] Odometry x=-0.026873, y=0.591473, theta=0.114940 +[10:20:44.386] After Reprojection Map nMatches:717 ,distance between ekf and vo x:-0.000222 ,z=0.000362,angle between two frames:0.000002 +[10:20:44.388] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =307 error init =0.324416 error end=0.033590 +[10:20:44.388] After pose optimization, distance between ekf and vo x:-0.000222 ,z=0.000362,angle between two frames:0.000002 +[10:20:44.388] Update EKF and 3D points the number of feature in the new frame: 569 and number of obs: 569 +[10:20:44.388] frame Scene Depth mean:1.818960 ,depth min:0.052106 +[10:20:44.390] need key frame pitch dis: 0.006500 translation dif:0.049493 +[10:20:44.390] frame process finished the id is: 55 the obs is:523 +[10:20:44.600] Odometry x=-0.030581, y=0.623185, theta=0.114251 +[10:20:44.699] After Reprojection Map nMatches:777 ,distance between ekf and vo x:-0.000155 ,z=0.000286,angle between two frames:0.000019 +[10:20:44.700] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =473 error init =0.281842 error end=0.038164 +[10:20:44.701] After pose optimization, distance between ekf and vo x:-0.000155 ,z=0.000286,angle between two frames:0.000019 +[10:20:44.701] Update EKF and 3D points the number of feature in the new frame: 623 and number of obs: 623 +[10:20:44.701] frame Scene Depth mean:1.549581 ,depth min:0.054669 +[10:20:44.703] need key frame pitch dis: 0.016632 translation dif:0.058774 +[10:20:44.703] frame process finished the id is: 56 the obs is:614 +[10:20:44.852] Odometry x=-0.031019, y=0.636620, theta=0.124723 +[10:20:44.997] After Reprojection Map nMatches:729 ,distance between ekf and vo x:-0.000165 ,z=0.000235,angle between two frames:0.000005 +[10:20:44.999] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =376 error init =0.209678 error end=0.046197 +[10:20:44.999] After pose optimization, distance between ekf and vo x:-0.000165 ,z=0.000235,angle between two frames:0.000005 +[10:20:44.999] Update EKF and 3D points the number of feature in the new frame: 581 and number of obs: 581 +[10:20:44.999] frame Scene Depth mean:1.437839 ,depth min:0.055247 +[10:20:45.002] need key frame pitch dis: 0.018132 translation dif:0.068992 +[10:20:45.002] frame process finished the id is: 57 the obs is:580 +[10:20:45.182] Odometry x=-0.032077, y=0.646784, theta=0.126224 +[10:20:45.293] After Reprojection Map nMatches:651 ,distance between ekf and vo x:-0.000165 ,z=0.000326,angle between two frames:0.000012 +[10:20:45.295] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =334 error init =0.205844 error end=0.037019 +[10:20:45.295] After pose optimization, distance between ekf and vo x:-0.000165 ,z=0.000326,angle between two frames:0.000012 +[10:20:45.295] Update EKF and 3D points the number of feature in the new frame: 483 and number of obs: 483 +[10:20:45.295] frame Scene Depth mean:1.564713 ,depth min:0.050730 +[10:20:45.297] need key frame pitch dis: 0.027792 translation dif:0.084552 +[10:20:45.297] frame process finished the id is: 58 the obs is:476 +[10:20:45.347] Odometry x=-0.036153, y=0.661986, theta=0.135883 +[10:20:45.584] After Reprojection Map nMatches:648 ,distance between ekf and vo x:-0.000189 ,z=0.000234,angle between two frames:0.000001 +[10:20:45.586] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =334 error init =0.242722 error end=0.046622 +[10:20:45.586] After pose optimization, distance between ekf and vo x:-0.000189 ,z=0.000234,angle between two frames:0.000001 +[10:20:45.586] Update EKF and 3D points the number of feature in the new frame: 523 and number of obs: 523 +[10:20:45.586] frame Scene Depth mean:1.863484 ,depth min:0.061359 +[10:20:45.589] need key frame pitch dis: 0.035991 translation dif:0.095154 +[10:20:45.589] frame process finished the id is: 59 the obs is:516 +[10:20:45.652] Odometry x=-0.037339, y=0.672522, theta=0.144083 +[10:20:45.852] Odometry x=-0.039252, y=0.686340, theta=0.146079 +[10:20:45.867] After Reprojection Map nMatches:615 ,distance between ekf and vo x:-0.000156 ,z=0.000236,angle between two frames:0.000003 +[10:20:45.869] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =346 error init =0.204058 error end=0.051978 +[10:20:45.869] After pose optimization, distance between ekf and vo x:-0.000156 ,z=0.000236,angle between two frames:0.000003 +[10:20:45.869] Update EKF and 3D points the number of feature in the new frame: 519 and number of obs: 519 +[10:20:45.869] frame Scene Depth mean:1.606055 ,depth min:0.050548 +[10:20:45.872] need key frame pitch dis: 0.033935 translation dif:0.119550 +[10:20:45.872] Choose frame as a key frame Scene Depth mean:1.606055 ,depth min:0.050548 +[10:20:45.872] frame process finished the id is: 60 the obs is:509 +[10:20:46.103] Odometry x=-0.040854, y=0.696668, theta=0.142027 +[10:20:46.129] After Reprojection Map nMatches:614 ,distance between ekf and vo x:-0.000315 ,z=0.000379,angle between two frames:0.000002 +[10:20:46.131] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =278 error init =0.278495 error end=0.076004 +[10:20:46.131] After pose optimization, distance between ekf and vo x:-0.000315 ,z=0.000379,angle between two frames:0.000002 +[10:20:46.131] Update EKF and 3D points the number of feature in the new frame: 433 and number of obs: 433 +[10:20:46.131] frame Scene Depth mean:1.351637 ,depth min:0.050404 +[10:20:46.134] need key frame pitch dis: 0.033936 translation dif:0.148239 +[10:20:46.134] Choose frame as a key frame Scene Depth mean:1.351637 ,depth min:0.050404 +[10:20:46.135] frame process finished the id is: 61 the obs is:424 +[10:20:46.356] Odometry x=-0.045158, y=0.728691, theta=0.152892 +[10:20:46.536] After Reprojection Map nMatches:796 ,distance between ekf and vo x:-0.000185 ,z=0.000484,angle between two frames:0.000020 +[10:20:46.538] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =478 error init =0.149807 error end=0.160084 +[10:20:46.538] After pose optimization, distance between ekf and vo x:-0.000185 ,z=0.000484,angle between two frames:0.000020 +[10:20:46.538] Update EKF and 3D points the number of feature in the new frame: 663 and number of obs: 663 +[10:20:46.538] frame Scene Depth mean:1.301656 ,depth min:0.052708 +[10:20:46.542] need key frame pitch dis: 0.002512 translation dif:0.045804 +[10:20:46.542] frame process finished the id is: 62 the obs is:660 +[10:20:46.590] Odometry x=-0.047101, y=0.742044, theta=0.144539 +[10:20:46.842] Odometry x=-0.049074, y=0.756152, theta=0.152498 +[10:20:46.910] After Reprojection Map nMatches:767 ,distance between ekf and vo x:-0.000205 ,z=0.000395,angle between two frames:0.000011 +[10:20:46.913] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =379 error init =0.225193 error end=0.066487 +[10:20:46.913] After pose optimization, distance between ekf and vo x:-0.000205 ,z=0.000395,angle between two frames:0.000011 +[10:20:46.913] Update EKF and 3D points the number of feature in the new frame: 573 and number of obs: 573 +[10:20:46.913] frame Scene Depth mean:1.111669 ,depth min:0.050146 +[10:20:46.916] need key frame pitch dis: 0.013178 translation dif:0.056771 +[10:20:46.916] frame process finished the id is: 63 the obs is:569 +[10:20:47.235] After Reprojection Map nMatches:692 ,distance between ekf and vo x:-0.000168 ,z=0.000232,angle between two frames:0.000001 +[10:20:47.237] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =347 error init =0.189197 error end=0.091834 +[10:20:47.237] After pose optimization, distance between ekf and vo x:-0.000168 ,z=0.000232,angle between two frames:0.000001 +[10:20:47.237] Update EKF and 3D points the number of feature in the new frame: 497 and number of obs: 497 +[10:20:47.237] frame Scene Depth mean:1.700454 ,depth min:0.050971 +[10:20:47.240] need key frame pitch dis: 0.014498 translation dif:0.059302 +[10:20:47.240] frame process finished the id is: 64 the obs is:490 +[10:20:47.592] After Reprojection Map nMatches:757 ,distance between ekf and vo x:-0.000127 ,z=0.000145,angle between two frames:0.000002 +[10:20:47.594] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =411 error init =0.229106 error end=0.076975 +[10:20:47.594] After pose optimization, distance between ekf and vo x:-0.000127 ,z=0.000145,angle between two frames:0.000002 +[10:20:47.594] Update EKF and 3D points the number of feature in the new frame: 612 and number of obs: 612 +[10:20:47.594] frame Scene Depth mean:1.873909 ,depth min:0.050493 +[10:20:47.597] need key frame pitch dis: 0.014662 translation dif:0.059873 +[10:20:47.597] frame process finished the id is: 65 the obs is:612 +[10:20:47.963] After Reprojection Map nMatches:762 ,distance between ekf and vo x:-0.000143 ,z=0.000143,angle between two frames:0.000001 +[10:20:47.965] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =404 error init =0.247680 error end=0.040723 +[10:20:47.965] After pose optimization, distance between ekf and vo x:-0.000143 ,z=0.000143,angle between two frames:0.000001 +[10:20:47.965] Update EKF and 3D points the number of feature in the new frame: 645 and number of obs: 645 +[10:20:47.965] frame Scene Depth mean:1.736180 ,depth min:0.050366 +[10:20:47.968] need key frame pitch dis: 0.014682 translation dif:0.060007 +[10:20:47.968] frame process finished the id is: 66 the obs is:645 +[10:20:48.331] After Reprojection Map nMatches:762 ,distance between ekf and vo x:-0.000140 ,z=0.000163,angle between two frames:0.000003 +[10:20:48.333] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =373 error init =0.238497 error end=0.038700 +[10:20:48.333] After pose optimization, distance between ekf and vo x:-0.000140 ,z=0.000163,angle between two frames:0.000003 +[10:20:48.333] Update EKF and 3D points the number of feature in the new frame: 621 and number of obs: 621 +[10:20:48.333] frame Scene Depth mean:1.999851 ,depth min:0.050617 +[10:20:48.337] need key frame pitch dis: 0.014685 translation dif:0.060043 +[10:20:48.337] frame process finished the id is: 67 the obs is:621 +[10:20:48.616] Odometry x=-0.049048, y=0.756149, theta=0.156712 +[10:20:48.699] After Reprojection Map nMatches:782 ,distance between ekf and vo x:-0.000232 ,z=0.000234,angle between two frames:0.000003 +[10:20:48.701] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =398 error init =0.247103 error end=0.041496 +[10:20:48.701] After pose optimization, distance between ekf and vo x:-0.000232 ,z=0.000234,angle between two frames:0.000003 +[10:20:48.701] Update EKF and 3D points the number of feature in the new frame: 634 and number of obs: 634 +[10:20:48.701] frame Scene Depth mean:1.798136 ,depth min:0.053274 +[10:20:48.705] need key frame pitch dis: 0.009908 translation dif:0.060626 +[10:20:48.705] frame process finished the id is: 68 the obs is:634 +[10:20:48.873] Odometry x=-0.048954, y=0.756751, theta=0.151935 +[10:20:49.067] After Reprojection Map nMatches:808 ,distance between ekf and vo x:-0.000169 ,z=0.000265,angle between two frames:0.000004 +[10:20:49.069] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =348 error init =0.251738 error end=0.041796 +[10:20:49.069] After pose optimization, distance between ekf and vo x:-0.000169 ,z=0.000265,angle between two frames:0.000004 +[10:20:49.069] Update EKF and 3D points the number of feature in the new frame: 605 and number of obs: 605 +[10:20:49.069] frame Scene Depth mean:1.706425 ,depth min:0.053994 +[10:20:49.073] need key frame pitch dis: 0.008808 translation dif:0.060783 +[10:20:49.073] frame process finished the id is: 69 the obs is:605 +[10:20:49.178] Odometry x=-0.048959, y=0.756909, theta=0.133219 +[10:20:49.365] Odometry x=-0.049211, y=0.757101, theta=0.073533 +[10:20:49.420] After Reprojection Map nMatches:752 ,distance between ekf and vo x:-0.000134 ,z=0.000237,angle between two frames:0.000002 +[10:20:49.422] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =446 error init =0.205824 error end=0.034063 +[10:20:49.422] After pose optimization, distance between ekf and vo x:-0.000134 ,z=0.000237,angle between two frames:0.000002 +[10:20:49.422] Update EKF and 3D points the number of feature in the new frame: 617 and number of obs: 617 +[10:20:49.422] frame Scene Depth mean:1.797201 ,depth min:0.059776 +[10:20:49.427] need key frame pitch dis: 0.160027 translation dif:0.061114 +[10:20:49.427] Choose frame as a key frame Scene Depth mean:1.797201 ,depth min:0.059776 +[10:20:49.427] frame process finished the id is: 70 the obs is:617 +[10:20:49.609] Odometry x=-0.049174, y=0.757213, theta=-0.018000 +[10:20:49.825] After Reprojection Map nMatches:836 ,distance between ekf and vo x:-0.000281 ,z=0.000969,angle between two frames:0.000014 +[10:20:49.827] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =421 error init =0.128963 error end=0.159402 +[10:20:49.827] After pose optimization, distance between ekf and vo x:-0.000281 ,z=0.000969,angle between two frames:0.000014 +[10:20:49.827] Update EKF and 3D points the number of feature in the new frame: 519 and number of obs: 519 +[10:20:49.827] frame Scene Depth mean:1.603110 ,depth min:0.052207 +[10:20:49.832] need key frame pitch dis: 0.209584 translation dif:0.061853 +[10:20:49.832] Choose frame as a key frame Scene Depth mean:1.603110 ,depth min:0.052207 +[10:20:49.832] frame process finished the id is: 71 the obs is:519 +[10:20:50.520] After Reprojection Map nMatches:1069 ,distance between ekf and vo x:-0.000008 ,z=0.000463,angle between two frames:0.000006 +[10:20:50.523] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =517 error init =0.198462 error end=0.284892 +[10:20:50.523] After pose optimization, distance between ekf and vo x:-0.000008 ,z=0.000463,angle between two frames:0.000006 +[10:20:50.523] Update EKF and 3D points the number of feature in the new frame: 915 and number of obs: 915 +[10:20:50.523] frame Scene Depth mean:1.384134 ,depth min:0.050409 +[10:20:50.532] need key frame pitch dis: 0.182419 translation dif:0.181454 +[10:20:50.532] Choose frame as a key frame Scene Depth mean:1.384134 ,depth min:0.050409 +[10:20:50.532] frame process finished the id is: 72 the obs is:913 +[10:20:50.857] Odometry x=-0.048787, y=0.758062, theta=-0.074328 +[10:20:51.172] Odometry x=-0.048672, y=0.758906, theta=-0.081693 +[10:20:51.383] After Reprojection Map nMatches:1289 ,distance between ekf and vo x:0.000250 ,z=0.000430,angle between two frames:0.000015 +[10:20:51.386] Odometry x=-0.047957, y=0.767019, theta=-0.075849 +[10:20:51.387] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =522 error init =0.210831 error end=0.446211 +[10:20:51.387] After pose optimization, distance between ekf and vo x:0.000250 ,z=0.000430,angle between two frames:0.000015 +[10:20:51.387] Update EKF and 3D points the number of feature in the new frame: 988 and number of obs: 988 +[10:20:51.387] frame Scene Depth mean:1.231971 ,depth min:0.051083 +[10:20:51.395] need key frame pitch dis: 0.183860 translation dif:0.210685 +[10:20:51.395] Choose frame as a key frame Scene Depth mean:1.231971 ,depth min:0.051083 +[10:20:51.395] frame process finished the id is: 73 the obs is:963 +[10:20:51.610] Odometry x=-0.045535, y=0.791270, theta=-0.073662 +[10:20:51.854] Odometry x=-0.044540, y=0.804622, theta=-0.074891 +[10:20:52.146] Odometry x=-0.043523, y=0.818017, theta=-0.073697 +[10:20:52.190] After Reprojection Map nMatches:1108 ,distance between ekf and vo x:0.000293 ,z=0.000333,angle between two frames:0.000021 +[10:20:52.194] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =522 error init =0.173647 error end=0.482825 +[10:20:52.194] After pose optimization, distance between ekf and vo x:0.000293 ,z=0.000333,angle between two frames:0.000021 +[10:20:52.194] Update EKF and 3D points the number of feature in the new frame: 794 and number of obs: 794 +[10:20:52.194] frame Scene Depth mean:1.450256 ,depth min:0.050036 +[10:20:52.201] need key frame pitch dis: 0.336699 translation dif:0.728371 +[10:20:52.201] Choose frame as a key frame Scene Depth mean:1.450256 ,depth min:0.050036 +[10:20:52.201] frame process finished the id is: 74 the obs is:760 +[10:20:52.364] Odometry x=-0.042844, y=0.821658, theta=-0.072831 +[10:20:52.650] Odometry x=-0.042441, y=0.831963, theta=-0.065351 +[10:20:52.883] Odometry x=-0.041689, y=0.844840, theta=-0.068265 +[10:20:53.075] After Reprojection Map nMatches:1113 ,distance between ekf and vo x:0.000447 ,z=0.000117,angle between two frames:0.000012 +[10:20:53.079] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =472 error init =0.237856 error end=0.583133 +[10:20:53.079] After pose optimization, distance between ekf and vo x:0.000447 ,z=0.000117,angle between two frames:0.000012 +[10:20:53.079] Update EKF and 3D points the number of feature in the new frame: 845 and number of obs: 845 +[10:20:53.080] frame Scene Depth mean:2.262352 ,depth min:0.053405 +[10:20:53.086] need key frame pitch dis: 0.343813 translation dif:0.756215 +[10:20:53.086] Choose frame as a key frame Scene Depth mean:2.262352 ,depth min:0.053405 +[10:20:53.086] frame process finished the id is: 75 the obs is:831 +[10:20:53.184] Odometry x=-0.041597, y=0.849977, theta=-0.079944 +[10:20:53.347] Odometry x=-0.040940, y=0.860240, theta=-0.089975 +[10:20:53.602] Odometry x=-0.040910, y=0.875071, theta=-0.082411 +[10:20:53.856] After Reprojection Map nMatches:907 ,distance between ekf and vo x:0.000205 ,z=0.000722,angle between two frames:0.000016 +[10:20:53.859] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =478 error init =0.192160 error end=0.281536 +[10:20:53.859] After pose optimization, distance between ekf and vo x:0.000205 ,z=0.000722,angle between two frames:0.000016 +[10:20:53.859] Update EKF and 3D points the number of feature in the new frame: 740 and number of obs: 740 +[10:20:53.859] frame Scene Depth mean:2.603051 ,depth min:0.055046 +[10:20:53.867] need key frame pitch dis: 0.197197 translation dif:0.310402 +[10:20:53.867] Choose frame as a key frame Scene Depth mean:2.603051 ,depth min:0.055046 +[10:20:53.867] frame process finished the id is: 76 the obs is:724 +[10:20:53.890] Odometry x=-0.040201, y=0.879725, theta=-0.089231 +[10:20:54.116] Odometry x=-0.040383, y=0.888813, theta=-0.072634 +[10:20:54.368] Odometry x=-0.039560, y=0.901618, theta=-0.080717 +[10:20:54.612] Odometry x=-0.038107, y=0.914921, theta=-0.092795 +[10:20:54.614] After Reprojection Map nMatches:882 ,distance between ekf and vo x:0.000515 ,z=-0.000017,angle between two frames:0.000012 +[10:20:54.619] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =315 error init =0.271659 error end=0.461687 +[10:20:54.619] After pose optimization, distance between ekf and vo x:0.000515 ,z=-0.000017,angle between two frames:0.000012 +[10:20:54.619] Update EKF and 3D points the number of feature in the new frame: 594 and number of obs: 594 +[10:20:54.619] frame Scene Depth mean:3.257475 ,depth min:0.051395 +[10:20:54.624] need key frame pitch dis: 0.207711 translation dif:0.451634 +[10:20:54.624] Choose frame as a key frame Scene Depth mean:3.257475 ,depth min:0.051395 +[10:20:54.625] frame process finished the id is: 77 the obs is:590 +[10:20:54.862] Odometry x=-0.037538, y=0.917179, theta=-0.109346 +[10:20:55.152] Odometry x=-0.036942, y=0.927412, theta=-0.121130 +[10:20:55.260] After Reprojection Map nMatches:885 ,distance between ekf and vo x:0.000319 ,z=0.000142,angle between two frames:0.000012 +[10:20:55.264] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =434 error init =0.245980 error end=0.242531 +[10:20:55.264] After pose optimization, distance between ekf and vo x:0.000319 ,z=0.000142,angle between two frames:0.000012 +[10:20:55.264] Update EKF and 3D points the number of feature in the new frame: 835 and number of obs: 835 +[10:20:55.264] frame Scene Depth mean:3.117974 ,depth min:0.058816 +[10:20:55.270] need key frame pitch dis: 0.232530 translation dif:0.469815 +[10:20:55.270] Choose frame as a key frame Scene Depth mean:3.117974 ,depth min:0.058816 +[10:20:55.270] frame process finished the id is: 78 the obs is:833 +[10:20:55.385] Odometry x=-0.031683, y=0.935628, theta=-0.134165 +[10:20:55.613] Odometry x=-0.030361, y=0.945746, theta=-0.137214 +[10:20:55.845] Odometry x=-0.028623, y=0.958541, theta=-0.144398 +[10:20:56.112] Odometry x=-0.026650, y=0.972113, theta=-0.149832 +[10:20:56.191] After Reprojection Map nMatches:1091 ,distance between ekf and vo x:0.000321 ,z=0.000097,angle between two frames:0.000010 +[10:20:56.196] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =605 error init =0.213779 error end=0.221622 +[10:20:56.197] After pose optimization, distance between ekf and vo x:0.000321 ,z=0.000097,angle between two frames:0.000010 +[10:20:56.197] Update EKF and 3D points the number of feature in the new frame: 963 and number of obs: 963 +[10:20:56.197] frame Scene Depth mean:2.415905 ,depth min:0.053997 +[10:20:56.208] need key frame pitch dis: 0.244640 translation dif:0.396994 +[10:20:56.208] Choose frame as a key frame Scene Depth mean:2.415905 ,depth min:0.053997 +[10:20:56.208] frame process finished the id is: 79 the obs is:951 +[10:20:56.367] Odometry x=-0.025959, y=0.975094, theta=-0.136549 +[10:20:56.619] Odometry x=-0.024576, y=0.985569, theta=-0.143426 +[10:20:56.841] Odometry x=-0.022501, y=0.998423, theta=-0.148076 +[10:20:57.135] After Reprojection Map nMatches:1161 ,distance between ekf and vo x:0.000279 ,z=0.000257,angle between two frames:0.000010 +[10:20:57.140] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =573 error init =0.235062 error end=0.283560 +[10:20:57.140] After pose optimization, distance between ekf and vo x:0.000279 ,z=0.000257,angle between two frames:0.000010 +[10:20:57.140] Update EKF and 3D points the number of feature in the new frame: 762 and number of obs: 762 +[10:20:57.140] frame Scene Depth mean:2.755920 ,depth min:0.051939 +[10:20:57.149] need key frame pitch dis: 0.245614 translation dif:0.426330 +[10:20:57.149] Choose frame as a key frame Scene Depth mean:2.755920 ,depth min:0.051939 +[10:20:57.149] frame process finished the id is: 80 the obs is:748 +[10:20:57.204] Odometry x=-0.023081, y=1.004424, theta=-0.137523 +[10:20:57.379] Odometry x=-0.021560, y=1.015209, theta=-0.132328 +[10:20:57.616] Odometry x=-0.019758, y=1.029016, theta=-0.132953 +[10:20:57.853] Odometry x=-0.017595, y=1.043296, theta=-0.141266 +[10:20:58.103] Odometry x=-0.015518, y=1.057912, theta=-0.138598 +[10:20:58.313] After Reprojection Map nMatches:1215 ,distance between ekf and vo x:0.000773 ,z=0.000113,angle between two frames:0.000041 +[10:20:58.319] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =644 error init =0.242413 error end=0.294771 +[10:20:58.319] After pose optimization, distance between ekf and vo x:0.000773 ,z=0.000113,angle between two frames:0.000041 +[10:20:58.319] Update EKF and 3D points the number of feature in the new frame: 914 and number of obs: 914 +[10:20:58.320] frame Scene Depth mean:2.788757 ,depth min:0.055392 +[10:20:58.334] need key frame pitch dis: 0.251844 translation dif:0.477522 +[10:20:58.334] Choose frame as a key frame Scene Depth mean:2.788757 ,depth min:0.055392 +[10:20:58.334] frame process finished the id is: 81 the obs is:897 +[10:20:58.363] Odometry x=-0.017204, y=1.055550, theta=-0.143753 +[10:20:58.617] Odometry x=-0.015596, y=1.066608, theta=-0.144115 +[10:20:58.848] Odometry x=-0.013437, y=1.081197, theta=-0.144693 +[10:20:59.184] Odometry x=-0.011576, y=1.095007, theta=-0.146940 +[10:20:59.360] Odometry x=-0.009630, y=1.109938, theta=-0.152189 +[10:20:59.608] Odometry x=-0.007463, y=1.125031, theta=-0.155026 +[10:20:59.834] After Reprojection Map nMatches:1349 ,distance between ekf and vo x:0.000773 ,z=0.000414,angle between two frames:0.000039 +[10:20:59.839] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =763 error init =0.210302 error end=0.241895 +[10:20:59.839] After pose optimization, distance between ekf and vo x:0.000773 ,z=0.000414,angle between two frames:0.000039 +[10:20:59.839] Update EKF and 3D points the number of feature in the new frame: 1003 and number of obs: 1003 +[10:20:59.840] frame Scene Depth mean:3.207063 ,depth min:0.050999 +[10:20:59.855] need key frame pitch dis: 0.212593 translation dif:0.544273 +[10:20:59.855] Choose frame as a key frame Scene Depth mean:3.207063 ,depth min:0.050999 +[10:20:59.855] frame process finished the id is: 82 the obs is:964 +[10:20:59.883] Odometry x=-0.007950, y=1.122090, theta=-0.104502 +[10:21:00.104] Odometry x=-0.005694, y=1.134642, theta=-0.109263 +[10:21:00.357] Odometry x=-0.003355, y=1.148271, theta=-0.100632 +[10:21:00.618] Odometry x=-0.001802, y=1.162942, theta=-0.088850 +[10:21:00.869] Odometry x=-0.000256, y=1.177911, theta=-0.051203 +[10:21:01.043] After Reprojection Map nMatches:1144 ,distance between ekf and vo x:0.000424 ,z=0.000214,angle between two frames:0.000015 +[10:21:01.050] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =566 error init =0.227422 error end=0.395761 +[10:21:01.050] After pose optimization, distance between ekf and vo x:0.000424 ,z=0.000214,angle between two frames:0.000015 +[10:21:01.050] Update EKF and 3D points the number of feature in the new frame: 734 and number of obs: 734 +[10:21:01.050] frame Scene Depth mean:3.304555 ,depth min:0.052090 +[10:21:01.060] need key frame pitch dis: 0.156298 translation dif:0.598968 +[10:21:01.060] Choose frame as a key frame Scene Depth mean:3.304555 ,depth min:0.052090 +[10:21:01.060] frame process finished the id is: 83 the obs is:719 +[10:21:01.148] Odometry x=-0.001356, y=1.176580, theta=-0.048207 +[10:21:01.348] Odometry x=-0.000712, y=1.187823, theta=-0.043380 +[10:21:01.593] Odometry x=-0.006074, y=1.199350, theta=-0.028819 +[10:21:01.863] Odometry x=-0.007009, y=1.214819, theta=-0.015008 +[10:21:02.087] Odometry x=-0.007048, y=1.229942, theta=-0.014105 +[10:21:02.342] Odometry x=-0.006998, y=1.244998, theta=-0.019480 +[10:21:02.450] After Reprojection Map nMatches:1365 ,distance between ekf and vo x:0.000639 ,z=0.000314,angle between two frames:0.000028 +[10:21:02.455] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =676 error init =0.219299 error end=0.301444 +[10:21:02.455] After pose optimization, distance between ekf and vo x:0.000639 ,z=0.000314,angle between two frames:0.000028 +[10:21:02.455] Update EKF and 3D points the number of feature in the new frame: 831 and number of obs: 831 +[10:21:02.456] frame Scene Depth mean:2.972515 ,depth min:0.051018 +[10:21:02.464] need key frame pitch dis: 0.126789 translation dif:0.662836 +[10:21:02.464] Choose frame as a key frame Scene Depth mean:2.972515 ,depth min:0.051018 +[10:21:02.464] frame process finished the id is: 84 the obs is:795 +[10:21:02.636] Odometry x=-0.005244, y=1.240626, theta=-0.018697 +[10:21:02.858] Odometry x=-0.005231, y=1.251895, theta=-0.015288 +[10:21:03.168] Odometry x=-0.004960, y=1.266175, theta=-0.024948 +[10:21:03.359] Odometry x=-0.004536, y=1.280967, theta=-0.000631 +[10:21:03.600] Odometry x=-0.006623, y=1.295594, theta=0.012154 +[10:21:03.865] After Reprojection Map nMatches:1313 ,distance between ekf and vo x:0.000834 ,z=0.000032,angle between two frames:0.000025 +[10:21:03.869] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =638 error init =0.188172 error end=0.274882 +[10:21:03.869] After pose optimization, distance between ekf and vo x:0.000834 ,z=0.000032,angle between two frames:0.000025 +[10:21:03.869] Update EKF and 3D points the number of feature in the new frame: 798 and number of obs: 798 +[10:21:03.869] frame Scene Depth mean:2.233224 ,depth min:0.054775 +[10:21:03.877] need key frame pitch dis: 0.448303 translation dif:1.159576 +[10:21:03.877] Choose frame as a key frame Scene Depth mean:2.233224 ,depth min:0.054775 +[10:21:03.877] frame process finished the id is: 85 the obs is:760 +[10:21:03.877] Odometry x=-0.007418, y=1.294606, theta=0.038536 +[10:21:04.111] Odometry x=-0.008500, y=1.307871, theta=0.031453 +[10:21:04.345] Odometry x=-0.010974, y=1.322633, theta=0.003206 +[10:21:05.309] After Reprojection Map nMatches:1415 ,distance between ekf and vo x:0.000898 ,z=0.000114,angle between two frames:0.000030 +[10:21:05.314] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =792 error init =0.126577 error end=0.221054 +[10:21:05.314] After pose optimization, distance between ekf and vo x:0.000898 ,z=0.000114,angle between two frames:0.000030 +[10:21:05.314] Update EKF and 3D points the number of feature in the new frame: 932 and number of obs: 932 +[10:21:05.314] frame Scene Depth mean:2.752111 ,depth min:0.051011 +[10:21:05.323] need key frame pitch dis: 0.241346 translation dif:1.218685 +[10:21:05.323] Choose frame as a key frame Scene Depth mean:2.752111 ,depth min:0.051011 +[10:21:05.323] frame process finished the id is: 86 the obs is:915 +[10:21:05.610] Odometry x=-0.010802, y=1.317603, theta=0.022522 +[10:21:05.884] Odometry x=-0.011005, y=1.320160, theta=0.025018 +[10:21:06.123] Odometry x=-0.011650, y=1.327855, theta=0.025097 +[10:21:06.351] Odometry x=-0.011939, y=1.338272, theta=0.034788 +[10:21:06.590] Odometry x=-0.013258, y=1.349179, theta=0.048545 +[10:21:06.859] Odometry x=-0.014026, y=1.360399, theta=0.047653 +[10:21:07.180] Odometry x=-0.014865, y=1.371309, theta=0.043609 +[10:21:07.298] After Reprojection Map nMatches:1769 ,distance between ekf and vo x:0.001226 ,z=-0.000104,angle between two frames:0.000043 +[10:21:07.305] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =913 error init =0.167427 error end=0.361402 +[10:21:07.305] After pose optimization, distance between ekf and vo x:0.001226 ,z=-0.000104,angle between two frames:0.000043 +[10:21:07.305] Update EKF and 3D points the number of feature in the new frame: 1229 and number of obs: 1229 +[10:21:07.305] frame Scene Depth mean:2.680220 ,depth min:0.051892 +[10:21:07.316] need key frame pitch dis: 0.298559 translation dif:1.540717 +[10:21:07.316] Choose frame as a key frame Scene Depth mean:2.680220 ,depth min:0.051892 +[10:21:07.316] frame process finished the id is: 87 the obs is:1191 +[10:21:07.364] Odometry x=-0.014103, y=1.367176, theta=0.064859 +[10:21:07.613] Odometry x=-0.014782, y=1.375312, theta=0.052747 +[10:21:07.878] Odometry x=-0.015331, y=1.385891, theta=0.055953 +[10:21:08.120] Odometry x=-0.016487, y=1.397260, theta=0.042873 +[10:21:08.375] Odometry x=-0.017015, y=1.407993, theta=0.052606 +[10:21:08.593] Odometry x=-0.017732, y=1.418792, theta=0.070946 +[10:21:08.605] After Reprojection Map nMatches:1392 ,distance between ekf and vo x:0.000975 ,z=0.000077,angle between two frames:0.000034 +[10:21:08.612] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =693 error init =0.137100 error end=0.351897 +[10:21:08.612] After pose optimization, distance between ekf and vo x:0.000975 ,z=0.000077,angle between two frames:0.000034 +[10:21:08.612] Update EKF and 3D points the number of feature in the new frame: 938 and number of obs: 938 +[10:21:08.612] frame Scene Depth mean:2.186973 ,depth min:0.050907 +[10:21:08.622] need key frame pitch dis: 0.416149 translation dif:1.284730 +[10:21:08.622] Choose frame as a key frame Scene Depth mean:2.186973 ,depth min:0.050907 +[10:21:08.623] frame process finished the id is: 88 the obs is:891 +[10:21:08.865] Odometry x=-0.018890, y=1.434233, theta=0.082306 +[10:21:09.136] Odometry x=-0.020374, y=1.445835, theta=0.092425 +[10:21:09.366] Odometry x=-0.021497, y=1.456667, theta=0.101006 +[10:21:09.623] Odometry x=-0.022494, y=1.467251, theta=0.073283 +[10:21:09.840] Odometry x=-0.023686, y=1.479312, theta=0.060277 +[10:21:09.849] After Reprojection Map nMatches:1231 ,distance between ekf and vo x:0.000701 ,z=0.000225,angle between two frames:0.000021 +[10:21:09.854] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =658 error init =0.088706 error end=0.488289 +[10:21:09.855] After pose optimization, distance between ekf and vo x:0.000701 ,z=0.000225,angle between two frames:0.000021 +[10:21:09.855] Update EKF and 3D points the number of feature in the new frame: 805 and number of obs: 805 +[10:21:09.855] frame Scene Depth mean:2.124111 ,depth min:0.050617 +[10:21:09.864] need key frame pitch dis: 0.391377 translation dif:1.331073 +[10:21:09.864] Choose frame as a key frame Scene Depth mean:2.124111 ,depth min:0.050617 +[10:21:09.864] frame process finished the id is: 89 the obs is:782 +[10:21:10.110] Odometry x=-0.023031, y=1.477414, theta=0.095461 +[10:21:10.340] Odometry x=-0.023928, y=1.485767, theta=0.095238 +[10:21:10.598] Odometry x=-0.025007, y=1.496015, theta=0.081137 +[10:21:11.033] After Reprojection Map nMatches:1067 ,distance between ekf and vo x:0.000922 ,z=0.000268,angle between two frames:0.000039 +[10:21:11.037] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =476 error init =0.171033 error end=1.004764 +[10:21:11.037] After pose optimization, distance between ekf and vo x:0.000922 ,z=0.000268,angle between two frames:0.000039 +[10:21:11.037] Update EKF and 3D points the number of feature in the new frame: 623 and number of obs: 623 +[10:21:11.037] frame Scene Depth mean:1.948019 ,depth min:0.050490 +[10:21:11.044] need key frame pitch dis: 0.401801 translation dif:1.345544 +[10:21:11.044] Choose frame as a key frame Scene Depth mean:1.948019 ,depth min:0.050490 +[10:21:11.044] frame process finished the id is: 90 the obs is:604 +[10:21:11.877] Odometry x=-0.024751, y=1.492792, theta=0.085037 +[10:21:12.117] Odometry x=-0.024777, y=1.492803, theta=0.085787 +[10:21:12.372] Odometry x=-0.025072, y=1.492959, theta=0.028303 +[10:21:12.620] Odometry x=-0.025064, y=1.492978, theta=-0.072722 +[10:21:12.868] Odometry x=-0.025376, y=1.492789, theta=-0.217997 +[10:21:13.173] Odometry x=-0.025532, y=1.493115, theta=-0.371143 +[10:21:13.887] After Reprojection Map nMatches:1721 ,distance between ekf and vo x:0.001193 ,z=0.000261,angle between two frames:0.000035 +[10:21:13.894] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =777 error init =0.236517 error end=0.492771 +[10:21:13.894] After pose optimization, distance between ekf and vo x:0.001193 ,z=0.000261,angle between two frames:0.000035 +[10:21:13.894] Update EKF and 3D points the number of feature in the new frame: 1565 and number of obs: 1565 +[10:21:13.894] frame Scene Depth mean:2.799137 ,depth min:0.057893 +[10:21:13.905] need key frame pitch dis: 0.733665 translation dif:1.666964 +[10:21:13.905] Choose frame as a key frame Scene Depth mean:2.799137 ,depth min:0.057893 +[10:21:13.905] frame process finished the id is: 91 the obs is:1559 +[10:21:14.612] Odometry x=-0.025016, y=1.493052, theta=-0.370247 +[10:21:14.852] Odometry x=-0.025053, y=1.493100, theta=-0.371348 +[10:21:15.188] Odometry x=-0.025065, y=1.493119, theta=-0.398818 +[10:21:15.364] Odometry x=-0.025210, y=1.493188, theta=-0.476611 +[10:21:15.640] Odometry x=-0.025242, y=1.493341, theta=-0.562039 +[10:21:17.163] Odometry x=-0.025243, y=1.493342, theta=-0.597575 +[10:21:17.189] After Reprojection Map nMatches:2194 ,distance between ekf and vo x:0.000226 ,z=-0.000059,angle between two frames:0.000006 +[10:21:17.202] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =809 error init =0.588681 error end=0.406745 +[10:21:17.202] After pose optimization, distance between ekf and vo x:0.370899 ,z=-0.042705,angle between two frames:0.017903 +[10:21:17.202] frame process finished the id is: 91 the obs is:1559 +[10:21:17.353] Odometry x=-0.025243, y=1.493345, theta=-0.629242 +[10:21:17.599] Odometry x=-0.024928, y=1.493459, theta=-0.704382 +[10:21:17.865] Odometry x=-0.024044, y=1.494054, theta=-0.812803 +[10:21:18.099] Odometry x=-0.024027, y=1.494056, theta=-0.896901 +[10:21:18.377] Odometry x=-0.024010, y=1.494051, theta=-0.966222 +[10:21:18.616] Odometry x=-0.024006, y=1.494050, theta=-1.031920 +[10:21:19.606] Odometry x=-0.023979, y=1.494061, theta=-1.032820 +[10:21:19.860] Odometry x=-0.019547, y=1.496709, theta=-1.031202 +[10:21:20.089] Odometry x=-0.005303, y=1.505247, theta=-1.030357 +[10:21:20.367] Odometry x=0.010710, y=1.514719, theta=-1.030267 +[10:21:20.609] Odometry x=0.029848, y=1.525037, theta=-1.032046 +[10:21:20.839] Odometry x=0.045137, y=1.533729, theta=-1.035383 +[10:21:20.905] After Reprojection Map nMatches:2127 ,distance between ekf and vo x:0.000108 ,z=-0.000004,angle between two frames:0.000004 +[10:21:20.917] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1393 error init =0.673254 error end=0.090688 +[10:21:20.917] After pose optimization, distance between ekf and vo x:0.007660 ,z=-0.005343,angle between two frames:0.000201 +[10:21:20.917] Update EKF and 3D points the number of feature in the new frame: 2022 and number of obs: 2022 +[10:21:20.917] frame Scene Depth mean:1.776805 ,depth min:0.051909 +[10:21:20.937] need key frame pitch dis: 1.480066 translation dif:1.389863 +[10:21:20.937] Choose frame as a key frame Scene Depth mean:1.776805 ,depth min:0.051909 +[10:21:20.938] frame process finished the id is: 93 the obs is:2020 +[10:21:22.609] Odometry x=0.030861, y=1.523600, theta=-0.993227 +[10:21:22.856] Odometry x=0.033373, y=1.525121, theta=-0.992143 +[10:21:23.192] Odometry x=0.038782, y=1.528566, theta=-0.988648 +[10:21:23.344] Odometry x=0.045241, y=1.532762, theta=-0.982823 +[10:21:23.613] Odometry x=0.052156, y=1.537359, theta=-0.978588 +[10:21:23.880] Odometry x=0.059178, y=1.541996, theta=-0.975261 +[10:21:24.125] Odometry x=0.066723, y=1.547055, theta=-0.973081 +[10:21:24.374] Odometry x=0.074899, y=1.552642, theta=-0.972827 +[10:21:24.601] Odometry x=0.083175, y=1.558269, theta=-0.975907 +[10:21:24.690] After Reprojection Map nMatches:2475 ,distance between ekf and vo x:-0.000014 ,z=-0.000045,angle between two frames:0.000002 +[10:21:24.705] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1451 error init =8.311303 error end=0.167451 +[10:21:24.705] After pose optimization, distance between ekf and vo x:0.008416 ,z=-0.009061,angle between two frames:0.001885 +[10:21:24.705] Update EKF and 3D points the number of feature in the new frame: 1905 and number of obs: 1905 +[10:21:24.706] frame Scene Depth mean:2.173330 ,depth min:0.075824 +[10:21:24.730] need key frame pitch dis: 1.460860 translation dif:1.431689 +[10:21:24.730] Choose frame as a key frame Scene Depth mean:2.173330 ,depth min:0.075824 +[10:21:24.731] frame process finished the id is: 94 the obs is:1905 +[10:21:24.851] Odometry x=0.079456, y=1.552524, theta=-0.974022 +[10:21:25.184] Odometry x=0.085926, y=1.556715, theta=-0.968261 +[10:21:25.391] Odometry x=0.093780, y=1.561938, theta=-0.964401 +[10:21:25.612] Odometry x=0.102010, y=1.567689, theta=-0.962288 +[10:21:25.876] Odometry x=0.110300, y=1.573408, theta=-0.957897 +[10:21:26.122] Odometry x=0.118523, y=1.579127, theta=-0.955413 +[10:21:27.382] Odometry x=0.118540, y=1.578767, theta=-0.961350 +[10:21:27.620] Odometry x=0.118550, y=1.578747, theta=-1.014923 +[10:21:27.845] Odometry x=0.118579, y=1.578729, theta=-1.119879 +[10:21:28.120] Odometry x=0.118568, y=1.578598, theta=-1.265602 +[10:21:28.140] After Reprojection Map nMatches:2606 ,distance between ekf and vo x:-0.000008 ,z=-0.000040,angle between two frames:0.000001 +[10:21:28.157] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1419 error init =6.552195 error end=0.153432 +[10:21:28.157] After pose optimization, distance between ekf and vo x:0.420066 ,z=-0.371212,angle between two frames:0.020966 +[10:21:28.157] frame process finished the id is: 94 the obs is:1905 +[10:21:28.366] Odometry x=0.118571, y=1.578643, theta=-1.402980 +[10:21:29.348] Odometry x=0.118554, y=1.578283, theta=-1.445117 +[10:21:29.607] Odometry x=0.118547, y=1.578282, theta=-1.497875 +[10:21:29.853] Odometry x=0.118502, y=1.578245, theta=-1.584858 +[10:21:30.009] After Reprojection Map nMatches:2151 ,distance between ekf and vo x:-0.000176 ,z=0.000066,angle between two frames:0.000005 +[10:21:30.021] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1408 error init =1.546541 error end=0.069132 +[10:21:30.021] After pose optimization, distance between ekf and vo x:0.004006 ,z=-0.024364,angle between two frames:0.001096 +[10:21:30.021] Update EKF and 3D points the number of feature in the new frame: 1619 and number of obs: 1619 +[10:21:30.022] frame Scene Depth mean:1.327067 ,depth min:0.050245 +[10:21:30.047] need key frame pitch dis: 1.785590 translation dif:1.138876 +[10:21:30.047] Choose frame as a key frame Scene Depth mean:1.327067 ,depth min:0.050245 +[10:21:30.048] frame process finished the id is: 96 the obs is:1578 +[10:21:30.108] Odometry x=0.119492, y=1.572681, theta=-1.687220 +[10:21:30.346] Odometry x=0.119481, y=1.572649, theta=-1.756775 +[10:21:30.604] Odometry x=0.119566, y=1.572488, theta=-1.872744 +[10:21:30.891] Odometry x=0.119523, y=1.572554, theta=-1.997281 +[10:21:32.127] Odometry x=0.119444, y=1.572557, theta=-2.036302 +[10:21:32.347] Odometry x=0.119437, y=1.572554, theta=-2.080597 +[10:21:32.600] Odometry x=0.119393, y=1.572557, theta=-2.162648 +[10:21:32.786] After Reprojection Map nMatches:2531 ,distance between ekf and vo x:-0.000251 ,z=0.000215,angle between two frames:0.000022 +[10:21:32.796] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1301 error init =1.360684 error end=0.278778 +[10:21:32.796] After pose optimization, distance between ekf and vo x:0.012209 ,z=0.007667,angle between two frames:0.004738 +[10:21:32.797] Update EKF and 3D points the number of feature in the new frame: 1760 and number of obs: 1760 +[10:21:32.798] frame Scene Depth mean:0.722831 ,depth min:0.050225 +[10:21:32.818] need key frame pitch dis: 2.316792 translation dif:1.140842 +[10:21:32.818] Choose frame as a key frame Scene Depth mean:0.722831 ,depth min:0.050225 +[10:21:32.819] frame process finished the id is: 97 the obs is:1545 +[10:21:32.864] Odometry x=0.122227, y=1.574338, theta=-2.218421 +[10:21:33.164] Odometry x=0.122204, y=1.574323, theta=-2.294674 +[10:21:33.353] Odometry x=0.122342, y=1.574373, theta=-2.405644 +[10:21:34.984] After Reprojection Map nMatches:1938 ,distance between ekf and vo x:-0.000071 ,z=0.000141,angle between two frames:0.000034 +[10:21:35.002] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =713 error init =1.129453 error end=0.460297 +[10:21:35.002] After pose optimization, distance between ekf and vo x:0.080569 ,z=0.077077,angle between two frames:0.003550 +[10:21:35.002] Update EKF and 3D points the number of feature in the new frame: 1288 and number of obs: 1288 +[10:21:35.002] frame Scene Depth mean:0.928737 ,depth min:0.060212 +[10:21:35.018] need key frame pitch dis: 1.232182 translation dif:1.774594 +[10:21:35.018] Choose frame as a key frame Scene Depth mean:0.928737 ,depth min:0.060212 +[10:21:35.019] frame process finished the id is: 98 the obs is:1268 +[10:21:35.873] Odometry x=0.140884, y=1.592172, theta=-2.430699 +[10:21:36.127] Odometry x=0.140881, y=1.592159, theta=-2.433581 +[10:21:36.347] Odometry x=0.140853, y=1.592056, theta=-2.444557 +[10:21:36.609] Odometry x=0.140828, y=1.592034, theta=-2.468608 +[10:21:36.866] Odometry x=0.140707, y=1.591999, theta=-2.498264 +[10:21:37.956] After Reprojection Map nMatches:1856 ,distance between ekf and vo x:-0.000384 ,z=0.000024,angle between two frames:0.000062 +[10:21:37.976] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =712 error init =0.894597 error end=0.304666 +[10:21:37.976] After pose optimization, distance between ekf and vo x:0.244421 ,z=0.125843,angle between two frames:0.001131 +[10:21:37.976] frame process finished the id is: 98 the obs is:1268 +[10:21:38.128] Odometry x=0.140708, y=1.591999, theta=-2.507425 +[10:21:38.393] Odometry x=0.140945, y=1.591660, theta=-2.506211 +[10:21:38.623] Odometry x=0.146403, y=1.584238, theta=-2.503807 +[10:21:38.886] Odometry x=0.152017, y=1.576489, theta=-2.503428 +[10:21:39.157] Odometry x=0.157622, y=1.568900, theta=-2.503308 +[10:21:39.331] Odometry x=0.163173, y=1.561382, theta=-2.506509 +[10:21:39.610] Odometry x=0.168868, y=1.553583, theta=-2.508102 +[10:21:39.846] Odometry x=0.174369, y=1.545840, theta=-2.508690 +[10:21:40.116] Odometry x=0.180285, y=1.537787, theta=-2.505663 +[10:21:40.535] Odometry x=0.186697, y=1.529416, theta=-2.501979 +[10:21:40.743] After Reprojection Map nMatches:1503 ,distance between ekf and vo x:-0.000486 ,z=0.000113,angle between two frames:0.000072 +[10:21:40.755] Odometry x=0.192726, y=1.521238, theta=-2.499033 +[10:21:40.756] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =794 error init =0.808902 error end=0.391327 +[10:21:40.756] After pose optimization, distance between ekf and vo x:0.006240 ,z=0.005609,angle between two frames:0.000116 +[10:21:40.756] Update EKF and 3D points the number of feature in the new frame: 1504 and number of obs: 1504 +[10:21:40.756] frame Scene Depth mean:1.016906 ,depth min:0.052998 +[10:21:40.769] need key frame pitch dis: 1.534552 translation dif:0.736685 +[10:21:40.769] Choose frame as a key frame Scene Depth mean:1.016906 ,depth min:0.052998 +[10:21:40.769] frame process finished the id is: 100 the obs is:1493 +[10:21:40.889] Odometry x=0.198586, y=1.514680, theta=-2.498219 +[10:21:41.337] Odometry x=0.203954, y=1.507352, theta=-2.495918 +[10:21:41.471] Odometry x=0.209450, y=1.500028, theta=-2.497217 +[10:21:41.605] Odometry x=0.215310, y=1.492246, theta=-2.496687 +[10:21:41.855] Odometry x=0.221159, y=1.484365, theta=-2.492940 +[10:21:42.113] Odometry x=0.227188, y=1.476332, theta=-2.487261 +[10:21:42.371] Odometry x=0.233519, y=1.468042, theta=-2.482826 +[10:21:42.597] Odometry x=0.240020, y=1.459208, theta=-2.472715 +[10:21:42.885] Odometry x=0.246898, y=1.449896, theta=-2.473647 +[10:21:43.177] Odometry x=0.254460, y=1.440382, theta=-2.475852 +[10:21:43.378] Odometry x=0.262068, y=1.430598, theta=-2.477282 +[10:21:43.413] After Reprojection Map nMatches:1653 ,distance between ekf and vo x:-0.000526 ,z=0.000097,angle between two frames:0.000089 +[10:21:43.430] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =605 error init =1.010152 error end=0.386287 +[10:21:43.430] After pose optimization, distance between ekf and vo x:0.012167 ,z=0.010287,angle between two frames:0.000423 +[10:21:43.430] Update EKF and 3D points the number of feature in the new frame: 1307 and number of obs: 1307 +[10:21:43.430] frame Scene Depth mean:0.970100 ,depth min:0.050233 +[10:21:43.440] need key frame pitch dis: 2.576516 translation dif:1.027872 +[10:21:43.440] Choose frame as a key frame Scene Depth mean:0.970100 ,depth min:0.050233 +[10:21:43.440] frame process finished the id is: 101 the obs is:1306 +[10:21:43.617] Odometry x=0.271782, y=1.420609, theta=-2.477953 +[10:21:43.884] Odometry x=0.279659, y=1.410498, theta=-2.480909 +[10:21:44.111] Odometry x=0.287480, y=1.400119, theta=-2.475900 +[10:21:44.358] Odometry x=0.295691, y=1.389900, theta=-2.478758 +[10:21:44.618] Odometry x=0.303649, y=1.379428, theta=-2.485719 +[10:21:44.862] Odometry x=0.311542, y=1.368876, theta=-2.491419 +[10:21:45.148] Odometry x=0.320483, y=1.356874, theta=-2.487460 +[10:21:45.358] Odometry x=0.330333, y=1.343708, theta=-2.483443 +[10:21:45.625] Odometry x=0.338196, y=1.334260, theta=-2.460257 +[10:21:45.851] After Reprojection Map nMatches:1526 ,distance between ekf and vo x:-0.000512 ,z=-0.000034,angle between two frames:0.000018 +[10:21:45.854] Odometry x=0.346020, y=1.325334, theta=-2.431774 +[10:21:45.867] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =651 error init =1.055582 error end=0.304664 +[10:21:45.867] After pose optimization, distance between ekf and vo x:0.021245 ,z=0.018755,angle between two frames:0.000335 +[10:21:45.867] Update EKF and 3D points the number of feature in the new frame: 1166 and number of obs: 1166 +[10:21:45.867] frame Scene Depth mean:1.096983 ,depth min:0.057502 +[10:21:45.879] need key frame pitch dis: 1.681928 translation dif:0.351709 +[10:21:45.879] Choose frame as a key frame Scene Depth mean:1.096983 ,depth min:0.057502 +[10:21:45.879] frame process finished the id is: 102 the obs is:1162 +[10:21:46.098] Odometry x=0.357837, y=1.315948, theta=-2.425473 +[10:21:46.367] Odometry x=0.366887, y=1.305618, theta=-2.414546 +[10:21:46.605] Odometry x=0.376090, y=1.295370, theta=-2.412100 +[10:21:46.884] Odometry x=0.385397, y=1.285189, theta=-2.414141 +[10:21:47.202] Odometry x=0.394975, y=1.274740, theta=-2.422058 +[10:21:47.355] Odometry x=0.404204, y=1.264545, theta=-2.421471 +[10:21:47.621] Odometry x=0.413304, y=1.254174, theta=-2.418466 +[10:21:47.845] Odometry x=0.422496, y=1.243851, theta=-2.409190 +[10:21:47.877] After Reprojection Map nMatches:1474 ,distance between ekf and vo x:-0.000754 ,z=0.000036,angle between two frames:0.000155 +[10:21:47.894] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =677 error init =4.595829 error end=0.333334 +[10:21:47.894] After pose optimization, distance between ekf and vo x:0.007746 ,z=0.008101,angle between two frames:0.000031 +[10:21:47.894] Update EKF and 3D points the number of feature in the new frame: 1265 and number of obs: 1265 +[10:21:47.894] frame Scene Depth mean:1.248910 ,depth min:0.057395 +[10:21:47.905] need key frame pitch dis: 5.499469 translation dif:1.306024 +[10:21:47.905] Choose frame as a key frame Scene Depth mean:1.248910 ,depth min:0.057395 +[10:21:47.906] frame process finished the id is: 103 the obs is:1263 +[10:21:48.116] Odometry x=0.415028, y=1.256997, theta=-2.412529 +[10:21:48.349] Odometry x=0.421946, y=1.249109, theta=-2.405874 +[10:21:48.596] Odometry x=0.430728, y=1.239135, theta=-2.398955 +[10:21:48.869] Odometry x=0.439966, y=1.229189, theta=-2.401752 +[10:21:49.155] Odometry x=0.449116, y=1.218725, theta=-2.402295 +[10:21:49.359] Odometry x=0.458309, y=1.206827, theta=-2.402209 +[10:21:49.590] Odometry x=0.468255, y=1.196077, theta=-2.396538 +[10:21:49.850] Odometry x=0.478159, y=1.185359, theta=-2.392570 +[10:21:50.008] After Reprojection Map nMatches:1728 ,distance between ekf and vo x:-0.000358 ,z=0.000047,angle between two frames:0.000046 +[10:21:50.021] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =726 error init =1.810145 error end=0.241706 +[10:21:50.021] After pose optimization, distance between ekf and vo x:-0.000296 ,z=0.000102,angle between two frames:0.000047 +[10:21:50.021] Update EKF and 3D points the number of feature in the new frame: 1270 and number of obs: 1270 +[10:21:50.021] frame Scene Depth mean:1.036228 ,depth min:0.051846 +[10:21:50.032] need key frame pitch dis: 1.537331 translation dif:0.045262 +[10:21:50.032] Choose frame as a key frame Scene Depth mean:1.036228 ,depth min:0.051846 +[10:21:50.032] frame process finished the id is: 104 the obs is:1230 +[10:21:50.115] Odometry x=0.470659, y=1.193711, theta=-2.388049 +[10:21:50.359] Odometry x=0.478309, y=1.185751, theta=-2.386851 +[10:21:50.615] Odometry x=0.487337, y=1.175698, theta=-2.390848 +[10:21:50.874] Odometry x=0.496609, y=1.165448, theta=-2.397478 +[10:21:51.159] Odometry x=0.506131, y=1.154966, theta=-2.402298 +[10:21:51.356] Odometry x=0.515866, y=1.144592, theta=-2.402048 +[10:21:51.602] Odometry x=0.525402, y=1.134190, theta=-2.406775 +[10:21:51.903] Odometry x=0.535340, y=1.123266, theta=-2.412842 +[10:21:52.101] Odometry x=0.544451, y=1.113049, theta=-2.391963 +[10:21:52.227] After Reprojection Map nMatches:1512 ,distance between ekf and vo x:-0.000279 ,z=0.000089,angle between two frames:0.000014 +[10:21:52.244] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =550 error init =2.163726 error end=0.356791 +[10:21:52.244] After pose optimization, distance between ekf and vo x:0.002782 ,z=0.002956,angle between two frames:0.000009 +[10:21:52.244] Update EKF and 3D points the number of feature in the new frame: 1145 and number of obs: 1145 +[10:21:52.244] frame Scene Depth mean:1.367314 ,depth min:0.055055 +[10:21:52.255] need key frame pitch dis: 1.544825 translation dif:0.121794 +[10:21:52.255] Choose frame as a key frame Scene Depth mean:1.367314 ,depth min:0.055055 +[10:21:52.256] frame process finished the id is: 105 the obs is:1142 +[10:21:52.373] Odometry x=0.535403, y=1.124447, theta=-2.395544 +[10:21:52.617] Odometry x=0.542425, y=1.116452, theta=-2.395155 +[10:21:52.862] Odometry x=0.551359, y=1.106712, theta=-2.386630 +[10:21:53.173] Odometry x=0.560995, y=1.096658, theta=-2.380551 +[10:21:53.356] Odometry x=0.570463, y=1.086435, theta=-2.393869 +[10:21:53.616] Odometry x=0.580043, y=1.076016, theta=-2.390212 +[10:21:53.881] Odometry x=0.589698, y=1.065696, theta=-2.388481 +[10:21:54.009] After Reprojection Map nMatches:1248 ,distance between ekf and vo x:-0.000361 ,z=0.000057,angle between two frames:0.000037 +[10:21:54.023] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =418 error init =3.229649 error end=0.403598 +[10:21:54.023] After pose optimization, distance between ekf and vo x:0.000469 ,z=0.000669,angle between two frames:0.000045 +[10:21:54.023] Update EKF and 3D points the number of feature in the new frame: 1038 and number of obs: 1038 +[10:21:54.023] frame Scene Depth mean:1.624572 ,depth min:0.097800 +[10:21:54.030] need key frame pitch dis: 5.471462 translation dif:1.230863 +[10:21:54.030] Choose frame as a key frame Scene Depth mean:1.624572 ,depth min:0.097800 +[10:21:54.031] frame process finished the id is: 106 the obs is:1038 +[10:21:54.121] Odometry x=0.584692, y=1.071634, theta=-2.384521 +[10:21:54.347] Odometry x=0.591972, y=1.063973, theta=-2.386967 +[10:21:54.604] Odometry x=0.601048, y=1.054269, theta=-2.382106 +[10:21:54.887] Odometry x=0.610489, y=1.043774, theta=-2.383761 +[10:21:55.151] Odometry x=0.620080, y=1.033505, theta=-2.385134 +[10:21:55.351] After Reprojection Map nMatches:1169 ,distance between ekf and vo x:-0.000175 ,z=0.000057,angle between two frames:0.000015 +[10:21:55.363] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =452 error init =3.771943 error end=0.319272 +[10:21:55.363] After pose optimization, distance between ekf and vo x:0.002001 ,z=0.002113,angle between two frames:0.000008 +[10:21:55.363] Update EKF and 3D points the number of feature in the new frame: 954 and number of obs: 954 +[10:21:55.363] frame Scene Depth mean:2.028487 ,depth min:0.216350 +[10:21:55.369] need key frame pitch dis: 5.469002 translation dif:1.222478 +[10:21:55.370] Choose frame as a key frame Scene Depth mean:2.028487 ,depth min:0.216350 +[10:21:55.370] frame process finished the id is: 107 the obs is:954 +[10:21:55.382] Odometry x=0.619804, y=1.034892, theta=-2.382061 +[10:21:55.609] Odometry x=0.627276, y=1.027077, theta=-2.380390 +[10:21:55.867] Odometry x=0.636621, y=1.017713, theta=-2.385526 +[10:21:56.121] Odometry x=0.646363, y=1.007696, theta=-2.385039 +[10:21:56.375] Odometry x=0.655946, y=0.997533, theta=-2.372863 +[10:21:56.601] Odometry x=0.665689, y=0.987379, theta=-2.362604 +[10:21:56.634] After Reprojection Map nMatches:1002 ,distance between ekf and vo x:-0.000370 ,z=0.000002,angle between two frames:0.000036 +[10:21:56.645] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =430 error init =1.996371 error end=0.351133 +[10:21:56.645] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000101,angle between two frames:0.000065 +[10:21:56.645] Update EKF and 3D points the number of feature in the new frame: 978 and number of obs: 978 +[10:21:56.645] frame Scene Depth mean:2.155778 ,depth min:0.211313 +[10:21:56.652] need key frame pitch dis: 5.449818 translation dif:1.215524 +[10:21:56.652] Choose frame as a key frame Scene Depth mean:2.155778 ,depth min:0.211313 +[10:21:56.652] frame process finished the id is: 108 the obs is:976 +[10:21:56.854] Odometry x=0.662895, y=0.990470, theta=-2.362877 +[10:21:57.192] Odometry x=0.670432, y=0.982695, theta=-2.362915 +[10:21:57.347] Odometry x=0.679957, y=0.973173, theta=-2.355814 +[10:21:57.620] Odometry x=0.689698, y=0.963385, theta=-2.346651 +[10:21:57.828] After Reprojection Map nMatches:656 ,distance between ekf and vo x:0.007878 ,z=0.141092,angle between two frames:0.099957 +[10:21:57.836] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =252 error init =0.675076 error end=0.309436 +[10:21:57.836] After pose optimization, distance between ekf and vo x:0.007883 ,z=0.141106,angle between two frames:0.099956 +[10:21:57.836] Update EKF and 3D points the number of feature in the new frame: 939 and number of obs: 939 +[10:21:57.836] frame Scene Depth mean:1.870675 ,depth min:0.227077 +[10:21:57.840] need key frame pitch dis: 5.443437 translation dif:1.238634 +[10:21:57.840] Choose frame as a key frame Scene Depth mean:1.870675 ,depth min:0.227077 +[10:21:57.841] frame process finished the id is: 109 the obs is:939 +[10:21:57.864] Odometry x=0.693211, y=0.994581, theta=-2.356496 +[10:21:58.092] Odometry x=0.700655, y=0.987009, theta=-2.350768 +[10:21:58.361] Odometry x=0.708127, y=0.979411, theta=-2.367332 +[10:21:58.590] Odometry x=0.717577, y=0.969528, theta=-2.330891 +[10:21:58.831] Odometry x=0.728226, y=0.959713, theta=-2.316910 +[10:21:58.971] After Reprojection Map nMatches:465 ,distance between ekf and vo x:0.007009 ,z=0.141166,angle between two frames:0.100062 +[10:21:58.975] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =198 error init =0.756985 error end=0.177998 +[10:21:58.975] After pose optimization, distance between ekf and vo x:0.007009 ,z=0.141166,angle between two frames:0.100062 +[10:21:58.975] Update EKF and 3D points the number of feature in the new frame: 985 and number of obs: 985 +[10:21:58.976] frame Scene Depth mean:1.661935 ,depth min:0.133377 +[10:21:58.980] need key frame pitch dis: 1.658859 translation dif:0.526700 +[10:21:58.980] Choose frame as a key frame Scene Depth mean:1.661935 ,depth min:0.133377 +[10:21:58.980] frame process finished the id is: 110 the obs is:985 +[10:21:59.153] Odometry x=0.729803, y=0.992552, theta=-2.343137 +[10:21:59.375] Odometry x=0.737382, y=0.985322, theta=-2.346426 +[10:21:59.618] Odometry x=0.747301, y=0.975902, theta=-2.342615 +[10:21:59.861] Odometry x=0.757216, y=0.966214, theta=-2.326765 +[10:22:00.093] Odometry x=0.767421, y=0.956631, theta=-2.304637 +[10:22:00.289] After Reprojection Map nMatches:675 ,distance between ekf and vo x:-0.000113 ,z=0.000048,angle between two frames:0.000053 +[10:22:00.295] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =284 error init =0.685412 error end=0.303350 +[10:22:00.295] After pose optimization, distance between ekf and vo x:-0.000113 ,z=0.000048,angle between two frames:0.000053 +[10:22:00.295] Update EKF and 3D points the number of feature in the new frame: 1015 and number of obs: 1015 +[10:22:00.295] frame Scene Depth mean:2.050276 ,depth min:0.343588 +[10:22:00.300] need key frame pitch dis: 1.601316 translation dif:0.563066 +[10:22:00.300] Choose frame as a key frame Scene Depth mean:2.050276 ,depth min:0.343588 +[10:22:00.300] frame process finished the id is: 111 the obs is:1015 +[10:22:00.355] Odometry x=0.765723, y=0.956170, theta=-2.285594 +[10:22:00.602] Odometry x=0.773579, y=0.949131, theta=-2.266538 +[10:22:00.856] Odometry x=0.783734, y=0.940802, theta=-2.283547 +[10:22:01.063] After Reprojection Map nMatches:589 ,distance between ekf and vo x:-0.000204 ,z=0.000133,angle between two frames:0.000051 +[10:22:01.071] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =241 error init =2.303709 error end=0.181741 +[10:22:01.071] After pose optimization, distance between ekf and vo x:-0.000187 ,z=0.000152,angle between two frames:0.000051 +[10:22:01.071] Update EKF and 3D points the number of feature in the new frame: 615 and number of obs: 615 +[10:22:01.071] frame Scene Depth mean:1.662644 ,depth min:0.333787 +[10:22:01.075] need key frame pitch dis: 5.380923 translation dif:1.263003 +[10:22:01.075] Choose frame as a key frame Scene Depth mean:1.662644 ,depth min:0.333787 +[10:22:01.076] frame process finished the id is: 112 the obs is:615 +[10:22:01.156] Odometry x=0.787343, y=0.936816, theta=-2.293982 +[10:22:01.369] Odometry x=0.795701, y=0.929528, theta=-2.303021 +[10:22:01.609] Odometry x=0.805796, y=0.920378, theta=-2.314750 +[10:22:01.856] After Reprojection Map nMatches:520 ,distance between ekf and vo x:-0.000409 ,z=0.000182,angle between two frames:0.000242 +[10:22:01.864] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =196 error init =0.791129 error end=0.232442 +[10:22:01.864] After pose optimization, distance between ekf and vo x:0.000537 ,z=0.001246,angle between two frames:0.000259 +[10:22:01.864] Update EKF and 3D points the number of feature in the new frame: 648 and number of obs: 648 +[10:22:01.864] frame Scene Depth mean:1.476848 ,depth min:0.327516 +[10:22:01.867] need key frame pitch dis: 1.694621 translation dif:0.538024 +[10:22:01.867] Choose frame as a key frame Scene Depth mean:1.476848 ,depth min:0.327516 +[10:22:01.867] frame process finished the id is: 113 the obs is:648 +[10:22:01.873] Odometry x=0.810691, y=0.916222, theta=-2.310373 +[10:22:02.112] Odometry x=0.818486, y=0.909135, theta=-2.310216 +[10:22:02.378] Odometry x=0.828102, y=0.899734, theta=-2.293315 +[10:22:02.608] After Reprojection Map nMatches:429 ,distance between ekf and vo x:-0.000123 ,z=-0.000000,angle between two frames:0.000035 +[10:22:02.614] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =183 error init =1.751877 error end=0.242880 +[10:22:02.614] After pose optimization, distance between ekf and vo x:0.000371 ,z=0.000574,angle between two frames:0.000025 +[10:22:02.614] Update EKF and 3D points the number of feature in the new frame: 639 and number of obs: 639 +[10:22:02.614] frame Scene Depth mean:1.648857 ,depth min:0.294855 +[10:22:02.616] Odometry x=0.832113, y=0.896105, theta=-2.292395 +[10:22:02.618] need key frame pitch dis: 2.390766 translation dif:0.959219 +[10:22:02.618] Choose frame as a key frame Scene Depth mean:1.648857 ,depth min:0.294855 +[10:22:02.618] frame process finished the id is: 114 the obs is:639 +[10:22:02.889] Odometry x=0.840146, y=0.889252, theta=-2.308031 +[10:22:03.136] Odometry x=0.850163, y=0.880503, theta=-2.317306 +[10:22:03.197] After Reprojection Map nMatches:493 ,distance between ekf and vo x:-0.001950 ,z=0.141350,angle between two frames:0.099997 +[10:22:03.204] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =229 error init =4.115031 error end=0.276080 +[10:22:03.205] After pose optimization, distance between ekf and vo x:0.003855 ,z=0.146040,angle between two frames:0.100244 +[10:22:03.205] Update EKF and 3D points the number of feature in the new frame: 471 and number of obs: 471 +[10:22:03.205] frame Scene Depth mean:1.984397 ,depth min:0.243472 +[10:22:03.208] need key frame pitch dis: 0.663432 translation dif:0.473763 +[10:22:03.208] Choose frame as a key frame Scene Depth mean:1.984397 ,depth min:0.243472 +[10:22:03.208] frame process finished the id is: 115 the obs is:471 +[10:22:03.356] Odometry x=0.854574, y=0.910761, theta=-2.315925 +[10:22:03.622] Odometry x=0.862087, y=0.903520, theta=-2.316544 +[10:22:03.728] After Reprojection Map nMatches:506 ,distance between ekf and vo x:0.000004 ,z=-0.000006,angle between two frames:0.000004 +[10:22:03.734] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =231 error init =0.866486 error end=0.305302 +[10:22:03.734] After pose optimization, distance between ekf and vo x:0.000060 ,z=0.000061,angle between two frames:0.000004 +[10:22:03.734] Update EKF and 3D points the number of feature in the new frame: 468 and number of obs: 468 +[10:22:03.735] frame Scene Depth mean:2.717078 ,depth min:0.138858 +[10:22:03.738] need key frame pitch dis: 0.173063 translation dif:0.780544 +[10:22:03.738] Choose frame as a key frame Scene Depth mean:2.717078 ,depth min:0.138858 +[10:22:03.738] frame process finished the id is: 116 the obs is:467 +[10:22:03.861] Odometry x=0.867905, y=0.898242, theta=-2.326464 +[10:22:04.096] Odometry x=0.875681, y=0.890451, theta=-2.318215 +[10:22:04.276] After Reprojection Map nMatches:600 ,distance between ekf and vo x:0.000045 ,z=-0.000105,angle between two frames:0.000015 +[10:22:04.282] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =200 error init =0.972715 error end=0.849774 +[10:22:04.282] After pose optimization, distance between ekf and vo x:0.000266 ,z=0.000125,angle between two frames:0.000015 +[10:22:04.282] Update EKF and 3D points the number of feature in the new frame: 532 and number of obs: 532 +[10:22:04.282] frame Scene Depth mean:2.296075 ,depth min:0.240160 +[10:22:04.286] need key frame pitch dis: 0.080377 translation dif:0.254243 +[10:22:04.286] Choose frame as a key frame Scene Depth mean:2.296075 ,depth min:0.240160 +[10:22:04.286] frame process finished the id is: 117 the obs is:532 +[10:22:04.356] Odometry x=0.881408, y=0.884639, theta=-2.324308 +[10:22:04.623] Odometry x=0.889025, y=0.876979, theta=-2.295407 +[10:22:04.674] After Reprojection Map nMatches:445 ,distance between ekf and vo x:0.002565 ,z=0.141351,angle between two frames:0.100030 +[10:22:04.678] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =200 error init =5.253869 error end=0.837700 +[10:22:04.678] After pose optimization, distance between ekf and vo x:0.004728 ,z=0.143680,angle between two frames:0.100016 +[10:22:04.678] Update EKF and 3D points the number of feature in the new frame: 403 and number of obs: 403 +[10:22:04.678] frame Scene Depth mean:1.587056 ,depth min:0.133560 +[10:22:04.682] need key frame pitch dis: 0.021871 translation dif:0.316835 +[10:22:04.682] Choose frame as a key frame Scene Depth mean:1.587056 ,depth min:0.133560 +[10:22:04.682] frame process finished the id is: 118 the obs is:403 +[10:22:04.849] Odometry x=0.895748, y=0.904897, theta=-2.327797 +[10:22:05.030] After Reprojection Map nMatches:361 ,distance between ekf and vo x:0.000025 ,z=-0.000332,angle between two frames:0.000466 +[10:22:05.031] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =154 error init =1.162383 error end=0.424311 +[10:22:05.031] After pose optimization, distance between ekf and vo x:0.000025 ,z=-0.000332,angle between two frames:0.000466 +[10:22:05.031] Update EKF and 3D points the number of feature in the new frame: 317 and number of obs: 317 +[10:22:05.032] frame Scene Depth mean:2.337343 ,depth min:0.081717 +[10:22:05.034] need key frame pitch dis: 0.091501 translation dif:0.254297 +[10:22:05.034] Choose frame as a key frame Scene Depth mean:2.337343 ,depth min:0.081717 +[10:22:05.035] frame process finished the id is: 119 the obs is:317 +[10:22:05.159] Odometry x=0.901157, y=0.899580, theta=-2.335433 +[10:22:05.515] After Reprojection Map nMatches:526 ,distance between ekf and vo x:-0.000019 ,z=-0.000014,angle between two frames:0.000005 +[10:22:05.520] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =205 error init =0.852154 error end=0.742325 +[10:22:05.520] After pose optimization, distance between ekf and vo x:0.001054 ,z=0.001321,angle between two frames:0.000005 +[10:22:05.520] Update EKF and 3D points the number of feature in the new frame: 476 and number of obs: 476 +[10:22:05.520] frame Scene Depth mean:2.568411 ,depth min:0.212693 +[10:22:05.523] need key frame pitch dis: 0.003978 translation dif:0.322813 +[10:22:05.523] Choose frame as a key frame Scene Depth mean:2.568411 ,depth min:0.212693 +[10:22:05.523] frame process finished the id is: 120 the obs is:476 +[10:22:06.119] After Reprojection Map nMatches:607 ,distance between ekf and vo x:0.005550 ,z=0.141301,angle between two frames:0.099984 +[10:22:06.124] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =273 error init =0.690581 error end=0.399944 +[10:22:06.124] After pose optimization, distance between ekf and vo x:0.005616 ,z=0.141355,angle between two frames:0.099984 +[10:22:06.124] Update EKF and 3D points the number of feature in the new frame: 670 and number of obs: 670 +[10:22:06.125] frame Scene Depth mean:2.670521 ,depth min:0.180581 +[10:22:06.130] need key frame pitch dis: 0.116994 translation dif:0.234804 +[10:22:06.130] Choose frame as a key frame Scene Depth mean:2.670521 ,depth min:0.180581 +[10:22:06.130] frame process finished the id is: 121 the obs is:667 +[10:22:06.799] After Reprojection Map nMatches:703 ,distance between ekf and vo x:0.007751 ,z=0.141178,angle between two frames:0.099995 +[10:22:06.804] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =371 error init =1.385859 error end=0.219918 +[10:22:06.804] After pose optimization, distance between ekf and vo x:0.009567 ,z=0.142873,angle between two frames:0.099982 +[10:22:06.804] Update EKF and 3D points the number of feature in the new frame: 747 and number of obs: 747 +[10:22:06.804] frame Scene Depth mean:1.788241 ,depth min:0.051926 +[10:22:06.810] need key frame pitch dis: 0.013364 translation dif:0.333596 +[10:22:06.810] Choose frame as a key frame Scene Depth mean:1.788241 ,depth min:0.051926 +[10:22:06.810] frame process finished the id is: 122 the obs is:747 +[10:22:07.426] After Reprojection Map nMatches:725 ,distance between ekf and vo x:-0.000027 ,z=0.000015,angle between two frames:0.000001 +[10:22:07.433] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =180 error init =0.420401 error end=0.575971 +[10:22:07.433] After pose optimization, distance between ekf and vo x:0.001504 ,z=0.001534,angle between two frames:0.000010 +[10:22:07.433] Update EKF and 3D points the number of feature in the new frame: 648 and number of obs: 648 +[10:22:07.433] frame Scene Depth mean:1.707735 ,depth min:0.100733 +[10:22:07.436] need key frame pitch dis: 0.568776 translation dif:0.350352 +[10:22:07.436] Choose frame as a key frame Scene Depth mean:1.707735 ,depth min:0.100733 +[10:22:07.437] frame process finished the id is: 123 the obs is:647 +[10:22:07.861] Odometry x=0.904390, y=0.905265, theta=-2.349503 +[10:22:08.053] After Reprojection Map nMatches:681 ,distance between ekf and vo x:0.006112 ,z=0.141238,angle between two frames:0.099999 +[10:22:08.059] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =317 error init =2.188989 error end=1.838959 +[10:22:08.059] After pose optimization, distance between ekf and vo x:0.014259 ,z=0.147960,angle between two frames:0.099968 +[10:22:08.059] Update EKF and 3D points the number of feature in the new frame: 734 and number of obs: 734 +[10:22:08.059] frame Scene Depth mean:1.276485 ,depth min:0.142563 +[10:22:08.064] need key frame pitch dis: 0.583955 translation dif:0.356400 +[10:22:08.064] Choose frame as a key frame Scene Depth mean:1.276485 ,depth min:0.142563 +[10:22:08.064] frame process finished the id is: 124 the obs is:734 +[10:22:08.098] Odometry x=0.908008, y=0.941441, theta=-2.364682 +[10:22:08.380] Odometry x=0.908161, y=0.941017, theta=-2.379981 +[10:22:08.602] Odometry x=0.908151, y=0.941011, theta=-2.443522 +[10:22:08.613] After Reprojection Map nMatches:725 ,distance between ekf and vo x:0.000001 ,z=0.000044,angle between two frames:0.000002 +[10:22:08.619] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =356 error init =0.980069 error end=0.209872 +[10:22:08.619] After pose optimization, distance between ekf and vo x:0.000032 ,z=0.000072,angle between two frames:0.000003 +[10:22:08.619] Update EKF and 3D points the number of feature in the new frame: 744 and number of obs: 744 +[10:22:08.619] frame Scene Depth mean:1.053113 ,depth min:0.085579 +[10:22:08.625] need key frame pitch dis: 0.324664 translation dif:0.229240 +[10:22:08.625] Choose frame as a key frame Scene Depth mean:1.053113 ,depth min:0.085579 +[10:22:08.625] frame process finished the id is: 125 the obs is:743 +[10:22:08.892] Odometry x=0.908134, y=0.941020, theta=-2.555856 +[10:22:09.152] Odometry x=0.908020, y=0.940768, theta=-2.635076 +[10:22:09.272] After Reprojection Map nMatches:672 ,distance between ekf and vo x:0.036714 ,z=0.136554,angle between two frames:0.100006 +[10:22:09.277] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =266 error init =0.246982 error end=0.184137 +[10:22:09.277] After pose optimization, distance between ekf and vo x:0.038046 ,z=0.137243,angle between two frames:0.100060 +[10:22:09.277] Update EKF and 3D points the number of feature in the new frame: 494 and number of obs: 494 +[10:22:09.277] frame Scene Depth mean:1.533618 ,depth min:0.050052 +[10:22:09.281] need key frame pitch dis: 0.361239 translation dif:0.036922 +[10:22:09.281] Choose frame as a key frame Scene Depth mean:1.533618 ,depth min:0.050052 +[10:22:09.281] frame process finished the id is: 126 the obs is:445 +[10:22:09.354] Odometry x=0.916787, y=0.972451, theta=-2.718426 +[10:22:09.621] Odometry x=0.916339, y=0.972432, theta=-2.784210 +[10:22:09.789] After Reprojection Map nMatches:664 ,distance between ekf and vo x:0.000021 ,z=-0.000001,angle between two frames:0.000000 +[10:22:09.792] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =304 error init =1.265346 error end=0.408551 +[10:22:09.792] After pose optimization, distance between ekf and vo x:0.000021 ,z=-0.000001,angle between two frames:0.000000 +[10:22:09.792] Update EKF and 3D points the number of feature in the new frame: 530 and number of obs: 530 +[10:22:09.792] frame Scene Depth mean:1.166071 ,depth min:0.059040 +[10:22:09.796] need key frame pitch dis: 0.517224 translation dif:0.035913 +[10:22:09.796] Choose frame as a key frame Scene Depth mean:1.166071 ,depth min:0.059040 +[10:22:09.796] frame process finished the id is: 127 the obs is:525 +[10:22:09.889] Odometry x=0.916462, y=0.971495, theta=-2.874411 +[10:22:10.118] Odometry x=0.916465, y=0.971461, theta=-2.905587 +[10:22:10.332] After Reprojection Map nMatches:563 ,distance between ekf and vo x:0.000012 ,z=0.000002,angle between two frames:0.000000 +[10:22:10.335] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =243 error init =0.354046 error end=0.175587 +[10:22:10.335] After pose optimization, distance between ekf and vo x:0.000012 ,z=0.000002,angle between two frames:0.000000 +[10:22:10.335] Update EKF and 3D points the number of feature in the new frame: 589 and number of obs: 589 +[10:22:10.335] frame Scene Depth mean:1.462951 ,depth min:0.053439 +[10:22:10.339] need key frame pitch dis: 0.623571 translation dif:0.035356 +[10:22:10.339] Choose frame as a key frame Scene Depth mean:1.462951 ,depth min:0.053439 +[10:22:10.339] frame process finished the id is: 128 the obs is:589 +[10:22:10.370] Odometry x=0.916353, y=0.970940, theta=-2.980758 +[10:22:10.593] Odometry x=0.916252, y=0.970561, theta=-3.026959 +[10:22:10.851] Odometry x=0.916241, y=0.970426, theta=-3.097695 +[10:22:10.883] After Reprojection Map nMatches:441 ,distance between ekf and vo x:0.000027 ,z=0.000004,angle between two frames:0.000000 +[10:22:10.885] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =257 error init =0.144418 error end=0.075139 +[10:22:10.885] After pose optimization, distance between ekf and vo x:0.000027 ,z=0.000004,angle between two frames:0.000000 +[10:22:10.885] Update EKF and 3D points the number of feature in the new frame: 581 and number of obs: 581 +[10:22:10.885] frame Scene Depth mean:1.281553 ,depth min:0.051261 +[10:22:10.889] need key frame pitch dis: 0.007717 translation dif:0.023333 +[10:22:10.889] frame process finished the id is: 129 the obs is:572 +[10:22:11.172] Odometry x=0.916221, y=0.970341, theta=3.117473 +[10:22:11.315] After Reprojection Map nMatches:418 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000002 +[10:22:11.320] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =169 error init =0.486674 error end=0.372619 +[10:22:11.320] After pose optimization, distance between ekf and vo x:-0.001721 ,z=-0.000011,angle between two frames:0.000021 +[10:22:11.320] Update EKF and 3D points the number of feature in the new frame: 487 and number of obs: 487 +[10:22:11.321] frame Scene Depth mean:1.506488 ,depth min:0.050319 +[10:22:11.323] need key frame pitch dis: 0.013644 translation dif:0.033509 +[10:22:11.323] frame process finished the id is: 130 the obs is:473 +[10:22:11.354] Odometry x=0.915551, y=0.969270, theta=-2.370830 +[10:22:11.616] Odometry x=0.915610, y=0.969009, theta=-2.418931 +[10:22:11.859] After Reprojection Map nMatches:590 ,distance between ekf and vo x:0.000028 ,z=0.000024,angle between two frames:0.000001 +[10:22:11.861] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =335 error init =0.336112 error end=0.172417 +[10:22:11.861] After pose optimization, distance between ekf and vo x:0.000028 ,z=0.000024,angle between two frames:0.000001 +[10:22:11.861] Update EKF and 3D points the number of feature in the new frame: 541 and number of obs: 541 +[10:22:11.861] frame Scene Depth mean:1.923053 ,depth min:0.053450 +[10:22:11.867] need key frame pitch dis: 0.070070 translation dif:0.033343 +[10:22:11.867] frame process finished the id is: 131 the obs is:541 +[10:22:12.387] Odometry x=0.915606, y=0.969071, theta=-2.427257 +[10:22:12.606] Odometry x=0.915638, y=0.968848, theta=-2.430270 +[10:22:12.642] After Reprojection Map nMatches:863 ,distance between ekf and vo x:0.000069 ,z=0.000043,angle between two frames:0.000004 +[10:22:12.647] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =444 error init =0.362234 error end=0.119742 +[10:22:12.647] After pose optimization, distance between ekf and vo x:0.000385 ,z=0.000326,angle between two frames:0.000018 +[10:22:12.647] Update EKF and 3D points the number of feature in the new frame: 774 and number of obs: 774 +[10:22:12.647] frame Scene Depth mean:1.797014 ,depth min:0.052036 +[10:22:12.654] need key frame pitch dis: 0.324845 translation dif:0.034502 +[10:22:12.654] Choose frame as a key frame Scene Depth mean:1.797014 ,depth min:0.052036 +[10:22:12.654] frame process finished the id is: 132 the obs is:774 +[10:22:12.848] Odometry x=0.915792, y=0.968484, theta=-2.441731 +[10:22:13.186] Odometry x=0.915781, y=0.968475, theta=-2.469906 +[10:22:13.365] After Reprojection Map nMatches:1409 ,distance between ekf and vo x:0.000076 ,z=0.000008,angle between two frames:0.000028 +[10:22:13.375] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =910 error init =0.158281 error end=0.187524 +[10:22:13.375] After pose optimization, distance between ekf and vo x:0.004608 ,z=0.003630,angle between two frames:0.000057 +[10:22:13.375] Update EKF and 3D points the number of feature in the new frame: 1126 and number of obs: 1126 +[10:22:13.375] frame Scene Depth mean:0.907672 ,depth min:0.052161 +[10:22:13.387] need key frame pitch dis: 0.253082 translation dif:0.174773 +[10:22:13.387] Choose frame as a key frame Scene Depth mean:0.907672 ,depth min:0.052161 +[10:22:13.388] frame process finished the id is: 133 the obs is:1126 +[10:22:14.101] After Reprojection Map nMatches:1098 ,distance between ekf and vo x:0.000014 ,z=-0.000050,angle between two frames:0.000000 +[10:22:14.105] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =602 error init =0.124938 error end=0.293989 +[10:22:14.105] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000050,angle between two frames:0.000000 +[10:22:14.105] Update EKF and 3D points the number of feature in the new frame: 789 and number of obs: 789 +[10:22:14.105] frame Scene Depth mean:0.769237 ,depth min:0.050595 +[10:22:14.114] need key frame pitch dis: 0.259230 translation dif:0.174200 +[10:22:14.114] Choose frame as a key frame Scene Depth mean:0.769237 ,depth min:0.050595 +[10:22:14.115] frame process finished the id is: 134 the obs is:788 +[10:22:14.596] Odometry x=0.916760, y=0.968110, theta=-2.497496 +[10:22:14.857] Odometry x=0.916867, y=0.967756, theta=-2.499301 +[10:22:15.008] After Reprojection Map nMatches:1315 ,distance between ekf and vo x:0.000067 ,z=-0.000014,angle between two frames:0.000016 +[10:22:15.016] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =811 error init =0.190295 error end=0.212712 +[10:22:15.016] After pose optimization, distance between ekf and vo x:0.003485 ,z=0.002583,angle between two frames:0.000072 +[10:22:15.016] Update EKF and 3D points the number of feature in the new frame: 920 and number of obs: 920 +[10:22:15.016] frame Scene Depth mean:0.779979 ,depth min:0.051799 +[10:22:15.029] need key frame pitch dis: 0.145817 translation dif:0.416451 +[10:22:15.030] Choose frame as a key frame Scene Depth mean:0.779979 ,depth min:0.051799 +[10:22:15.030] frame process finished the id is: 135 the obs is:920 +[10:22:15.197] Odometry x=0.919458, y=0.965980, theta=-2.497433 +[10:22:15.349] Odometry x=0.922692, y=0.961740, theta=-2.494272 +[10:22:15.617] Odometry x=0.930039, y=0.951930, theta=-2.494281 +[10:22:15.793] After Reprojection Map nMatches:1266 ,distance between ekf and vo x:0.000010 ,z=-0.000070,angle between two frames:0.000002 +[10:22:15.803] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =607 error init =0.189585 error end=0.427474 +[10:22:15.803] After pose optimization, distance between ekf and vo x:0.001308 ,z=0.000916,angle between two frames:0.000031 +[10:22:15.803] Update EKF and 3D points the number of feature in the new frame: 798 and number of obs: 798 +[10:22:15.803] frame Scene Depth mean:0.814960 ,depth min:0.050683 +[10:22:15.815] need key frame pitch dis: 0.270614 translation dif:0.196180 +[10:22:15.815] Choose frame as a key frame Scene Depth mean:0.814960 ,depth min:0.050683 +[10:22:15.815] frame process finished the id is: 136 the obs is:790 +[10:22:15.873] Odometry x=0.934824, y=0.946064, theta=-2.508880 +[10:22:16.125] Odometry x=0.940689, y=0.937211, theta=-2.527679 +[10:22:16.361] Odometry x=0.948438, y=0.926490, theta=-2.533110 +[10:22:16.601] Odometry x=0.956582, y=0.915570, theta=-2.530984 +[10:22:16.693] After Reprojection Map nMatches:1244 ,distance between ekf and vo x:0.000021 ,z=-0.000069,angle between two frames:0.000003 +[10:22:16.697] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =576 error init =0.174072 error end=0.406481 +[10:22:16.697] After pose optimization, distance between ekf and vo x:0.000021 ,z=-0.000069,angle between two frames:0.000003 +[10:22:16.697] Update EKF and 3D points the number of feature in the new frame: 740 and number of obs: 740 +[10:22:16.697] frame Scene Depth mean:1.413458 ,depth min:0.053392 +[10:22:16.708] need key frame pitch dis: 5.639635 translation dif:0.048304 +[10:22:16.708] Choose frame as a key frame Scene Depth mean:1.413458 ,depth min:0.053392 +[10:22:16.708] frame process finished the id is: 137 the obs is:721 +[10:22:16.871] Odometry x=0.957361, y=0.913404, theta=-2.529879 +[10:22:17.565] After Reprojection Map nMatches:916 ,distance between ekf and vo x:0.000036 ,z=-0.000078,angle between two frames:0.000022 +[10:22:17.572] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =449 error init =0.253230 error end=0.372814 +[10:22:17.572] After pose optimization, distance between ekf and vo x:0.025255 ,z=0.017578,angle between two frames:0.000355 +[10:22:17.572] Update EKF and 3D points the number of feature in the new frame: 696 and number of obs: 696 +[10:22:17.572] frame Scene Depth mean:1.101510 ,depth min:0.059097 +[10:22:17.579] need key frame pitch dis: 5.648245 translation dif:0.048484 +[10:22:17.579] Choose frame as a key frame Scene Depth mean:1.101510 ,depth min:0.059097 +[10:22:17.579] frame process finished the id is: 138 the obs is:696 +[10:22:17.615] Odometry x=0.965490, y=0.918622, theta=-2.538488 +[10:22:17.889] Odometry x=0.967081, y=0.916251, theta=-2.537996 +[10:22:18.115] Odometry x=0.973572, y=0.906633, theta=-2.536339 +[10:22:18.384] Odometry x=0.980449, y=0.896718, theta=-2.545651 +[10:22:18.650] After Reprojection Map nMatches:1311 ,distance between ekf and vo x:0.000117 ,z=-0.000077,angle between two frames:0.000040 +[10:22:18.660] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =648 error init =0.261974 error end=0.348349 +[10:22:18.660] After pose optimization, distance between ekf and vo x:0.000789 ,z=0.000770,angle between two frames:0.000410 +[10:22:18.660] Update EKF and 3D points the number of feature in the new frame: 977 and number of obs: 977 +[10:22:18.660] frame Scene Depth mean:1.158896 ,depth min:0.050059 +[10:22:18.674] need key frame pitch dis: 5.639558 translation dif:0.068906 +[10:22:18.674] Choose frame as a key frame Scene Depth mean:1.158896 ,depth min:0.050059 +[10:22:18.674] frame process finished the id is: 139 the obs is:972 +[10:22:19.428] After Reprojection Map nMatches:989 ,distance between ekf and vo x:0.000014 ,z=-0.000024,angle between two frames:0.000000 +[10:22:19.433] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =352 error init =0.330021 error end=0.691585 +[10:22:19.433] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000024,angle between two frames:0.000000 +[10:22:19.433] Update EKF and 3D points the number of feature in the new frame: 725 and number of obs: 725 +[10:22:19.433] frame Scene Depth mean:1.026737 ,depth min:0.051487 +[10:22:19.440] need key frame pitch dis: 0.033327 translation dif:0.056513 +[10:22:19.440] frame process finished the id is: 140 the obs is:723 +[10:22:20.293] After Reprojection Map nMatches:937 ,distance between ekf and vo x:0.000039 ,z=-0.000029,angle between two frames:0.000008 +[10:22:20.297] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =407 error init =2.273655 error end=0.408113 +[10:22:20.297] After pose optimization, distance between ekf and vo x:0.000039 ,z=-0.000029,angle between two frames:0.000008 +[10:22:20.297] Update EKF and 3D points the number of feature in the new frame: 882 and number of obs: 882 +[10:22:20.298] frame Scene Depth mean:1.218760 ,depth min:0.051069 +[10:22:20.305] need key frame pitch dis: 0.033442 translation dif:0.057476 +[10:22:20.305] frame process finished the id is: 141 the obs is:882 +[10:22:21.255] After Reprojection Map nMatches:1008 ,distance between ekf and vo x:0.000062 ,z=-0.000015,angle between two frames:0.000024 +[10:22:21.262] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =479 error init =2.519155 error end=0.224675 +[10:22:21.262] After pose optimization, distance between ekf and vo x:0.006006 ,z=0.006132,angle between two frames:0.000112 +[10:22:21.262] Update EKF and 3D points the number of feature in the new frame: 939 and number of obs: 939 +[10:22:21.263] frame Scene Depth mean:1.057384 ,depth min:0.052921 +[10:22:21.271] need key frame pitch dis: 0.033468 translation dif:0.056365 +[10:22:21.271] frame process finished the id is: 142 the obs is:939 +[10:22:22.193] After Reprojection Map nMatches:975 ,distance between ekf and vo x:0.000062 ,z=-0.000019,angle between two frames:0.000039 +[10:22:22.197] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =459 error init =0.632742 error end=0.156554 +[10:22:22.197] After pose optimization, distance between ekf and vo x:0.000062 ,z=-0.000019,angle between two frames:0.000039 +[10:22:22.197] Update EKF and 3D points the number of feature in the new frame: 927 and number of obs: 927 +[10:22:22.197] frame Scene Depth mean:1.240746 ,depth min:0.050301 +[10:22:22.205] need key frame pitch dis: 0.033462 translation dif:0.057438 +[10:22:22.205] frame process finished the id is: 143 the obs is:927 +[10:22:23.171] After Reprojection Map nMatches:1027 ,distance between ekf and vo x:0.000071 ,z=-0.000014,angle between two frames:0.000040 +[10:22:23.177] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =485 error init =0.823139 error end=0.188073 +[10:22:23.177] After pose optimization, distance between ekf and vo x:0.000546 ,z=0.000377,angle between two frames:0.000032 +[10:22:23.177] Update EKF and 3D points the number of feature in the new frame: 969 and number of obs: 969 +[10:22:23.177] frame Scene Depth mean:1.113572 ,depth min:0.050089 +[10:22:23.186] need key frame pitch dis: 0.033460 translation dif:0.057603 +[10:22:23.186] frame process finished the id is: 144 the obs is:969 +[10:22:24.159] After Reprojection Map nMatches:975 ,distance between ekf and vo x:0.000126 ,z=-0.000011,angle between two frames:0.000071 +[10:22:24.162] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =487 error init =2.404588 error end=0.059353 +[10:22:24.162] After pose optimization, distance between ekf and vo x:0.000126 ,z=-0.000011,angle between two frames:0.000071 +[10:22:24.162] Update EKF and 3D points the number of feature in the new frame: 931 and number of obs: 931 +[10:22:24.162] frame Scene Depth mean:1.242861 ,depth min:0.051016 +[10:22:24.171] need key frame pitch dis: 0.033465 translation dif:0.057726 +[10:22:24.171] frame process finished the id is: 145 the obs is:930 +[10:22:25.292] After Reprojection Map nMatches:1016 ,distance between ekf and vo x:0.000076 ,z=-0.000025,angle between two frames:0.000037 +[10:22:25.296] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =477 error init =0.504941 error end=0.137881 +[10:22:25.296] After pose optimization, distance between ekf and vo x:0.000076 ,z=-0.000025,angle between two frames:0.000037 +[10:22:25.296] Update EKF and 3D points the number of feature in the new frame: 945 and number of obs: 945 +[10:22:25.296] frame Scene Depth mean:1.162869 ,depth min:0.050135 +[10:22:25.306] need key frame pitch dis: 0.033461 translation dif:0.057757 +[10:22:25.306] frame process finished the id is: 146 the obs is:945 diff --git a/GPU_version/vio/loop_closure_log.txt b/GPU_version/vio/loop_closure_log.txt new file mode 100755 index 0000000..7e9b7d9 --- /dev/null +++ b/GPU_version/vio/loop_closure_log.txt @@ -0,0 +1,272 @@ +[10:20:40.613] New key frame +[10:20:40.613] BA loop run +[10:20:41.976] New key frame +[10:20:41.977] BA loop run +[10:20:42.166] New key frame +[10:20:42.166] BA loop run +[10:20:43.810] New key frame +[10:20:43.810] BA loop run +[10:20:44.089] New key frame +[10:20:44.089] BA loop run +[10:20:45.872] New key frame +[10:20:45.872] BA loop run +[10:20:46.135] New key frame +[10:20:46.135] BA loop run +[10:20:46.138] init error: 111.515436 +[10:20:46.141] end error: 1.729429 +[10:20:49.427] New key frame +[10:20:49.428] BA loop run +[10:20:49.433] init error: 254.786029 +[10:20:49.443] end error: 15.672577 +[10:20:49.832] New key frame +[10:20:49.832] BA loop run +[10:20:49.838] init error: 249.475397 +[10:20:49.849] end error: 49.278147 +[10:20:50.532] New key frame +[10:20:50.532] BA loop run +[10:20:50.538] init error: 254.368373 +[10:20:50.552] end error: 45.489316 +[10:20:51.395] New key frame +[10:20:51.396] BA loop run +[10:20:51.403] init error: 252.991840 +[10:20:51.417] end error: 26.570105 +[10:20:52.201] New key frame +[10:20:52.201] BA loop run +[10:20:52.207] init error: 271.855495 +[10:20:52.220] end error: 29.310106 +[10:20:53.086] New key frame +[10:20:53.086] BA loop run +[10:20:53.093] init error: 274.895253 +[10:20:53.104] end error: 30.065412 +[10:20:53.867] New key frame +[10:20:53.867] BA loop run +[10:20:53.876] init error: 334.202889 +[10:20:53.889] end error: 64.227123 +[10:20:54.625] New key frame +[10:20:54.625] BA loop run +[10:20:54.631] init error: 193.785127 +[10:20:54.641] end error: 49.594006 +[10:20:55.270] New key frame +[10:20:55.271] BA loop run +[10:20:55.278] init error: 298.736841 +[10:20:55.290] end error: 41.156798 +[10:20:56.208] New key frame +[10:20:56.208] BA loop run +[10:20:56.218] init error: 367.881322 +[10:20:56.234] end error: 44.782346 +[10:20:57.149] New key frame +[10:20:57.149] BA loop run +[10:20:57.159] init error: 2983.504957 +[10:20:57.177] end error: 54.766284 +[10:20:58.334] New key frame +[10:20:58.334] BA loop run +[10:20:58.346] init error: 369.850114 +[10:20:58.370] end error: 51.997171 +[10:20:59.855] New key frame +[10:20:59.855] BA loop run +[10:20:59.868] init error: 481.237189 +[10:20:59.889] end error: 72.018658 +[10:21:01.060] New key frame +[10:21:01.060] BA loop run +[10:21:01.074] init error: 399.810786 +[10:21:01.096] end error: 75.617754 +[10:21:02.464] New key frame +[10:21:02.464] BA loop run +[10:21:02.474] init error: 475.060363 +[10:21:02.493] end error: 79.983876 +[10:21:03.877] New key frame +[10:21:03.877] BA loop run +[10:21:03.887] init error: 457.014129 +[10:21:03.906] end error: 83.459347 +[10:21:05.323] New key frame +[10:21:05.323] BA loop run +[10:21:05.341] init error: 747.490295 +[10:21:05.372] end error: 132.027915 +[10:21:07.316] New key frame +[10:21:07.316] BA loop run +[10:21:07.331] init error: 822.589732 +[10:21:07.359] end error: 926.803751 +[10:21:08.623] New key frame +[10:21:08.623] BA loop run +[10:21:08.637] init error: 885.983129 +[10:21:08.665] end error: 534.120875 +[10:21:09.864] New key frame +[10:21:09.864] BA loop run +[10:21:09.883] init error: 864.099098 +[10:21:09.910] end error: 1925.142176 +[10:21:11.044] New key frame +[10:21:11.044] BA loop run +[10:21:11.061] init error: 285204.654693 +[10:21:11.089] end error: 1542.316455 +[10:21:13.905] New key frame +[10:21:13.905] BA loop run +[10:21:13.919] init error: 5800.269291 +[10:21:13.945] end error: 939.296280 +[10:21:20.938] New key frame +[10:21:20.938] BA loop run +[10:21:20.952] init error: 17686.291865 +[10:21:20.982] end error: 1993.793895 +[10:21:24.731] New key frame +[10:21:24.732] BA loop run +[10:21:24.748] init error: 175503.496642 +[10:21:24.783] end error: 7875.903157 +[10:21:30.048] New key frame +[10:21:30.048] BA loop run +[10:21:30.069] init error: 10923372.480944 +[10:21:30.109] end error: 2767.293737 +[10:21:32.819] New key frame +[10:21:32.819] BA loop run +[10:21:32.840] init error: 4407303.714091 +[10:21:32.877] end error: 2406.055787 +[10:21:35.019] New key frame +[10:21:35.019] BA loop run +[10:21:35.038] init error: 75150489.050763 +[10:21:35.069] end error: 3842.685517 +[10:21:40.769] New key frame +[10:21:40.769] BA loop run +[10:21:40.786] init error: 129925.548703 +[10:21:40.812] end error: 2806.264523 +[10:21:43.440] New key frame +[10:21:43.440] BA loop run +[10:21:43.453] init error: 16329915.161626 +[10:21:43.472] end error: 2300.690079 +[10:21:45.879] New key frame +[10:21:45.879] BA loop run +[10:21:45.893] init error: 150162.722231 +[10:21:45.912] end error: 1889.360943 +[10:21:47.906] New key frame +[10:21:47.906] BA loop run +[10:21:47.922] init error: 58310.067507 +[10:21:47.942] end error: 1254.251346 +[10:21:50.032] New key frame +[10:21:50.032] BA loop run +[10:21:50.047] init error: 779404.826745 +[10:21:50.067] end error: 1328.589741 +[10:21:52.256] New key frame +[10:21:52.256] BA loop run +[10:21:52.269] init error: 358418.400359 +[10:21:52.286] end error: 1413.448003 +[10:21:54.031] New key frame +[10:21:54.031] BA loop run +[10:21:54.042] init error: 156363.448534 +[10:21:54.056] end error: 3676.950800 +[10:21:55.370] New key frame +[10:21:55.370] BA loop run +[10:21:55.380] init error: 1109576.860168 +[10:21:55.392] end error: 1065.199685 +[10:21:56.652] New key frame +[10:21:56.652] BA loop run +[10:21:56.663] init error: 35530.244947 +[10:21:56.675] end error: 1150.186793 +[10:21:57.840] New key frame +[10:21:57.841] BA loop run +[10:21:57.851] init error: 10924.093702 +[10:21:57.863] end error: 479.159296 +[10:21:58.980] New key frame +[10:21:58.980] BA loop run +[10:21:58.991] init error: 8503.011338 +[10:21:59.001] end error: 655.495939 +[10:22:00.300] New key frame +[10:22:00.300] BA loop run +[10:22:00.309] init error: 194851.488259 +[10:22:00.318] end error: 701.052402 +[10:22:01.076] New key frame +[10:22:01.076] BA loop run +[10:22:01.083] init error: 127681.981590 +[10:22:01.091] end error: 661.633557 +[10:22:01.867] New key frame +[10:22:01.867] BA loop run +[10:22:01.875] init error: 20426.846409 +[10:22:01.881] end error: 198.901288 +[10:22:02.618] New key frame +[10:22:02.618] BA loop run +[10:22:02.625] init error: 4718850.400845 +[10:22:02.630] end error: 421.309123 +[10:22:03.208] New key frame +[10:22:03.208] BA loop run +[10:22:03.214] init error: 22146604.173581 +[10:22:03.220] end error: 911.872444 +[10:22:03.738] New key frame +[10:22:03.739] BA loop run +[10:22:03.745] init error: 21930.877091 +[10:22:03.750] end error: 1494.255573 +[10:22:04.286] New key frame +[10:22:04.286] BA loop run +[10:22:04.292] init error: 2517.970856 +[10:22:04.296] end error: 320.399692 +[10:22:04.682] New key frame +[10:22:04.682] BA loop run +[10:22:04.687] init error: 11071.056653 +[10:22:04.692] end error: 207.054228 +[10:22:05.035] New key frame +[10:22:05.035] BA loop run +[10:22:05.040] init error: 7824.538956 +[10:22:05.044] end error: 215.049708 +[10:22:05.523] New key frame +[10:22:05.523] BA loop run +[10:22:05.528] init error: 1408508.381403 +[10:22:05.533] end error: 2079.123600 +[10:22:06.130] New key frame +[10:22:06.130] BA loop run +[10:22:06.137] init error: 28374.682691 +[10:22:06.143] end error: 265.084628 +[10:22:06.810] New key frame +[10:22:06.811] BA loop run +[10:22:06.818] init error: 92146.833883 +[10:22:06.826] end error: 363.156574 +[10:22:07.437] New key frame +[10:22:07.437] BA loop run +[10:22:07.443] init error: 812.305994 +[10:22:07.449] end error: 366.001259 +[10:22:08.064] New key frame +[10:22:08.064] BA loop run +[10:22:08.071] init error: 35646.460541 +[10:22:08.078] end error: 15622.440773 +[10:22:08.625] New key frame +[10:22:08.625] BA loop run +[10:22:08.634] init error: 15057.402516 +[10:22:08.641] end error: 487.835605 +[10:22:09.281] New key frame +[10:22:09.281] BA loop run +[10:22:09.288] init error: 865.462673 +[10:22:09.294] end error: 337.904637 +[10:22:09.796] New key frame +[10:22:09.796] BA loop run +[10:22:09.804] init error: 15216.998779 +[10:22:09.815] end error: 278.006301 +[10:22:10.339] New key frame +[10:22:10.339] BA loop run +[10:22:10.346] init error: 2806.291024 +[10:22:10.354] end error: 328.467991 +[10:22:12.654] New key frame +[10:22:12.654] BA loop run +[10:22:12.663] init error: 68848.199953 +[10:22:12.676] end error: 509.210944 +[10:22:13.388] New key frame +[10:22:13.388] BA loop run +[10:22:13.403] init error: 4722243.529127 +[10:22:13.422] end error: 2687.242929 +[10:22:14.115] New key frame +[10:22:14.115] BA loop run +[10:22:14.131] init error: 19432.541420 +[10:22:14.153] end error: 335.205556 +[10:22:15.030] New key frame +[10:22:15.030] BA loop run +[10:22:15.049] init error: 74414.967515 +[10:22:15.077] end error: 802.217198 +[10:22:15.815] New key frame +[10:22:15.815] BA loop run +[10:22:15.834] init error: 211864.358318 +[10:22:15.861] end error: 861.614087 +[10:22:16.708] New key frame +[10:22:16.708] BA loop run +[10:22:16.727] init error: 31442.228519 +[10:22:16.756] end error: 1922.391569 +[10:22:17.579] New key frame +[10:22:17.579] BA loop run +[10:22:17.599] init error: 219444.324630 +[10:22:17.628] end error: 2139.696878 +[10:22:18.674] New key frame +[10:22:18.674] BA loop run +[10:22:18.697] init error: 103016.190886 +[10:22:18.730] end error: 2421.178836 diff --git a/GPU_version/vio/src/global_optimizer.cpp b/GPU_version/vio/src/global_optimizer.cpp index 9b62651..b41ebd2 100644 --- a/GPU_version/vio/src/global_optimizer.cpp +++ b/GPU_version/vio/src/global_optimizer.cpp @@ -48,9 +48,9 @@ namespace vio { assert(false && "Camera initialization in BA"); } #if VIO_DEBUG - log_ =fopen((std::string(PROJECT_DIR)+"/depth_filter_log.txt").c_str(),"w+"); + log_ =fopen((std::string(PROJECT_DIR)+"/loop_closure_log.txt").c_str(),"w+"); assert(log_); - chmod((std::string(PROJECT_DIR)+"/depth_filter_log.txt").c_str(), ACCESSPERMS); + chmod((std::string(PROJECT_DIR)+"/loop_closure_log.txt").c_str(), ACCESSPERMS); #endif }