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debug some issues

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gfuse
2021-10-13 18:45:00 +02:00
parent 00145478ef
commit 84d227cdcd
12 changed files with 509 additions and 443 deletions
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GPU_version/vio/frame_handler_log.txt
+472 -402
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@@ -1,402 +1,472 @@
[15:18:47.578] Init: frame zero: 0.000000, 0.000000 0.000000 [18:43:55.691] Init: frame zero: 0.000000, 0.000000 0.000000
[15:18:47.578] Init: Selected first frame. [18:43:55.691] Init: Selected first frame.
[15:18:47.578] frame process finished the id is: 0 the obs is:0 [18:43:55.691] frame process finished the id is: 0 the obs is:0
[15:18:47.601] Init: px average disparity is:0.032512 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:55.709] Init: px average disparity is:0.032512 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:47.601] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:55.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:47.601] frame process finished the id is: 1 the obs is:0 [18:43:55.709] frame process finished the id is: 1 the obs is:0
[15:18:47.686] Init: px average disparity is:0.031284 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:55.810] Init: px average disparity is:0.031284 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:47.686] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:55.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:47.686] frame process finished the id is: 2 the obs is:0 [18:43:55.810] frame process finished the id is: 2 the obs is:0
[15:18:47.790] Init: px average disparity is:0.036556 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:55.908] Init: px average disparity is:0.036556 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:47.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:55.908] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:47.790] frame process finished the id is: 3 the obs is:0 [18:43:55.908] frame process finished the id is: 3 the obs is:0
[15:18:47.899] Init: px average disparity is:0.032202 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:55.996] Init: px average disparity is:0.032202 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:47.899] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:55.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:47.899] frame process finished the id is: 4 the obs is:0 [18:43:55.996] frame process finished the id is: 4 the obs is:0
[15:18:47.987] Init: px average disparity is:0.041515 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:56.095] Init: px average disparity is:0.041515 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:47.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:56.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:47.988] frame process finished the id is: 5 the obs is:0 [18:43:56.095] frame process finished the id is: 5 the obs is:0
[15:18:48.085] Init: px average disparity is:0.030973 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:56.196] Init: px average disparity is:0.030973 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:48.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:56.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:48.085] frame process finished the id is: 6 the obs is:0 [18:43:56.197] frame process finished the id is: 6 the obs is:0
[15:18:48.186] Init: px average disparity is:0.031908 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:56.293] Init: px average disparity is:0.031908 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:48.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:56.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:48.186] frame process finished the id is: 7 the obs is:0 [18:43:56.293] frame process finished the id is: 7 the obs is:0
[15:18:48.282] Init: px average disparity is:0.035828 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:56.392] Init: px average disparity is:0.035828 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:48.283] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:56.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:48.283] frame process finished the id is: 8 the obs is:0 [18:43:56.392] frame process finished the id is: 8 the obs is:0
[15:18:48.384] Init: px average disparity is:0.031084 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:56.492] Init: px average disparity is:0.031084 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:48.384] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:56.492] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:48.384] frame process finished the id is: 9 the obs is:0 [18:43:56.492] frame process finished the id is: 9 the obs is:0
[15:18:48.495] Init: px average disparity is:0.040163 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:56.595] Init: px average disparity is:0.040163 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:48.495] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:56.595] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:48.495] frame process finished the id is: 10 the obs is:0 [18:43:56.595] frame process finished the id is: 10 the obs is:0
[15:18:48.585] Init: px average disparity is:0.036231 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:56.693] Init: px average disparity is:0.036231 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:48.585] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:56.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:48.585] frame process finished the id is: 11 the obs is:0 [18:43:56.693] frame process finished the id is: 11 the obs is:0
[15:18:48.691] Init: px average disparity is:0.032094 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:56.806] Init: px average disparity is:0.032094 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:48.691] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:56.807] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:48.691] frame process finished the id is: 12 the obs is:0 [18:43:56.807] frame process finished the id is: 12 the obs is:0
[15:18:48.793] Init: px average disparity is:0.039061 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:56.904] Init: px average disparity is:0.039061 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:48.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:56.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:48.793] frame process finished the id is: 13 the obs is:0 [18:43:56.904] frame process finished the id is: 13 the obs is:0
[15:18:48.851] Odometry x=0.000000, y=0.000000, theta=-0.000000 [18:43:56.958] Odometry x=0.000000, y=0.000000, theta=-0.000000
[15:18:48.897] Init: px average disparity is:0.039995 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:57.019] Init: px average disparity is:0.039995 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:48.897] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:57.019] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:48.897] frame process finished the id is: 14 the obs is:0 [18:43:57.019] frame process finished the id is: 14 the obs is:0
[15:18:48.984] Init: px average disparity is:0.032783 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:57.090] Init: px average disparity is:0.032783 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:48.984] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:57.090] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:48.984] frame process finished the id is: 15 the obs is:0 [18:43:57.090] frame process finished the id is: 15 the obs is:0
[15:18:49.085] Init: px average disparity is:0.152070 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:57.196] Odometry x=0.000002, y=0.019191, theta=0.000001
[15:18:49.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:57.210] Init: px average disparity is:0.152070 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:49.085] frame process finished the id is: 16 the obs is:0 [18:43:57.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:49.086] Odometry x=0.000000, y=0.019181, theta=0.000001 [18:43:57.210] frame process finished the id is: 16 the obs is:0
[15:18:49.196] Init: px average disparity is:6.438189 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:57.309] Init: px average disparity is:6.438189 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:49.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:57.309] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:49.196] frame process finished the id is: 17 the obs is:0 [18:43:57.309] frame process finished the id is: 17 the obs is:0
[15:18:49.302] Init: px average disparity is:4.621185 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:57.414] Init: px average disparity is:4.621185 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:49.302] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:57.414] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:49.302] frame process finished the id is: 18 the obs is:0 [18:43:57.414] frame process finished the id is: 18 the obs is:0
[15:18:49.342] Odometry x=-0.000027, y=0.050672, theta=0.000596 [18:43:57.455] Odometry x=-0.000039, y=0.050966, theta=0.000774
[15:18:49.390] Init: px average disparity is:4.962524 ,While minimum is: 10.000000 KLT tracked : 896 [18:43:57.517] Init: px average disparity is:4.962524 ,While minimum is: 10.000000 KLT tracked : 896
[15:18:49.390] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:57.517] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:49.390] frame process finished the id is: 19 the obs is:0 [18:43:57.517] frame process finished the id is: 19 the obs is:0
[15:18:49.500] Init: px average disparity is:9.757717 ,While minimum is: 10.000000 KLT tracked : 895 [18:43:57.621] Init: px average disparity is:9.757717 ,While minimum is: 10.000000 KLT tracked : 895
[15:18:49.500] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:57.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:49.500] frame process finished the id is: 20 the obs is:0 [18:43:57.621] frame process finished the id is: 20 the obs is:0
[15:18:49.619] Odometry x=-0.000041, y=0.081390, theta=0.000284 [18:43:57.729] Odometry x=-0.000047, y=0.081718, theta=-0.000073
[15:18:49.681] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:12.627500 ,While minimum is: 10.000000 KLT tracked: 895 [18:43:57.819] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:12.627500 ,While minimum is: 10.000000 KLT tracked: 895
[15:18:49.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:57.819] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:49.681] frame process finished the id is: 21 the obs is:0 [18:43:57.819] frame process finished the id is: 21 the obs is:0
[15:18:49.776] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:15.604936 ,While minimum is: 10.000000 KLT tracked: 888 [18:43:57.926] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:15.604936 ,While minimum is: 10.000000 KLT tracked: 888
[15:18:49.776] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:57.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:49.776] frame process finished the id is: 22 the obs is:0 [18:43:57.927] frame process finished the id is: 22 the obs is:0
[15:18:49.827] Odometry x=0.000022, y=0.110829, theta=0.002085 [18:43:57.937] Odometry x=0.000499, y=0.112048, theta=0.000644
[15:18:49.871] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:19.846154 ,While minimum is: 10.000000 KLT tracked: 888 [18:43:58.025] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:19.846154 ,While minimum is: 10.000000 KLT tracked: 888
[15:18:49.871] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:58.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:49.871] frame process finished the id is: 23 the obs is:0 [18:43:58.025] frame process finished the id is: 23 the obs is:0
[15:18:49.968] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:29.051805 ,While minimum is: 10.000000 KLT tracked: 888 [18:43:58.124] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:29.051805 ,While minimum is: 10.000000 KLT tracked: 888
[15:18:49.968] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:58.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:49.968] frame process finished the id is: 24 the obs is:0 [18:43:58.124] frame process finished the id is: 24 the obs is:0
[15:18:50.068] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:27.308837 ,While minimum is: 10.000000 KLT tracked: 888 [18:43:58.224] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:27.308837 ,While minimum is: 10.000000 KLT tracked: 888
[15:18:50.068] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:58.224] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:50.068] frame process finished the id is: 25 the obs is:0 [18:43:58.224] frame process finished the id is: 25 the obs is:0
[15:18:50.132] Odometry x=-0.000023, y=0.139845, theta=0.005936 [18:43:58.260] Odometry x=0.000038, y=0.140879, theta=0.004213
[15:18:50.179] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:28.646685 ,While minimum is: 10.000000 KLT tracked: 887 [18:43:58.326] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:28.646685 ,While minimum is: 10.000000 KLT tracked: 887
[15:18:50.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:58.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:50.179] frame process finished the id is: 26 the obs is:0 [18:43:58.326] frame process finished the id is: 26 the obs is:0
[15:18:50.287] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:34.191057 ,While minimum is: 10.000000 KLT tracked: 887 [18:43:58.428] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:34.191057 ,While minimum is: 10.000000 KLT tracked: 887
[15:18:50.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:58.428] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:50.287] frame process finished the id is: 27 the obs is:0 [18:43:58.428] frame process finished the id is: 27 the obs is:0
[15:18:50.359] Odometry x=-0.000318, y=0.168956, theta=0.007577 [18:43:58.469] Odometry x=-0.000233, y=0.169962, theta=0.010181
[15:18:50.392] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:41.345493 ,While minimum is: 10.000000 KLT tracked: 883 [18:43:58.533] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:41.345493 ,While minimum is: 10.000000 KLT tracked: 883
[15:18:50.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:58.533] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:50.392] frame process finished the id is: 28 the obs is:0 [18:43:58.533] frame process finished the id is: 28 the obs is:0
[15:18:50.498] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:46.447236 ,While minimum is: 10.000000 KLT tracked: 881 [18:43:58.643] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:46.447236 ,While minimum is: 10.000000 KLT tracked: 881
[15:18:50.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:58.643] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:50.498] frame process finished the id is: 29 the obs is:0 [18:43:58.643] frame process finished the id is: 29 the obs is:0
[15:18:50.595] Odometry x=-0.000552, y=0.198001, theta=0.008718 [18:43:58.706] Odometry x=-0.000432, y=0.199032, theta=0.008526
[15:18:50.608] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:45.750816 ,While minimum is: 10.000000 KLT tracked: 831 [18:43:58.764] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:45.750816 ,While minimum is: 10.000000 KLT tracked: 831
[15:18:50.608] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:58.764] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:50.608] frame process finished the id is: 30 the obs is:0 [18:43:58.764] frame process finished the id is: 30 the obs is:0
[15:18:50.714] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:43.552221 ,While minimum is: 10.000000 KLT tracked: 786 [18:43:58.871] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:43.552221 ,While minimum is: 10.000000 KLT tracked: 786
[15:18:50.714] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:58.871] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:50.714] frame process finished the id is: 31 the obs is:0 [18:43:58.871] frame process finished the id is: 31 the obs is:0
[15:18:50.819] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:47.016770 ,While minimum is: 10.000000 KLT tracked: 760 [18:43:58.965] Odometry x=-0.000654, y=0.228022, theta=0.007607
[15:18:50.819] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:58.977] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:47.016770 ,While minimum is: 10.000000 KLT tracked: 760
[15:18:50.819] frame process finished the id is: 32 the obs is:0 [18:43:58.977] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:50.854] Odometry x=-0.001270, y=0.226902, theta=0.022926 [18:43:58.977] frame process finished the id is: 32 the obs is:0
[15:18:50.923] Init: Homography RANSAC (inlier) is:33 ,While 40 inliers minimum required. px average disparity is:44.933862 ,While minimum is: 10.000000 KLT tracked: 753 [18:43:59.086] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:49.538279 ,While minimum is: 10.000000 KLT tracked: 753
[15:18:50.923] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:59.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:50.923] frame process finished the id is: 33 the obs is:0 [18:43:59.086] frame process finished the id is: 33 the obs is:0
[15:18:51.032] Init: Homography RANSAC (inlier) is:33 ,While 40 inliers minimum required. px average disparity is:49.476380 ,While minimum is: 10.000000 KLT tracked: 751 [18:43:59.191] Odometry x=-0.001126, y=0.256460, theta=0.017068
[15:18:51.032] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:59.196] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:54.298697 ,While minimum is: 10.000000 KLT tracked: 746
[15:18:51.032] frame process finished the id is: 34 the obs is:0 [18:43:59.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:51.081] Odometry x=-0.000030, y=0.242541, theta=0.016254 [18:43:59.196] frame process finished the id is: 34 the obs is:0
[15:18:51.138] Init: Homography RANSAC (inlier) is:33 ,While 40 inliers minimum required. px average disparity is:54.306628 ,While minimum is: 10.000000 KLT tracked: 746 [18:43:59.305] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:50.945217 ,While minimum is: 10.000000 KLT tracked: 737
[15:18:51.138] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:59.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:51.138] frame process finished the id is: 35 the obs is:0 [18:43:59.305] frame process finished the id is: 35 the obs is:0
[15:18:51.246] Init: Homography RANSAC (inlier) is:33 ,While 40 inliers minimum required. px average disparity is:50.945457 ,While minimum is: 10.000000 KLT tracked: 737 [18:43:59.413] Init: Homography RANSAC (inlier) is:26 ,While 40 inliers minimum required. px average disparity is:45.043521 ,While minimum is: 10.000000 KLT tracked: 737
[15:18:51.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:59.413] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:51.246] frame process finished the id is: 36 the obs is:0 [18:43:59.413] frame process finished the id is: 36 the obs is:0
[15:18:51.315] Odometry x=-0.000337, y=0.264099, theta=0.004518 [18:43:59.425] Odometry x=-0.001252, y=0.297173, theta=0.012082
[15:18:51.373] Init: Homography RANSAC (inlier) is:33 ,While 40 inliers minimum required. px average disparity is:45.043536 ,While minimum is: 10.000000 KLT tracked: 737 [18:43:59.522] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:42.852949 ,While minimum is: 10.000000 KLT tracked: 734
[15:18:51.373] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:59.522] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:51.373] frame process finished the id is: 37 the obs is:0 [18:43:59.522] frame process finished the id is: 37 the obs is:0
[15:18:51.569] Odometry x=-0.000487, y=0.287923, theta=0.023388 [18:43:59.680] Odometry x=-0.000807, y=0.317767, theta=0.015953
[15:18:51.598] Init: Homography RANSAC (inlier) is:33 ,While 40 inliers minimum required. px average disparity is:84.708926 ,While minimum is: 10.000000 KLT tracked: 719 [18:43:59.691] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:84.759117 ,While minimum is: 10.000000 KLT tracked: 718
[15:18:51.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:59.691] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:51.598] frame process finished the id is: 38 the obs is:0 [18:43:59.691] frame process finished the id is: 38 the obs is:0
[15:18:51.712] Init: Homography RANSAC (inlier) is:33 ,While 40 inliers minimum required. px average disparity is:41.486070 ,While minimum is: 10.000000 KLT tracked: 698 [18:43:59.805] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:41.534758 ,While minimum is: 10.000000 KLT tracked: 698
[15:18:51.712] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:59.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:51.712] frame process finished the id is: 39 the obs is:0 [18:43:59.805] frame process finished the id is: 39 the obs is:0
[15:18:51.822] Init: Homography RANSAC (inlier) is:33 ,While 40 inliers minimum required. px average disparity is:41.834360 ,While minimum is: 10.000000 KLT tracked: 694 [18:43:59.912] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:41.889841 ,While minimum is: 10.000000 KLT tracked: 694
[15:18:51.822] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:43:59.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:51.822] frame process finished the id is: 40 the obs is:0 [18:43:59.912] frame process finished the id is: 40 the obs is:0
[15:18:51.825] Odometry x=-0.000949, y=0.313827, theta=0.006377 [18:43:59.934] Odometry x=-0.001043, y=0.342362, theta=0.011934
[15:18:51.937] Init: Homography RANSAC (inlier) is:33 ,While 40 inliers minimum required. px average disparity is:50.036700 ,While minimum is: 10.000000 KLT tracked: 694 [18:44:00.022] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:50.036754 ,While minimum is: 10.000000 KLT tracked: 694
[15:18:51.937] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:00.022] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:51.937] frame process finished the id is: 41 the obs is:0 [18:44:00.022] frame process finished the id is: 41 the obs is:0
[15:18:52.047] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:50.460980 ,While minimum is: 10.000000 KLT tracked: 694 [18:44:00.130] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:50.460992 ,While minimum is: 10.000000 KLT tracked: 694
[15:18:52.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:00.130] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:52.047] frame process finished the id is: 42 the obs is:0 [18:44:00.130] frame process finished the id is: 42 the obs is:0
[15:18:52.153] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.866771 ,While minimum is: 10.000000 KLT tracked: 694 [18:44:00.236] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.866771 ,While minimum is: 10.000000 KLT tracked: 694
[15:18:52.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:00.236] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:52.153] frame process finished the id is: 43 the obs is:0 [18:44:00.236] frame process finished the id is: 43 the obs is:0
[15:18:52.161] Odometry x=0.000449, y=0.339633, theta=0.006650 [18:44:00.267] Odometry x=-0.000298, y=0.366852, theta=0.015156
[15:18:52.259] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.873507 ,While minimum is: 10.000000 KLT tracked: 694 [18:44:00.342] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.873498 ,While minimum is: 10.000000 KLT tracked: 694
[15:18:52.259] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:00.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:52.259] frame process finished the id is: 44 the obs is:0 [18:44:00.342] frame process finished the id is: 44 the obs is:0
[15:18:52.327] Odometry x=0.001106, y=0.363624, theta=0.000924 [18:44:00.437] Odometry x=0.000646, y=0.390576, theta=0.033252
[15:18:52.365] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:54.897285 ,While minimum is: 10.000000 KLT tracked: 692 [18:44:00.447] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:54.897271 ,While minimum is: 10.000000 KLT tracked: 692
[15:18:52.365] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:00.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:52.365] frame process finished the id is: 45 the obs is:0 [18:44:00.447] frame process finished the id is: 45 the obs is:0
[15:18:52.474] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:59.465026 ,While minimum is: 10.000000 KLT tracked: 687 [18:44:00.552] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:59.465025 ,While minimum is: 10.000000 KLT tracked: 687
[15:18:52.474] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:00.552] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:52.474] frame process finished the id is: 46 the obs is:0 [18:44:00.552] frame process finished the id is: 46 the obs is:0
[15:18:52.576] Odometry x=0.001044, y=0.388848, theta=0.003332 [18:44:00.656] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:59.022030 ,While minimum is: 10.000000 KLT tracked: 686
[15:18:52.580] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:63.418711 ,While minimum is: 10.000000 KLT tracked: 684 [18:44:00.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:52.580] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:00.656] frame process finished the id is: 47 the obs is:0
[15:18:52.580] frame process finished the id is: 47 the obs is:0 [18:44:00.686] Odometry x=-0.000726, y=0.414747, theta=0.042948
[15:18:52.707] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:64.334453 ,While minimum is: 10.000000 KLT tracked: 682 [18:44:00.760] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:63.374557 ,While minimum is: 10.000000 KLT tracked: 683
[15:18:52.707] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:00.760] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:52.707] frame process finished the id is: 48 the obs is:0 [18:44:00.760] frame process finished the id is: 48 the obs is:0
[15:18:52.816] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:61.895825 ,While minimum is: 10.000000 KLT tracked: 681 [18:44:00.864] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:64.334452 ,While minimum is: 10.000000 KLT tracked: 682
[15:18:52.816] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:00.864] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:52.816] frame process finished the id is: 49 the obs is:0 [18:44:00.864] frame process finished the id is: 49 the obs is:0
[15:18:52.819] Odometry x=0.001997, y=0.417023, theta=-0.010335 [18:44:00.929] Odometry x=-0.003032, y=0.438028, theta=0.033404
[15:18:52.925] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:61.954624 ,While minimum is: 10.000000 KLT tracked: 681 [18:44:00.968] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:61.895825 ,While minimum is: 10.000000 KLT tracked: 681
[15:18:52.925] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:00.968] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:52.925] frame process finished the id is: 50 the obs is:0 [18:44:00.969] frame process finished the id is: 50 the obs is:0
[15:18:53.040] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:63.552627 ,While minimum is: 10.000000 KLT tracked: 679 [18:44:01.074] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:61.954572 ,While minimum is: 10.000000 KLT tracked: 681
[15:18:53.040] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:01.074] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:53.040] frame process finished the id is: 51 the obs is:0 [18:44:01.074] frame process finished the id is: 51 the obs is:0
[15:18:53.099] Odometry x=0.002326, y=0.441620, theta=-0.001178 [18:44:01.181] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:63.552660 ,While minimum is: 10.000000 KLT tracked: 679
[15:18:53.151] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:64.060483 ,While minimum is: 10.000000 KLT tracked: 678 [18:44:01.181] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:53.151] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:01.181] frame process finished the id is: 52 the obs is:0
[15:18:53.151] frame process finished the id is: 52 the obs is:0 [18:44:01.209] Odometry x=-0.003750, y=0.462662, theta=0.042577
[15:18:53.258] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:61.026796 ,While minimum is: 10.000000 KLT tracked: 567 [18:44:01.285] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:61.025470 ,While minimum is: 10.000000 KLT tracked: 567
[15:18:53.258] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:01.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:53.258] frame process finished the id is: 53 the obs is:0 [18:44:01.285] frame process finished the id is: 53 the obs is:0
[15:18:53.332] Odometry x=0.002279, y=0.458737, theta=0.001411 [18:44:01.386] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:62.655230 ,While minimum is: 10.000000 KLT tracked: 552
[15:18:53.360] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:62.652200 ,While minimum is: 10.000000 KLT tracked: 552 [18:44:01.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:53.360] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:01.386] frame process finished the id is: 54 the obs is:0
[15:18:53.360] frame process finished the id is: 54 the obs is:0 [18:44:01.432] Odometry x=-0.004331, y=0.479101, theta=0.046856
[15:18:53.464] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:66.216821 ,While minimum is: 10.000000 KLT tracked: 540 [18:44:01.487] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:66.216194 ,While minimum is: 10.000000 KLT tracked: 540
[15:18:53.464] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:01.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:53.464] frame process finished the id is: 55 the obs is:0 [18:44:01.488] frame process finished the id is: 55 the obs is:0
[15:18:53.564] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:67.095339 ,While minimum is: 10.000000 KLT tracked: 540 [18:44:01.587] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:67.097597 ,While minimum is: 10.000000 KLT tracked: 540
[15:18:53.564] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:01.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:53.564] frame process finished the id is: 56 the obs is:0 [18:44:01.587] frame process finished the id is: 56 the obs is:0
[15:18:53.582] Odometry x=0.001975, y=0.488425, theta=0.002675 [18:44:01.688] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:62.105247 ,While minimum is: 10.000000 KLT tracked: 540
[15:18:53.667] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:62.105340 ,While minimum is: 10.000000 KLT tracked: 540 [18:44:01.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:53.667] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:01.688] frame process finished the id is: 57 the obs is:0
[15:18:53.667] frame process finished the id is: 57 the obs is:0 [18:44:01.693] Odometry x=-0.005289, y=0.496097, theta=0.049716
[15:18:53.769] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:57.242548 ,While minimum is: 10.000000 KLT tracked: 540 [18:44:01.794] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:59.361343 ,While minimum is: 10.000000 KLT tracked: 540
[15:18:53.769] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:01.794] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:53.769] frame process finished the id is: 58 the obs is:0 [18:44:01.794] frame process finished the id is: 58 the obs is:0
[15:18:53.835] Odometry x=0.002038, y=0.506293, theta=-0.000204 [18:44:01.895] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:57.242792 ,While minimum is: 10.000000 KLT tracked: 540
[15:18:53.876] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:56.919220 ,While minimum is: 10.000000 KLT tracked: 540 [18:44:01.895] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:53.876] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:01.895] frame process finished the id is: 59 the obs is:0
[15:18:53.876] frame process finished the id is: 59 the obs is:0 [18:44:01.945] Odometry x=-0.006040, y=0.513883, theta=0.043223
[15:18:53.985] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:57.749500 ,While minimum is: 10.000000 KLT tracked: 540 [18:44:01.995] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:56.919297 ,While minimum is: 10.000000 KLT tracked: 540
[15:18:53.985] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:01.995] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:53.985] frame process finished the id is: 60 the obs is:0 [18:44:01.995] frame process finished the id is: 60 the obs is:0
[15:18:54.087] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:59.171280 ,While minimum is: 10.000000 KLT tracked: 540 [18:44:02.095] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:57.749509 ,While minimum is: 10.000000 KLT tracked: 540
[15:18:54.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:02.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:54.087] frame process finished the id is: 61 the obs is:0 [18:44:02.095] frame process finished the id is: 61 the obs is:0
[15:18:54.138] Odometry x=0.001932, y=0.526234, theta=0.005089 [18:44:02.196] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:59.171287 ,While minimum is: 10.000000 KLT tracked: 540
[15:18:54.192] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:60.963256 ,While minimum is: 10.000000 KLT tracked: 540 [18:44:02.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:54.192] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:02.196] frame process finished the id is: 62 the obs is:0
[15:18:54.192] frame process finished the id is: 62 the obs is:0 [18:44:02.249] Odometry x=-0.008370, y=0.533132, theta=0.053679
[15:18:54.295] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:66.259251 ,While minimum is: 10.000000 KLT tracked: 538 [18:44:02.300] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:60.963264 ,While minimum is: 10.000000 KLT tracked: 540
[15:18:54.295] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:02.300] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:54.295] frame process finished the id is: 63 the obs is:0 [18:44:02.300] frame process finished the id is: 63 the obs is:0
[15:18:54.312] Odometry x=0.001377, y=0.547733, theta=0.018158 [18:44:02.405] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:66.259251 ,While minimum is: 10.000000 KLT tracked: 538
[15:18:54.398] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:66.516626 ,While minimum is: 10.000000 KLT tracked: 538 [18:44:02.405] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:54.398] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:02.405] frame process finished the id is: 64 the obs is:0
[15:18:54.398] frame process finished the id is: 64 the obs is:0 [18:44:02.424] Odometry x=-0.009464, y=0.554440, theta=0.064358
[15:18:54.505] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:59.705831 ,While minimum is: 10.000000 KLT tracked: 538 [18:44:02.512] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:66.516626 ,While minimum is: 10.000000 KLT tracked: 538
[15:18:54.505] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:02.512] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:54.505] frame process finished the id is: 65 the obs is:0 [18:44:02.512] frame process finished the id is: 65 the obs is:0
[15:18:54.599] Odometry x=0.001502, y=0.566133, theta=-0.000308 [18:44:02.620] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:59.705831 ,While minimum is: 10.000000 KLT tracked: 538
[15:18:54.612] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:57.802720 ,While minimum is: 10.000000 KLT tracked: 538 [18:44:02.620] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:54.612] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:02.620] frame process finished the id is: 66 the obs is:0
[15:18:54.612] frame process finished the id is: 66 the obs is:0 [18:44:02.709] Odometry x=-0.010209, y=0.572925, theta=0.045810
[15:18:54.717] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:56.110475 ,While minimum is: 10.000000 KLT tracked: 538 [18:44:02.722] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:57.802720 ,While minimum is: 10.000000 KLT tracked: 538
[15:18:54.717] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:02.722] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:54.717] frame process finished the id is: 67 the obs is:0 [18:44:02.723] frame process finished the id is: 67 the obs is:0
[15:18:54.809] Odometry x=0.003604, y=0.584322, theta=-0.001965 [18:44:02.827] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:56.110475 ,While minimum is: 10.000000 KLT tracked: 538
[15:18:54.845] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:57.525921 ,While minimum is: 10.000000 KLT tracked: 537 [18:44:02.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:54.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:02.827] frame process finished the id is: 68 the obs is:0
[15:18:54.845] frame process finished the id is: 68 the obs is:0 [18:44:02.920] Odometry x=-0.010320, y=0.592247, theta=0.041359
[15:18:54.953] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:60.403340 ,While minimum is: 10.000000 KLT tracked: 537 [18:44:02.944] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:57.525921 ,While minimum is: 10.000000 KLT tracked: 537
[15:18:54.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:02.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:54.953] frame process finished the id is: 69 the obs is:0 [18:44:02.944] frame process finished the id is: 69 the obs is:0
[15:18:55.061] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:61.333779 ,While minimum is: 10.000000 KLT tracked: 537 [18:44:03.059] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:60.403340 ,While minimum is: 10.000000 KLT tracked: 537
[15:18:55.061] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:03.059] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:55.061] frame process finished the id is: 70 the obs is:0 [18:44:03.059] frame process finished the id is: 70 the obs is:0
[15:18:55.120] Odometry x=0.003718, y=0.602623, theta=0.000695 [18:44:03.179] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:61.333779 ,While minimum is: 10.000000 KLT tracked: 537
[15:18:55.167] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:63.285508 ,While minimum is: 10.000000 KLT tracked: 537 [18:44:03.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:55.167] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:03.179] frame process finished the id is: 71 the obs is:0
[15:18:55.167] frame process finished the id is: 71 the obs is:0 [18:44:03.180] Odometry x=-0.011090, y=0.610443, theta=0.042326
[15:18:55.274] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:68.828324 ,While minimum is: 10.000000 KLT tracked: 534 [18:44:03.294] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:66.747909 ,While minimum is: 10.000000 KLT tracked: 534
[15:18:55.274] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:03.294] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:55.274] frame process finished the id is: 72 the obs is:0 [18:44:03.294] frame process finished the id is: 72 the obs is:0
[15:18:55.333] Odometry x=0.003414, y=0.620386, theta=0.002561 [18:44:03.404] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:68.837536 ,While minimum is: 10.000000 KLT tracked: 534
[15:18:55.379] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:67.014086 ,While minimum is: 10.000000 KLT tracked: 534 [18:44:03.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:55.379] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:03.404] frame process finished the id is: 73 the obs is:0
[15:18:55.379] frame process finished the id is: 73 the obs is:0 [18:44:03.444] Odometry x=-0.012010, y=0.628767, theta=0.050163
[15:18:55.479] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:68.417512 ,While minimum is: 10.000000 KLT tracked: 533 [18:44:03.512] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:67.015109 ,While minimum is: 10.000000 KLT tracked: 534
[15:18:55.479] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:03.512] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:55.479] frame process finished the id is: 74 the obs is:0 [18:44:03.512] frame process finished the id is: 74 the obs is:0
[15:18:55.564] Odometry x=0.003651, y=0.639480, theta=-0.002274 [18:44:03.622] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:68.414476 ,While minimum is: 10.000000 KLT tracked: 533
[15:18:55.578] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:67.421924 ,While minimum is: 10.000000 KLT tracked: 533 [18:44:03.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:55.578] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:03.622] frame process finished the id is: 75 the obs is:0
[15:18:55.578] frame process finished the id is: 75 the obs is:0 [18:44:03.674] Odometry x=-0.013076, y=0.647027, theta=0.049776
[15:18:55.678] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:68.500241 ,While minimum is: 10.000000 KLT tracked: 533 [18:44:03.735] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:67.421060 ,While minimum is: 10.000000 KLT tracked: 533
[15:18:55.678] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:03.735] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:55.678] frame process finished the id is: 76 the obs is:0 [18:44:03.735] frame process finished the id is: 76 the obs is:0
[15:18:55.778] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:69.755903 ,While minimum is: 10.000000 KLT tracked: 533 [18:44:03.841] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:68.500216 ,While minimum is: 10.000000 KLT tracked: 533
[15:18:55.778] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:03.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:55.778] frame process finished the id is: 77 the obs is:0 [18:44:03.841] frame process finished the id is: 77 the obs is:0
[15:18:55.815] Odometry x=0.003786, y=0.658781, theta=0.008747 [18:44:03.926] Odometry x=-0.013565, y=0.666979, theta=0.060852
[15:18:55.877] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:69.363786 ,While minimum is: 10.000000 KLT tracked: 533 [18:44:03.948] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:69.755903 ,While minimum is: 10.000000 KLT tracked: 533
[15:18:55.877] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:03.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:55.877] frame process finished the id is: 78 the obs is:0 [18:44:03.948] frame process finished the id is: 78 the obs is:0
[15:18:55.977] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:74.502752 ,While minimum is: 10.000000 KLT tracked: 533 [18:44:04.064] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:69.363787 ,While minimum is: 10.000000 KLT tracked: 533
[15:18:55.977] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:04.064] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:55.977] frame process finished the id is: 79 the obs is:0 [18:44:04.064] frame process finished the id is: 79 the obs is:0
[15:18:56.076] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:71.887874 ,While minimum is: 10.000000 KLT tracked: 533 [18:44:04.171] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:74.502750 ,While minimum is: 10.000000 KLT tracked: 533
[15:18:56.076] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:04.171] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:56.076] frame process finished the id is: 80 the obs is:0 [18:44:04.171] frame process finished the id is: 80 the obs is:0
[15:18:56.145] Odometry x=0.003981, y=0.678032, theta=0.011525 [18:44:04.255] Odometry x=-0.014746, y=0.685934, theta=0.062709
[15:18:56.177] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:72.958961 ,While minimum is: 10.000000 KLT tracked: 533 [18:44:04.279] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:71.887873 ,While minimum is: 10.000000 KLT tracked: 533
[15:18:56.177] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:04.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:56.177] frame process finished the id is: 81 the obs is:0 [18:44:04.279] frame process finished the id is: 81 the obs is:0
[15:18:56.276] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:70.288394 ,While minimum is: 10.000000 KLT tracked: 533 [18:44:04.380] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:72.958960 ,While minimum is: 10.000000 KLT tracked: 533
[15:18:56.276] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:04.380] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:56.276] frame process finished the id is: 82 the obs is:0 [18:44:04.380] frame process finished the id is: 82 the obs is:0
[15:18:56.310] Odometry x=0.003727, y=0.697105, theta=0.013954 [18:44:04.421] Odometry x=-0.015977, y=0.704969, theta=0.065162
[15:18:56.376] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:73.831376 ,While minimum is: 10.000000 KLT tracked: 532 [18:44:04.481] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:73.652213 ,While minimum is: 10.000000 KLT tracked: 532
[15:18:56.376] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:04.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:56.376] frame process finished the id is: 83 the obs is:0 [18:44:04.481] frame process finished the id is: 83 the obs is:0
[15:18:56.476] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:78.138672 ,While minimum is: 10.000000 KLT tracked: 531 [18:44:04.582] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:78.190707 ,While minimum is: 10.000000 KLT tracked: 531
[15:18:56.476] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:04.582] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:56.476] frame process finished the id is: 84 the obs is:0 [18:44:04.582] frame process finished the id is: 84 the obs is:0
[15:18:56.576] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:79.292986 ,While minimum is: 10.000000 KLT tracked: 529 [18:44:04.684] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:79.204154 ,While minimum is: 10.000000 KLT tracked: 529
[15:18:56.576] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:04.684] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:56.576] frame process finished the id is: 85 the obs is:0 [18:44:04.684] frame process finished the id is: 85 the obs is:0
[15:18:56.615] Odometry x=0.003651, y=0.716199, theta=0.019703 [18:44:04.726] Odometry x=-0.017033, y=0.724034, theta=0.070960
[15:18:56.675] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:87.951645 ,While minimum is: 10.000000 KLT tracked: 508 [18:44:04.784] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:87.795534 ,While minimum is: 10.000000 KLT tracked: 508
[15:18:56.675] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:04.784] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:56.675] frame process finished the id is: 86 the obs is:0 [18:44:04.784] frame process finished the id is: 86 the obs is:0
[15:18:56.773] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:89.482304 ,While minimum is: 10.000000 KLT tracked: 503 [18:44:04.885] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:89.313496 ,While minimum is: 10.000000 KLT tracked: 503
[15:18:56.773] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:04.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:56.773] frame process finished the id is: 87 the obs is:0 [18:44:04.885] frame process finished the id is: 87 the obs is:0
[15:18:56.815] Odometry x=0.002729, y=0.735107, theta=0.026949 [18:44:04.926] Odometry x=-0.018922, y=0.742870, theta=0.078247
[15:18:56.871] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:92.195888 ,While minimum is: 10.000000 KLT tracked: 501 [18:44:04.986] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:92.037097 ,While minimum is: 10.000000 KLT tracked: 501
[15:18:56.871] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:04.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:56.871] frame process finished the id is: 88 the obs is:0 [18:44:04.986] frame process finished the id is: 88 the obs is:0
[15:18:56.969] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:87.529071 ,While minimum is: 10.000000 KLT tracked: 494 [18:44:05.084] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:87.494338 ,While minimum is: 10.000000 KLT tracked: 498
[15:18:56.969] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:05.084] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:56.969] frame process finished the id is: 89 the obs is:0 [18:44:05.084] frame process finished the id is: 89 the obs is:0
[15:18:57.066] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:85.528133 ,While minimum is: 10.000000 KLT tracked: 493 [18:44:05.177] Odometry x=-0.020178, y=0.762759, theta=0.085316
[15:18:57.066] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:05.183] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:85.709740 ,While minimum is: 10.000000 KLT tracked: 498
[15:18:57.066] frame process finished the id is: 90 the obs is:0 [18:44:05.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:57.067] Odometry x=0.001979, y=0.754474, theta=0.031453 [18:44:05.183] frame process finished the id is: 90 the obs is:0
[15:18:57.165] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:83.896063 ,While minimum is: 10.000000 KLT tracked: 493 [18:44:05.285] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:84.084772 ,While minimum is: 10.000000 KLT tracked: 498
[15:18:57.165] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:05.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:57.165] frame process finished the id is: 91 the obs is:0 [18:44:05.285] frame process finished the id is: 91 the obs is:0
[15:18:57.265] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:85.663929 ,While minimum is: 10.000000 KLT tracked: 493 [18:44:05.383] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:85.905853 ,While minimum is: 10.000000 KLT tracked: 498
[15:18:57.265] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:05.383] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:57.265] frame process finished the id is: 92 the obs is:0 [18:44:05.383] frame process finished the id is: 92 the obs is:0
[15:18:57.320] Odometry x=0.001475, y=0.773504, theta=0.026552 [18:44:05.430] Odometry x=-0.021667, y=0.781776, theta=0.077609
[15:18:57.363] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:83.625425 ,While minimum is: 10.000000 KLT tracked: 493 [18:44:05.483] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.907759 ,While minimum is: 10.000000 KLT tracked: 498
[15:18:57.363] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:05.483] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:57.363] frame process finished the id is: 93 the obs is:0 [18:44:05.483] frame process finished the id is: 93 the obs is:0
[15:18:57.467] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:81.878545 ,While minimum is: 10.000000 KLT tracked: 493 [18:44:05.585] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:82.192528 ,While minimum is: 10.000000 KLT tracked: 498
[15:18:57.467] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:05.585] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:57.467] frame process finished the id is: 94 the obs is:0 [18:44:05.585] frame process finished the id is: 94 the obs is:0
[15:18:57.554] Odometry x=0.001918, y=0.791059, theta=0.031910 [18:44:05.661] Odometry x=-0.023119, y=0.801038, theta=0.079648
[15:18:57.567] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:83.492901 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:05.719] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.814438 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:57.567] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:05.719] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:57.567] frame process finished the id is: 95 the obs is:0 [18:44:05.719] frame process finished the id is: 95 the obs is:0
[15:18:57.668] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:83.222370 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:05.829] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.546939 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:57.668] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:05.829] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:57.668] frame process finished the id is: 96 the obs is:0 [18:44:05.829] frame process finished the id is: 96 the obs is:0
[15:18:57.766] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:84.077374 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:05.916] Odometry x=-0.024886, y=0.819996, theta=0.088929
[15:18:57.766] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:05.952] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:84.416801 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:57.766] frame process finished the id is: 97 the obs is:0 [18:44:05.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:57.805] Odometry x=0.001415, y=0.810136, theta=0.028678 [18:44:05.952] frame process finished the id is: 97 the obs is:0
[15:18:57.865] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:78.813111 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:06.067] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:79.159363 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:57.865] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:06.068] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:57.865] frame process finished the id is: 98 the obs is:0 [18:44:06.068] frame process finished the id is: 98 the obs is:0
[15:18:57.965] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:77.476877 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:06.176] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:77.842426 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:57.965] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:06.176] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:57.965] frame process finished the id is: 99 the obs is:0 [18:44:06.176] frame process finished the id is: 99 the obs is:0
[15:18:58.064] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:83.159398 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:06.280] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.825120 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:58.064] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:06.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:58.064] frame process finished the id is: 100 the obs is:0 [18:44:06.280] frame process finished the id is: 100 the obs is:0
[15:18:58.165] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:83.494992 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:06.386] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.682399 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:58.165] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:06.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:58.165] frame process finished the id is: 101 the obs is:0 [18:44:06.386] frame process finished the id is: 101 the obs is:0
[15:18:58.268] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:83.349696 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:06.499] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.249066 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:58.269] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:06.499] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:58.269] frame process finished the id is: 102 the obs is:0 [18:44:06.499] frame process finished the id is: 102 the obs is:0
[15:18:58.367] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.904193 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:06.608] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.278565 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:58.367] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:06.608] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:58.367] frame process finished the id is: 103 the obs is:0 [18:44:06.608] frame process finished the id is: 103 the obs is:0
[15:18:58.466] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.938262 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:06.718] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.291165 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:58.466] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:06.718] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:58.466] frame process finished the id is: 104 the obs is:0 [18:44:06.718] frame process finished the id is: 104 the obs is:0
[15:18:58.564] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.951961 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:06.826] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.305568 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:58.564] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:06.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:58.564] frame process finished the id is: 105 the obs is:0 [18:44:06.826] frame process finished the id is: 105 the obs is:0
[15:18:58.663] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.968097 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:06.931] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.277216 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:58.663] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:06.931] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:58.663] frame process finished the id is: 106 the obs is:0 [18:44:06.931] frame process finished the id is: 106 the obs is:0
[15:18:58.766] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.936874 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:07.036] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.215424 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:58.766] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:07.036] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:58.766] frame process finished the id is: 107 the obs is:0 [18:44:07.036] frame process finished the id is: 107 the obs is:0
[15:18:58.865] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.877387 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:07.139] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.296530 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:58.865] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:07.139] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:58.865] frame process finished the id is: 108 the obs is:0 [18:44:07.139] frame process finished the id is: 108 the obs is:0
[15:18:58.967] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.960528 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:07.238] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.259232 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:58.967] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:07.238] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:58.967] frame process finished the id is: 109 the obs is:0 [18:44:07.238] frame process finished the id is: 109 the obs is:0
[15:18:59.065] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.921838 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:07.337] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.371327 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:59.065] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:07.338] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:59.065] frame process finished the id is: 110 the obs is:0 [18:44:07.338] frame process finished the id is: 110 the obs is:0
[15:18:59.163] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:83.034634 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:07.436] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.282695 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:59.163] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:07.436] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:59.163] frame process finished the id is: 111 the obs is:0 [18:44:07.436] frame process finished the id is: 111 the obs is:0
[15:18:59.263] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.945830 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:07.536] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.209178 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:59.263] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:07.536] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:59.263] frame process finished the id is: 112 the obs is:0 [18:44:07.536] frame process finished the id is: 112 the obs is:0
[15:18:59.364] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.872733 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:07.635] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.226372 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:59.364] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:07.635] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:59.364] frame process finished the id is: 113 the obs is:0 [18:44:07.635] frame process finished the id is: 113 the obs is:0
[15:18:59.463] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.891996 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:07.690] Odometry x=-0.024742, y=0.819510, theta=0.082229
[15:18:59.463] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:07.733] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.231785 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:59.463] frame process finished the id is: 114 the obs is:0 [18:44:07.733] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:59.563] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.891302 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:07.733] frame process finished the id is: 114 the obs is:0
[15:18:59.563] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:07.832] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.266204 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:59.563] frame process finished the id is: 115 the obs is:0 [18:44:07.832] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:59.580] Odometry x=0.001307, y=0.810135, theta=0.029147 [18:44:07.832] frame process finished the id is: 115 the obs is:0
[15:18:59.664] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.929044 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:07.931] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.271810 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:59.664] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:07.931] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:59.664] frame process finished the id is: 116 the obs is:0 [18:44:07.931] frame process finished the id is: 116 the obs is:0
[15:18:59.765] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.930229 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:07.946] Odometry x=-0.024750, y=0.819570, theta=0.071607
[15:18:59.765] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:08.030] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.166279 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:59.765] frame process finished the id is: 117 the obs is:0 [18:44:08.030] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:59.836] Odometry x=0.001363, y=0.810343, theta=0.018529 [18:44:08.030] frame process finished the id is: 117 the obs is:0
[15:18:59.863] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.827997 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:08.130] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.228068 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:59.863] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:08.130] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:59.863] frame process finished the id is: 118 the obs is:0 [18:44:08.130] frame process finished the id is: 118 the obs is:0
[15:18:59.964] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:82.890155 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:08.228] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:80.210761 ,While minimum is: 10.000000 KLT tracked: 497
[15:18:59.964] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:08.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[15:18:59.964] frame process finished the id is: 119 the obs is:0 [18:44:08.228] frame process finished the id is: 119 the obs is:0
[15:19:00.064] Init: Homography RANSAC (inlier) is:3 ,While 40 inliers minimum required. px average disparity is:79.856857 ,While minimum is: 10.000000 KLT tracked: 492 [18:44:08.252] Odometry x=-0.024739, y=0.819708, theta=0.014334
[15:19:00.064] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 [18:44:08.327] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:72.799543 ,While minimum is: 10.000000 KLT tracked: 497
[15:19:00.064] frame process finished [18:44:08.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.328] frame process finished the id is: 120 the obs is:0
[18:44:08.430] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:59.758386 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.430] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.430] frame process finished the id is: 121 the obs is:0
[18:44:08.439] Odometry x=-0.024762, y=0.819704, theta=-0.115063
[18:44:08.533] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:45.123949 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.533] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.533] frame process finished the id is: 122 the obs is:0
[18:44:08.635] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:34.898259 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.635] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.635] frame process finished the id is: 123 the obs is:0
[18:44:08.683] Odometry x=-0.024779, y=0.819797, theta=-0.254018
[18:44:08.737] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:33.247118 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.737] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.737] frame process finished the id is: 124 the obs is:0
[18:44:08.838] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:49.569852 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.838] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.838] frame process finished the id is: 125 the obs is:0
[18:44:08.938] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.040054 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.938] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.938] frame process finished the id is: 126 the obs is:0
[18:44:09.041] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:64.907437 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.041] frame process finished the id is: 127 the obs is:0
[18:44:09.141] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.341845 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.141] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.141] frame process finished the id is: 128 the obs is:0
[18:44:09.240] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.202244 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.240] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.240] frame process finished the id is: 129 the obs is:0
[18:44:09.339] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.192144 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.339] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.339] frame process finished the id is: 130 the obs is:0
[18:44:09.438] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.921301 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.438] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.438] frame process finished the id is: 131 the obs is:0
[18:44:09.539] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.828723 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.539] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.539] frame process finished the id is: 132 the obs is:0
[18:44:09.642] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.803860 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.642] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.642] frame process finished the id is: 133 the obs is:0
[18:44:09.742] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.814957 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.742] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.742] frame process finished the id is: 134 the obs is:0
[18:44:09.841] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.861349 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.841] frame process finished the id is: 135 the obs is:0
[18:44:09.931] Odometry x=-0.024774, y=0.819817, theta=-0.304459
[18:44:09.956] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.891217 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.956] frame process finished the id is: 136 the obs is:0
[18:44:10.056] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.793371 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:10.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:10.056] frame process finished the id is: 137 the obs is:0
[18:44:10.157] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.883318 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:10.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:10.157] frame process finished the id is: 138 the obs is:0
[18:44:10.246] Odometry x=-0.024489, y=0.820717, theta=-0.303075
[18:44:10.310] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.906476 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:10.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:10.310] frame process finished the id is: 139 the obs is:0
[18:44:10.429] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.308425 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:10.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:10.429] frame process finished the id is: 140 the obs is:0
[18:44:10.460] Odometry x=-0.022005, y=0.828790, theta=-0.296761
[18:44:10.547] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:61.403862 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:10.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:10.547] frame process finished the id is: 141 the obs is:0
[18:44:10.651] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimu
GPU_version/vio/include/vio/frame.h
+7 -10
View File
@@ -25,9 +25,11 @@
#include <g2o/types/sba/types_six_dof_expmap.h> #include <g2o/types/sba/types_six_dof_expmap.h>
namespace vio { namespace vio {
class Point; class Point;
class Map;
struct Feature; struct Feature;
typedef list<std::shared_ptr<Feature>> Features; typedef list<std::shared_ptr<Feature>> Features;
@@ -183,19 +185,14 @@ namespace vio {
// J(1,1) = 0; // J(1,1) = 0;
// J(1,2) = ((sin(theta)/z_n)*gamma)-((cos(theta)/z_n)*lamda)-(((x_n/(z_n*z_n))*gamma + (y_n/(z_n*z_n))*lamda)*n2); // J(1,2) = ((sin(theta)/z_n)*gamma)-((cos(theta)/z_n)*lamda)-(((x_n/(z_n*z_n))*gamma + (y_n/(z_n*z_n))*lamda)*n2);
} }
/// Creates an image pyramid of half-sampled images.
void createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& pyr);
/// Get the average depth of the features in the image.
bool getSceneDepth(vio::Map& map, double& depth_mean, double& depth_min);
}; };
/// Some helper functions for the frame object.
namespace frame_utils {
/// Creates an image pyramid of half-sampled images.
void createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& pyr);
/// Get the average depth of the features in the image.
bool getSceneDepth(const FramePtr frame, double& depth_mean, double& depth_min);
} // namespace frame_utils
} // namespace vio } // namespace vio
#endif // SVO_FRAME_H_ #endif // SVO_FRAME_H_
GPU_version/vio/include/vio/initialization.h
+2 -2
View File
@@ -115,13 +115,13 @@ protected:
if(inlier_ekf.size()>inlier_hom.size()){ if(inlier_ekf.size()>inlier_hom.size()){
T_cur_from_ref=res.second; T_cur_from_ref=res.second;
inliers=inlier_ekf; inliers=inlier_ekf;
xyz_in_cur=xyz_in_hom; xyz_in_cur=xyz_in_ekf;
}else if((Homography.T_c2_from_c1.translation()-res.second.se3().translation()).norm()<0.1 && inlier_ekf.size()<inlier_hom.size()){ }else if((Homography.T_c2_from_c1.translation()-res.second.se3().translation()).norm()<0.1 && inlier_ekf.size()<inlier_hom.size()){
auto euler =Homography.T_c2_from_c1.unit_quaternion().normalized().toRotationMatrix().eulerAngles(0,1,2); auto euler =Homography.T_c2_from_c1.unit_quaternion().normalized().toRotationMatrix().eulerAngles(0,1,2);
res=ukf_->UpdateVO(Homography.T_c2_from_c1.translation().x(),Homography.T_c2_from_c1.translation().z(),euler(1)); res=ukf_->UpdateVO(Homography.T_c2_from_c1.translation().x(),Homography.T_c2_from_c1.translation().z(),euler(1));
T_cur_from_ref=res.second; T_cur_from_ref=res.second;
inliers=inlier_hom; inliers=inlier_hom;
xyz_in_cur=xyz_in_ekf; xyz_in_cur=xyz_in_hom;
} }
} }
GPU_version/vio/src/frame.cpp
+13 -11
View File
@@ -15,6 +15,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>. // along with this program. If not, see <http://www.gnu.org/licenses/>.
#include <stdexcept> #include <stdexcept>
#include <vio/map.h>
#include <vio/frame.h> #include <vio/frame.h>
#include <vio/feature.h> #include <vio/feature.h>
#include <vio/point.h> #include <vio/point.h>
@@ -53,7 +54,7 @@ void Frame::initFrame(const cv::Mat& img)
for(auto&& ftr:key_pts_)ftr.reset(); for(auto&& ftr:key_pts_)ftr.reset();
// Build Image Pyramid // Build Image Pyramid
frame_utils::createImgPyramid(img, max(Config::nPyrLevels(), Config::kltMaxLevel()+1), img_pyr_); createImgPyramid(img, max(Config::nPyrLevels(), Config::kltMaxLevel()+1), img_pyr_);
} }
void Frame::setKeyframe() void Frame::setKeyframe()
@@ -154,11 +155,7 @@ bool Frame::isVisible(const Vector3d& xyz_w) const
return false; return false;
} }
void Frame::createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& pyr)
/// Utility functions for the Frame class
namespace frame_utils {
void createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& pyr)
{ {
pyr.resize(n_levels); pyr.resize(n_levels);
pyr[0] = img_level_0; pyr[0] = img_level_0;
@@ -169,14 +166,20 @@ void createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& pyr)
} }
} }
bool getSceneDepth(const FramePtr frame, double& depth_mean, double& depth_min) bool Frame::getSceneDepth(vio::Map& map, double& depth_mean, double& depth_min)
{ {
vector<double> depth_vec; vector<double> depth_vec;
for(auto&& it:frame->fts_) for(auto it=fts_.begin(); it!=fts_.end();)
{ {
if(it->point != NULL) if((*it)->point != NULL)
{ {
depth_vec.push_back(frame->w2f(it->point->pos_).z()); double z=w2f((*it)->point->pos_).z();
if((*it)->point->pos_.hasNaN() || (*it)->point->pos_.norm()==0. || z<0.05 || z > 20.0){
map.safeDeletePoint((*it)->point);
it = fts_.erase(it);
continue;
}
depth_vec.push_back(z);
} }
} }
if(depth_vec.empty()) if(depth_vec.empty())
@@ -188,5 +191,4 @@ bool getSceneDepth(const FramePtr frame, double& depth_mean, double& depth_min)
return true; return true;
} }
} // namespace frame_utils
} // namespace vio } // namespace vio
GPU_version/vio/src/frame_handler_base.cpp
+2 -1
View File
@@ -116,6 +116,7 @@ void FrameHandlerBase::posEdit(
{ {
for(auto&& it:frame->fts_){ for(auto&& it:frame->fts_){
if(it->point!=NULL && !it->point->pos_.hasNaN() && it->point->pos_.norm() !=0.){ if(it->point!=NULL && !it->point->pos_.hasNaN() && it->point->pos_.norm() !=0.){
std::cerr<<frame->w2f(it->point->pos_).z()<<'\n';
if(it->point->obs_.size()==2){ if(it->point->obs_.size()==2){
Eigen::Matrix<double,4,4> A,frame_a,frame_b; Eigen::Matrix<double,4,4> A,frame_a,frame_b;
frame_a=it->point->obs_.front()->frame->se3().matrix(); frame_a=it->point->obs_.front()->frame->se3().matrix();
@@ -130,7 +131,7 @@ void FrameHandlerBase::posEdit(
const Eigen::Matrix<double,4,1> singular_vector = svd.matrixV().block<4, 1>(0, 3); const Eigen::Matrix<double,4,1> singular_vector = svd.matrixV().block<4, 1>(0, 3);
it->point->pos_=singular_vector.block<3, 1>(0, 0) / singular_vector(3); it->point->pos_=singular_vector.block<3, 1>(0, 0) / singular_vector(3);
} }
if(frame->w2f(it->point->pos_).z()<1e-9)map_.safeDeletePoint(it->point); //if(frame->w2f(it->point->pos_).z()<1e-9)map_.safeDeletePoint(it->point);
}else{ }else{
map_.safeDeletePoint(it->point); map_.safeDeletePoint(it->point);
} }
GPU_version/vio/src/frame_handler_mono.cpp
+3 -4
View File
@@ -123,7 +123,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
} }
new_frame_->setKeyframe(); new_frame_->setKeyframe();
double depth_mean, depth_min; double depth_mean, depth_min;
frame_utils::getSceneDepth(new_frame_, depth_mean, depth_min); new_frame_->getSceneDepth(map_, depth_mean, depth_min);
// add frame to map // add frame to map
map_.addKeyframe(new_frame_); map_.addKeyframe(new_frame_);
stage_ = STAGE_DEFAULT_FRAME; stage_ = STAGE_DEFAULT_FRAME;
@@ -179,15 +179,14 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
fprintf(log_,"[%s] Update EKF and 3D points the number of feature in the new frame: %d and number of obs: %d\n",vio::time_in_HH_MM_SS_MMM().c_str(), fprintf(log_,"[%s] Update EKF and 3D points the number of feature in the new frame: %d and number of obs: %d\n",vio::time_in_HH_MM_SS_MMM().c_str(),
new_frame_->fts_.size(),new_frame_->nObs()); new_frame_->fts_.size(),new_frame_->nObs());
#endif #endif
posEdit(new_frame_); //posEdit(new_frame_);
double depth_mean=0.0, depth_min=0.0; double depth_mean=0.0, depth_min=0.0;
frame_utils::getSceneDepth(new_frame_, depth_mean, depth_min); new_frame_->getSceneDepth(map_, depth_mean, depth_min);
#if VIO_DEBUG #if VIO_DEBUG
fprintf(log_,"[%s] frame Scene Depth mean:%f ,depth min:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(), fprintf(log_,"[%s] frame Scene Depth mean:%f ,depth min:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(),
depth_mean, depth_mean,
depth_min); depth_min);
#endif #endif
if(depth_mean>20.0 || depth_mean<-20.)return RESULT_NO_KEYFRAME;
optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter()); optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter());
// select keyframe // select keyframe
GPU_version/vio/src/global_optimizer.cpp
+1 -1
View File
@@ -110,7 +110,7 @@ namespace vio {
for(auto&& it_ftr:(*it_kf)->fts_) for(auto&& it_ftr:(*it_kf)->fts_)
{ {
if(it_ftr->point==NULL)continue; if(it_ftr->point==NULL)continue;
if(it_ftr->point->type_ == vio::Point::TYPE_UNKNOWN)continue; if(it_ftr->point->type_ != vio::Point::TYPE_GOOD)continue;
// for each keyframe add edges to all observed mapoints // for each keyframe add edges to all observed mapoints
std::shared_ptr<Point> mp = it_ftr->point; std::shared_ptr<Point> mp = it_ftr->point;
if(mp->pos_.hasNaN())continue; if(mp->pos_.hasNaN())continue;
GPU_version/vio/src/initialization.cpp
-1
View File
@@ -96,7 +96,6 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
if(frame_cur->cam_->isInFrame(Vector2d(px_cur_.at(f.index).x,px_cur_.at(f.index).y).cast<int>(), 10) && if(frame_cur->cam_->isInFrame(Vector2d(px_cur_.at(f.index).x,px_cur_.at(f.index).y).cast<int>(), 10) &&
frame_ref_->cam_->isInFrame(f.item->px.cast<int>(), 10)){ frame_ref_->cam_->isInFrame(f.item->px.cast<int>(), 10)){
Vector3d pos = xyz_in_cur_.at(f.index); Vector3d pos = xyz_in_cur_.at(f.index);
std::shared_ptr<Point> new_point = std::make_shared<Point>(pos); std::shared_ptr<Point> new_point = std::make_shared<Point>(pos);
std::shared_ptr<Feature> ftr_cur=std::make_shared<Feature>(frame_cur, new_point, Vector2d(px_cur_.at(f.index).x,px_cur_.at(f.index).y), std::shared_ptr<Feature> ftr_cur=std::make_shared<Feature>(frame_cur, new_point, Vector2d(px_cur_.at(f.index).x,px_cur_.at(f.index).y),
frame_cur->c2f(px_cur_.at(f.index).x,px_cur_.at(f.index).y), f.item->score,f.item->level,f.item->descriptor); frame_cur->c2f(px_cur_.at(f.index).x,px_cur_.at(f.index).y), f.item->score,f.item->level,f.item->descriptor);
GPU_version/vio/src/math_utils.cpp
+1 -1
View File
@@ -97,7 +97,7 @@ computeInliers(const vector<Vector3d>& features2, // c2
xyz_vec.push_back(triangulateFeatureNonLin(R, t, features1[j]/*reference*/, features2[j]/*current*/ )); xyz_vec.push_back(triangulateFeatureNonLin(R, t, features1[j]/*reference*/, features2[j]/*current*/ ));
double e1 = reprojError(features1[j], xyz_vec.back(), error_multiplier2); double e1 = reprojError(features1[j], xyz_vec.back(), error_multiplier2);
double e2 = reprojError(features2[j], SE3(R,t).inverse()*xyz_vec.back(), error_multiplier2); double e2 = reprojError(features2[j], SE3(R,t).inverse()*xyz_vec.back(), error_multiplier2);
if(e1 > reproj_thresh || e2 > reproj_thresh || xyz_vec.back().norm()==0.0) if(e1 > reproj_thresh || e2 > reproj_thresh || xyz_vec.back().norm()==0.0 ||xyz_vec.back().z()==0. ||xyz_vec.back().hasNaN())
outliers.push_back(j); outliers.push_back(j);
else else
{ {
GPU_version/vio/src/point.cpp
+2 -2
View File
@@ -172,8 +172,8 @@ void Point::optimize(const size_t n_iter)
if (e.squaredNorm() > 2.0*vio::Config::poseOptimThresh()/ (*it)->frame->cam_->errorMultiplier2()) if (e.squaredNorm() > 2.0*vio::Config::poseOptimThresh()/ (*it)->frame->cam_->errorMultiplier2())
n_failed_reproj_++; n_failed_reproj_++;
} }
/* if(n_failed_reproj_<0.50*obs_.size()) if(n_failed_reproj_<0.50*obs_.size())
type_=TYPE_GOOD;*/ type_=TYPE_GOOD;
} }
} // namespace vio } // namespace vio
GPU_version/vio/src/pose_optimizer.cpp
+5 -7
View File
@@ -54,7 +54,8 @@ void optimizeGaussNewton(
it = frame->fts_.erase(it); it = frame->fts_.erase(it);
continue; continue;
} }
if((*it)->point->pos_.hasNaN() || (*it)->point->pos_.norm()==0.){ double z=frame->w2f((*it)->point->pos_).z();
if((*it)->point->pos_.hasNaN() || (*it)->point->pos_.norm()==0. || z<0.05 || z > 20.0){
map.safeDeletePoint((*it)->point); map.safeDeletePoint((*it)->point);
it = frame->fts_.erase(it); it = frame->fts_.erase(it);
continue; continue;
@@ -95,13 +96,10 @@ void optimizeGaussNewton(
// compute residual // compute residual
for(auto it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) for(auto it=frame->fts_.begin(); it!=frame->fts_.end(); ++it)
{ {
if((*it)->point == NULL)continue; if((*it)->point->type_==vio::Point::TYPE_UNKNOWN)continue;
if((*it)->point->pos_.hasNaN() || (*it)->point->pos_.norm()==0. || (*it)->point->type_==vio::Point::TYPE_UNKNOWN)
continue;
Matrix23d J; Matrix23d J;
Vector3d xyz_f(Vector3d(frame->se3()*(*it)->point->pos_));
frame->jacobian_xyz2uv_((*it)->f,(*it)->point->pos_,J); frame->jacobian_xyz2uv_((*it)->f,(*it)->point->pos_,J);
Vector2d e = vk::project2d((*it)->f) - vk::project2d(xyz_f); Vector2d e = vk::project2d((*it)->f) - vk::project2d(frame->w2f((*it)->point->pos_));
double sqrt_inv_cov = 1.0 / (1<<(*it)->level); double sqrt_inv_cov = 1.0 / (1<<(*it)->level);
e *= sqrt_inv_cov; e *= sqrt_inv_cov;
J *= sqrt_inv_cov; J *= sqrt_inv_cov;
@@ -148,7 +146,7 @@ void optimizeGaussNewton(
Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_)); Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_));
e /= (1<<(*it)->level); e /= (1<<(*it)->level);
chi2_vec_final.push_back(e.norm()); chi2_vec_final.push_back(e.norm());
if(e.norm() > 0.5*vio::Config::poseOptimThresh() / frame->cam_->errorMultiplier2()) if(e.norm() > vio::Config::poseOptimThresh() / frame->cam_->errorMultiplier2())
{ {
map.safeDeletePoint((*it)->point); map.safeDeletePoint((*it)->point);
it = frame->fts_.erase(it); it = frame->fts_.erase(it);
GPU_version/vio/src/reprojector.cpp
+1 -1
View File
@@ -140,7 +140,7 @@ namespace vio {
// pose with respect to reference frame // pose with respect to reference frame
Vector3d pos=vk::triangulateFeatureNonLin(T_ref_cur.rotation_matrix(),T_ref_cur.translation(), Vector3d pos=vk::triangulateFeatureNonLin(T_ref_cur.rotation_matrix(),T_ref_cur.translation(),
(*it_ref)->f,frame->c2f(px)); (*it_ref)->f,frame->c2f(px));
if(pos.norm()==0. || pos.hasNaN())continue; if(pos.norm()==0. || pos.hasNaN() || pos.z() < 0.01)continue;
// point in world frame // point in world frame
std::shared_ptr<Point> new_point=std::make_shared<Point>(it_frame.item.first->se3()*pos,(*it_ref)); std::shared_ptr<Point> new_point=std::make_shared<Point>(it_frame.item.first->se3()*pos,(*it_ref));