diff --git a/GPU_version/vio/CMakeLists.txt b/GPU_version/vio/CMakeLists.txt
index 6b528ed..bc8efdb 100755
--- a/GPU_version/vio/CMakeLists.txt
+++ b/GPU_version/vio/CMakeLists.txt
@@ -41,7 +41,7 @@ add_service_files(FILES
 generate_messages(DEPENDENCIES std_msgs)
 catkin_package(
         DEPENDS Eigen OpenCV Boost
-        CATKIN_DEPENDS roscpp roslib image_transport cv_bridge tf geometry_msgs message_runtime
+        CATKIN_DEPENDS roscpp roslib image_transport cv_bridge tf geometry_msgs message_runtime getOdom stop start
         INCLUDE_DIRS include
 )
 # Include dirs
diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt
deleted file mode 100755
index e69de29..0000000
diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt
deleted file mode 100755
index 57cad92..0000000
--- a/GPU_version/vio/frame_handler_log.txt
+++ /dev/null
@@ -1,2465 +0,0 @@
-[21:00:22.439] Init: frame zero: 0.000000, 0.000000 0.000000
-[21:00:22.439] Init: Selected first frame. 
-[21:00:22.439] frame process finished the id is: 0 the obs is:0 
-[21:00:22.457] Init: px average disparity is:0.032512 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:22.457] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:22.457] frame process finished the id is: 1 the obs is:0 
-[21:00:22.564] Init: px average disparity is:0.031284 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:22.564] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:22.564] frame process finished the id is: 2 the obs is:0 
-[21:00:22.664] Init: px average disparity is:0.036556 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:22.664] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:22.664] frame process finished the id is: 3 the obs is:0 
-[21:00:22.764] Init: px average disparity is:0.032202 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:22.764] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:22.764] frame process finished the id is: 4 the obs is:0 
-[21:00:22.863] Init: px average disparity is:0.041515 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:22.863] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:22.863] frame process finished the id is: 5 the obs is:0 
-[21:00:22.964] Init: px average disparity is:0.030973 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:22.964] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:22.964] frame process finished the id is: 6 the obs is:0 
-[21:00:23.060] Init: px average disparity is:0.031908 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:23.060] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:23.060] frame process finished the id is: 7 the obs is:0 
-[21:00:23.161] Init: px average disparity is:0.035828 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:23.161] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:23.161] frame process finished the id is: 8 the obs is:0 
-[21:00:23.262] Init: px average disparity is:0.031084 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:23.262] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:23.262] frame process finished the id is: 9 the obs is:0 
-[21:00:23.363] Init: px average disparity is:0.040163 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:23.363] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:23.363] frame process finished the id is: 10 the obs is:0 
-[21:00:23.456] Init: px average disparity is:0.036231 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:23.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:23.456] frame process finished the id is: 11 the obs is:0 
-[21:00:23.563] Init: px average disparity is:0.032094 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:23.563] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:23.563] frame process finished the id is: 12 the obs is:0 
-[21:00:23.661] Init: px average disparity is:0.039061 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:23.661] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:23.661] frame process finished the id is: 13 the obs is:0 
-[21:00:23.718] Odometry x=0.000000, y=0.000000, theta=-0.000000
-[21:00:23.773] Init: px average disparity is:0.039995 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:23.773] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:23.773] frame process finished the id is: 14 the obs is:0 
-[21:00:23.860] Init: px average disparity is:0.032783 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:23.860] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:23.860] frame process finished the id is: 15 the obs is:0 
-[21:00:23.945] Odometry x=0.000002, y=0.019188, theta=0.000001
-[21:00:23.968] Init: px average disparity is:0.152070 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:23.968] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:23.968] frame process finished the id is: 16 the obs is:0 
-[21:00:24.064] Init: px average disparity is:6.438189 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:24.064] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:24.065] frame process finished the id is: 17 the obs is:0 
-[21:00:24.170] Init: px average disparity is:4.621185 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:24.170] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:24.170] frame process finished the id is: 18 the obs is:0 
-[21:00:24.210] Odometry x=-0.000065, y=0.051343, theta=0.000772
-[21:00:24.273] Init: px average disparity is:4.962524 ,While minimum is: 10.000000  KLT tracked : 896
-[21:00:24.273] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:24.273] frame process finished the id is: 19 the obs is:0 
-[21:00:24.372] Init: px average disparity is:9.757717 ,While minimum is: 10.000000  KLT tracked : 895
-[21:00:24.372] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:24.372] frame process finished the id is: 20 the obs is:0 
-[21:00:24.487] Odometry x=-0.000073, y=0.082094, theta=-0.000073
-[21:00:24.584] 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
-[21:00:24.584] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:24.584] frame process finished the id is: 21 the obs is:0 
-[21:00:24.678] 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
-[21:00:24.678] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:24.678] frame process finished the id is: 22 the obs is:0 
-[21:00:24.693] Odometry x=0.000285, y=0.111883, theta=0.001286
-[21:00:24.772] 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
-[21:00:24.772] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:24.772] frame process finished the id is: 23 the obs is:0 
-[21:00:24.869] 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
-[21:00:24.869] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:24.869] frame process finished the id is: 24 the obs is:0 
-[21:00:24.967] 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
-[21:00:24.967] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:24.967] frame process finished the id is: 25 the obs is:0 
-[21:00:24.998] Odometry x=-0.000146, y=0.140919, theta=0.004274
-[21:00:25.067] 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
-[21:00:25.067] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:25.067] frame process finished the id is: 26 the obs is:0 
-[21:00:25.167] 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
-[21:00:25.167] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:25.167] frame process finished the id is: 27 the obs is:0 
-[21:00:25.225] Odometry x=-0.000407, y=0.170009, theta=0.007560
-[21:00:25.269] 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
-[21:00:25.269] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:25.269] frame process finished the id is: 28 the obs is:0 
-[21:00:25.375] 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
-[21:00:25.375] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:25.375] frame process finished the id is: 29 the obs is:0 
-[21:00:25.461] Odometry x=-0.000702, y=0.199046, theta=0.010863
-[21:00:25.482] 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
-[21:00:25.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:25.482] frame process finished the id is: 30 the obs is:0 
-[21:00:25.587] 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
-[21:00:25.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:25.587] frame process finished the id is: 31 the obs is:0 
-[21:00:25.690] 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
-[21:00:25.690] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:25.690] frame process finished the id is: 32 the obs is:0 
-[21:00:25.720] Odometry x=-0.001426, y=0.227932, theta=0.024094
-[21:00:25.798] Init: Homography RANSAC (inlier) is:30 ,While 40 inliers minimum required.  px average disparity is:44.933862 ,While minimum is: 10.000000  KLT tracked: 753
-[21:00:25.798] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:25.798] frame process finished the id is: 33 the obs is:0 
-[21:00:25.903] Init: Homography RANSAC (inlier) is:24 ,While 40 inliers minimum required.  px average disparity is:49.476380 ,While minimum is: 10.000000  KLT tracked: 751
-[21:00:25.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:25.903] frame process finished the id is: 34 the obs is:0 
-[21:00:25.946] Odometry x=0.000526, y=0.247943, theta=0.015202
-[21:00:26.007] Init: Homography RANSAC (inlier) is:24 ,While 40 inliers minimum required.  px average disparity is:54.306628 ,While minimum is: 10.000000  KLT tracked: 746
-[21:00:26.007] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:26.007] frame process finished the id is: 35 the obs is:0 
-[21:00:26.114] Init: Homography RANSAC (inlier) is:24 ,While 40 inliers minimum required.  px average disparity is:50.945457 ,While minimum is: 10.000000  KLT tracked: 737
-[21:00:26.114] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:26.114] frame process finished the id is: 36 the obs is:0 
-[21:00:26.181] Odometry x=0.000566, y=0.271579, theta=0.001492
-[21:00:26.222] Init: Homography RANSAC (inlier) is:24 ,While 40 inliers minimum required.  px average disparity is:45.043536 ,While minimum is: 10.000000  KLT tracked: 737
-[21:00:26.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:26.222] frame process finished the id is: 37 the obs is:0 
-[21:00:26.331] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:42.854775 ,While minimum is: 10.000000  KLT tracked: 734
-[21:00:26.331] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:26.331] frame process finished the id is: 38 the obs is:0 
-[21:00:26.435] Odometry x=0.000439, y=0.295440, theta=0.016455
-[21:00:26.449] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:84.759293 ,While minimum is: 10.000000  KLT tracked: 718
-[21:00:26.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:26.449] frame process finished the id is: 39 the obs is:0 
-[21:00:26.562] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:41.534768 ,While minimum is: 10.000000  KLT tracked: 698
-[21:00:26.562] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:26.562] frame process finished the id is: 40 the obs is:0 
-[21:00:26.671] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:41.889906 ,While minimum is: 10.000000  KLT tracked: 694
-[21:00:26.671] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:26.671] frame process finished the id is: 41 the obs is:0 
-[21:00:26.689] Odometry x=0.000152, y=0.321343, theta=-0.000468
-[21:00:26.781] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:50.036638 ,While minimum is: 10.000000  KLT tracked: 694
-[21:00:26.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:26.781] frame process finished the id is: 42 the obs is:0 
-[21:00:26.889] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:50.460985 ,While minimum is: 10.000000  KLT tracked: 694
-[21:00:26.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:26.890] frame process finished the id is: 43 the obs is:0 
-[21:00:26.995] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:55.866772 ,While minimum is: 10.000000  KLT tracked: 694
-[21:00:26.995] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:26.995] frame process finished the id is: 44 the obs is:0 
-[21:00:27.027] Odometry x=0.000144, y=0.345626, theta=-0.004008
-[21:00:27.102] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:55.873501 ,While minimum is: 10.000000  KLT tracked: 694
-[21:00:27.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:27.103] frame process finished the id is: 45 the obs is:0 
-[21:00:27.192] Odometry x=0.000164, y=0.369223, theta=-0.009315
-[21:00:27.207] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:54.897315 ,While minimum is: 10.000000  KLT tracked: 692
-[21:00:27.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:27.207] frame process finished the id is: 46 the obs is:0 
-[21:00:27.313] 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
-[21:00:27.313] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:27.313] frame process finished the id is: 47 the obs is:0 
-[21:00:27.417] 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
-[21:00:27.417] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[21:00:27.417] frame process finished the id is: 48 the obs is:0 
-[21:00:27.441] Odometry x=0.000455, y=0.394322, theta=-0.012095
-[21:00:27.522] Init finished: Homography RANSAC (inlier) is:117 ,While 40 inliers minimum required.  px average disparity is:63.374556 ,While minimum is: 10.000000  KLT tracked: 683
-[21:00:27.522] Init: distance between the first and current frame is x:-0.000249 ,z=0.421442,angle between two frames: -0.007567 
-[21:00:27.522] Init: Selected Second frame. 	 The number of features: 117 depth mean:0.663455 min:0.559758
-[21:00:27.522] frame process finished the id is: 49 the obs is:117 
-[21:00:27.654] After Reprojection Map nMatches:74 ,distance between ekf and vo x:0.003199 ,z=-0.001520,angle between two frames:0.000848
-[21:00:27.654]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =69 	 error init =0.007276 	 error end=0.011249
-[21:00:27.654] After pose optimization, distance between ekf and vo x:0.003199 ,z=-0.001520,angle between two frames:0.000848
-[21:00:27.654] Update EKF and 3D points the number of feature in the new frame: 69 and number of obs: 69
-[21:00:27.654] frame Scene Depth mean:0.668804 ,depth min:0.563014
-[21:00:27.654] need key frame pitch dis: 0.010169 translation dif:0.419856
-[21:00:27.654] Choose frame as a key frame Scene Depth mean:0.668804 ,depth min:0.563014
-[21:00:27.654] frame process finished the id is: 50 the obs is:69 
-[21:00:27.684] Odometry x=0.000431, y=0.419855, theta=-0.010169
-[21:00:27.796] After Reprojection Map nMatches:88 ,distance between ekf and vo x:0.001049 ,z=0.001389,angle between two frames:0.000837
-[21:00:27.797]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =71 	 error init =0.037046 	 error end=0.020149
-[21:00:27.797] After pose optimization, distance between ekf and vo x:0.001049 ,z=0.001389,angle between two frames:0.000837
-[21:00:27.797] Update EKF and 3D points the number of feature in the new frame: 71 and number of obs: 71
-[21:00:27.797] frame Scene Depth mean:0.663743 ,depth min:0.545198
-[21:00:27.797] need key frame pitch dis: 0.003384 translation dif:0.012537
-[21:00:27.797] frame process finished the id is: 51 the obs is:71 
-[21:00:27.960] Odometry x=0.001001, y=0.433916, theta=-0.004184
-[21:00:27.967] After Reprojection Map nMatches:84 ,distance between ekf and vo x:-0.002030 ,z=0.006241,angle between two frames:0.000447
-[21:00:27.967]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =71 	 error init =0.018279 	 error end=0.033686
-[21:00:27.967] After pose optimization, distance between ekf and vo x:-0.002030 ,z=0.006241,angle between two frames:0.000447
-[21:00:27.967] Update EKF and 3D points the number of feature in the new frame: 71 and number of obs: 71
-[21:00:27.967] frame Scene Depth mean:0.644675 ,depth min:0.470864
-[21:00:27.967] need key frame pitch dis: 0.003543 translation dif:0.038826
-[21:00:27.967] frame process finished the id is: 52 the obs is:71 
-[21:00:28.109] After Reprojection Map nMatches:80 ,distance between ekf and vo x:-0.000516 ,z=0.002891,angle between two frames:0.000470
-[21:00:28.109]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =76 	 error init =0.000274 	 error end=0.000680
-[21:00:28.109] After pose optimization, distance between ekf and vo x:-0.000516 ,z=0.002891,angle between two frames:0.000470
-[21:00:28.109] Update EKF and 3D points the number of feature in the new frame: 76 and number of obs: 76
-[21:00:28.109] frame Scene Depth mean:0.783194 ,depth min:0.052091
-[21:00:28.110] need key frame pitch dis: 0.009901 translation dif:0.042184
-[21:00:28.110] frame process finished the id is: 53 the obs is:76 
-[21:00:28.192] Odometry x=0.000241, y=0.463623, theta=0.002333
-[21:00:28.251] After Reprojection Map nMatches:85 ,distance between ekf and vo x:0.001330 ,z=0.001811,angle between two frames:0.000996
-[21:00:28.251]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =78 	 error init =0.032473 	 error end=0.013551
-[21:00:28.251] After pose optimization, distance between ekf and vo x:0.001330 ,z=0.001811,angle between two frames:0.000996
-[21:00:28.251] Update EKF and 3D points the number of feature in the new frame: 78 and number of obs: 78
-[21:00:28.251] frame Scene Depth mean:0.770037 ,depth min:0.050708
-[21:00:28.252] need key frame pitch dis: 0.014864 translation dif:0.051986
-[21:00:28.252] frame process finished the id is: 54 the obs is:77 
-[21:00:28.385] After Reprojection Map nMatches:77 ,distance between ekf and vo x:-0.001235 ,z=0.002962,angle between two frames:0.000096
-[21:00:28.385]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =70 	 error init =0.011194 	 error end=0.017687
-[21:00:28.385] After pose optimization, distance between ekf and vo x:-0.001235 ,z=0.002962,angle between two frames:0.000096
-[21:00:28.385] Update EKF and 3D points the number of feature in the new frame: 70 and number of obs: 70
-[21:00:28.385] frame Scene Depth mean:0.745019 ,depth min:0.050637
-[21:00:28.385] need key frame pitch dis: 0.019192 translation dif:0.056261
-[21:00:28.385] frame process finished the id is: 55 the obs is:70 
-[21:00:28.448] Odometry x=0.000143, y=0.476116, theta=0.009023
-[21:00:28.522] After Reprojection Map nMatches:86 ,distance between ekf and vo x:-0.000684 ,z=0.003240,angle between two frames:0.000572
-[21:00:28.522]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =77 	 error init =0.020721 	 error end=0.057241
-[21:00:28.522] After pose optimization, distance between ekf and vo x:-0.000684 ,z=0.003240,angle between two frames:0.000572
-[21:00:28.522] Update EKF and 3D points the number of feature in the new frame: 77 and number of obs: 77
-[21:00:28.522] frame Scene Depth mean:0.909819 ,depth min:0.082028
-[21:00:28.522] need key frame pitch dis: 0.015270 translation dif:0.065731
-[21:00:28.522] frame process finished the id is: 56 the obs is:77 
-[21:00:28.673] After Reprojection Map nMatches:75 ,distance between ekf and vo x:0.002771 ,z=0.003213,angle between two frames:0.002423
-[21:00:28.673]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =56 	 error init =0.034340 	 error end=0.112090
-[21:00:28.673] After pose optimization, distance between ekf and vo x:0.002771 ,z=0.003213,angle between two frames:0.002423
-[21:00:28.673] Update EKF and 3D points the number of feature in the new frame: 56 and number of obs: 56
-[21:00:28.673] frame Scene Depth mean:1.026586 ,depth min:0.079310
-[21:00:28.673] need key frame pitch dis: 0.015485 translation dif:0.068493
-[21:00:28.673] frame process finished the id is: 57 the obs is:56 
-[21:00:28.700] Odometry x=0.003368, y=0.489839, theta=0.007918
-[21:00:28.809] After Reprojection Map nMatches:62 ,distance between ekf and vo x:-0.001409 ,z=0.003516,angle between two frames:0.000157
-[21:00:28.809]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =54 	 error init =0.035377 	 error end=0.012776
-[21:00:28.809] After pose optimization, distance between ekf and vo x:-0.001409 ,z=0.003516,angle between two frames:0.000157
-[21:00:28.809] Update EKF and 3D points the number of feature in the new frame: 54 and number of obs: 54
-[21:00:28.809] frame Scene Depth mean:1.339878 ,depth min:0.066555
-[21:00:28.810] need key frame pitch dis: 0.026358 translation dif:0.080207
-[21:00:28.810] frame process finished the id is: 58 the obs is:54 
-[21:00:28.924] After Reprojection Map nMatches:59 ,distance between ekf and vo x:-0.001035 ,z=0.001767,angle between two frames:0.000119
-[21:00:28.924]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =45 	 error init =0.065050 	 error end=0.008173
-[21:00:28.924] After pose optimization, distance between ekf and vo x:0.110258 ,z=-0.114810,angle between two frames:0.000185
-[21:00:28.924] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45
-[21:00:28.924] frame Scene Depth mean:0.725491 ,depth min:0.100798
-[21:00:28.924] need key frame pitch dis: 0.033265 translation dif:0.063034
-[21:00:28.924] frame process finished the id is: 59 the obs is:45 
-[21:00:29.004] Odometry x=0.030353, y=0.475335, theta=0.023096
-[21:00:29.031] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.000791 ,z=0.001330,angle between two frames:0.000169
-[21:00:29.031]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =33 	 error init =0.036426 	 error end=0.069951
-[21:00:29.031] After pose optimization, distance between ekf and vo x:-0.000791 ,z=0.001330,angle between two frames:0.000169
-[21:00:29.031] Update EKF and 3D points the number of feature in the new frame: 33 and number of obs: 33
-[21:00:29.031] frame Scene Depth mean:0.680287 ,depth min:0.069525
-[21:00:29.031] need key frame pitch dis: 0.033326 translation dif:0.091713
-[21:00:29.031] frame process finished the id is: 60 the obs is:33 
-[21:00:29.123] After Reprojection Map nMatches:33 ,distance between ekf and vo x:-0.000451 ,z=0.000774,angle between two frames:0.000007
-[21:00:29.123]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =31 	 error init =0.008585 	 error end=0.008853
-[21:00:29.123] After pose optimization, distance between ekf and vo x:-0.000451 ,z=0.000774,angle between two frames:0.000007
-[21:00:29.123] Update EKF and 3D points the number of feature in the new frame: 31 and number of obs: 31
-[21:00:29.123] frame Scene Depth mean:0.664454 ,depth min:0.065120
-[21:00:29.123] need key frame pitch dis: 0.031860 translation dif:0.510967
-[21:00:29.123] Choose frame as a key frame Scene Depth mean:0.664454 ,depth min:0.065120
-[21:00:29.123] frame process finished the id is: 61 the obs is:31 
-[21:00:29.178] Odometry x=0.029331, y=0.510124, theta=0.031860
-[21:00:29.235] After Reprojection Map nMatches:31 ,distance between ekf and vo x:-0.001023 ,z=0.001842,angle between two frames:0.000036
-[21:00:29.235]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =31 	 error init =0.000040 	 error end=0.000086
-[21:00:29.236] After pose optimization, distance between ekf and vo x:-0.001023 ,z=0.001842,angle between two frames:0.000036
-[21:00:29.236] Update EKF and 3D points the number of feature in the new frame: 31 and number of obs: 31
-[21:00:29.236] frame Scene Depth mean:0.763463 ,depth min:0.057788
-[21:00:29.236] need key frame pitch dis: 0.008005 translation dif:0.521543
-[21:00:29.236] Choose frame as a key frame Scene Depth mean:0.763463 ,depth min:0.057788
-[21:00:29.236] frame process finished the id is: 62 the obs is:31 
-[21:00:29.366] After Reprojection Map nMatches:30 ,distance between ekf and vo x:-0.001522 ,z=0.002851,angle between two frames:0.000022
-[21:00:29.366]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =11 	 error init =0.187353 	 error end=0.362774
-[21:00:29.366] After pose optimization, distance between ekf and vo x:0.497821 ,z=-0.579475,angle between two frames:0.003139
-[21:00:29.366] frame process finished the id is: 62 the obs is:31 
-[21:00:29.464] Odometry x=0.028925, y=0.520741, theta=0.008005
-[21:00:29.504] After Reprojection Map nMatches:33 ,distance between ekf and vo x:-0.003123 ,z=0.006476,angle between two frames:0.000133
-[21:00:29.504]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =13 	 error init =0.082853 	 error end=0.121171
-[21:00:29.504] After pose optimization, distance between ekf and vo x:-0.003123 ,z=0.006476,angle between two frames:0.000133
-[21:00:29.504] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13
-[21:00:29.504] frame Scene Depth mean:1.204929 ,depth min:0.422010
-[21:00:29.504] need key frame pitch dis: 0.023783 translation dif:0.040157
-[21:00:29.504] frame process finished the id is: 64 the obs is:13 
-[21:00:29.662] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.007104 ,z=0.013744,angle between two frames:0.000038
-[21:00:29.662]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =21 	 error init =0.017148 	 error end=0.027087
-[21:00:29.662] After pose optimization, distance between ekf and vo x:1.148499 ,z=-1.803061,angle between two frames:0.042557
-[21:00:29.662] frame process finished the id is: 64 the obs is:13 
-[21:00:29.675] Odometry x=0.028183, y=0.553176, theta=0.009940
-[21:00:29.820] After Reprojection Map nMatches:36 ,distance between ekf and vo x:-0.006720 ,z=0.014402,angle between two frames:0.000531
-[21:00:29.820]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =26 	 error init =0.166526 	 error end=0.045231
-[21:00:29.820] After pose optimization, distance between ekf and vo x:-0.006720 ,z=0.014402,angle between two frames:0.000531
-[21:00:29.820] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26
-[21:00:29.820] frame Scene Depth mean:1.686702 ,depth min:0.269102
-[21:00:29.820] need key frame pitch dis: 0.019637 translation dif:0.150753
-[21:00:29.820] Choose frame as a key frame Scene Depth mean:1.686702 ,depth min:0.269102
-[21:00:29.820] frame process finished the id is: 66 the obs is:26 
-[21:00:29.935] Odometry x=0.026602, y=0.569785, theta=0.012069
-[21:00:29.985] After Reprojection Map nMatches:31 ,distance between ekf and vo x:-0.018171 ,z=0.037160,angle between two frames:0.001498
-[21:00:29.985]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =26 	 error init =0.005273 	 error end=0.011485
-[21:00:29.985] After pose optimization, distance between ekf and vo x:-0.018171 ,z=0.037160,angle between two frames:0.001498
-[21:00:29.985] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26
-[21:00:29.985] frame Scene Depth mean:2.223842 ,depth min:0.232446
-[21:00:29.985] need key frame pitch dis: 0.019174 translation dif:0.096771
-[21:00:29.985] frame process finished the id is: 67 the obs is:26 
-[21:00:30.106] After Reprojection Map nMatches:23 ,distance between ekf and vo x:-1.015436 ,z=-0.426872,angle between two frames:0.800180
-[21:00:30.106]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =14 	 error init =0.079913 	 error end=0.065910
-[21:00:30.106] After pose optimization, distance between ekf and vo x:-0.940036 ,z=-0.469647,angle between two frames:0.822238
-[21:00:30.106] frame process finished the id is: 67 the obs is:26 
-[21:00:30.199] Odometry x=0.023389, y=0.606548, theta=0.015247
-[21:00:30.231] After Reprojection Map nMatches:23 ,distance between ekf and vo x:-1.015194 ,z=-0.428250,angle between two frames:0.800286
-[21:00:30.231]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =22 	 error init =0.000520 	 error end=0.000212
-[21:00:30.231] After pose optimization, distance between ekf and vo x:-1.011599 ,z=-0.432230,angle between two frames:0.799855
-[21:00:30.231] frame process finished the id is: 67 the obs is:26 
-[21:00:30.365] After Reprojection Map nMatches:44 ,distance between ekf and vo x:-0.587065 ,z=-0.380945,angle between two frames:0.499673
-[21:00:30.365]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =38 	 error init =0.020597 	 error end=0.010017
-[21:00:30.365] After pose optimization, distance between ekf and vo x:-0.559848 ,z=-0.306820,angle between two frames:0.494947
-[21:00:30.365] frame process finished the id is: 67 the obs is:26 
-[21:00:30.429] Odometry x=0.023245, y=0.623898, theta=0.041458
-[21:00:30.485] After Reprojection Map nMatches:20 ,distance between ekf and vo x:-0.001241 ,z=0.001314,angle between two frames:0.000468
-[21:00:30.485]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.079118 	 error end=0.232369
-[21:00:30.485] After pose optimization, distance between ekf and vo x:-0.001241 ,z=0.001314,angle between two frames:0.000468
-[21:00:30.485] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[21:00:30.485] frame Scene Depth mean:2.113534 ,depth min:0.192944
-[21:00:30.485] need key frame pitch dis: 0.051567 translation dif:0.216697
-[21:00:30.485] Choose frame as a key frame Scene Depth mean:2.113534 ,depth min:0.192944
-[21:00:30.485] frame process finished the id is: 71 the obs is:12 
-[21:00:30.577] After Reprojection Map nMatches:12 ,distance between ekf and vo x:-0.000520 ,z=0.000468,angle between two frames:0.000068
-[21:00:30.577]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[21:00:30.577] After pose optimization, distance between ekf and vo x:-0.000520 ,z=0.000468,angle between two frames:0.000068
-[21:00:30.577] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[21:00:30.577] frame Scene Depth mean:2.095568 ,depth min:0.189802
-[21:00:30.577] need key frame pitch dis: 0.045146 translation dif:0.640114
-[21:00:30.577] Choose frame as a key frame Scene Depth mean:2.095568 ,depth min:0.189802
-[21:00:30.577] frame process finished the id is: 72 the obs is:12 
-[21:00:30.681] Odometry x=0.023160, y=0.639695, theta=0.045146
-[21:00:30.688] After Reprojection Map nMatches:15 ,distance between ekf and vo x:-0.001127 ,z=0.001370,angle between two frames:0.000090
-[21:00:30.688]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =15 	 error init =0.000000 	 error end=0.000000
-[21:00:30.688] After pose optimization, distance between ekf and vo x:-0.001127 ,z=0.001370,angle between two frames:0.000090
-[21:00:30.688] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15
-[21:00:30.688] frame Scene Depth mean:2.014671 ,depth min:0.076233
-[21:00:30.688] need key frame pitch dis: 0.001129 translation dif:0.031695
-[21:00:30.688] frame process finished the id is: 73 the obs is:15 
-[21:00:30.801] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.001486 ,z=0.001700,angle between two frames:0.000097
-[21:00:30.801]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =16 	 error init =0.000238 	 error end=0.000142
-[21:00:30.801] After pose optimization, distance between ekf and vo x:-0.001486 ,z=0.001700,angle between two frames:0.000097
-[21:00:30.801] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16
-[21:00:30.801] frame Scene Depth mean:2.401765 ,depth min:0.071745
-[21:00:30.802] need key frame pitch dis: 0.003220 translation dif:0.031943
-[21:00:30.802] frame process finished the id is: 74 the obs is:16 
-[21:00:30.919] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.001124 ,z=0.001514,angle between two frames:0.000030
-[21:00:30.919]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =16 	 error init =0.021196 	 error end=0.001405
-[21:00:30.919] After pose optimization, distance between ekf and vo x:-0.001124 ,z=0.001514,angle between two frames:0.000030
-[21:00:30.919] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16
-[21:00:30.919] frame Scene Depth mean:2.392904 ,depth min:0.070411
-[21:00:30.919] need key frame pitch dis: 0.004611 translation dif:0.032640
-[21:00:30.919] frame process finished the id is: 75 the obs is:16 
-[21:00:31.010] Odometry x=0.021233, y=0.672278, theta=0.049758
-[21:00:31.053] After Reprojection Map nMatches:19 ,distance between ekf and vo x:-0.001127 ,z=0.003688,angle between two frames:0.000562
-[21:00:31.053]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =19 	 error init =0.000004 	 error end=0.000002
-[21:00:31.053] After pose optimization, distance between ekf and vo x:-0.001127 ,z=0.003688,angle between two frames:0.000562
-[21:00:31.053] Update EKF and 3D points the number of feature in the new frame: 19 and number of obs: 19
-[21:00:31.053] frame Scene Depth mean:2.572452 ,depth min:0.058104
-[21:00:31.053] need key frame pitch dis: 0.005946 translation dif:0.064652
-[21:00:31.053] frame process finished the id is: 76 the obs is:18 
-[21:00:31.168] After Reprojection Map nMatches:17 ,distance between ekf and vo x:-0.000641 ,z=0.000854,angle between two frames:0.000022
-[21:00:31.168]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =17 	 error init =0.000065 	 error end=0.000245
-[21:00:31.168] After pose optimization, distance between ekf and vo x:-0.000641 ,z=0.000854,angle between two frames:0.000022
-[21:00:31.168] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17
-[21:00:31.168] frame Scene Depth mean:2.551490 ,depth min:0.052043
-[21:00:31.168] need key frame pitch dis: 0.057410 translation dif:0.704354
-[21:00:31.168] Choose frame as a key frame Scene Depth mean:2.551490 ,depth min:0.052043
-[21:00:31.168] frame process finished the id is: 77 the obs is:17 
-[21:00:31.176] Odometry x=0.019445, y=0.704085, theta=0.057410
-[21:00:31.326] After Reprojection Map nMatches:18 ,distance between ekf and vo x:-0.001954 ,z=-0.000883,angle between two frames:0.000854
-[21:00:31.326]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =18 	 error init =0.002086 	 error end=0.001588
-[21:00:31.326] After pose optimization, distance between ekf and vo x:-0.001954 ,z=-0.000883,angle between two frames:0.000854
-[21:00:31.326] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18
-[21:00:31.326] frame Scene Depth mean:2.698144 ,depth min:2.540520
-[21:00:31.327] need key frame pitch dis: 0.066161 translation dif:0.714574
-[21:00:31.327] Choose frame as a key frame Scene Depth mean:2.698144 ,depth min:2.540520
-[21:00:31.327] frame process finished the id is: 78 the obs is:17 
-[21:00:31.465] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.000503 ,z=0.010324,angle between two frames:0.002941
-[21:00:31.465]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =24 	 error init =0.007113 	 error end=0.001078
-[21:00:31.465] After pose optimization, distance between ekf and vo x:0.000503 ,z=0.010324,angle between two frames:0.002941
-[21:00:31.465] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24
-[21:00:31.465] frame Scene Depth mean:2.704561 ,depth min:0.315637
-[21:00:31.465] need key frame pitch dis: 0.014069 translation dif:0.015542
-[21:00:31.465] frame process finished the id is: 79 the obs is:24 
-[21:00:31.481] Odometry x=0.018885, y=0.719617, theta=0.071479
-[21:00:31.603] After Reprojection Map nMatches:22 ,distance between ekf and vo x:-0.000682 ,z=0.015772,angle between two frames:0.004030
-[21:00:31.603]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =21 	 error init =0.004107 	 error end=0.001460
-[21:00:31.603] After pose optimization, distance between ekf and vo x:-0.000806 ,z=0.021240,angle between two frames:0.006461
-[21:00:31.603] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21
-[21:00:31.603] frame Scene Depth mean:2.198409 ,depth min:0.199157
-[21:00:31.603] need key frame pitch dis: 0.011547 translation dif:0.031228
-[21:00:31.603] frame process finished the id is: 80 the obs is:21 
-[21:00:31.681] Odometry x=0.018334, y=0.735293, theta=0.068957
-[21:00:31.729] After Reprojection Map nMatches:20 ,distance between ekf and vo x:-0.026851 ,z=0.043721,angle between two frames:0.001072
-[21:00:31.729]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =20 	 error init =0.000068 	 error end=0.000020
-[21:00:31.729] After pose optimization, distance between ekf and vo x:-0.026851 ,z=0.043721,angle between two frames:0.001072
-[21:00:31.729] Update EKF and 3D points the number of feature in the new frame: 20 and number of obs: 20
-[21:00:31.729] frame Scene Depth mean:1.645619 ,depth min:0.165813
-[21:00:31.730] need key frame pitch dis: 0.069514 translation dif:0.774756
-[21:00:31.730] Choose frame as a key frame Scene Depth mean:1.645619 ,depth min:0.165813
-[21:00:31.730] frame process finished the id is: 81 the obs is:20 
-[21:00:31.868] After Reprojection Map nMatches:23 ,distance between ekf and vo x:-0.128170 ,z=-0.015304,angle between two frames:0.057776
-[21:00:31.868]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =21 	 error init =0.011411 	 error end=0.015010
-[21:00:31.869] After pose optimization, distance between ekf and vo x:-0.128170 ,z=-0.015304,angle between two frames:0.057776
-[21:00:31.869] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21
-[21:00:31.869] frame Scene Depth mean:1.420748 ,depth min:0.173548
-[21:00:31.869] need key frame pitch dis: 0.003200 translation dif:0.137360
-[21:00:31.869] Choose frame as a key frame Scene Depth mean:1.420748 ,depth min:0.173548
-[21:00:31.869] frame process finished the id is: 82 the obs is:17 
-[21:00:31.932] Odometry x=-0.020699, y=0.769865, theta=0.041947
-[21:00:32.001] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.052606 ,z=0.014855,angle between two frames:0.018812
-[21:00:32.001]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =18 	 error init =0.105064 	 error end=0.132061
-[21:00:32.001] After pose optimization, distance between ekf and vo x:-0.052606 ,z=0.014855,angle between two frames:0.018812
-[21:00:32.001] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18
-[21:00:32.001] frame Scene Depth mean:1.334643 ,depth min:0.155472
-[21:00:32.001] need key frame pitch dis: 0.022786 translation dif:0.044901
-[21:00:32.001] frame process finished the id is: 83 the obs is:18 
-[21:00:32.132] After Reprojection Map nMatches:21 ,distance between ekf and vo x:0.087075 ,z=0.092711,angle between two frames:0.062936
-[21:00:32.132]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =20 	 error init =0.001374 	 error end=0.001616
-[21:00:32.132] After pose optimization, distance between ekf and vo x:0.092242 ,z=0.084737,angle between two frames:0.063095
-[21:00:32.132] Update EKF and 3D points the number of feature in the new frame: 20 and number of obs: 20
-[21:00:32.132] frame Scene Depth mean:1.589307 ,depth min:0.130517
-[21:00:32.132] need key frame pitch dis: 0.013819 translation dif:0.037098
-[21:00:32.132] frame process finished the id is: 84 the obs is:20 
-[21:00:32.185] Odometry x=-0.000795, y=0.810349, theta=0.083333
-[21:00:32.262] After Reprojection Map nMatches:27 ,distance between ekf and vo x:-0.007316 ,z=0.014955,angle between two frames:0.001347
-[21:00:32.262]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =27 	 error init =0.000080 	 error end=0.000008
-[21:00:32.262] After pose optimization, distance between ekf and vo x:-0.007316 ,z=0.014955,angle between two frames:0.001347
-[21:00:32.262] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27
-[21:00:32.262] frame Scene Depth mean:1.260920 ,depth min:0.104018
-[21:00:32.262] need key frame pitch dis: 0.007439 translation dif:0.051402
-[21:00:32.262] frame process finished the id is: 85 the obs is:27 
-[21:00:32.400] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.064440 ,z=-0.016505,angle between two frames:0.031964
-[21:00:32.400]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =24 	 error init =0.003436 	 error end=0.000832
-[21:00:32.400] After pose optimization, distance between ekf and vo x:-0.066968 ,z=-0.005008,angle between two frames:0.031561
-[21:00:32.400] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24
-[21:00:32.400] frame Scene Depth mean:1.392430 ,depth min:0.107223
-[21:00:32.401] need key frame pitch dis: 0.060365 translation dif:0.823223
-[21:00:32.401] Choose frame as a key frame Scene Depth mean:1.392430 ,depth min:0.107223
-[21:00:32.401] frame process finished the id is: 86 the obs is:24 
-[21:00:32.419] Odometry x=-0.018755, y=0.823009, theta=0.060365
-[21:00:32.555] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.006190 ,z=0.027192,angle between two frames:0.010445
-[21:00:32.555]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =22 	 error init =0.119093 	 error end=0.011125
-[21:00:32.555] After pose optimization, distance between ekf and vo x:0.006190 ,z=0.027192,angle between two frames:0.010445
-[21:00:32.555] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22
-[21:00:32.555] frame Scene Depth mean:1.009962 ,depth min:0.089667
-[21:00:32.555] need key frame pitch dis: 0.024417 translation dif:0.070651
-[21:00:32.555] frame process finished the id is: 87 the obs is:22 
-[21:00:32.671] Odometry x=-0.017881, y=0.840459, theta=0.066364
-[21:00:32.690] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.010697 ,z=0.019222,angle between two frames:0.000796
-[21:00:32.690]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =21 	 error init =0.038128 	 error end=0.014520
-[21:00:32.690] After pose optimization, distance between ekf and vo x:-0.010697 ,z=0.019222,angle between two frames:0.000796
-[21:00:32.690] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21
-[21:00:32.690] frame Scene Depth mean:2.362273 ,depth min:0.084945
-[21:00:32.690] need key frame pitch dis: 0.006262 translation dif:0.022473
-[21:00:32.690] frame process finished the id is: 88 the obs is:21 
-[21:00:32.827] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.000072 ,z=0.026525,angle between two frames:0.007638
-[21:00:32.827]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =30 	 error init =0.068072 	 error end=0.004876
-[21:00:32.827] After pose optimization, distance between ekf and vo x:0.000072 ,z=0.026525,angle between two frames:0.007638
-[21:00:32.827] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30
-[21:00:32.827] frame Scene Depth mean:2.852942 ,depth min:0.078985
-[21:00:32.828] need key frame pitch dis: 0.019950 translation dif:0.081715
-[21:00:32.828] frame process finished the id is: 89 the obs is:30 
-[21:00:32.988] After Reprojection Map nMatches:25 ,distance between ekf and vo x:-0.019115 ,z=0.024035,angle between two frames:0.001219
-[21:00:32.988]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =25 	 error init =0.000265 	 error end=0.000257
-[21:00:32.988] After pose optimization, distance between ekf and vo x:-0.019115 ,z=0.024035,angle between two frames:0.001219
-[21:00:32.988] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25
-[21:00:32.988] frame Scene Depth mean:2.184657 ,depth min:0.078536
-[21:00:32.989] need key frame pitch dis: 0.004235 translation dif:0.030223
-[21:00:32.989] frame process finished the id is: 90 the obs is:25 
-[21:00:33.132] After Reprojection Map nMatches:27 ,distance between ekf and vo x:-0.024743 ,z=0.026332,angle between two frames:0.003135
-[21:00:33.132]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =23 	 error init =0.019407 	 error end=0.002209
-[21:00:33.132] After pose optimization, distance between ekf and vo x:-0.024743 ,z=0.026332,angle between two frames:0.003135
-[21:00:33.132] Update EKF and 3D points the number of feature in the new frame: 23 and number of obs: 23
-[21:00:33.132] frame Scene Depth mean:2.319817 ,depth min:0.077976
-[21:00:33.132] need key frame pitch dis: 0.007495 translation dif:0.031640
-[21:00:33.132] frame process finished the id is: 91 the obs is:23 
-[21:00:33.274] After Reprojection Map nMatches:33 ,distance between ekf and vo x:-0.007006 ,z=0.034089,angle between two frames:0.006614
-[21:00:33.274]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =32 	 error init =0.000884 	 error end=0.000082
-[21:00:33.274] After pose optimization, distance between ekf and vo x:-0.007006 ,z=0.034089,angle between two frames:0.006614
-[21:00:33.274] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32
-[21:00:33.274] frame Scene Depth mean:2.316816 ,depth min:0.467482
-[21:00:33.275] need key frame pitch dis: 0.013891 translation dif:0.087439
-[21:00:33.275] frame process finished the id is: 92 the obs is:32 
-[21:00:33.419] After Reprojection Map nMatches:34 ,distance between ekf and vo x:-0.004232 ,z=0.034902,angle between two frames:0.008449
-[21:00:33.419]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =34 	 error init =0.000003 	 error end=0.000000
-[21:00:33.419] After pose optimization, distance between ekf and vo x:-0.004232 ,z=0.034902,angle between two frames:0.008449
-[21:00:33.419] Update EKF and 3D points the number of feature in the new frame: 34 and number of obs: 34
-[21:00:33.419] frame Scene Depth mean:2.240818 ,depth min:0.466408
-[21:00:33.420] need key frame pitch dis: 0.011943 translation dif:0.087502
-[21:00:33.420] frame process finished the id is: 93 the obs is:34 
-[21:00:33.569] After Reprojection Map nMatches:36 ,distance between ekf and vo x:-0.013052 ,z=0.031369,angle between two frames:0.003580
-[21:00:33.569]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =35 	 error init =0.018027 	 error end=0.001920
-[21:00:33.569] After pose optimization, distance between ekf and vo x:-0.013052 ,z=0.031369,angle between two frames:0.003580
-[21:00:33.569] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35
-[21:00:33.569] frame Scene Depth mean:2.210527 ,depth min:0.467368
-[21:00:33.569] need key frame pitch dis: 0.013183 translation dif:0.087530
-[21:00:33.569] frame process finished the id is: 94 the obs is:35 
-[21:00:33.717] After Reprojection Map nMatches:39 ,distance between ekf and vo x:-0.015201 ,z=0.033832,angle between two frames:0.003681
-[21:00:33.717]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =39 	 error init =0.000754 	 error end=0.000075
-[21:00:33.717] After pose optimization, distance between ekf and vo x:-0.015201 ,z=0.033832,angle between two frames:0.003681
-[21:00:33.717] Update EKF and 3D points the number of feature in the new frame: 39 and number of obs: 39
-[21:00:33.717] frame Scene Depth mean:2.601043 ,depth min:0.467057
-[21:00:33.718] need key frame pitch dis: 0.004516 translation dif:0.033494
-[21:00:33.718] frame process finished the id is: 95 the obs is:39 
-[21:00:33.856] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.012862 ,z=0.032555,angle between two frames:0.003823
-[21:00:33.857]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =40 	 error init =0.009660 	 error end=0.000320
-[21:00:33.857] After pose optimization, distance between ekf and vo x:-0.012858 ,z=0.032476,angle between two frames:0.003811
-[21:00:33.857] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40
-[21:00:33.857] frame Scene Depth mean:2.555463 ,depth min:0.467283
-[21:00:33.857] need key frame pitch dis: 0.013815 translation dif:0.087967
-[21:00:33.857] frame process finished the id is: 96 the obs is:40 
-[21:00:33.989] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.004927 ,z=0.045273,angle between two frames:0.015264
-[21:00:33.989]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =47 	 error init =0.002292 	 error end=0.001342
-[21:00:33.989] After pose optimization, distance between ekf and vo x:0.004927 ,z=0.045273,angle between two frames:0.015264
-[21:00:33.989] Update EKF and 3D points the number of feature in the new frame: 47 and number of obs: 47
-[21:00:33.990] frame Scene Depth mean:3.316795 ,depth min:0.098188
-[21:00:33.990] need key frame pitch dis: 0.005664 translation dif:0.149580
-[21:00:33.990] Choose frame as a key frame Scene Depth mean:3.316795 ,depth min:0.098188
-[21:00:33.990] frame process finished the id is: 97 the obs is:47 
-[21:00:34.148] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.036919 ,z=0.094570,angle between two frames:0.013031
-[21:00:34.149]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =37 	 error init =0.064986 	 error end=0.007782
-[21:00:34.149] After pose optimization, distance between ekf and vo x:-0.036919 ,z=0.094570,angle between two frames:0.013031
-[21:00:34.149] Update EKF and 3D points the number of feature in the new frame: 37 and number of obs: 37
-[21:00:34.149] frame Scene Depth mean:4.051130 ,depth min:0.489152
-[21:00:34.149] need key frame pitch dis: 0.007917 translation dif:0.104565
-[21:00:34.149] Choose frame as a key frame Scene Depth mean:4.051130 ,depth min:0.489152
-[21:00:34.149] frame process finished the id is: 98 the obs is:37 
-[21:00:34.313] After Reprojection Map nMatches:47 ,distance between ekf and vo x:-0.015310 ,z=0.075082,angle between two frames:0.016605
-[21:00:34.313]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =47 	 error init =0.000288 	 error end=0.000128
-[21:00:34.313] After pose optimization, distance between ekf and vo x:-0.015310 ,z=0.075082,angle between two frames:0.016605
-[21:00:34.313] Update EKF and 3D points the number of feature in the new frame: 47 and number of obs: 47
-[21:00:34.313] frame Scene Depth mean:4.476673 ,depth min:0.490265
-[21:00:34.313] need key frame pitch dis: 0.003082 translation dif:0.012853
-[21:00:34.313] frame process finished the id is: 99 the obs is:47 
-[21:00:34.445] Odometry x=-0.026732, y=0.869996, theta=0.063579
-[21:00:34.471] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.045917 ,z=0.033967,angle between two frames:0.010642
-[21:00:34.471]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =45 	 error init =0.008598 	 error end=0.001269
-[21:00:34.471] After pose optimization, distance between ekf and vo x:-0.045917 ,z=0.033967,angle between two frames:0.010642
-[21:00:34.471] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45
-[21:00:34.471] frame Scene Depth mean:4.642498 ,depth min:0.484945
-[21:00:34.472] need key frame pitch dis: 0.002802 translation dif:0.110322
-[21:00:34.472] Choose frame as a key frame Scene Depth mean:4.642498 ,depth min:0.484945
-[21:00:34.472] frame process finished the id is: 100 the obs is:45 
-[21:00:34.636] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.009941 ,z=0.075649,angle between two frames:0.027123
-[21:00:34.636]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =39 	 error init =0.038288 	 error end=0.007981
-[21:00:34.636] After pose optimization, distance between ekf and vo x:0.009941 ,z=0.075649,angle between two frames:0.027123
-[21:00:34.636] Update EKF and 3D points the number of feature in the new frame: 39 and number of obs: 39
-[21:00:34.636] frame Scene Depth mean:5.384620 ,depth min:0.466353
-[21:00:34.636] need key frame pitch dis: 0.060628 translation dif:0.895564
-[21:00:34.636] Choose frame as a key frame Scene Depth mean:5.384620 ,depth min:0.466353
-[21:00:34.636] frame process finished the id is: 101 the obs is:39 
-[21:00:34.702] Odometry x=-0.032831, y=0.894962, theta=0.060628
-[21:00:34.735] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000187 ,z=0.000207,angle between two frames:0.000001
-[21:00:34.735]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =40 	 error init =0.000294 	 error end=0.000043
-[21:00:34.735] After pose optimization, distance between ekf and vo x:-0.000187 ,z=0.000207,angle between two frames:0.000001
-[21:00:34.735] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40
-[21:00:34.735] frame Scene Depth mean:5.560511 ,depth min:0.460640
-[21:00:34.735] need key frame pitch dis: 0.012415 translation dif:0.895619
-[21:00:34.735] Choose frame as a key frame Scene Depth mean:5.560511 ,depth min:0.460640
-[21:00:34.735] frame process finished the id is: 102 the obs is:40 
-[21:00:34.869] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.001176 ,z=0.001599,angle between two frames:0.000010
-[21:00:34.869]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =32 	 error init =0.007692 	 error end=0.002925
-[21:00:34.869] After pose optimization, distance between ekf and vo x:-0.001176 ,z=0.001599,angle between two frames:0.000010
-[21:00:34.869] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32
-[21:00:34.869] frame Scene Depth mean:6.338502 ,depth min:0.459752
-[21:00:34.869] need key frame pitch dis: 0.003846 translation dif:0.896033
-[21:00:34.869] Choose frame as a key frame Scene Depth mean:6.338502 ,depth min:0.459752
-[21:00:34.869] frame process finished the id is: 103 the obs is:32 
-[21:00:35.007] Odometry x=-0.033143, y=0.895420, theta=-0.003846
-[21:00:35.020] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.001933 ,z=0.002896,angle between two frames:0.000008
-[21:00:35.020]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =24 	 error init =0.000770 	 error end=0.000304
-[21:00:35.020] After pose optimization, distance between ekf and vo x:-0.001933 ,z=0.002896,angle between two frames:0.000008
-[21:00:35.020] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24
-[21:00:35.020] frame Scene Depth mean:2.548651 ,depth min:0.439807
-[21:00:35.021] need key frame pitch dis: 0.121420 translation dif:0.001378
-[21:00:35.021] Choose frame as a key frame Scene Depth mean:2.548651 ,depth min:0.439807
-[21:00:35.021] frame process finished the id is: 104 the obs is:20 
-[21:00:35.158] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.001087 ,z=0.001818,angle between two frames:0.000063
-[21:00:35.158]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =16 	 error init =0.000546 	 error end=0.000435
-[21:00:35.158] After pose optimization, distance between ekf and vo x:-0.000956 ,z=0.000639,angle between two frames:0.000072
-[21:00:35.158] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16
-[21:00:35.158] frame Scene Depth mean:2.941558 ,depth min:0.412092
-[21:00:35.159] need key frame pitch dis: 0.171533 translation dif:0.897287
-[21:00:35.159] Choose frame as a key frame Scene Depth mean:2.941558 ,depth min:0.412092
-[21:00:35.159] frame process finished the id is: 105 the obs is:16 
-[21:00:35.194] Odometry x=-0.032784, y=0.896688, theta=-0.171533
-[21:00:35.317] After Reprojection Map nMatches:33 ,distance between ekf and vo x:-0.001865 ,z=0.002909,angle between two frames:0.000165
-[21:00:35.317]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =17 	 error init =0.116941 	 error end=0.031478
-[21:00:35.317] After pose optimization, distance between ekf and vo x:-0.001865 ,z=0.002909,angle between two frames:0.000165
-[21:00:35.317] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17
-[21:00:35.317] frame Scene Depth mean:4.371235 ,depth min:0.060560
-[21:00:35.317] need key frame pitch dis: 0.233899 translation dif:0.002212
-[21:00:35.317] Choose frame as a key frame Scene Depth mean:4.371235 ,depth min:0.060560
-[21:00:35.317] frame process finished the id is: 106 the obs is:17 
-[21:00:35.440] Odometry x=-0.033254, y=0.897629, theta=-0.237746
-[21:00:35.522] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.000764 ,z=0.002321,angle between two frames:0.000055
-[21:00:35.522]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =24 	 error init =0.000002 	 error end=0.000323
-[21:00:35.522] After pose optimization, distance between ekf and vo x:-0.000764 ,z=0.002321,angle between two frames:0.000055
-[21:00:35.522] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24
-[21:00:35.522] frame Scene Depth mean:2.726363 ,depth min:0.052064
-[21:00:35.522] need key frame pitch dis: 0.264686 translation dif:0.003382
-[21:00:35.522] Choose frame as a key frame Scene Depth mean:2.726363 ,depth min:0.052064
-[21:00:35.522] frame process finished the id is: 107 the obs is:24 
-[21:00:35.735] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000007 ,z=0.003373,angle between two frames:0.000036
-[21:00:35.735]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =26 	 error init =0.042161 	 error end=0.007930
-[21:00:35.735] After pose optimization, distance between ekf and vo x:-0.003899 ,z=-0.014056,angle between two frames:0.000562
-[21:00:35.735] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26
-[21:00:35.735] frame Scene Depth mean:3.796960 ,depth min:0.063567
-[21:00:35.736] need key frame pitch dis: 0.056275 translation dif:0.003302
-[21:00:35.736] frame process finished the id is: 108 the obs is:26 
-[21:00:35.917] After Reprojection Map nMatches:44 ,distance between ekf and vo x:-0.000058 ,z=-0.000002,angle between two frames:0.000001
-[21:00:35.917]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =36 	 error init =0.000185 	 error end=0.000117
-[21:00:35.917] After pose optimization, distance between ekf and vo x:-0.000078 ,z=-0.000028,angle between two frames:0.000001
-[21:00:35.917] Update EKF and 3D points the number of feature in the new frame: 36 and number of obs: 36
-[21:00:35.917] frame Scene Depth mean:4.064773 ,depth min:0.057488
-[21:00:35.918] need key frame pitch dis: 0.297118 translation dif:0.001626
-[21:00:35.918] Choose frame as a key frame Scene Depth mean:4.064773 ,depth min:0.057488
-[21:00:35.918] frame process finished the id is: 109 the obs is:36 
-[21:00:36.125] After Reprojection Map nMatches:44 ,distance between ekf and vo x:-0.000107 ,z=0.001579,angle between two frames:0.000014
-[21:00:36.125]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =42 	 error init =0.000639 	 error end=0.000097
-[21:00:36.125] After pose optimization, distance between ekf and vo x:-0.000148 ,z=0.001427,angle between two frames:0.000019
-[21:00:36.125] Update EKF and 3D points the number of feature in the new frame: 42 and number of obs: 42
-[21:00:36.125] frame Scene Depth mean:4.339487 ,depth min:0.056616
-[21:00:36.126] need key frame pitch dis: 0.066174 translation dif:0.000365
-[21:00:36.126] frame process finished the id is: 110 the obs is:42 
-[21:00:36.346] After Reprojection Map nMatches:54 ,distance between ekf and vo x:-0.000358 ,z=0.002600,angle between two frames:0.000065
-[21:00:36.346]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =52 	 error init =0.000128 	 error end=0.000047
-[21:00:36.346] After pose optimization, distance between ekf and vo x:-0.000370 ,z=0.002590,angle between two frames:0.000067
-[21:00:36.346] Update EKF and 3D points the number of feature in the new frame: 52 and number of obs: 52
-[21:00:36.346] frame Scene Depth mean:3.945151 ,depth min:0.056115
-[21:00:36.347] need key frame pitch dis: 0.292779 translation dif:0.003520
-[21:00:36.347] Choose frame as a key frame Scene Depth mean:3.945151 ,depth min:0.056115
-[21:00:36.347] frame process finished the id is: 111 the obs is:52 
-[21:00:36.564] After Reprojection Map nMatches:57 ,distance between ekf and vo x:-0.000032 ,z=0.001375,angle between two frames:0.000005
-[21:00:36.564]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =55 	 error init =0.005771 	 error end=0.001911
-[21:00:36.564] After pose optimization, distance between ekf and vo x:-0.000032 ,z=0.001375,angle between two frames:0.000005
-[21:00:36.564] Update EKF and 3D points the number of feature in the new frame: 55 and number of obs: 55
-[21:00:36.564] frame Scene Depth mean:3.595937 ,depth min:0.056300
-[21:00:36.566] need key frame pitch dis: 0.004744 translation dif:0.001352
-[21:00:36.566] frame process finished the id is: 112 the obs is:55 
-[21:00:36.686] Odometry x=-0.033313, y=0.898329, theta=-0.305709
-[21:00:36.784] After Reprojection Map nMatches:60 ,distance between ekf and vo x:-0.000032 ,z=0.001325,angle between two frames:0.000005
-[21:00:36.784]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =43 	 error init =0.121783 	 error end=0.034388
-[21:00:36.784] After pose optimization, distance between ekf and vo x:0.003719 ,z=0.008754,angle between two frames:0.000510
-[21:00:36.784] Update EKF and 3D points the number of feature in the new frame: 43 and number of obs: 43
-[21:00:36.784] frame Scene Depth mean:2.363279 ,depth min:0.053738
-[21:00:36.785] need key frame pitch dis: 0.074787 translation dif:0.004074
-[21:00:36.785] frame process finished the id is: 113 the obs is:43 
-[21:00:37.001] Odometry x=-0.031958, y=0.901492, theta=-0.312532
-[21:00:37.007] After Reprojection Map nMatches:81 ,distance between ekf and vo x:0.001753 ,z=0.002239,angle between two frames:0.000261
-[21:00:37.007]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =66 	 error init =0.002109 	 error end=0.000692
-[21:00:37.007] After pose optimization, distance between ekf and vo x:0.001753 ,z=0.002239,angle between two frames:0.000261
-[21:00:37.007] Update EKF and 3D points the number of feature in the new frame: 66 and number of obs: 66
-[21:00:37.007] frame Scene Depth mean:1.322464 ,depth min:0.053352
-[21:00:37.008] need key frame pitch dis: 0.007257 translation dif:0.016513
-[21:00:37.008] frame process finished the id is: 114 the obs is:62 
-[21:00:37.212] After Reprojection Map nMatches:69 ,distance between ekf and vo x:0.001286 ,z=0.001019,angle between two frames:0.000196
-[21:00:37.212]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =66 	 error init =0.005525 	 error end=0.004814
-[21:00:37.212] After pose optimization, distance between ekf and vo x:0.000609 ,z=0.000617,angle between two frames:0.000738
-[21:00:37.212] Update EKF and 3D points the number of feature in the new frame: 66 and number of obs: 66
-[21:00:37.212] frame Scene Depth mean:1.479726 ,depth min:0.057655
-[21:00:37.213] need key frame pitch dis: 0.302299 translation dif:0.020414
-[21:00:37.213] Choose frame as a key frame Scene Depth mean:1.479726 ,depth min:0.057655
-[21:00:37.213] frame process finished the id is: 115 the obs is:66 
-[21:00:37.220] Odometry x=-0.027454, y=0.915026, theta=-0.306145
-[21:00:37.424] After Reprojection Map nMatches:62 ,distance between ekf and vo x:0.000956 ,z=0.001456,angle between two frames:0.000148
-[21:00:37.424]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =52 	 error init =0.042933 	 error end=0.011202
-[21:00:37.424] After pose optimization, distance between ekf and vo x:-0.010674 ,z=-0.012030,angle between two frames:0.000989
-[21:00:37.424] Update EKF and 3D points the number of feature in the new frame: 52 and number of obs: 52
-[21:00:37.424] frame Scene Depth mean:1.873315 ,depth min:0.053558
-[21:00:37.425] need key frame pitch dis: 0.301995 translation dif:0.919575
-[21:00:37.425] Choose frame as a key frame Scene Depth mean:1.873315 ,depth min:0.053558
-[21:00:37.425] frame process finished the id is: 116 the obs is:52 
-[21:00:37.439] Odometry x=-0.027889, y=0.919152, theta=-0.301995
-[21:00:37.669] After Reprojection Map nMatches:85 ,distance between ekf and vo x:0.000952 ,z=0.001582,angle between two frames:0.000143
-[21:00:37.669]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =58 	 error init =0.045766 	 error end=0.066091
-[21:00:37.669] After pose optimization, distance between ekf and vo x:0.025215 ,z=0.050097,angle between two frames:0.002329
-[21:00:37.669] Update EKF and 3D points the number of feature in the new frame: 58 and number of obs: 58
-[21:00:37.669] frame Scene Depth mean:2.017961 ,depth min:0.068612
-[21:00:37.670] need key frame pitch dis: 0.008874 translation dif:0.027393
-[21:00:37.670] frame process finished the id is: 117 the obs is:52 
-[21:00:37.684] Odometry x=-0.017234, y=0.940441, theta=-0.297271
-[21:00:37.922] After Reprojection Map nMatches:102 ,distance between ekf and vo x:0.001377 ,z=0.001891,angle between two frames:0.000250
-[21:00:37.923]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =94 	 error init =0.021202 	 error end=0.001293
-[21:00:37.923] After pose optimization, distance between ekf and vo x:0.001369 ,z=0.001861,angle between two frames:0.000249
-[21:00:37.923] Update EKF and 3D points the number of feature in the new frame: 94 and number of obs: 94
-[21:00:37.923] frame Scene Depth mean:1.535962 ,depth min:0.061391
-[21:00:37.924] need key frame pitch dis: 0.013296 translation dif:0.032203
-[21:00:37.924] frame process finished the id is: 118 the obs is:94 
-[21:00:37.976] Odometry x=-0.014592, y=0.948481, theta=-0.288699
-[21:00:38.193] Odometry x=-0.011050, y=0.958289, theta=-0.282217
-[21:00:38.205] After Reprojection Map nMatches:97 ,distance between ekf and vo x:0.001872 ,z=0.001663,angle between two frames:0.000321
-[21:00:38.205]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =88 	 error init =0.004490 	 error end=0.001570
-[21:00:38.205] After pose optimization, distance between ekf and vo x:0.001872 ,z=0.001663,angle between two frames:0.000321
-[21:00:38.205] Update EKF and 3D points the number of feature in the new frame: 88 and number of obs: 88
-[21:00:38.205] frame Scene Depth mean:2.049339 ,depth min:0.055821
-[21:00:38.206] need key frame pitch dis: 0.022618 translation dif:0.066793
-[21:00:38.206] frame process finished the id is: 119 the obs is:85 
-[21:00:38.455] After Reprojection Map nMatches:112 ,distance between ekf and vo x:0.001505 ,z=0.001781,angle between two frames:0.000255
-[21:00:38.456]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =108 	 error init =0.050352 	 error end=0.002442
-[21:00:38.456] After pose optimization, distance between ekf and vo x:0.001510 ,z=0.000645,angle between two frames:0.000250
-[21:00:38.456] Update EKF and 3D points the number of feature in the new frame: 108 and number of obs: 108
-[21:00:38.456] frame Scene Depth mean:2.006231 ,depth min:0.053458
-[21:00:38.457] need key frame pitch dis: 0.019240 translation dif:0.065153
-[21:00:38.457] frame process finished the id is: 120 the obs is:108 
-[21:00:38.479] Odometry x=-0.005494, y=0.980335, theta=-0.282755
-[21:00:38.708] After Reprojection Map nMatches:139 ,distance between ekf and vo x:0.000751 ,z=0.000816,angle between two frames:0.000139
-[21:00:38.708]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =138 	 error init =0.000747 	 error end=0.000478
-[21:00:38.708] After pose optimization, distance between ekf and vo x:0.000068 ,z=-0.001240,angle between two frames:0.000060
-[21:00:38.708] Update EKF and 3D points the number of feature in the new frame: 138 and number of obs: 138
-[21:00:38.709] frame Scene Depth mean:1.923949 ,depth min:0.092701
-[21:00:38.710] need key frame pitch dis: 0.009863 translation dif:0.076304
-[21:00:38.710] frame process finished the id is: 121 the obs is:136 
-[21:00:38.712] Odometry x=-0.003705, y=0.991522, theta=-0.292132
-[21:00:38.956] After Reprojection Map nMatches:116 ,distance between ekf and vo x:0.000678 ,z=0.000917,angle between two frames:0.000126
-[21:00:38.957]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =116 	 error init =0.000605 	 error end=0.000194
-[21:00:38.957] After pose optimization, distance between ekf and vo x:0.000692 ,z=0.000659,angle between two frames:0.000130
-[21:00:38.957] Update EKF and 3D points the number of feature in the new frame: 116 and number of obs: 116
-[21:00:38.957] frame Scene Depth mean:1.962836 ,depth min:0.093469
-[21:00:38.958] need key frame pitch dis: 0.008680 translation dif:0.087957
-[21:00:38.958] frame process finished the id is: 122 the obs is:116 
-[21:00:39.014] Odometry x=-0.001694, y=0.999126, theta=-0.297465
-[21:00:39.157] After Reprojection Map nMatches:121 ,distance between ekf and vo x:0.000517 ,z=0.000173,angle between two frames:0.000102
-[21:00:39.158]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =107 	 error init =0.052936 	 error end=0.002593
-[21:00:39.158] After pose optimization, distance between ekf and vo x:0.000452 ,z=0.000269,angle between two frames:0.000092
-[21:00:39.158] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107
-[21:00:39.158] frame Scene Depth mean:1.934967 ,depth min:0.088231
-[21:00:39.159] need key frame pitch dis: 0.009489 translation dif:0.091460
-[21:00:39.159] frame process finished the id is: 123 the obs is:107 
-[21:00:39.176] Odometry x=0.000494, y=1.006097, theta=-0.311484
-[21:00:39.335] After Reprojection Map nMatches:130 ,distance between ekf and vo x:0.001642 ,z=0.002040,angle between two frames:0.000099
-[21:00:39.335]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =113 	 error init =0.018494 	 error end=0.011456
-[21:00:39.335] After pose optimization, distance between ekf and vo x:0.001642 ,z=0.002040,angle between two frames:0.000099
-[21:00:39.335] Update EKF and 3D points the number of feature in the new frame: 113 and number of obs: 113
-[21:00:39.335] frame Scene Depth mean:1.463046 ,depth min:0.081570
-[21:00:39.336] need key frame pitch dis: 0.004282 translation dif:0.099631
-[21:00:39.336] frame process finished the id is: 124 the obs is:113 
-[21:00:39.432] Odometry x=0.003350, y=1.013759, theta=-0.306277
-[21:00:39.483] After Reprojection Map nMatches:128 ,distance between ekf and vo x:0.000177 ,z=0.000460,angle between two frames:0.000186
-[21:00:39.484]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =120 	 error init =0.012677 	 error end=0.020708
-[21:00:39.484] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000460,angle between two frames:0.000186
-[21:00:39.484] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120
-[21:00:39.484] frame Scene Depth mean:1.561805 ,depth min:0.108203
-[21:00:39.485] need key frame pitch dis: 0.004270 translation dif:0.128239
-[21:00:39.485] Choose frame as a key frame Scene Depth mean:1.561805 ,depth min:0.108203
-[21:00:39.485] frame process finished the id is: 125 the obs is:120 
-[21:00:39.648] After Reprojection Map nMatches:112 ,distance between ekf and vo x:0.000490 ,z=0.000039,angle between two frames:0.000689
-[21:00:39.648]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =103 	 error init =0.012566 	 error end=0.002693
-[21:00:39.648] After pose optimization, distance between ekf and vo x:-0.005193 ,z=-0.022739,angle between two frames:0.001702
-[21:00:39.648] Update EKF and 3D points the number of feature in the new frame: 103 and number of obs: 103
-[21:00:39.648] frame Scene Depth mean:1.596131 ,depth min:0.111887
-[21:00:39.650] need key frame pitch dis: 0.006693 translation dif:0.106633
-[21:00:39.650] Choose frame as a key frame Scene Depth mean:1.596131 ,depth min:0.111887
-[21:00:39.650] frame process finished the id is: 126 the obs is:103 
-[21:00:39.719] Odometry x=0.006400, y=1.016142, theta=-0.299452
-[21:00:39.811] After Reprojection Map nMatches:136 ,distance between ekf and vo x:0.000178 ,z=-0.000126,angle between two frames:0.000019
-[21:00:39.812]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =133 	 error init =0.002265 	 error end=0.000424
-[21:00:39.812] After pose optimization, distance between ekf and vo x:0.000162 ,z=0.000123,angle between two frames:0.000027
-[21:00:39.812] Update EKF and 3D points the number of feature in the new frame: 133 and number of obs: 133
-[21:00:39.812] frame Scene Depth mean:1.532159 ,depth min:0.105280
-[21:00:39.814] need key frame pitch dis: 0.014049 translation dif:0.003180
-[21:00:39.814] frame process finished the id is: 127 the obs is:133 
-[21:00:39.945] Odometry x=0.008481, y=1.022993, theta=-0.286875
-[21:00:40.006] After Reprojection Map nMatches:149 ,distance between ekf and vo x:0.000218 ,z=-0.000190,angle between two frames:0.000030
-[21:00:40.007]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =149 	 error init =0.000860 	 error end=0.000666
-[21:00:40.007] After pose optimization, distance between ekf and vo x:0.000218 ,z=-0.000190,angle between two frames:0.000030
-[21:00:40.007] Update EKF and 3D points the number of feature in the new frame: 149 and number of obs: 149
-[21:00:40.007] frame Scene Depth mean:1.470875 ,depth min:0.060881
-[21:00:40.009] need key frame pitch dis: 0.009214 translation dif:0.010774
-[21:00:40.009] frame process finished the id is: 128 the obs is:149 
-[21:00:40.194] After Reprojection Map nMatches:155 ,distance between ekf and vo x:0.000216 ,z=-0.000027,angle between two frames:0.000031
-[21:00:40.195]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =147 	 error init =0.000383 	 error end=0.000464
-[21:00:40.195] After pose optimization, distance between ekf and vo x:0.000221 ,z=-0.000230,angle between two frames:0.000028
-[21:00:40.195] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147
-[21:00:40.195] frame Scene Depth mean:1.344866 ,depth min:0.097845
-[21:00:40.196] need key frame pitch dis: 0.007160 translation dif:0.012648
-[21:00:40.196] frame process finished the id is: 129 the obs is:147 
-[21:00:40.197] Odometry x=0.011301, y=1.032098, theta=-0.293763
-[21:00:40.393] After Reprojection Map nMatches:146 ,distance between ekf and vo x:0.000146 ,z=-0.000065,angle between two frames:0.000025
-[21:00:40.393]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =138 	 error init =0.006628 	 error end=0.004700
-[21:00:40.393] After pose optimization, distance between ekf and vo x:0.000146 ,z=-0.000065,angle between two frames:0.000025
-[21:00:40.393] Update EKF and 3D points the number of feature in the new frame: 138 and number of obs: 138
-[21:00:40.393] frame Scene Depth mean:1.332952 ,depth min:0.092740
-[21:00:40.395] need key frame pitch dis: 0.007191 translation dif:0.019927
-[21:00:40.395] frame process finished the id is: 130 the obs is:138 
-[21:00:40.436] Odometry x=0.013351, y=1.039096, theta=-0.308114
-[21:00:40.589] After Reprojection Map nMatches:151 ,distance between ekf and vo x:0.000199 ,z=-0.000045,angle between two frames:0.000023
-[21:00:40.589]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =127 	 error init =0.045285 	 error end=0.004686
-[21:00:40.589] After pose optimization, distance between ekf and vo x:-0.000908 ,z=-0.004591,angle between two frames:0.000186
-[21:00:40.589] Update EKF and 3D points the number of feature in the new frame: 127 and number of obs: 127
-[21:00:40.590] frame Scene Depth mean:1.591065 ,depth min:0.170971
-[21:00:40.590] need key frame pitch dis: 0.023374 translation dif:0.026201
-[21:00:40.590] frame process finished the id is: 131 the obs is:127 
-[21:00:40.691] Odometry x=0.014993, y=1.045162, theta=-0.324297
-[21:00:40.799] After Reprojection Map nMatches:143 ,distance between ekf and vo x:0.000506 ,z=-0.000088,angle between two frames:0.000069
-[21:00:40.800]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =142 	 error init =0.000929 	 error end=0.000248
-[21:00:40.800] After pose optimization, distance between ekf and vo x:0.000500 ,z=-0.000332,angle between two frames:0.000066
-[21:00:40.800] Update EKF and 3D points the number of feature in the new frame: 142 and number of obs: 142
-[21:00:40.800] frame Scene Depth mean:1.734654 ,depth min:0.071076
-[21:00:40.802] need key frame pitch dis: 0.030778 translation dif:0.033561
-[21:00:40.802] frame process finished the id is: 132 the obs is:142 
-[21:00:40.981] Odometry x=0.017347, y=1.052136, theta=-0.331701
-[21:00:40.988] After Reprojection Map nMatches:164 ,distance between ekf and vo x:0.000114 ,z=-0.000167,angle between two frames:0.000012
-[21:00:40.989]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =148 	 error init =0.020818 	 error end=0.014401
-[21:00:40.989] After pose optimization, distance between ekf and vo x:0.000114 ,z=-0.000167,angle between two frames:0.000012
-[21:00:40.989] Update EKF and 3D points the number of feature in the new frame: 148 and number of obs: 148
-[21:00:40.989] frame Scene Depth mean:1.467095 ,depth min:0.055314
-[21:00:40.991] need key frame pitch dis: 0.030783 translation dif:0.053768
-[21:00:40.991] frame process finished the id is: 133 the obs is:148 
-[21:00:41.181] After Reprojection Map nMatches:168 ,distance between ekf and vo x:0.000280 ,z=0.000022,angle between two frames:0.000016
-[21:00:41.182]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =136 	 error init =0.024556 	 error end=0.017981
-[21:00:41.182] After pose optimization, distance between ekf and vo x:-0.006788 ,z=-0.025239,angle between two frames:0.000725
-[21:00:41.182] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136
-[21:00:41.183] frame Scene Depth mean:1.296092 ,depth min:0.155418
-[21:00:41.184] need key frame pitch dis: 0.042412 translation dif:0.054064
-[21:00:41.184] frame process finished the id is: 134 the obs is:136 
-[21:00:41.214] Odometry x=0.025153, y=1.066850, theta=-0.341865
-[21:00:41.358] After Reprojection Map nMatches:145 ,distance between ekf and vo x:-0.000157 ,z=-0.000437,angle between two frames:0.000011
-[21:00:41.359]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =127 	 error init =0.069318 	 error end=0.020447
-[21:00:41.359] After pose optimization, distance between ekf and vo x:0.029813 ,z=-0.047689,angle between two frames:0.008788
-[21:00:41.359] Update EKF and 3D points the number of feature in the new frame: 127 and number of obs: 127
-[21:00:41.359] frame Scene Depth mean:1.180306 ,depth min:0.197042
-[21:00:41.361] need key frame pitch dis: 0.039641 translation dif:0.050498
-[21:00:41.361] frame process finished the id is: 135 the obs is:127 
-[21:00:41.443] Odometry x=0.034962, y=1.062213, theta=-0.340564
-[21:00:41.543] After Reprojection Map nMatches:152 ,distance between ekf and vo x:-0.000096 ,z=-0.000415,angle between two frames:0.000002
-[21:00:41.544]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =136 	 error init =0.043120 	 error end=0.005585
-[21:00:41.544] After pose optimization, distance between ekf and vo x:-0.010141 ,z=-0.033587,angle between two frames:0.002126
-[21:00:41.544] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136
-[21:00:41.544] frame Scene Depth mean:1.393918 ,depth min:0.190213
-[21:00:41.546] need key frame pitch dis: 0.045058 translation dif:0.049683
-[21:00:41.546] frame process finished the id is: 136 the obs is:136 
-[21:00:41.675] Odometry x=0.034988, y=1.061210, theta=-0.345982
-[21:00:41.720] After Reprojection Map nMatches:165 ,distance between ekf and vo x:-0.000140 ,z=-0.000430,angle between two frames:0.000013
-[21:00:41.721]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =157 	 error init =0.013786 	 error end=0.008605
-[21:00:41.721] After pose optimization, distance between ekf and vo x:-0.000362 ,z=-0.052652,angle between two frames:0.000332
-[21:00:41.721] Update EKF and 3D points the number of feature in the new frame: 157 and number of obs: 157
-[21:00:41.721] frame Scene Depth mean:1.346953 ,depth min:0.196759
-[21:00:41.723] need key frame pitch dis: 0.050842 translation dif:0.046717
-[21:00:41.723] frame process finished the id is: 137 the obs is:157 
-[21:00:41.900] After Reprojection Map nMatches:171 ,distance between ekf and vo x:-0.000190 ,z=-0.000455,angle between two frames:0.000018
-[21:00:41.901]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =159 	 error init =0.024127 	 error end=0.003502
-[21:00:41.901] After pose optimization, distance between ekf and vo x:-0.000740 ,z=-0.006514,angle between two frames:0.000156
-[21:00:41.901] Update EKF and 3D points the number of feature in the new frame: 159 and number of obs: 159
-[21:00:41.901] frame Scene Depth mean:1.251286 ,depth min:0.149324
-[21:00:41.903] need key frame pitch dis: 0.053491 translation dif:0.054919
-[21:00:41.903] frame process finished the id is: 138 the obs is:159 
-[21:00:41.941] Odometry x=0.038101, y=1.065424, theta=-0.354415
-[21:00:42.053] After Reprojection Map nMatches:180 ,distance between ekf and vo x:-0.000151 ,z=-0.000368,angle between two frames:0.000013
-[21:00:42.054]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =180 	 error init =0.001256 	 error end=0.001005
-[21:00:42.054] After pose optimization, distance between ekf and vo x:0.000044 ,z=-0.006289,angle between two frames:0.000055
-[21:00:42.054] Update EKF and 3D points the number of feature in the new frame: 180 and number of obs: 180
-[21:00:42.055] frame Scene Depth mean:1.123871 ,depth min:0.181871
-[21:00:42.056] need key frame pitch dis: 0.054236 translation dif:0.061932
-[21:00:42.056] frame process finished the id is: 139 the obs is:180 
-[21:00:42.196] Odometry x=0.039990, y=1.072582, theta=-0.355160
-[21:00:42.221] After Reprojection Map nMatches:176 ,distance between ekf and vo x:-0.000197 ,z=-0.000418,angle between two frames:0.000020
-[21:00:42.222]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =152 	 error init =0.032921 	 error end=0.016038
-[21:00:42.222] After pose optimization, distance between ekf and vo x:-0.000197 ,z=-0.000418,angle between two frames:0.000020
-[21:00:42.222] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152
-[21:00:42.222] frame Scene Depth mean:1.097602 ,depth min:0.176138
-[21:00:42.223] need key frame pitch dis: 0.057986 translation dif:0.069797
-[21:00:42.223] frame process finished the id is: 140 the obs is:152 
-[21:00:42.404] After Reprojection Map nMatches:204 ,distance between ekf and vo x:-0.000240 ,z=-0.000559,angle between two frames:0.000014
-[21:00:42.405]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =188 	 error init =0.009590 	 error end=0.002795
-[21:00:42.405] After pose optimization, distance between ekf and vo x:0.001325 ,z=-0.001804,angle between two frames:0.000176
-[21:00:42.405] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188
-[21:00:42.405] frame Scene Depth mean:1.026540 ,depth min:0.101099
-[21:00:42.407] need key frame pitch dis: 0.059497 translation dif:0.071640
-[21:00:42.407] frame process finished the id is: 141 the obs is:188 
-[21:00:42.448] Odometry x=0.043903, y=1.081576, theta=-0.360420
-[21:00:42.565] After Reprojection Map nMatches:198 ,distance between ekf and vo x:-0.000398 ,z=-0.000976,angle between two frames:0.000011
-[21:00:42.566]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =186 	 error init =0.030536 	 error end=0.003568
-[21:00:42.566] After pose optimization, distance between ekf and vo x:-0.000431 ,z=-0.001961,angle between two frames:0.000059
-[21:00:42.566] Update EKF and 3D points the number of feature in the new frame: 186 and number of obs: 186
-[21:00:42.566] frame Scene Depth mean:0.857990 ,depth min:0.096558
-[21:00:42.568] need key frame pitch dis: 0.065444 translation dif:0.079105
-[21:00:42.568] frame process finished the id is: 142 the obs is:186 
-[21:00:42.670] Odometry x=0.047471, y=1.088142, theta=-0.366367
-[21:00:42.750] After Reprojection Map nMatches:184 ,distance between ekf and vo x:-0.000690 ,z=-0.001610,angle between two frames:0.000015
-[21:00:42.752]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =176 	 error init =0.003825 	 error end=0.002261
-[21:00:42.752] After pose optimization, distance between ekf and vo x:-0.000700 ,z=-0.003615,angle between two frames:0.000028
-[21:00:42.752] Update EKF and 3D points the number of feature in the new frame: 176 and number of obs: 176
-[21:00:42.752] frame Scene Depth mean:0.745042 ,depth min:0.093900
-[21:00:42.753] need key frame pitch dis: 0.066300 translation dif:0.084644
-[21:00:42.753] frame process finished the id is: 143 the obs is:176 
-[21:00:42.924] After Reprojection Map nMatches:196 ,distance between ekf and vo x:-0.000416 ,z=-0.000983,angle between two frames:0.000020
-[21:00:42.925]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =188 	 error init =0.014065 	 error end=0.002094
-[21:00:42.925] After pose optimization, distance between ekf and vo x:-0.037920 ,z=-0.061129,angle between two frames:0.014164
-[21:00:42.925] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188
-[21:00:42.925] frame Scene Depth mean:0.918443 ,depth min:0.250145
-[21:00:42.927] need key frame pitch dis: 0.072652 translation dif:0.069145
-[21:00:42.927] frame process finished the id is: 144 the obs is:188 
-[21:00:43.034] Odometry x=0.042784, y=1.079337, theta=-0.373575
-[21:00:43.098] After Reprojection Map nMatches:175 ,distance between ekf and vo x:-0.000440 ,z=-0.000976,angle between two frames:0.000016
-[21:00:43.098]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =167 	 error init =0.012290 	 error end=0.000986
-[21:00:43.098] After pose optimization, distance between ekf and vo x:-0.000440 ,z=-0.000976,angle between two frames:0.000016
-[21:00:43.098] Update EKF and 3D points the number of feature in the new frame: 167 and number of obs: 167
-[21:00:43.098] frame Scene Depth mean:0.831773 ,depth min:0.104300
-[21:00:43.100] need key frame pitch dis: 0.068296 translation dif:0.080481
-[21:00:43.100] frame process finished the id is: 145 the obs is:167 
-[21:00:43.208] Odometry x=0.045648, y=1.086405, theta=-0.367748
-[21:00:43.271] After Reprojection Map nMatches:176 ,distance between ekf and vo x:-0.000537 ,z=-0.001247,angle between two frames:0.000017
-[21:00:43.273]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =168 	 error init =0.003610 	 error end=0.001375
-[21:00:43.273] After pose optimization, distance between ekf and vo x:-0.001124 ,z=-0.000573,angle between two frames:0.001439
-[21:00:43.273] Update EKF and 3D points the number of feature in the new frame: 168 and number of obs: 168
-[21:00:43.273] frame Scene Depth mean:0.866374 ,depth min:0.098576
-[21:00:43.274] need key frame pitch dis: 0.065193 translation dif:0.084582
-[21:00:43.274] frame process finished the id is: 146 the obs is:168 
-[21:00:43.440] After Reprojection Map nMatches:184 ,distance between ekf and vo x:-0.000406 ,z=-0.000973,angle between two frames:0.000020
-[21:00:43.441]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =174 	 error init =0.001486 	 error end=0.001002
-[21:00:43.441] After pose optimization, distance between ekf and vo x:-0.000347 ,z=-0.001045,angle between two frames:0.000004
-[21:00:43.441] Update EKF and 3D points the number of feature in the new frame: 174 and number of obs: 174
-[21:00:43.442] frame Scene Depth mean:0.799926 ,depth min:0.097286
-[21:00:43.443] need key frame pitch dis: 0.063889 translation dif:0.086522
-[21:00:43.443] frame process finished the id is: 147 the obs is:174 
-[21:00:43.445] Odometry x=0.049761, y=1.095393, theta=-0.364812
-[21:00:43.607] After Reprojection Map nMatches:184 ,distance between ekf and vo x:-0.000443 ,z=-0.001054,angle between two frames:0.000018
-[21:00:43.608]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =173 	 error init =0.003605 	 error end=0.001267
-[21:00:43.608] After pose optimization, distance between ekf and vo x:-0.000796 ,z=-0.002335,angle between two frames:0.000222
-[21:00:43.608] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173
-[21:00:43.608] frame Scene Depth mean:0.755411 ,depth min:0.091943
-[21:00:43.610] need key frame pitch dis: 0.072097 translation dif:0.094060
-[21:00:43.610] frame process finished the id is: 148 the obs is:173 
-[21:00:43.683] Odometry x=0.052226, y=1.102653, theta=-0.373020
-[21:00:43.779] After Reprojection Map nMatches:216 ,distance between ekf and vo x:-0.000353 ,z=-0.000854,angle between two frames:0.000008
-[21:00:43.780]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =176 	 error init =0.022161 	 error end=0.016480
-[21:00:43.780] After pose optimization, distance between ekf and vo x:-0.000575 ,z=-0.095589,angle between two frames:0.001554
-[21:00:43.780] Update EKF and 3D points the number of feature in the new frame: 176 and number of obs: 176
-[21:00:43.780] frame Scene Depth mean:0.833238 ,depth min:0.107687
-[21:00:43.782] need key frame pitch dis: 0.069578 translation dif:0.082030
-[21:00:43.782] frame process finished the id is: 149 the obs is:176 
-[21:00:43.936] Odometry x=0.055110, y=1.086596, theta=-0.370501
-[21:00:43.969] After Reprojection Map nMatches:167 ,distance between ekf and vo x:0.000085 ,z=-0.000766,angle between two frames:0.000104
-[21:00:43.970]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =153 	 error init =0.019740 	 error end=0.010157
-[21:00:43.970] After pose optimization, distance between ekf and vo x:0.000085 ,z=-0.000766,angle between two frames:0.000104
-[21:00:43.970] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153
-[21:00:43.970] frame Scene Depth mean:0.728922 ,depth min:0.234869
-[21:00:43.971] need key frame pitch dis: 0.068546 translation dif:0.089824
-[21:00:43.971] frame process finished the id is: 150 the obs is:153 
-[21:00:44.155] After Reprojection Map nMatches:144 ,distance between ekf and vo x:-0.000554 ,z=-0.001532,angle between two frames:0.000197
-[21:00:44.156]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =132 	 error init =0.007304 	 error end=0.004147
-[21:00:44.156] After pose optimization, distance between ekf and vo x:-0.000554 ,z=-0.001532,angle between two frames:0.000197
-[21:00:44.156] Update EKF and 3D points the number of feature in the new frame: 132 and number of obs: 132
-[21:00:44.156] frame Scene Depth mean:0.759615 ,depth min:0.259899
-[21:00:44.157] need key frame pitch dis: 0.068236 translation dif:0.091504
-[21:00:44.157] frame process finished the id is: 151 the obs is:132 
-[21:00:44.191] Odometry x=0.058694, y=1.095664, theta=-0.369159
-[21:00:44.305] After Reprojection Map nMatches:161 ,distance between ekf and vo x:-0.000417 ,z=-0.000978,angle between two frames:0.000011
-[21:00:44.305]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =148 	 error init =0.011076 	 error end=0.013041
-[21:00:44.305] After pose optimization, distance between ekf and vo x:-0.000417 ,z=-0.000978,angle between two frames:0.000011
-[21:00:44.305] Update EKF and 3D points the number of feature in the new frame: 148 and number of obs: 148
-[21:00:44.305] frame Scene Depth mean:0.850439 ,depth min:0.253969
-[21:00:44.307] need key frame pitch dis: 0.067197 translation dif:0.099477
-[21:00:44.307] frame process finished the id is: 152 the obs is:148 
-[21:00:44.446] Odometry x=0.061815, y=1.103176, theta=-0.368120
-[21:00:44.452] After Reprojection Map nMatches:139 ,distance between ekf and vo x:-0.000410 ,z=-0.000974,angle between two frames:0.000009
-[21:00:44.452]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =115 	 error init =0.021933 	 error end=0.012265
-[21:00:44.452] After pose optimization, distance between ekf and vo x:-0.000410 ,z=-0.000974,angle between two frames:0.000009
-[21:00:44.452] Update EKF and 3D points the number of feature in the new frame: 115 and number of obs: 115
-[21:00:44.452] frame Scene Depth mean:0.895268 ,depth min:0.238029
-[21:00:44.453] need key frame pitch dis: 0.068670 translation dif:0.124517
-[21:00:44.453] Choose frame as a key frame Scene Depth mean:0.895268 ,depth min:0.238029
-[21:00:44.453] frame process finished the id is: 153 the obs is:115 
-[21:00:44.613] After Reprojection Map nMatches:165 ,distance between ekf and vo x:-0.000518 ,z=-0.001201,angle between two frames:0.000015
-[21:00:44.614]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =150 	 error init =0.042148 	 error end=0.010569
-[21:00:44.614] After pose optimization, distance between ekf and vo x:-0.011189 ,z=-0.016241,angle between two frames:0.007989
-[21:00:44.614] Update EKF and 3D points the number of feature in the new frame: 150 and number of obs: 150
-[21:00:44.614] frame Scene Depth mean:0.948950 ,depth min:0.239745
-[21:00:44.615] need key frame pitch dis: 0.078457 translation dif:0.118561
-[21:00:44.615] Choose frame as a key frame Scene Depth mean:0.948950 ,depth min:0.239745
-[21:00:44.615] frame process finished the id is: 154 the obs is:150 
-[21:00:44.677] Odometry x=0.067568, y=1.122095, theta=-0.379381
-[21:00:44.797] After Reprojection Map nMatches:157 ,distance between ekf and vo x:-0.000526 ,z=-0.001196,angle between two frames:0.000019
-[21:00:44.798]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =149 	 error init =0.000803 	 error end=0.006765
-[21:00:44.798] After pose optimization, distance between ekf and vo x:-0.000575 ,z=-0.006133,angle between two frames:0.001491
-[21:00:44.798] Update EKF and 3D points the number of feature in the new frame: 149 and number of obs: 149
-[21:00:44.799] frame Scene Depth mean:0.844437 ,depth min:0.236513
-[21:00:44.801] need key frame pitch dis: 0.015051 translation dif:0.003429
-[21:00:44.801] frame process finished the id is: 155 the obs is:149 
-[21:00:44.990] After Reprojection Map nMatches:164 ,distance between ekf and vo x:-0.000508 ,z=-0.001129,angle between two frames:0.000017
-[21:00:44.991]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =140 	 error init =0.004017 	 error end=0.005154
-[21:00:44.991] After pose optimization, distance between ekf and vo x:-0.001613 ,z=0.009614,angle between two frames:0.013146
-[21:00:44.991] Update EKF and 3D points the number of feature in the new frame: 140 and number of obs: 140
-[21:00:44.991] frame Scene Depth mean:0.829686 ,depth min:0.232695
-[21:00:44.993] need key frame pitch dis: 0.010347 translation dif:0.010041
-[21:00:44.993] frame process finished the id is: 156 the obs is:140 
-[21:00:45.013] Odometry x=0.069784, y=1.131889, theta=-0.389728
-[21:00:45.188] After Reprojection Map nMatches:174 ,distance between ekf and vo x:-0.000476 ,z=-0.000981,angle between two frames:0.000019
-[21:00:45.189]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =165 	 error init =0.006660 	 error end=0.005085
-[21:00:45.189] After pose optimization, distance between ekf and vo x:-0.024805 ,z=-0.043596,angle between two frames:0.016294
-[21:00:45.189] Update EKF and 3D points the number of feature in the new frame: 165 and number of obs: 165
-[21:00:45.189] frame Scene Depth mean:1.006557 ,depth min:0.256170
-[21:00:45.189] Odometry x=0.066760, y=1.129498, theta=-0.394992
-[21:00:45.191] need key frame pitch dis: 0.015611 translation dif:0.007447
-[21:00:45.191] frame process finished the id is: 157 the obs is:165 
-[21:00:45.384] After Reprojection Map nMatches:204 ,distance between ekf and vo x:-0.000521 ,z=-0.001086,angle between two frames:0.000013
-[21:00:45.384]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =188 	 error init =0.006363 	 error end=0.005015
-[21:00:45.384] After pose optimization, distance between ekf and vo x:-0.000521 ,z=-0.001086,angle between two frames:0.000013
-[21:00:45.384] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188
-[21:00:45.384] frame Scene Depth mean:1.092779 ,depth min:0.248935
-[21:00:45.387] need key frame pitch dis: 0.025497 translation dif:0.015438
-[21:00:45.387] frame process finished the id is: 158 the obs is:188 
-[21:00:45.437] Odometry x=0.070579, y=1.138827, theta=-0.393619
-[21:00:45.576] After Reprojection Map nMatches:184 ,distance between ekf and vo x:-0.000607 ,z=-0.001229,angle between two frames:0.000011
-[21:00:45.578]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =148 	 error init =0.015785 	 error end=0.017897
-[21:00:45.578] After pose optimization, distance between ekf and vo x:0.032073 ,z=-0.124413,angle between two frames:0.026714
-[21:00:45.578] Update EKF and 3D points the number of feature in the new frame: 148 and number of obs: 148
-[21:00:45.578] frame Scene Depth mean:1.208383 ,depth min:0.266456
-[21:00:45.579] need key frame pitch dis: 0.030567 translation dif:0.017557
-[21:00:45.579] frame process finished the id is: 159 the obs is:148 
-[21:00:45.712] Odometry x=0.086441, y=1.118407, theta=-0.337555
-[21:00:45.768] After Reprojection Map nMatches:161 ,distance between ekf and vo x:-0.000451 ,z=-0.001327,angle between two frames:0.000006
-[21:00:45.768]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =125 	 error init =0.014652 	 error end=0.022945
-[21:00:45.768] After pose optimization, distance between ekf and vo x:-0.000451 ,z=-0.001327,angle between two frames:0.000006
-[21:00:45.768] Update EKF and 3D points the number of feature in the new frame: 125 and number of obs: 125
-[21:00:45.768] frame Scene Depth mean:1.820094 ,depth min:0.260076
-[21:00:45.769] need key frame pitch dis: 0.034884 translation dif:0.133851
-[21:00:45.769] Choose frame as a key frame Scene Depth mean:1.820094 ,depth min:0.260076
-[21:00:45.769] frame process finished the id is: 160 the obs is:125 
-[21:00:45.938] Odometry x=0.089072, y=1.125884, theta=-0.335807
-[21:00:45.975] After Reprojection Map nMatches:128 ,distance between ekf and vo x:-0.000340 ,z=-0.001077,angle between two frames:0.000001
-[21:00:45.976]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =114 	 error init =0.036372 	 error end=0.009495
-[21:00:45.976] After pose optimization, distance between ekf and vo x:-0.000340 ,z=-0.001077,angle between two frames:0.000001
-[21:00:45.976] Update EKF and 3D points the number of feature in the new frame: 114 and number of obs: 114
-[21:00:45.976] frame Scene Depth mean:1.810335 ,depth min:0.253130
-[21:00:45.977] need key frame pitch dis: 0.029594 translation dif:0.141491
-[21:00:45.977] Choose frame as a key frame Scene Depth mean:1.810335 ,depth min:0.253130
-[21:00:45.977] frame process finished the id is: 161 the obs is:114 
-[21:00:46.187] Odometry x=0.091799, y=1.133416, theta=-0.330517
-[21:00:46.211] After Reprojection Map nMatches:136 ,distance between ekf and vo x:-0.000031 ,z=-0.001001,angle between two frames:0.000029
-[21:00:46.211]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =132 	 error init =0.010201 	 error end=0.001013
-[21:00:46.211] After pose optimization, distance between ekf and vo x:-0.000031 ,z=-0.001001,angle between two frames:0.000029
-[21:00:46.211] Update EKF and 3D points the number of feature in the new frame: 132 and number of obs: 132
-[21:00:46.211] frame Scene Depth mean:2.105158 ,depth min:0.059671
-[21:00:46.213] need key frame pitch dis: 0.005297 translation dif:0.030054
-[21:00:46.213] frame process finished the id is: 162 the obs is:132 
-[21:00:46.447] Odometry x=0.100080, y=1.156963, theta=-0.314330
-[21:00:46.482] After Reprojection Map nMatches:105 ,distance between ekf and vo x:-0.683187 ,z=-0.142610,angle between two frames:0.496250
-[21:00:46.482]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =79 	 error init =0.100097 	 error end=0.006600
-[21:00:46.482] After pose optimization, distance between ekf and vo x:1.864901 ,z=-6.313891,angle between two frames:0.430551
-[21:00:46.482] frame process finished the id is: 162 the obs is:132 
-[21:00:46.698] Odometry x=0.104644, y=1.170265, theta=-0.251307
-[21:00:46.742] After Reprojection Map nMatches:110 ,distance between ekf and vo x:-0.681676 ,z=-0.153645,angle between two frames:0.498089
-[21:00:46.742]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =91 	 error init =0.057686 	 error end=0.021576
-[21:00:46.742] After pose optimization, distance between ekf and vo x:-0.610251 ,z=-3.625255,angle between two frames:0.362719
-[21:00:46.742] frame process finished the id is: 162 the obs is:132 
-[21:00:46.977] Odometry x=0.108242, y=1.184426, theta=-0.237434
-[21:00:47.014] After Reprojection Map nMatches:115 ,distance between ekf and vo x:-0.949440 ,z=-0.190992,angle between two frames:0.697593
-[21:00:47.015]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =84 	 error init =0.050325 	 error end=0.017833
-[21:00:47.015] After pose optimization, distance between ekf and vo x:-2.182798 ,z=-7.187255,angle between two frames:0.371605
-[21:00:47.015] frame process finished the id is: 162 the obs is:132 
-[21:00:47.178] Odometry x=0.111933, y=1.199558, theta=-0.243704
-[21:00:47.278] After Reprojection Map nMatches:112 ,distance between ekf and vo x:-0.389306 ,z=-0.160340,angle between two frames:0.297021
-[21:00:47.278]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =112 	 error init =0.000162 	 error end=0.000347
-[21:00:47.278] After pose optimization, distance between ekf and vo x:-0.389306 ,z=-0.160340,angle between two frames:0.297021
-[21:00:47.278] frame process finished the id is: 162 the obs is:132 
-[21:00:47.422] Odometry x=0.115509, y=1.214423, theta=-0.215854
-[21:00:47.536] After Reprojection Map nMatches:103 ,distance between ekf and vo x:-0.522636 ,z=-0.202397,angle between two frames:0.397714
-[21:00:47.537]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =92 	 error init =0.009802 	 error end=0.006492
-[21:00:47.537] After pose optimization, distance between ekf and vo x:-0.541090 ,z=-0.299523,angle between two frames:0.403254
-[21:00:47.537] frame process finished the id is: 162 the obs is:132 
-[21:00:47.692] Odometry x=0.119094, y=1.228981, theta=-0.258634
-[21:00:47.788] After Reprojection Map nMatches:134 ,distance between ekf and vo x:0.000573 ,z=0.000307,angle between two frames:0.000370
-[21:00:47.788]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =120 	 error init =0.012423 	 error end=0.006601
-[21:00:47.788] After pose optimization, distance between ekf and vo x:0.000573 ,z=0.000307,angle between two frames:0.000370
-[21:00:47.788] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120
-[21:00:47.788] frame Scene Depth mean:2.462027 ,depth min:0.150879
-[21:00:47.790] need key frame pitch dis: 0.058266 translation dif:0.118878
-[21:00:47.790] Choose frame as a key frame Scene Depth mean:2.462027 ,depth min:0.150879
-[21:00:47.790] frame process finished the id is: 168 the obs is:120 
-[21:00:47.919] Odometry x=0.121220, y=1.240332, theta=-0.277541
-[21:00:48.015] After Reprojection Map nMatches:148 ,distance between ekf and vo x:0.002463 ,z=0.002730,angle between two frames:0.000599
-[21:00:48.016]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =132 	 error init =0.007396 	 error end=0.012054
-[21:00:48.017] After pose optimization, distance between ekf and vo x:0.186430 ,z=-0.178523,angle between two frames:0.095685
-[21:00:48.017] frame process finished the id is: 168 the obs is:120 
-[21:00:48.171] Odometry x=0.124258, y=1.251071, theta=-0.273083
-[21:00:48.256] After Reprojection Map nMatches:116 ,distance between ekf and vo x:0.004715 ,z=0.002785,angle between two frames:0.001301
-[21:00:48.256]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =100 	 error init =0.032294 	 error end=0.031948
-[21:00:48.256] After pose optimization, distance between ekf and vo x:0.006230 ,z=-0.095678,angle between two frames:0.003042
-[21:00:48.256] Update EKF and 3D points the number of feature in the new frame: 100 and number of obs: 100
-[21:00:48.256] frame Scene Depth mean:2.124810 ,depth min:0.190170
-[21:00:48.258] need key frame pitch dis: 0.082838 translation dif:0.119906
-[21:00:48.258] Choose frame as a key frame Scene Depth mean:2.124810 ,depth min:0.190170
-[21:00:48.258] frame process finished the id is: 170 the obs is:100 
-[21:00:48.465] Odometry x=0.128788, y=1.239022, theta=-0.252970
-[21:00:48.495] After Reprojection Map nMatches:117 ,distance between ekf and vo x:0.004492 ,z=0.004504,angle between two frames:0.001183
-[21:00:48.496]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =96 	 error init =0.024603 	 error end=0.022396
-[21:00:48.496] After pose optimization, distance between ekf and vo x:0.004492 ,z=0.004504,angle between two frames:0.001183
-[21:00:48.496] Update EKF and 3D points the number of feature in the new frame: 96 and number of obs: 96
-[21:00:48.496] frame Scene Depth mean:2.773918 ,depth min:0.169812
-[21:00:48.497] need key frame pitch dis: 0.024913 translation dif:0.025910
-[21:00:48.497] frame process finished the id is: 171 the obs is:96 
-[21:00:48.687] Odometry x=0.135221, y=1.264102, theta=-0.225996
-[21:00:48.749] After Reprojection Map nMatches:135 ,distance between ekf and vo x:0.003537 ,z=0.004219,angle between two frames:0.000958
-[21:00:48.750]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =112 	 error init =0.031174 	 error end=0.019312
-[21:00:48.750] After pose optimization, distance between ekf and vo x:0.034370 ,z=-0.036981,angle between two frames:0.001731
-[21:00:48.750] Update EKF and 3D points the number of feature in the new frame: 112 and number of obs: 112
-[21:00:48.750] frame Scene Depth mean:2.456423 ,depth min:0.433178
-[21:00:48.752] need key frame pitch dis: 0.008060 translation dif:0.034236
-[21:00:48.752] frame process finished the id is: 172 the obs is:112 
-[21:00:48.997] Odometry x=0.145803, y=1.268730, theta=-0.244910
-[21:00:49.064] After Reprojection Map nMatches:157 ,distance between ekf and vo x:0.003176 ,z=0.004735,angle between two frames:0.001968
-[21:00:49.064]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =133 	 error init =0.042573 	 error end=0.014826
-[21:00:49.064] After pose optimization, distance between ekf and vo x:0.003176 ,z=0.004735,angle between two frames:0.001968
-[21:00:49.064] Update EKF and 3D points the number of feature in the new frame: 133 and number of obs: 133
-[21:00:49.064] frame Scene Depth mean:2.550801 ,depth min:0.428980
-[21:00:49.066] need key frame pitch dis: 0.070507 translation dif:0.152978
-[21:00:49.066] Choose frame as a key frame Scene Depth mean:2.550801 ,depth min:0.428980
-[21:00:49.066] frame process finished the id is: 173 the obs is:133 
-[21:00:49.188] Odometry x=0.147558, y=1.275870, theta=-0.260010
-[21:00:49.385] After Reprojection Map nMatches:138 ,distance between ekf and vo x:0.005174 ,z=0.012546,angle between two frames:0.002575
-[21:00:49.385]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =114 	 error init =0.057434 	 error end=0.019719
-[21:00:49.385] After pose optimization, distance between ekf and vo x:0.005174 ,z=0.012546,angle between two frames:0.002575
-[21:00:49.385] Update EKF and 3D points the number of feature in the new frame: 114 and number of obs: 114
-[21:00:49.385] frame Scene Depth mean:2.152672 ,depth min:0.417206
-[21:00:49.386] need key frame pitch dis: 0.006141 translation dif:0.052134
-[21:00:49.386] frame process finished the id is: 174 the obs is:114 
-[21:00:49.429] Odometry x=0.149940, y=1.286671, theta=-0.246829
-[21:00:49.690] After Reprojection Map nMatches:144 ,distance between ekf and vo x:-0.006783 ,z=0.005575,angle between two frames:0.002168
-[21:00:49.690]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =128 	 error init =0.014154 	 error end=0.004097
-[21:00:49.690] After pose optimization, distance between ekf and vo x:-0.006783 ,z=0.005575,angle between two frames:0.002168
-[21:00:49.690] Update EKF and 3D points the number of feature in the new frame: 128 and number of obs: 128
-[21:00:49.690] frame Scene Depth mean:2.119046 ,depth min:0.262691
-[21:00:49.692] need key frame pitch dis: 0.012011 translation dif:0.061034
-[21:00:49.692] frame process finished the id is: 175 the obs is:128 
-[21:00:49.705] Odometry x=0.150369, y=1.296113, theta=-0.240959
-[21:00:49.941] Odometry x=0.152845, y=1.307796, theta=-0.259607
-[21:00:50.008] After Reprojection Map nMatches:147 ,distance between ekf and vo x:0.003844 ,z=0.004109,angle between two frames:0.002910
-[21:00:50.009]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =129 	 error init =0.009778 	 error end=0.006542
-[21:00:50.009] After pose optimization, distance between ekf and vo x:0.003844 ,z=0.004109,angle between two frames:0.002910
-[21:00:50.009] Update EKF and 3D points the number of feature in the new frame: 129 and number of obs: 129
-[21:00:50.009] frame Scene Depth mean:2.807408 ,depth min:0.392610
-[21:00:50.010] need key frame pitch dis: 0.063851 translation dif:0.193688
-[21:00:50.011] Choose frame as a key frame Scene Depth mean:2.807408 ,depth min:0.392610
-[21:00:50.011] frame process finished the id is: 176 the obs is:129 
-[21:00:50.174] Odometry x=0.154344, y=1.316728, theta=-0.266667
-[21:00:50.268] After Reprojection Map nMatches:174 ,distance between ekf and vo x:0.000528 ,z=0.000358,angle between two frames:0.000030
-[21:00:50.268]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =138 	 error init =0.046077 	 error end=0.022437
-[21:00:50.268] After pose optimization, distance between ekf and vo x:0.000528 ,z=0.000358,angle between two frames:0.000030
-[21:00:50.268] Update EKF and 3D points the number of feature in the new frame: 138 and number of obs: 138
-[21:00:50.268] frame Scene Depth mean:2.262346 ,depth min:0.211070
-[21:00:50.270] need key frame pitch dis: 0.021401 translation dif:0.081961
-[21:00:50.270] frame process finished the id is: 177 the obs is:138 
-[21:00:50.490] After Reprojection Map nMatches:167 ,distance between ekf and vo x:0.000569 ,z=0.011016,angle between two frames:0.000427
-[21:00:50.491]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =122 	 error init =0.052854 	 error end=0.034451
-[21:00:50.491] After pose optimization, distance between ekf and vo x:0.000569 ,z=0.011016,angle between two frames:0.000427
-[21:00:50.491] Update EKF and 3D points the number of feature in the new frame: 122 and number of obs: 122
-[21:00:50.491] frame Scene Depth mean:2.009831 ,depth min:0.068162
-[21:00:50.493] need key frame pitch dis: 0.011149 translation dif:0.002784
-[21:00:50.493] frame process finished the id is: 178 the obs is:122 
-[21:00:50.750] After Reprojection Map nMatches:156 ,distance between ekf and vo x:0.003618 ,z=0.012946,angle between two frames:0.003581
-[21:00:50.751]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =112 	 error init =0.034481 	 error end=0.029226
-[21:00:50.751] After pose optimization, distance between ekf and vo x:0.016040 ,z=-0.008869,angle between two frames:0.003810
-[21:00:50.751] Update EKF and 3D points the number of feature in the new frame: 112 and number of obs: 112
-[21:00:50.751] frame Scene Depth mean:1.807819 ,depth min:0.067454
-[21:00:50.752] need key frame pitch dis: 0.017474 translation dif:0.040845
-[21:00:50.752] frame process finished the id is: 179 the obs is:112 
-[21:00:51.012] After Reprojection Map nMatches:132 ,distance between ekf and vo x:0.002648 ,z=0.010488,angle between two frames:0.001913
-[21:00:51.013]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =112 	 error init =0.013110 	 error end=0.006220
-[21:00:51.013] After pose optimization, distance between ekf and vo x:0.002648 ,z=0.010488,angle between two frames:0.001913
-[21:00:51.013] Update EKF and 3D points the number of feature in the new frame: 112 and number of obs: 112
-[21:00:51.013] frame Scene Depth mean:2.066326 ,depth min:0.113997
-[21:00:51.014] need key frame pitch dis: 0.011476 translation dif:0.002769
-[21:00:51.014] frame process finished the id is: 180 the obs is:112 
-[21:00:51.304] After Reprojection Map nMatches:128 ,distance between ekf and vo x:-0.008453 ,z=0.010748,angle between two frames:0.011500
-[21:00:51.305]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =120 	 error init =0.001465 	 error end=0.001016
-[21:00:51.305] After pose optimization, distance between ekf and vo x:-0.007347 ,z=0.010250,angle between two frames:0.011419
-[21:00:51.305] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120
-[21:00:51.305] frame Scene Depth mean:1.982925 ,depth min:0.103497
-[21:00:51.306] need key frame pitch dis: 0.017381 translation dif:0.003428
-[21:00:51.306] frame process finished the id is: 181 the obs is:120 
-[21:00:51.440] Odometry x=0.152912, y=1.319842, theta=-0.284048
-[21:00:51.567] After Reprojection Map nMatches:128 ,distance between ekf and vo x:0.002077 ,z=0.015585,angle between two frames:0.001111
-[21:00:51.567]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =116 	 error init =0.003949 	 error end=0.003108
-[21:00:51.567] After pose optimization, distance between ekf and vo x:-0.000284 ,z=0.010815,angle between two frames:0.001417
-[21:00:51.567] Update EKF and 3D points the number of feature in the new frame: 116 and number of obs: 116
-[21:00:51.567] frame Scene Depth mean:2.213403 ,depth min:0.097677
-[21:00:51.568] need key frame pitch dis: 0.031570 translation dif:0.089356
-[21:00:51.568] frame process finished the id is: 182 the obs is:116 
-[21:00:51.713] Odometry x=0.151176, y=1.325527, theta=-0.284539
-[21:00:51.813] After Reprojection Map nMatches:134 ,distance between ekf and vo x:0.002388 ,z=0.013915,angle between two frames:0.001793
-[21:00:51.814]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =110 	 error init =0.027104 	 error end=0.019486
-[21:00:51.814] After pose optimization, distance between ekf and vo x:0.002388 ,z=0.013915,angle between two frames:0.001793
-[21:00:51.814] Update EKF and 3D points the number of feature in the new frame: 110 and number of obs: 110
-[21:00:51.814] frame Scene Depth mean:2.258374 ,depth min:0.090573
-[21:00:51.815] need key frame pitch dis: 0.016533 translation dif:0.016608
-[21:00:51.815] frame process finished the id is: 183 the obs is:110 
-[21:00:51.947] Odometry x=0.153006, y=1.333281, theta=-0.283200
-[21:00:52.035] After Reprojection Map nMatches:122 ,distance between ekf and vo x:0.000714 ,z=-0.001453,angle between two frames:0.000090
-[21:00:52.035]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =122 	 error init =0.000070 	 error end=0.000432
-[21:00:52.035] After pose optimization, distance between ekf and vo x:0.000714 ,z=-0.001453,angle between two frames:0.000090
-[21:00:52.035] Update EKF and 3D points the number of feature in the new frame: 122 and number of obs: 122
-[21:00:52.035] frame Scene Depth mean:2.017609 ,depth min:0.057037
-[21:00:52.036] need key frame pitch dis: 0.008461 translation dif:0.019673
-[21:00:52.036] frame process finished the id is: 184 the obs is:122 
-[21:00:52.175] Odometry x=0.153553, y=1.336385, theta=-0.275128
-[21:00:52.276] After Reprojection Map nMatches:123 ,distance between ekf and vo x:0.000605 ,z=-0.000564,angle between two frames:0.000044
-[21:00:52.277]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =88 	 error init =0.038783 	 error end=0.047904
-[21:00:52.277] After pose optimization, distance between ekf and vo x:0.069888 ,z=-0.080703,angle between two frames:0.003304
-[21:00:52.277] Update EKF and 3D points the number of feature in the new frame: 88 and number of obs: 88
-[21:00:52.277] frame Scene Depth mean:2.485900 ,depth min:0.089751
-[21:00:52.278] need key frame pitch dis: 0.003188 translation dif:0.052541
-[21:00:52.278] frame process finished the id is: 185 the obs is:88 
-[21:00:52.419] Odometry x=0.171122, y=1.322831, theta=-0.263198
-[21:00:52.492] After Reprojection Map nMatches:109 ,distance between ekf and vo x:0.000040 ,z=-0.001270,angle between two frames:0.000012
-[21:00:52.492]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =103 	 error init =0.006528 	 error end=0.004633
-[21:00:52.492] After pose optimization, distance between ekf and vo x:0.000040 ,z=-0.001270,angle between two frames:0.000012
-[21:00:52.492] Update EKF and 3D points the number of feature in the new frame: 103 and number of obs: 103
-[21:00:52.492] frame Scene Depth mean:2.265423 ,depth min:0.068382
-[21:00:52.493] need key frame pitch dis: 0.002570 translation dif:0.058217
-[21:00:52.493] frame process finished the id is: 186 the obs is:103 
-[21:00:52.688] Odometry x=0.172702, y=1.328377, theta=-0.262580
-[21:00:52.719] After Reprojection Map nMatches:111 ,distance between ekf and vo x:-0.000047 ,z=-0.001316,angle between two frames:0.000002
-[21:00:52.720]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =84 	 error init =0.032183 	 error end=0.022476
-[21:00:52.720] After pose optimization, distance between ekf and vo x:-0.000047 ,z=-0.001316,angle between two frames:0.000002
-[21:00:52.720] Update EKF and 3D points the number of feature in the new frame: 84 and number of obs: 84
-[21:00:52.720] frame Scene Depth mean:2.332057 ,depth min:0.080009
-[21:00:52.720] need key frame pitch dis: 0.014277 translation dif:0.107475
-[21:00:52.720] Choose frame as a key frame Scene Depth mean:2.332057 ,depth min:0.080009
-[21:00:52.720] frame process finished the id is: 187 the obs is:84 
-[21:00:52.904] After Reprojection Map nMatches:165 ,distance between ekf and vo x:-0.000247 ,z=0.026925,angle between two frames:0.000106
-[21:00:52.904]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =165 	 error init =0.006251 	 error end=0.000616
-[21:00:52.904] After pose optimization, distance between ekf and vo x:-0.000247 ,z=0.026925,angle between two frames:0.000106
-[21:00:52.904] Update EKF and 3D points the number of feature in the new frame: 165 and number of obs: 165
-[21:00:52.904] frame Scene Depth mean:2.230703 ,depth min:0.072144
-[21:00:52.906] need key frame pitch dis: 0.003164 translation dif:0.032452
-[21:00:52.906] frame process finished the id is: 188 the obs is:165 
-[21:00:53.010] Odometry x=0.174533, y=1.342136, theta=-0.263503
-[21:00:53.100] After Reprojection Map nMatches:135 ,distance between ekf and vo x:-0.000188 ,z=0.018169,angle between two frames:0.000070
-[21:00:53.101]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =95 	 error init =0.033240 	 error end=0.032894
-[21:00:53.101] After pose optimization, distance between ekf and vo x:-0.000188 ,z=0.018169,angle between two frames:0.000070
-[21:00:53.101] Update EKF and 3D points the number of feature in the new frame: 95 and number of obs: 95
-[21:00:53.101] frame Scene Depth mean:2.290847 ,depth min:0.061623
-[21:00:53.102] need key frame pitch dis: 0.031414 translation dif:0.040363
-[21:00:53.102] frame process finished the id is: 189 the obs is:95 
-[21:00:53.193] Odometry x=0.173744, y=1.352123, theta=-0.235253
-[21:00:53.261] After Reprojection Map nMatches:106 ,distance between ekf and vo x:-0.020502 ,z=0.019149,angle between two frames:0.005580
-[21:00:53.262]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =90 	 error init =0.046130 	 error end=0.025193
-[21:00:53.262] After pose optimization, distance between ekf and vo x:-0.020502 ,z=0.019149,angle between two frames:0.005580
-[21:00:53.262] Update EKF and 3D points the number of feature in the new frame: 90 and number of obs: 90
-[21:00:53.262] frame Scene Depth mean:1.618629 ,depth min:0.071868
-[21:00:53.263] need key frame pitch dis: 0.030886 translation dif:0.049057
-[21:00:53.263] frame process finished the id is: 190 the obs is:90 
-[21:00:53.413] After Reprojection Map nMatches:107 ,distance between ekf and vo x:-0.040857 ,z=-0.001380,angle between two frames:0.012105
-[21:00:53.414]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =107 	 error init =0.000457 	 error end=0.000301
-[21:00:53.414] After pose optimization, distance between ekf and vo x:-0.040856 ,z=-0.001383,angle between two frames:0.012105
-[21:00:53.414] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107
-[21:00:53.414] frame Scene Depth mean:1.540188 ,depth min:0.066200
-[21:00:53.415] need key frame pitch dis: 0.021252 translation dif:0.086656
-[21:00:53.415] frame process finished the id is: 191 the obs is:107 
-[21:00:53.442] Odometry x=0.163753, y=1.360999, theta=-0.238758
-[21:00:53.586] After Reprojection Map nMatches:150 ,distance between ekf and vo x:0.041207 ,z=0.046934,angle between two frames:0.013406
-[21:00:53.587]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =121 	 error init =0.001306 	 error end=0.005222
-[21:00:53.587] After pose optimization, distance between ekf and vo x:0.036771 ,z=0.041561,angle between two frames:0.012752
-[21:00:53.590] Update EKF and 3D points the number of feature in the new frame: 121 and number of obs: 121
-[21:00:53.590] frame Scene Depth mean:1.455692 ,depth min:0.091348
-[21:00:53.591] need key frame pitch dis: 0.034326 translation dif:0.043240
-[21:00:53.591] frame process finished the id is: 192 the obs is:121 
-[21:00:53.707] Odometry x=0.174257, y=1.377075, theta=-0.228939
-[21:00:53.772] After Reprojection Map nMatches:196 ,distance between ekf and vo x:-0.004117 ,z=0.035645,angle between two frames:0.000168
-[21:00:53.773]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =180 	 error init =0.033504 	 error end=0.027007
-[21:00:53.773] After pose optimization, distance between ekf and vo x:-0.004117 ,z=0.035645,angle between two frames:0.000168
-[21:00:53.773] Update EKF and 3D points the number of feature in the new frame: 180 and number of obs: 180
-[21:00:53.773] frame Scene Depth mean:1.932762 ,depth min:0.071404
-[21:00:53.774] need key frame pitch dis: 0.039095 translation dif:0.063052
-[21:00:53.774] frame process finished the id is: 193 the obs is:180 
-[21:00:53.949] Odometry x=0.173922, y=1.396887, theta=-0.224170
-[21:00:53.959] After Reprojection Map nMatches:182 ,distance between ekf and vo x:-0.004372 ,z=0.030563,angle between two frames:0.000348
-[21:00:53.961]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =164 	 error init =0.007233 	 error end=0.004523
-[21:00:53.961] After pose optimization, distance between ekf and vo x:-0.004440 ,z=0.026092,angle between two frames:0.000654
-[21:00:53.961] Update EKF and 3D points the number of feature in the new frame: 164 and number of obs: 164
-[21:00:53.961] frame Scene Depth mean:1.982485 ,depth min:0.087877
-[21:00:53.962] need key frame pitch dis: 0.056790 translation dif:0.094506
-[21:00:53.962] frame process finished the id is: 194 the obs is:164 
-[21:00:54.129] After Reprojection Map nMatches:185 ,distance between ekf and vo x:-0.001922 ,z=0.034325,angle between two frames:0.000823
-[21:00:54.129]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =165 	 error init =0.044127 	 error end=0.002502
-[21:00:54.129] After pose optimization, distance between ekf and vo x:-0.001922 ,z=0.034325,angle between two frames:0.000823
-[21:00:54.129] Update EKF and 3D points the number of feature in the new frame: 165 and number of obs: 165
-[21:00:54.129] frame Scene Depth mean:2.477383 ,depth min:0.082846
-[21:00:54.131] need key frame pitch dis: 0.056828 translation dif:0.140970
-[21:00:54.131] Choose frame as a key frame Scene Depth mean:2.477383 ,depth min:0.082846
-[21:00:54.131] frame process finished the id is: 195 the obs is:165 
-[21:00:54.204] Odometry x=0.174978, y=1.414147, theta=-0.203182
-[21:00:54.375] After Reprojection Map nMatches:147 ,distance between ekf and vo x:-0.004606 ,z=0.054712,angle between two frames:0.001056
-[21:00:54.376]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =119 	 error init =0.014556 	 error end=0.005340
-[21:00:54.376] After pose optimization, distance between ekf and vo x:-0.008351 ,z=0.067250,angle between two frames:0.001307
-[21:00:54.376] Update EKF and 3D points the number of feature in the new frame: 119 and number of obs: 119
-[21:00:54.376] frame Scene Depth mean:1.792753 ,depth min:0.086282
-[21:00:54.377] need key frame pitch dis: 0.095584 translation dif:0.120387
-[21:00:54.377] Choose frame as a key frame Scene Depth mean:1.792753 ,depth min:0.086282
-[21:00:54.377] frame process finished the id is: 196 the obs is:119 
-[21:00:54.422] Odometry x=0.173637, y=1.435558, theta=-0.171083
-[21:00:54.625] After Reprojection Map nMatches:238 ,distance between ekf and vo x:-0.169731 ,z=-0.087258,angle between two frames:0.053572
-[21:00:54.627]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =202 	 error init =0.007418 	 error end=0.008641
-[21:00:54.627] After pose optimization, distance between ekf and vo x:-0.152420 ,z=-0.143471,angle between two frames:0.054576
-[21:00:54.627] frame process finished the id is: 196 the obs is:119 
-[21:00:54.694] Odometry x=0.175005, y=1.443326, theta=-0.150497
-[21:00:54.848] After Reprojection Map nMatches:156 ,distance between ekf and vo x:-0.020466 ,z=0.002818,angle between two frames:0.005381
-[21:00:54.848]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =136 	 error init =0.001694 	 error end=0.001390
-[21:00:54.848] After pose optimization, distance between ekf and vo x:-0.020466 ,z=0.002818,angle between two frames:0.005381
-[21:00:54.848] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136
-[21:00:54.848] frame Scene Depth mean:1.668773 ,depth min:0.103227
-[21:00:54.850] need key frame pitch dis: 0.116871 translation dif:0.121610
-[21:00:54.850] Choose frame as a key frame Scene Depth mean:1.668773 ,depth min:0.103227
-[21:00:54.850] frame process finished the id is: 198 the obs is:128 
-[21:00:54.965] Odometry x=0.171468, y=1.455415, theta=-0.146394
-[21:00:55.184] After Reprojection Map nMatches:218 ,distance between ekf and vo x:0.042443 ,z=0.058702,angle between two frames:0.016563
-[21:00:55.185]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =176 	 error init =0.036293 	 error end=0.015750
-[21:00:55.185] After pose optimization, distance between ekf and vo x:0.023806 ,z=0.018389,angle between two frames:0.009043
-[21:00:55.185] Update EKF and 3D points the number of feature in the new frame: 176 and number of obs: 176
-[21:00:55.185] frame Scene Depth mean:1.834053 ,depth min:0.092939
-[21:00:55.187] need key frame pitch dis: 0.067907 translation dif:0.052091
-[21:00:55.187] frame process finished the id is: 199 the obs is:176 
-[21:00:55.196] Odometry x=0.178063, y=1.466147, theta=-0.135275
-[21:00:55.451] Odometry x=0.178694, y=1.473670, theta=-0.164508
-[21:00:55.521] After Reprojection Map nMatches:241 ,distance between ekf and vo x:-0.005887 ,z=0.021735,angle between two frames:0.000115
-[21:00:55.523]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =225 	 error init =0.030203 	 error end=0.010941
-[21:00:55.523] After pose optimization, distance between ekf and vo x:-0.004038 ,z=-0.000091,angle between two frames:0.000683
-[21:00:55.523] Update EKF and 3D points the number of feature in the new frame: 225 and number of obs: 225
-[21:00:55.523] frame Scene Depth mean:1.532892 ,depth min:0.081123
-[21:00:55.525] need key frame pitch dis: 0.011616 translation dif:0.025356
-[21:00:55.525] frame process finished the id is: 200 the obs is:225 
-[21:00:55.669] Odometry x=0.178835, y=1.479677, theta=-0.158010
-[21:00:55.827] After Reprojection Map nMatches:338 ,distance between ekf and vo x:-0.004240 ,z=0.039237,angle between two frames:0.001576
-[21:00:55.828]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =304 	 error init =0.011660 	 error end=0.002916
-[21:00:55.828] After pose optimization, distance between ekf and vo x:-0.004240 ,z=0.039237,angle between two frames:0.001576
-[21:00:55.828] Update EKF and 3D points the number of feature in the new frame: 304 and number of obs: 304
-[21:00:55.828] frame Scene Depth mean:1.382309 ,depth min:0.083294
-[21:00:55.830] need key frame pitch dis: 0.078663 translation dif:0.081566
-[21:00:55.830] frame process finished the id is: 201 the obs is:304 
-[21:00:55.939] Odometry x=0.178979, y=1.495615, theta=-0.124519
-[21:00:56.134] After Reprojection Map nMatches:260 ,distance between ekf and vo x:-0.011570 ,z=0.041321,angle between two frames:0.000380
-[21:00:56.136]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =218 	 error init =0.015374 	 error end=0.005408
-[21:00:56.136] After pose optimization, distance between ekf and vo x:-0.004763 ,z=0.009137,angle between two frames:0.000636
-[21:00:56.136] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218
-[21:00:56.136] frame Scene Depth mean:1.559476 ,depth min:0.121883
-[21:00:56.138] need key frame pitch dis: 0.081372 translation dif:0.091342
-[21:00:56.138] frame process finished the id is: 202 the obs is:218 
-[21:00:56.169] Odometry x=0.177762, y=1.505447, theta=-0.121810
-[21:00:56.414] After Reprojection Map nMatches:278 ,distance between ekf and vo x:0.003448 ,z=0.081088,angle between two frames:0.008396
-[21:00:56.416]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =248 	 error init =0.017910 	 error end=0.007192
-[21:00:56.416] After pose optimization, distance between ekf and vo x:0.077925 ,z=-0.085668,angle between two frames:0.005582
-[21:00:56.416] Update EKF and 3D points the number of feature in the new frame: 248 and number of obs: 248
-[21:00:56.416] frame Scene Depth mean:2.122990 ,depth min:0.165132
-[21:00:56.419] need key frame pitch dis: 0.017002 translation dif:0.044479
-[21:00:56.419] frame process finished the id is: 203 the obs is:248 
-[21:00:56.427] Odometry x=0.197550, y=1.491444, theta=-0.129392
-[21:00:56.739] After Reprojection Map nMatches:248 ,distance between ekf and vo x:-0.019794 ,z=-0.000437,angle between two frames:0.005529
-[21:00:56.739]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =193 	 error init =0.040386 	 error end=0.012091
-[21:00:56.739] After pose optimization, distance between ekf and vo x:-0.019794 ,z=-0.000437,angle between two frames:0.005529
-[21:00:56.739] Update EKF and 3D points the number of feature in the new frame: 193 and number of obs: 193
-[21:00:56.739] frame Scene Depth mean:2.752525 ,depth min:0.061042
-[21:00:56.742] need key frame pitch dis: 0.120643 translation dif:0.158702
-[21:00:56.742] Choose frame as a key frame Scene Depth mean:2.752525 ,depth min:0.061042
-[21:00:56.742] frame process finished the id is: 204 the obs is:193 
-[21:00:57.141] After Reprojection Map nMatches:294 ,distance between ekf and vo x:0.033313 ,z=0.033467,angle between two frames:0.012123
-[21:00:57.141]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =242 	 error init =0.021554 	 error end=0.009129
-[21:00:57.141] After pose optimization, distance between ekf and vo x:0.033313 ,z=0.033467,angle between two frames:0.012123
-[21:00:57.141] Update EKF and 3D points the number of feature in the new frame: 242 and number of obs: 242
-[21:00:57.141] frame Scene Depth mean:2.773539 ,depth min:0.130679
-[21:00:57.144] need key frame pitch dis: 0.005647 translation dif:0.055364
-[21:00:57.144] frame process finished the id is: 205 the obs is:242 
-[21:00:57.572] After Reprojection Map nMatches:294 ,distance between ekf and vo x:-0.008535 ,z=0.018653,angle between two frames:0.000902
-[21:00:57.573]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =262 	 error init =0.016999 	 error end=0.034142
-[21:00:57.573] After pose optimization, distance between ekf and vo x:-0.008535 ,z=0.018653,angle between two frames:0.000902
-[21:00:57.573] Update EKF and 3D points the number of feature in the new frame: 262 and number of obs: 262
-[21:00:57.573] frame Scene Depth mean:2.213672 ,depth min:0.082915
-[21:00:57.575] need key frame pitch dis: 0.002857 translation dif:0.008121
-[21:00:57.575] frame process finished the id is: 206 the obs is:262 
-[21:00:57.706] Odometry x=0.197159, y=1.498225, theta=-0.145478
-[21:00:57.947] Odometry x=0.196713, y=1.498522, theta=-0.147856
-[21:00:58.017] After Reprojection Map nMatches:278 ,distance between ekf and vo x:0.092849 ,z=0.163551,angle between two frames:0.040372
-[21:00:58.017]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =222 	 error init =0.020798 	 error end=0.017462
-[21:00:58.017] After pose optimization, distance between ekf and vo x:0.092849 ,z=0.163551,angle between two frames:0.040372
-[21:00:58.017] Update EKF and 3D points the number of feature in the new frame: 222 and number of obs: 222
-[21:00:58.017] frame Scene Depth mean:2.655788 ,depth min:0.190101
-[21:00:58.019] need key frame pitch dis: 0.025583 translation dif:0.094116
-[21:00:58.019] frame process finished the id is: 207 the obs is:222 
-[21:00:58.201] Odometry x=0.218278, y=1.537065, theta=-0.171977
-[21:00:58.425] After Reprojection Map nMatches:294 ,distance between ekf and vo x:-0.005004 ,z=0.004943,angle between two frames:0.000950
-[21:00:58.427]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =256 	 error init =0.049791 	 error end=0.009079
-[21:00:58.427] After pose optimization, distance between ekf and vo x:0.016461 ,z=-0.052136,angle between two frames:0.001818
-[21:00:58.427] Update EKF and 3D points the number of feature in the new frame: 256 and number of obs: 256
-[21:00:58.427] frame Scene Depth mean:2.338271 ,depth min:0.114367
-[21:00:58.428] need key frame pitch dis: 0.094353 translation dif:0.044561
-[21:00:58.428] frame process finished the id is: 208 the obs is:256 
-[21:00:58.450] Odometry x=0.221597, y=1.525351, theta=-0.236974
-[21:00:58.698] Odometry x=0.221604, y=1.525630, theta=-0.333486
-[21:00:58.744] After Reprojection Map nMatches:283 ,distance between ekf and vo x:-0.001366 ,z=0.008153,angle between two frames:0.000212
-[21:00:58.745]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =260 	 error init =0.005186 	 error end=0.005102
-[21:00:58.745] After pose optimization, distance between ekf and vo x:-0.001366 ,z=0.008153,angle between two frames:0.000212
-[21:00:58.745] Update EKF and 3D points the number of feature in the new frame: 260 and number of obs: 260
-[21:00:58.745] frame Scene Depth mean:2.657714 ,depth min:0.168346
-[21:00:58.747] need key frame pitch dis: 0.100254 translation dif:0.221141
-[21:00:58.747] Choose frame as a key frame Scene Depth mean:2.657714 ,depth min:0.168346
-[21:00:58.747] frame process finished the id is: 209 the obs is:252 
-[21:00:59.002] Odometry x=0.221287, y=1.527493, theta=-0.366920
-[21:00:59.050] After Reprojection Map nMatches:280 ,distance between ekf and vo x:0.003955 ,z=0.016725,angle between two frames:0.000297
-[21:00:59.051]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =229 	 error init =0.011404 	 error end=0.005219
-[21:00:59.051] After pose optimization, distance between ekf and vo x:0.003955 ,z=0.016725,angle between two frames:0.000297
-[21:00:59.051] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229
-[21:00:59.051] frame Scene Depth mean:2.717408 ,depth min:0.147217
-[21:00:59.054] need key frame pitch dis: 0.163646 translation dif:0.126698
-[21:00:59.054] Choose frame as a key frame Scene Depth mean:2.717408 ,depth min:0.147217
-[21:00:59.054] frame process finished the id is: 210 the obs is:229 
-[21:00:59.341] After Reprojection Map nMatches:228 ,distance between ekf and vo x:0.005015 ,z=0.012463,angle between two frames:0.000342
-[21:00:59.342]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =169 	 error init =0.073714 	 error end=0.050093
-[21:00:59.342] After pose optimization, distance between ekf and vo x:0.005015 ,z=0.012463,angle between two frames:0.000342
-[21:00:59.342] Update EKF and 3D points the number of feature in the new frame: 169 and number of obs: 169
-[21:00:59.342] frame Scene Depth mean:1.975228 ,depth min:0.162536
-[21:00:59.344] need key frame pitch dis: 0.082591 translation dif:0.007364
-[21:00:59.344] frame process finished the id is: 211 the obs is:169 
-[21:00:59.812] After Reprojection Map nMatches:213 ,distance between ekf and vo x:0.083954 ,z=0.044742,angle between two frames:0.023200
-[21:00:59.813]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =187 	 error init =0.036416 	 error end=0.061892
-[21:00:59.813] After pose optimization, distance between ekf and vo x:0.083954 ,z=0.044742,angle between two frames:0.023200
-[21:00:59.813] Update EKF and 3D points the number of feature in the new frame: 187 and number of obs: 187
-[21:00:59.813] frame Scene Depth mean:2.299556 ,depth min:0.149914
-[21:00:59.815] need key frame pitch dis: 0.080756 translation dif:0.022477
-[21:00:59.815] frame process finished the id is: 212 the obs is:187 
-[21:01:00.227] After Reprojection Map nMatches:223 ,distance between ekf and vo x:0.006018 ,z=0.009633,angle between two frames:0.001396
-[21:01:00.228]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =188 	 error init =0.042065 	 error end=0.023904
-[21:01:00.228] After pose optimization, distance between ekf and vo x:0.006018 ,z=0.009633,angle between two frames:0.001396
-[21:01:00.228] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188
-[21:01:00.228] frame Scene Depth mean:2.115844 ,depth min:0.150000
-[21:01:00.229] need key frame pitch dis: 0.089161 translation dif:0.007289
-[21:01:00.229] frame process finished the id is: 213 the obs is:188 
-[21:01:00.441] Odometry x=0.226905, y=1.537317, theta=-0.455989
-[21:01:00.626] After Reprojection Map nMatches:240 ,distance between ekf and vo x:0.000504 ,z=0.001005,angle between two frames:0.000048
-[21:01:00.626]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =204 	 error init =0.089944 	 error end=0.081960
-[21:01:00.626] After pose optimization, distance between ekf and vo x:0.000504 ,z=0.001005,angle between two frames:0.000048
-[21:01:00.626] Update EKF and 3D points the number of feature in the new frame: 204 and number of obs: 204
-[21:01:00.626] frame Scene Depth mean:1.971270 ,depth min:0.070415
-[21:01:00.628] need key frame pitch dis: 0.098363 translation dif:0.008276
-[21:01:00.628] frame process finished the id is: 214 the obs is:204 
-[21:01:00.681] Odometry x=0.226078, y=1.539038, theta=-0.465191
-[21:01:01.017] Odometry x=0.224952, y=1.540011, theta=-0.491384
-[21:01:01.022] After Reprojection Map nMatches:224 ,distance between ekf and vo x:0.003222 ,z=0.006308,angle between two frames:0.000188
-[21:01:01.023]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =208 	 error init =0.005389 	 error end=0.003197
-[21:01:01.023] After pose optimization, distance between ekf and vo x:0.014525 ,z=0.026018,angle between two frames:0.001401
-[21:01:01.023] Update EKF and 3D points the number of feature in the new frame: 208 and number of obs: 208
-[21:01:01.023] frame Scene Depth mean:1.697524 ,depth min:0.066441
-[21:01:01.025] need key frame pitch dis: 0.233683 translation dif:0.014142
-[21:01:01.025] Choose frame as a key frame Scene Depth mean:1.697524 ,depth min:0.066441
-[21:01:01.025] frame process finished the id is: 215 the obs is:208 
-[21:01:01.194] Odometry x=0.226482, y=1.542577, theta=-0.604710
-[21:01:01.399] After Reprojection Map nMatches:269 ,distance between ekf and vo x:0.005806 ,z=0.008013,angle between two frames:0.000155
-[21:01:01.400]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =224 	 error init =0.080501 	 error end=0.027289
-[21:01:01.400] After pose optimization, distance between ekf and vo x:0.005806 ,z=0.008013,angle between two frames:0.000155
-[21:01:01.400] Update EKF and 3D points the number of feature in the new frame: 224 and number of obs: 224
-[21:01:01.400] frame Scene Depth mean:2.419660 ,depth min:0.073425
-[21:01:01.403] need key frame pitch dis: 0.293350 translation dif:0.014627
-[21:01:01.403] Choose frame as a key frame Scene Depth mean:2.419660 ,depth min:0.073425
-[21:01:01.403] frame process finished the id is: 216 the obs is:224 
-[21:01:01.469] Odometry x=0.228141, y=1.545086, theta=-0.660179
-[21:01:01.809] After Reprojection Map nMatches:240 ,distance between ekf and vo x:0.005026 ,z=0.006528,angle between two frames:0.000429
-[21:01:01.809]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =208 	 error init =0.062831 	 error end=0.057917
-[21:01:01.809] After pose optimization, distance between ekf and vo x:0.005026 ,z=0.006528,angle between two frames:0.000429
-[21:01:01.809] Update EKF and 3D points the number of feature in the new frame: 208 and number of obs: 208
-[21:01:01.810] frame Scene Depth mean:1.871860 ,depth min:0.053219
-[21:01:01.813] need key frame pitch dis: 0.092411 translation dif:0.004696
-[21:01:01.813] frame process finished the id is: 217 the obs is:208 
-[21:01:02.333] After Reprojection Map nMatches:256 ,distance between ekf and vo x:0.002630 ,z=0.002262,angle between two frames:0.000224
-[21:01:02.334]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =174 	 error init =0.096480 	 error end=0.027850
-[21:01:02.334] After pose optimization, distance between ekf and vo x:0.002630 ,z=0.002262,angle between two frames:0.000224
-[21:01:02.334] Update EKF and 3D points the number of feature in the new frame: 174 and number of obs: 174
-[21:01:02.334] frame Scene Depth mean:1.565010 ,depth min:0.061123
-[21:01:02.336] need key frame pitch dis: 0.339824 translation dif:0.017953
-[21:01:02.336] Choose frame as a key frame Scene Depth mean:1.565010 ,depth min:0.061123
-[21:01:02.336] frame process finished the id is: 218 the obs is:174 
-[21:01:02.884] After Reprojection Map nMatches:304 ,distance between ekf and vo x:0.016512 ,z=0.016102,angle between two frames:0.001337
-[21:01:02.885]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =200 	 error init =0.052828 	 error end=0.039014
-[21:01:02.885] After pose optimization, distance between ekf and vo x:-0.084645 ,z=-0.096088,angle between two frames:0.010960
-[21:01:02.885] Update EKF and 3D points the number of feature in the new frame: 200 and number of obs: 200
-[21:01:02.885] frame Scene Depth mean:1.994215 ,depth min:0.064882
-[21:01:02.889] need key frame pitch dis: 0.056820 translation dif:0.031012
-[21:01:02.889] frame process finished the id is: 219 the obs is:200 
-[21:01:02.992] Odometry x=0.204413, y=1.525117, theta=-0.716999
-[21:01:03.182] Odometry x=0.204406, y=1.525865, theta=-0.743072
-[21:01:03.428] Odometry x=0.204432, y=1.525938, theta=-0.803883
-[21:01:03.457] After Reprojection Map nMatches:332 ,distance between ekf and vo x:-0.000009 ,z=0.002502,angle between two frames:0.000248
-[21:01:03.458]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =206 	 error init =0.050453 	 error end=0.016630
-[21:01:03.458] After pose optimization, distance between ekf and vo x:-0.000009 ,z=0.002502,angle between two frames:0.000248
-[21:01:03.458] Update EKF and 3D points the number of feature in the new frame: 206 and number of obs: 206
-[21:01:03.458] frame Scene Depth mean:1.159414 ,depth min:0.054653
-[21:01:03.461] need key frame pitch dis: 0.552731 translation dif:0.016897
-[21:01:03.461] Choose frame as a key frame Scene Depth mean:1.159414 ,depth min:0.054653
-[21:01:03.461] frame process finished the id is: 220 the obs is:206 
-[21:01:03.694] Odometry x=0.204411, y=1.526149, theta=-0.942147
-[21:01:03.918] After Reprojection Map nMatches:312 ,distance between ekf and vo x:0.002325 ,z=0.000509,angle between two frames:0.000118
-[21:01:03.920]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =229 	 error init =0.147624 	 error end=0.029791
-[21:01:03.920] After pose optimization, distance between ekf and vo x:0.029272 ,z=0.017250,angle between two frames:0.011208
-[21:01:03.920] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229
-[21:01:03.920] frame Scene Depth mean:0.954749 ,depth min:0.050219
-[21:01:03.925] need key frame pitch dis: 0.616859 translation dif:0.010449
-[21:01:03.925] Choose frame as a key frame Scene Depth mean:0.954749 ,depth min:0.050219
-[21:01:03.925] frame process finished the id is: 221 the obs is:229 
-[21:01:03.928] Odometry x=0.211178, y=1.530138, theta=-0.983779
-[21:01:04.206] Odometry x=0.211219, y=1.530226, theta=-1.035679
-[21:01:04.445] Odometry x=0.211158, y=1.530152, theta=-1.090970
-[21:01:04.599] After Reprojection Map nMatches:329 ,distance between ekf and vo x:-0.000409 ,z=0.000152,angle between two frames:0.000009
-[21:01:04.600]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =203 	 error init =0.130854 	 error end=0.040545
-[21:01:04.600] After pose optimization, distance between ekf and vo x:-0.000409 ,z=0.000152,angle between two frames:0.000009
-[21:01:04.600] Update EKF and 3D points the number of feature in the new frame: 203 and number of obs: 203
-[21:01:04.600] frame Scene Depth mean:0.903216 ,depth min:0.051284
-[21:01:04.604] need key frame pitch dis: 0.681465 translation dif:0.010562
-[21:01:04.604] Choose frame as a key frame Scene Depth mean:0.903216 ,depth min:0.051284
-[21:01:04.604] frame process finished the id is: 222 the obs is:203 
-[21:01:05.366] After Reprojection Map nMatches:376 ,distance between ekf and vo x:-0.000220 ,z=0.000064,angle between two frames:0.000131
-[21:01:05.367]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =264 	 error init =0.087102 	 error end=0.040327
-[21:01:05.367] After pose optimization, distance between ekf and vo x:-0.000220 ,z=0.000064,angle between two frames:0.000131
-[21:01:05.367] Update EKF and 3D points the number of feature in the new frame: 264 and number of obs: 264
-[21:01:05.367] frame Scene Depth mean:1.000697 ,depth min:0.056760
-[21:01:05.372] need key frame pitch dis: 0.706645 translation dif:0.010541
-[21:01:05.373] Choose frame as a key frame Scene Depth mean:1.000697 ,depth min:0.056760
-[21:01:05.373] frame process finished the id is: 223 the obs is:262 
-[21:01:05.435] Odometry x=0.211094, y=1.530178, theta=-1.073566
-[21:01:05.689] Odometry x=0.214784, y=1.532132, theta=-1.071645
-[21:01:05.918] Odometry x=0.230083, y=1.539537, theta=-1.066359
-[21:01:06.196] Odometry x=0.246193, y=1.548299, theta=-1.066138
-[21:01:06.204] After Reprojection Map nMatches:382 ,distance between ekf and vo x:-0.000848 ,z=0.000338,angle between two frames:0.000216
-[21:01:06.206]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =274 	 error init =0.022448 	 error end=0.012331
-[21:01:06.206] After pose optimization, distance between ekf and vo x:-0.000848 ,z=0.000338,angle between two frames:0.000216
-[21:01:06.206] Update EKF and 3D points the number of feature in the new frame: 274 and number of obs: 274
-[21:01:06.206] frame Scene Depth mean:1.133187 ,depth min:0.085787
-[21:01:06.211] need key frame pitch dis: 0.700287 translation dif:0.054675
-[21:01:06.211] Choose frame as a key frame Scene Depth mean:1.133187 ,depth min:0.085787
-[21:01:06.212] frame process finished the id is: 224 the obs is:274 
-[21:01:06.438] Odometry x=0.272653, y=1.562720, theta=-1.070824
-[21:01:06.669] Odometry x=0.288053, y=1.570817, theta=-1.069708
-[21:01:06.886] After Reprojection Map nMatches:308 ,distance between ekf and vo x:-0.001278 ,z=0.000518,angle between two frames:0.000236
-[21:01:06.887]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =248 	 error init =0.145519 	 error end=0.035213
-[21:01:06.887] After pose optimization, distance between ekf and vo x:-0.001278 ,z=0.000518,angle between two frames:0.000236
-[21:01:06.887] Update EKF and 3D points the number of feature in the new frame: 248 and number of obs: 248
-[21:01:06.887] frame Scene Depth mean:0.817449 ,depth min:0.069970
-[21:01:06.894] need key frame pitch dis: 0.413390 translation dif:0.059401
-[21:01:06.894] Choose frame as a key frame Scene Depth mean:0.817449 ,depth min:0.069970
-[21:01:06.894] frame process finished the id is: 225 the obs is:248 
-[21:01:07.874] After Reprojection Map nMatches:483 ,distance between ekf and vo x:-0.000249 ,z=0.000273,angle between two frames:0.000032
-[21:01:07.876]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =413 	 error init =0.128754 	 error end=0.025287
-[21:01:07.876] After pose optimization, distance between ekf and vo x:-0.000249 ,z=0.000273,angle between two frames:0.000032
-[21:01:07.876] Update EKF and 3D points the number of feature in the new frame: 413 and number of obs: 413
-[21:01:07.876] frame Scene Depth mean:1.396394 ,depth min:0.061951
-[21:01:07.885] need key frame pitch dis: 0.008663 translation dif:0.023957
-[21:01:07.885] frame process finished the id is: 226 the obs is:413 
-[21:01:08.171] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000168 ,z=0.000200,angle between two frames:0.000009
-[21:01:08.171] After pose optimization, distance between ekf and vo x:-0.000168 ,z=0.000200,angle between two frames:0.000009
-[21:01:08.171] frame process finished the id is: 226 the obs is:413 
-[21:01:08.438] Odometry x=0.286922, y=1.570499, theta=-1.075870
-[21:01:08.450] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000167 ,z=0.000199,angle between two frames:0.000009
-[21:01:08.450] After pose optimization, distance between ekf and vo x:-0.000167 ,z=0.000199,angle between two frames:0.000009
-[21:01:08.450] frame process finished the id is: 226 the obs is:413 
-[21:01:08.685] Odometry x=0.289499, y=1.571869, theta=-1.073963
-[21:01:08.729] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000168 ,z=0.000199,angle between two frames:0.000009
-[21:01:08.729] After pose optimization, distance between ekf and vo x:-0.000168 ,z=0.000199,angle between two frames:0.000009
-[21:01:08.729] frame process finished the id is: 226 the obs is:413 
-[21:01:09.021] Odometry x=0.295169, y=1.574866, theta=-1.069333
-[21:01:09.174] Odometry x=0.301929, y=1.578552, theta=-1.061628
-[21:01:09.443] Odometry x=0.309170, y=1.582600, theta=-1.058242
-[21:01:09.705] Odometry x=0.316473, y=1.586695, theta=-1.054490
-[21:01:09.884] After Reprojection Map nMatches:541 ,distance between ekf and vo x:-0.000600 ,z=0.000325,angle between two frames:0.000039
-[21:01:09.885]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =449 	 error init =0.137428 	 error end=0.035545
-[21:01:09.885] After pose optimization, distance between ekf and vo x:-0.000600 ,z=0.000325,angle between two frames:0.000039
-[21:01:09.885] Update EKF and 3D points the number of feature in the new frame: 449 and number of obs: 449
-[21:01:09.885] frame Scene Depth mean:1.414142 ,depth min:0.064291
-[21:01:09.893] need key frame pitch dis: 0.074151 translation dif:0.120854
-[21:01:09.893] Choose frame as a key frame Scene Depth mean:1.414142 ,depth min:0.064291
-[21:01:09.893] frame process finished the id is: 230 the obs is:449 
-[21:01:09.955] Odometry x=0.317583, y=1.587440, theta=-1.057931
-[21:01:10.203] Odometry x=0.323980, y=1.591194, theta=-1.057204
-[21:01:10.223] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000981 ,z=0.000351,angle between two frames:0.000205
-[21:01:10.223] After pose optimization, distance between ekf and vo x:-0.000981 ,z=0.000351,angle between two frames:0.000205
-[21:01:10.223] frame process finished the id is: 230 the obs is:449 
-[21:01:10.430] Odometry x=0.332177, y=1.595827, theta=-1.060340
-[21:01:10.680] Odometry x=0.340774, y=1.600645, theta=-1.055014
-[21:01:11.014] Odometry x=0.349550, y=1.605576, theta=-1.048146
-[21:01:11.220] Odometry x=0.358294, y=1.610720, theta=-1.044415
-[21:01:11.400] After Reprojection Map nMatches:577 ,distance between ekf and vo x:-0.000289 ,z=0.000191,angle between two frames:0.000007
-[21:01:11.401]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =509 	 error init =0.126905 	 error end=0.036273
-[21:01:11.401] After pose optimization, distance between ekf and vo x:-0.109902 ,z=0.006939,angle between two frames:0.042140
-[21:01:11.401] Update EKF and 3D points the number of feature in the new frame: 509 and number of obs: 509
-[21:01:11.402] frame Scene Depth mean:1.104829 ,depth min:0.068803
-[21:01:11.411] need key frame pitch dis: 0.002537 translation dif:0.086606
-[21:01:11.411] frame process finished the id is: 232 the obs is:509 
-[21:01:11.436] Odometry x=0.333805, y=1.612881, theta=-1.064670
-[21:01:11.706] Odometry x=0.340523, y=1.616499, theta=-1.059259
-[21:01:11.951] Odometry x=0.348751, y=1.621091, theta=-1.056192
-[21:01:12.733] After Reprojection Map nMatches:613 ,distance between ekf and vo x:-0.000744 ,z=0.000386,angle between two frames:0.000098
-[21:01:12.735]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =477 	 error init =0.089869 	 error end=0.045114
-[21:01:12.735] After pose optimization, distance between ekf and vo x:-0.000744 ,z=0.000386,angle between two frames:0.000098
-[21:01:12.735] Update EKF and 3D points the number of feature in the new frame: 477 and number of obs: 477
-[21:01:12.735] frame Scene Depth mean:1.042004 ,depth min:0.078965
-[21:01:12.741] need key frame pitch dis: 0.007180 translation dif:0.041766
-[21:01:12.742] frame process finished the id is: 233 the obs is:477 
-[21:01:13.079] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.002040 ,z=0.002033,angle between two frames:0.000702
-[21:01:13.079] After pose optimization, distance between ekf and vo x:-0.002040 ,z=0.002033,angle between two frames:0.000702
-[21:01:13.079] frame process finished the id is: 233 the obs is:477 
-[21:01:13.211] Odometry x=0.345161, y=1.618807, theta=-1.065111
-[21:01:13.416] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.002042 ,z=0.002034,angle between two frames:0.000702
-[21:01:13.416] After pose optimization, distance between ekf and vo x:-0.002042 ,z=0.002034,angle between two frames:0.000702
-[21:01:13.416] frame process finished the id is: 233 the obs is:477 
-[21:01:13.449] Odometry x=0.345178, y=1.618780, theta=-1.087868
-[21:01:13.674] Odometry x=0.345188, y=1.618772, theta=-1.159150
-[21:01:13.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.002389 ,z=0.001945,angle between two frames:0.000562
-[21:01:13.793] After pose optimization, distance between ekf and vo x:-0.002389 ,z=0.001945,angle between two frames:0.000562
-[21:01:13.793] frame process finished the id is: 233 the obs is:477 
-[21:01:13.949] Odometry x=0.345228, y=1.618699, theta=-1.294006
-[21:01:14.195] Odometry x=0.345227, y=1.618708, theta=-1.428212
-[21:01:14.559] After Reprojection Map nMatches:596 ,distance between ekf and vo x:-0.001193 ,z=0.002296,angle between two frames:0.000546
-[21:01:14.560]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =517 	 error init =0.105540 	 error end=0.011114
-[21:01:14.560] After pose optimization, distance between ekf and vo x:-0.001193 ,z=0.002296,angle between two frames:0.000546
-[21:01:14.560] Update EKF and 3D points the number of feature in the new frame: 517 and number of obs: 517
-[21:01:14.561] frame Scene Depth mean:1.032603 ,depth min:0.077245
-[21:01:14.567] need key frame pitch dis: 0.352593 translation dif:0.041527
-[21:01:14.568] Choose frame as a key frame Scene Depth mean:1.032603 ,depth min:0.077245
-[21:01:14.568] frame process finished the id is: 237 the obs is:513 
-[21:01:14.944] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000408 ,z=0.002619,angle between two frames:0.000980
-[21:01:14.944] After pose optimization, distance between ekf and vo x:-0.000408 ,z=0.002619,angle between two frames:0.000980
-[21:01:14.944] frame process finished the id is: 237 the obs is:513 
-[21:01:15.177] Odometry x=0.344829, y=1.618779, theta=-1.410524
-[21:01:15.324] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000411 ,z=0.002618,angle between two frames:0.000980
-[21:01:15.324] After pose optimization, distance between ekf and vo x:-0.000411 ,z=0.002618,angle between two frames:0.000980
-[21:01:15.324] frame process finished the id is: 237 the obs is:513 
-[21:01:15.437] Odometry x=0.344764, y=1.618527, theta=-1.444266
-[21:01:15.660] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000416 ,z=0.002291,angle between two frames:0.000727
-[21:01:15.660] After pose optimization, distance between ekf and vo x:-0.000416 ,z=0.002291,angle between two frames:0.000727
-[21:01:15.660] frame process finished the id is: 237 the obs is:513 
-[21:01:15.682] Odometry x=0.344712, y=1.618472, theta=-1.511560
-[21:01:15.937] Odometry x=0.344736, y=1.618501, theta=-1.617666
-[21:01:16.180] Odometry x=0.344729, y=1.618480, theta=-1.732839
-[21:01:16.433] Odometry x=0.344766, y=1.618347, theta=-1.871629
-[21:01:16.604] After Reprojection Map nMatches:610 ,distance between ekf and vo x:0.000012 ,z=0.002016,angle between two frames:0.000767
-[21:01:16.606]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =499 	 error init =0.124092 	 error end=0.044125
-[21:01:16.606] After pose optimization, distance between ekf and vo x:0.000012 ,z=0.002016,angle between two frames:0.000767
-[21:01:16.606] Update EKF and 3D points the number of feature in the new frame: 499 and number of obs: 499
-[21:01:16.607] frame Scene Depth mean:0.485980 ,depth min:0.056798
-[21:01:16.612] need key frame pitch dis: 0.781370 translation dif:0.041539
-[21:01:16.612] Choose frame as a key frame Scene Depth mean:0.485980 ,depth min:0.056798
-[21:01:16.612] frame process finished the id is: 241 the obs is:461 
-[21:01:16.720] Odometry x=0.344704, y=1.618904, theta=-1.839301
-[21:01:17.276] After Reprojection Map nMatches:627 ,distance between ekf and vo x:0.000017 ,z=0.000031,angle between two frames:0.000010
-[21:01:17.278]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =445 	 error init =0.086351 	 error end=0.053635
-[21:01:17.278] After pose optimization, distance between ekf and vo x:0.000017 ,z=0.000031,angle between two frames:0.000010
-[21:01:17.278] Update EKF and 3D points the number of feature in the new frame: 445 and number of obs: 445
-[21:01:17.278] frame Scene Depth mean:0.475537 ,depth min:0.053165
-[21:01:17.282] need key frame pitch dis: 0.461907 translation dif:0.000257
-[21:01:17.282] Choose frame as a key frame Scene Depth mean:0.475537 ,depth min:0.053165
-[21:01:17.282] frame process finished the id is: 242 the obs is:445 
-[21:01:17.956] Odometry x=0.344589, y=1.618872, theta=-1.872430
-[21:01:18.176] Odometry x=0.344586, y=1.618869, theta=-1.890719
-[21:01:18.349] After Reprojection Map nMatches:762 ,distance between ekf and vo x:-0.000014 ,z=-0.000046,angle between two frames:0.000055
-[21:01:18.350]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =562 	 error init =0.101208 	 error end=0.020201
-[21:01:18.350] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000046,angle between two frames:0.000055
-[21:01:18.350] Update EKF and 3D points the number of feature in the new frame: 562 and number of obs: 562
-[21:01:18.351] frame Scene Depth mean:0.546569 ,depth min:0.052663
-[21:01:18.359] need key frame pitch dis: 0.864123 translation dif:0.041392
-[21:01:18.359] Choose frame as a key frame Scene Depth mean:0.546569 ,depth min:0.052663
-[21:01:18.359] frame process finished the id is: 243 the obs is:562 
-[21:01:18.429] Odometry x=0.344552, y=1.618840, theta=-1.922054
-[21:01:18.693] Odometry x=0.344552, y=1.618839, theta=-1.992946
-[21:01:18.993] Odometry x=0.344547, y=1.618831, theta=-2.096578
-[21:01:19.182] Odometry x=0.344577, y=1.618780, theta=-2.216143
-[21:01:19.202] After Reprojection Map nMatches:689 ,distance between ekf and vo x:-0.000056 ,z=-0.000053,angle between two frames:0.000064
-[21:01:19.204]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =506 	 error init =0.081895 	 error end=0.059389
-[21:01:19.204] After pose optimization, distance between ekf and vo x:-0.000056 ,z=-0.000053,angle between two frames:0.000064
-[21:01:19.204] Update EKF and 3D points the number of feature in the new frame: 506 and number of obs: 506
-[21:01:19.204] frame Scene Depth mean:0.541424 ,depth min:0.067514
-[21:01:19.211] need key frame pitch dis: 1.115883 translation dif:0.041352
-[21:01:19.211] Choose frame as a key frame Scene Depth mean:0.541424 ,depth min:0.067514
-[21:01:19.211] frame process finished the id is: 244 the obs is:433 
-[21:01:19.652] After Reprojection Map nMatches:529 ,distance between ekf and vo x:-0.000134 ,z=-0.000139,angle between two frames:0.000162
-[21:01:19.653]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =376 	 error init =0.080610 	 error end=0.075019
-[21:01:19.654] After pose optimization, distance between ekf and vo x:-0.000134 ,z=-0.000139,angle between two frames:0.000162
-[21:01:19.654] Update EKF and 3D points the number of feature in the new frame: 376 and number of obs: 376
-[21:01:19.654] frame Scene Depth mean:0.459267 ,depth min:0.050549
-[21:01:19.658] need key frame pitch dis: 1.164850 translation dif:0.041312
-[21:01:19.658] Choose frame as a key frame Scene Depth mean:0.459267 ,depth min:0.050549
-[21:01:19.658] frame process finished the id is: 245 the obs is:368 
-[21:01:20.557] After Reprojection Map nMatches:541 ,distance between ekf and vo x:-0.000164 ,z=-0.000071,angle between two frames:0.000114
-[21:01:20.559]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =399 	 error init =0.293734 	 error end=0.147510
-[21:01:20.559] After pose optimization, distance between ekf and vo x:-0.000164 ,z=-0.000071,angle between two frames:0.000114
-[21:01:20.559] Update EKF and 3D points the number of feature in the new frame: 399 and number of obs: 399
-[21:01:20.559] frame Scene Depth mean:0.522559 ,depth min:0.050425
-[21:01:20.565] need key frame pitch dis: 0.067733 translation dif:0.000045
-[21:01:20.565] frame process finished the id is: 246 the obs is:395 
-[21:01:21.518] After Reprojection Map nMatches:553 ,distance between ekf and vo x:0.000006 ,z=-0.000046,angle between two frames:0.000016
-[21:01:21.520]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =369 	 error init =0.146130 	 error end=0.130086
-[21:01:21.520] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000046,angle between two frames:0.000016
-[21:01:21.520] Update EKF and 3D points the number of feature in the new frame: 369 and number of obs: 369
-[21:01:21.520] frame Scene Depth mean:0.441333 ,depth min:0.050566
-[21:01:21.525] need key frame pitch dis: 1.190779 translation dif:0.041339
-[21:01:21.525] Choose frame as a key frame Scene Depth mean:0.441333 ,depth min:0.050566
-[21:01:21.525] frame process finished the id is: 247 the obs is:369 
-[21:01:21.703] Odometry x=0.344560, y=1.618764, theta=-2.248710
-[21:01:21.957] Odometry x=0.344560, y=1.618758, theta=-2.250443
-[21:01:22.176] Odometry x=0.344552, y=1.618677, theta=-2.260071
-[21:01:22.433] Odometry x=0.344550, y=1.618673, theta=-2.286417
-[21:01:22.542] After Reprojection Map nMatches:531 ,distance between ekf and vo x:0.000051 ,z=-0.000007,angle between two frames:0.000016
-[21:01:22.543]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =400 	 error init =0.096944 	 error end=0.042793
-[21:01:22.543] After pose optimization, distance between ekf and vo x:0.000051 ,z=-0.000007,angle between two frames:0.000016
-[21:01:22.543] Update EKF and 3D points the number of feature in the new frame: 400 and number of obs: 400
-[21:01:22.544] frame Scene Depth mean:0.475232 ,depth min:0.050023
-[21:01:22.549] need key frame pitch dis: 1.238876 translation dif:0.040878
-[21:01:22.549] Choose frame as a key frame Scene Depth mean:0.475232 ,depth min:0.050023
-[21:01:22.549] frame process finished the id is: 248 the obs is:392 
-[21:01:22.690] Odometry x=0.344388, y=1.618302, theta=-2.296807
-[21:01:23.481] After Reprojection Map nMatches:501 ,distance between ekf and vo x:0.000022 ,z=-0.000024,angle between two frames:0.000002
-[21:01:23.483]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =305 	 error init =0.125698 	 error end=0.026914
-[21:01:23.483] After pose optimization, distance between ekf and vo x:0.000022 ,z=-0.000024,angle between two frames:0.000002
-[21:01:23.483] Update EKF and 3D points the number of feature in the new frame: 305 and number of obs: 305
-[21:01:23.483] frame Scene Depth mean:0.556054 ,depth min:0.050782
-[21:01:23.487] need key frame pitch dis: 1.246110 translation dif:0.040879
-[21:01:23.487] Choose frame as a key frame Scene Depth mean:0.556054 ,depth min:0.050782
-[21:01:23.487] frame process finished the id is: 249 the obs is:297 
-[21:01:23.957] Odometry x=0.344398, y=1.618296, theta=-2.304041
-[21:01:24.222] Odometry x=0.344646, y=1.618049, theta=-2.303497
-[21:01:24.452] Odometry x=0.352064, y=1.611665, theta=-2.298704
-[21:01:24.603] After Reprojection Map nMatches:510 ,distance between ekf and vo x:0.000122 ,z=0.000039,angle between two frames:0.000073
-[21:01:24.605]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =375 	 error init =0.077020 	 error end=0.012914
-[21:01:24.605] After pose optimization, distance between ekf and vo x:0.000122 ,z=0.000039,angle between two frames:0.000073
-[21:01:24.605] Update EKF and 3D points the number of feature in the new frame: 375 and number of obs: 375
-[21:01:24.606] frame Scene Depth mean:0.506957 ,depth min:0.059208
-[21:01:24.610] need key frame pitch dis: 1.237188 translation dif:0.043519
-[21:01:24.610] Choose frame as a key frame Scene Depth mean:0.506957 ,depth min:0.059208
-[21:01:24.610] frame process finished the id is: 250 the obs is:375 
-[21:01:24.716] Odometry x=0.355727, y=1.608392, theta=-2.295119
-[21:01:24.987] Odometry x=0.361021, y=1.603685, theta=-2.294584
-[21:01:25.160] Odometry x=0.367620, y=1.597843, theta=-2.300806
-[21:01:25.439] Odometry x=0.374795, y=1.591320, theta=-2.303651
-[21:01:25.625] After Reprojection Map nMatches:596 ,distance between ekf and vo x:0.000177 ,z=0.000066,angle between two frames:0.000105
-[21:01:25.627]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =354 	 error init =0.319385 	 error end=0.033283
-[21:01:25.627] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000066,angle between two frames:0.000105
-[21:01:25.627] Update EKF and 3D points the number of feature in the new frame: 354 and number of obs: 354
-[21:01:25.627] frame Scene Depth mean:0.642415 ,depth min:0.054112
-[21:01:25.631] need key frame pitch dis: 0.462494 translation dif:0.041702
-[21:01:25.631] Choose frame as a key frame Scene Depth mean:0.642415 ,depth min:0.054112
-[21:01:25.631] frame process finished the id is: 251 the obs is:354 
-[21:01:25.675] Odometry x=0.375092, y=1.590345, theta=-2.301795
-[21:01:25.945] Odometry x=0.380682, y=1.585298, theta=-2.298666
-[21:01:26.364] Odometry x=0.388380, y=1.578790, theta=-2.292472
-[21:01:26.585] Odometry x=0.395934, y=1.572063, theta=-2.289797
-[21:01:26.709] After Reprojection Map nMatches:611 ,distance between ekf and vo x:-0.000244 ,z=0.000208,angle between two frames:0.000050
-[21:01:26.711]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =468 	 error init =0.139446 	 error end=0.023680
-[21:01:26.711] After pose optimization, distance between ekf and vo x:-0.000244 ,z=0.000208,angle between two frames:0.000050
-[21:01:26.711] Update EKF and 3D points the number of feature in the new frame: 468 and number of obs: 468
-[21:01:26.711] frame Scene Depth mean:0.482962 ,depth min:0.058386
-[21:01:26.718] need key frame pitch dis: 0.001585 translation dif:0.054987
-[21:01:26.718] frame process finished the id is: 252 the obs is:468 
-[21:01:26.718] Odometry x=0.396632, y=1.571645, theta=-2.293534
-[21:01:27.167] Odometry x=0.401712, y=1.567000, theta=-2.290246
-[21:01:27.301] Odometry x=0.408193, y=1.561309, theta=-2.291961
-[21:01:27.434] Odometry x=0.415414, y=1.554972, theta=-2.291205
-[21:01:27.685] Odometry x=0.422727, y=1.548474, theta=-2.285970
-[21:01:27.850] After Reprojection Map nMatches:675 ,distance between ekf and vo x:0.000107 ,z=0.000199,angle between two frames:0.000149
-[21:01:27.852]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =569 	 error init =0.133448 	 error end=0.058112
-[21:01:27.852] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000199,angle between two frames:0.000149
-[21:01:27.852] Update EKF and 3D points the number of feature in the new frame: 569 and number of obs: 569
-[21:01:27.852] frame Scene Depth mean:0.400324 ,depth min:0.057701
-[21:01:27.860] need key frame pitch dis: 0.444158 translation dif:0.105007
-[21:01:27.860] Choose frame as a key frame Scene Depth mean:0.400324 ,depth min:0.057701
-[21:01:27.860] frame process finished the id is: 253 the obs is:569 
-[21:01:27.943] Odometry x=0.422653, y=1.548545, theta=-2.283459
-[21:01:28.201] Odometry x=0.428569, y=1.543339, theta=-2.277835
-[21:01:28.427] Odometry x=0.436217, y=1.536341, theta=-2.263662
-[21:01:28.715] Odometry x=0.444761, y=1.528763, theta=-2.265134
-[21:01:29.007] Odometry x=0.454095, y=1.521046, theta=-2.268178
-[21:01:29.202] Odometry x=0.463545, y=1.513042, theta=-2.270077
-[21:01:29.215] After Reprojection Map nMatches:669 ,distance between ekf and vo x:0.000767 ,z=0.000224,angle between two frames:0.000421
-[21:01:29.217]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =577 	 error init =0.081669 	 error end=0.014949
-[21:01:29.217] After pose optimization, distance between ekf and vo x:0.000767 ,z=0.000224,angle between two frames:0.000421
-[21:01:29.217] Update EKF and 3D points the number of feature in the new frame: 577 and number of obs: 577
-[21:01:29.218] frame Scene Depth mean:0.343666 ,depth min:0.066767
-[21:01:29.226] need key frame pitch dis: 0.029652 translation dif:0.114805
-[21:01:29.226] Choose frame as a key frame Scene Depth mean:0.343666 ,depth min:0.066767
-[21:01:29.226] frame process finished the id is: 254 the obs is:577 
-[21:01:29.446] Odometry x=0.461740, y=1.515031, theta=-2.272143
-[21:01:29.712] Odometry x=0.469111, y=1.508762, theta=-2.273853
-[21:01:29.940] Odometry x=0.478151, y=1.500590, theta=-2.267495
-[21:01:30.187] Odometry x=0.488165, y=1.492423, theta=-2.271610
-[21:01:30.335] After Reprojection Map nMatches:622 ,distance between ekf and vo x:-0.004657 ,z=0.141347,angle between two frames:0.099936
-[21:01:30.340]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =492 	 error init =0.104142 	 error end=0.019798
-[21:01:30.340] After pose optimization, distance between ekf and vo x:0.028613 ,z=0.129124,angle between two frames:0.109434
-[21:01:30.340] Update EKF and 3D points the number of feature in the new frame: 492 and number of obs: 492
-[21:01:30.340] frame Scene Depth mean:0.380400 ,depth min:0.069873
-[21:01:30.348] need key frame pitch dis: 0.036706 translation dif:0.078657
-[21:01:30.348] frame process finished the id is: 255 the obs is:492 
-[21:01:30.447] Odometry x=0.496157, y=1.520543, theta=-2.320165
-[21:01:30.690] Odometry x=0.503335, y=1.513668, theta=-2.326950
-[21:01:30.977] Odometry x=0.513621, y=1.503664, theta=-2.322012
-[21:01:31.188] Odometry x=0.525520, y=1.492346, theta=-2.315881
-[21:01:31.296] After Reprojection Map nMatches:619 ,distance between ekf and vo x:0.002115 ,z=0.141360,angle between two frames:0.099969
-[21:01:31.301]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =554 	 error init =0.081463 	 error end=0.019756
-[21:01:31.301] After pose optimization, distance between ekf and vo x:0.038343 ,z=0.109531,angle between two frames:0.115377
-[21:01:31.301] Update EKF and 3D points the number of feature in the new frame: 554 and number of obs: 554
-[21:01:31.302] frame Scene Depth mean:0.418111 ,depth min:0.094454
-[21:01:31.311] need key frame pitch dis: 0.055212 translation dif:0.114793
-[21:01:31.311] Choose frame as a key frame Scene Depth mean:0.418111 ,depth min:0.094454
-[21:01:31.311] frame process finished the id is: 256 the obs is:554 
-[21:01:31.454] Odometry x=0.533688, y=1.519412, theta=-2.338671
-[21:01:31.683] Odometry x=0.539607, y=1.513917, theta=-2.304346
-[21:01:31.927] Odometry x=0.549033, y=1.505984, theta=-2.292212
-[21:01:32.199] Odometry x=0.559196, y=1.497043, theta=-2.277444
-[21:01:32.434] Odometry x=0.569670, y=1.488170, theta=-2.272814
-[21:01:32.613] After Reprojection Map nMatches:666 ,distance between ekf and vo x:0.004761 ,z=0.141296,angle between two frames:0.099894
-[21:01:32.618]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =564 	 error init =0.077713 	 error end=0.026717
-[21:01:32.618] After pose optimization, distance between ekf and vo x:-0.254449 ,z=0.250554,angle between two frames:0.028941
-[21:01:32.618] frame process finished the id is: 256 the obs is:554 
-[21:01:32.713] Odometry x=0.580464, y=1.479354, theta=-2.277100
-[21:01:33.031] Odometry x=0.591423, y=1.470281, theta=-2.286445
-[21:01:33.184] Odometry x=0.601955, y=1.461439, theta=-2.285166
-[21:01:33.450] Odometry x=0.612399, y=1.452423, theta=-2.281386
-[21:01:33.674] Odometry x=0.622977, y=1.443524, theta=-2.269968
-[21:01:33.697] After Reprojection Map nMatches:615 ,distance between ekf and vo x:-0.004016 ,z=0.141377,angle between two frames:0.099969
-[21:01:33.698]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =513 	 error init =0.052774 	 error end=0.043298
-[21:01:33.698] After pose optimization, distance between ekf and vo x:-0.004016 ,z=0.141377,angle between two frames:0.099969
-[21:01:33.699] Update EKF and 3D points the number of feature in the new frame: 513 and number of obs: 513
-[21:01:33.699] frame Scene Depth mean:0.566690 ,depth min:0.075131
-[21:01:33.706] need key frame pitch dis: 0.038300 translation dif:0.162898
-[21:01:33.706] Choose frame as a key frame Scene Depth mean:0.566690 ,depth min:0.075131
-[21:01:33.707] frame process finished the id is: 258 the obs is:513 
-[21:01:33.951] Odometry x=0.620245, y=1.477455, theta=-2.310442
-[21:01:34.178] Odometry x=0.627628, y=1.470418, theta=-2.302795
-[21:01:34.425] Odometry x=0.637316, y=1.461498, theta=-2.294911
-[21:01:34.699] Odometry x=0.647605, y=1.452423, theta=-2.297400
-[21:01:34.809] After Reprojection Map nMatches:575 ,distance between ekf and vo x:0.000682 ,z=0.141394,angle between two frames:0.099978
-[21:01:34.813]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =505 	 error init =0.067690 	 error end=0.008473
-[21:01:34.813] After pose optimization, distance between ekf and vo x:-0.050748 ,z=0.193156,angle between two frames:0.075113
-[21:01:34.813] Update EKF and 3D points the number of feature in the new frame: 505 and number of obs: 505
-[21:01:34.813] frame Scene Depth mean:0.550431 ,depth min:0.134355
-[21:01:34.822] need key frame pitch dis: 0.008819 translation dif:0.106292
-[21:01:34.822] Choose frame as a key frame Scene Depth mean:0.550431 ,depth min:0.134355
-[21:01:34.822] frame process finished the id is: 259 the obs is:505 
-[21:01:34.983] Odometry x=0.637208, y=1.495296, theta=-2.329852
-[21:01:35.189] Odometry x=0.644954, y=1.486201, theta=-2.330127
-[21:01:35.420] Odometry x=0.654817, y=1.476721, theta=-2.322904
-[21:01:35.679] Odometry x=0.665334, y=1.466981, theta=-2.322848
-[21:01:35.714] After Reprojection Map nMatches:501 ,distance between ekf and vo x:0.003475 ,z=0.141360,angle between two frames:0.099927
-[21:01:35.716]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =398 	 error init =0.074372 	 error end=0.057747
-[21:01:35.716] After pose optimization, distance between ekf and vo x:0.003475 ,z=0.141360,angle between two frames:0.099927
-[21:01:35.716] Update EKF and 3D points the number of feature in the new frame: 398 and number of obs: 398
-[21:01:35.716] frame Scene Depth mean:0.508136 ,depth min:0.071384
-[21:01:35.723] need key frame pitch dis: 0.048460 translation dif:0.051553
-[21:01:35.723] frame process finished the id is: 260 the obs is:398 
-[21:01:35.944] Odometry x=0.667297, y=1.498524, theta=-2.358903
-[21:01:36.188] Odometry x=0.675073, y=1.490871, theta=-2.358376
-[21:01:36.444] Odometry x=0.684366, y=1.481245, theta=-2.363001
-[21:01:36.702] Odometry x=0.693955, y=1.471264, theta=-2.369460
-[21:01:36.802] After Reprojection Map nMatches:545 ,distance between ekf and vo x:0.007406 ,z=0.141148,angle between two frames:0.100049
-[21:01:36.805]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =475 	 error init =0.024787 	 error end=0.027920
-[21:01:36.805] After pose optimization, distance between ekf and vo x:-0.258128 ,z=0.418217,angle between two frames:0.002084
-[21:01:36.805] frame process finished the id is: 260 the obs is:398 
-[21:01:36.988] Odometry x=0.703698, y=1.461092, theta=-2.375340
-[21:01:37.186] Odometry x=0.713443, y=1.450989, theta=-2.373017
-[21:01:37.431] Odometry x=0.723518, y=1.440955, theta=-2.359535
-[21:01:37.452] After Reprojection Map nMatches:458 ,distance between ekf and vo x:0.010300 ,z=0.141158,angle between two frames:0.099679
-[21:01:37.454]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =376 	 error init =0.077149 	 error end=0.048244
-[21:01:37.454] After pose optimization, distance between ekf and vo x:0.010300 ,z=0.141158,angle between two frames:0.099679
-[21:01:37.454] Update EKF and 3D points the number of feature in the new frame: 376 and number of obs: 376
-[21:01:37.454] frame Scene Depth mean:0.695312 ,depth min:0.185095
-[21:01:37.460] need key frame pitch dis: 0.042714 translation dif:0.110197
-[21:01:37.460] Choose frame as a key frame Scene Depth mean:0.695312 ,depth min:0.185095
-[21:01:37.460] frame process finished the id is: 262 the obs is:376 
-[21:01:37.733] Odometry x=0.740590, y=1.435895, theta=-2.371273
-[21:01:37.806] After Reprojection Map nMatches:322 ,distance between ekf and vo x:0.070045 ,z=0.416863,angle between two frames:0.299990
-[21:01:37.808]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =267 	 error init =0.374326 	 error end=0.072126
-[21:01:37.808] After pose optimization, distance between ekf and vo x:0.065106 ,z=0.429844,angle between two frames:0.295840
-[21:01:37.808] frame process finished the id is: 262 the obs is:376 
-[21:01:37.930] Odometry x=0.750516, y=1.426113, theta=-2.346235
-[21:01:38.177] After Reprojection Map nMatches:280 ,distance between ekf and vo x:0.058973 ,z=0.418572,angle between two frames:0.300080
-[21:01:38.178]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =215 	 error init =0.036779 	 error end=0.056726
-[21:01:38.178] After pose optimization, distance between ekf and vo x:0.058973 ,z=0.418572,angle between two frames:0.300080
-[21:01:38.178] frame process finished the id is: 262 the obs is:376 
-[21:01:38.202] Odometry x=0.760343, y=1.416546, theta=-2.352352
-[21:01:38.447] Odometry x=0.770197, y=1.406637, theta=-2.355394
-[21:01:38.529] After Reprojection Map nMatches:322 ,distance between ekf and vo x:0.061600 ,z=0.418182,angle between two frames:0.300008
-[21:01:38.530]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =275 	 error init =0.094098 	 error end=0.051501
-[21:01:38.530] After pose optimization, distance between ekf and vo x:-0.253815 ,z=0.751674,angle between two frames:0.094154
-[21:01:38.530] frame process finished the id is: 262 the obs is:376 
-[21:01:38.691] Odometry x=0.780459, y=1.396249, theta=-2.344049
-[21:01:38.940] After Reprojection Map nMatches:364 ,distance between ekf and vo x:0.024732 ,z=0.281336,angle between two frames:0.200045
-[21:01:38.941]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =282 	 error init =0.128902 	 error end=0.106924
-[21:01:38.941] After pose optimization, distance between ekf and vo x:0.024732 ,z=0.281336,angle between two frames:0.200045
-[21:01:38.941] frame process finished the id is: 262 the obs is:376 
-[21:01:39.002] Odometry x=0.790599, y=1.386499, theta=-2.338162
-[21:01:39.185] Odometry x=0.800549, y=1.376697, theta=-2.347392
-[21:01:39.385] After Reprojection Map nMatches:377 ,distance between ekf and vo x:-0.000058 ,z=0.000024,angle between two frames:0.000026
-[21:01:39.386]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =335 	 error init =0.021839 	 error end=0.022157
-[21:01:39.386] After pose optimization, distance between ekf and vo x:-0.000058 ,z=0.000024,angle between two frames:0.000026
-[21:01:39.386] Update EKF and 3D points the number of feature in the new frame: 335 and number of obs: 335
-[21:01:39.386] frame Scene Depth mean:1.594233 ,depth min:0.131253
-[21:01:39.391] need key frame pitch dis: 0.032120 translation dif:0.214047
-[21:01:39.391] Choose frame as a key frame Scene Depth mean:1.594233 ,depth min:0.131253
-[21:01:39.391] frame process finished the id is: 267 the obs is:335 
-[21:01:39.440] Odometry x=0.806095, y=1.371266, theta=-2.342562
-[21:01:39.711] Odometry x=0.813893, y=1.363738, theta=-2.341125
-[21:01:39.835] After Reprojection Map nMatches:430 ,distance between ekf and vo x:-0.000008 ,z=0.000010,angle between two frames:0.000011
-[21:01:39.836]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =358 	 error init =0.156320 	 error end=0.063463
-[21:01:39.836] After pose optimization, distance between ekf and vo x:-0.000008 ,z=0.000010,angle between two frames:0.000011
-[21:01:39.836] Update EKF and 3D points the number of feature in the new frame: 358 and number of obs: 358
-[21:01:39.836] frame Scene Depth mean:1.365688 ,depth min:0.125287
-[21:01:39.842] need key frame pitch dis: 0.008003 translation dif:0.227792
-[21:01:39.842] Choose frame as a key frame Scene Depth mean:1.365688 ,depth min:0.125287
-[21:01:39.842] frame process finished the id is: 268 the obs is:358 
-[21:01:39.950] Odometry x=0.819308, y=1.358442, theta=-2.337854
-[21:01:40.176] Odometry x=0.826846, y=1.350968, theta=-2.336942
-[21:01:40.401] After Reprojection Map nMatches:473 ,distance between ekf and vo x:-0.000031 ,z=0.000034,angle between two frames:0.000002
-[21:01:40.404]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =397 	 error init =0.108998 	 error end=0.068168
-[21:01:40.404] After pose optimization, distance between ekf and vo x:-0.000447 ,z=0.000495,angle between two frames:0.000091
-[21:01:40.404] Update EKF and 3D points the number of feature in the new frame: 397 and number of obs: 397
-[21:01:40.404] frame Scene Depth mean:1.291771 ,depth min:0.117932
-[21:01:40.412] need key frame pitch dis: 0.009335 translation dif:0.036511
-[21:01:40.412] frame process finished the id is: 269 the obs is:397 
-[21:01:40.434] Odometry x=0.832253, y=1.345793, theta=-2.333227
-[21:01:40.717] Odometry x=0.839943, y=1.338246, theta=-2.331039
-[21:01:40.924] After Reprojection Map nMatches:475 ,distance between ekf and vo x:-0.000059 ,z=0.000037,angle between two frames:0.000036
-[21:01:40.925]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =355 	 error init =0.335614 	 error end=0.086931
-[21:01:40.925] After pose optimization, distance between ekf and vo x:-0.000059 ,z=0.000037,angle between two frames:0.000036
-[21:01:40.925] Update EKF and 3D points the number of feature in the new frame: 355 and number of obs: 355
-[21:01:40.925] frame Scene Depth mean:1.335632 ,depth min:0.082531
-[21:01:40.931] need key frame pitch dis: 0.005541 translation dif:0.036495
-[21:01:40.931] frame process finished the id is: 270 the obs is:355 
-[21:01:40.980] Odometry x=0.845464, y=1.332992, theta=-2.332313
-[21:01:41.212] Odometry x=0.852860, y=1.325121, theta=-2.330519
-[21:01:41.422] After Reprojection Map nMatches:399 ,distance between ekf and vo x:-0.000028 ,z=0.000054,angle between two frames:0.000014
-[21:01:41.423]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =282 	 error init =0.171504 	 error end=0.131440
-[21:01:41.423] After pose optimization, distance between ekf and vo x:-0.000028 ,z=0.000054,angle between two frames:0.000014
-[21:01:41.423] Update EKF and 3D points the number of feature in the new frame: 282 and number of obs: 282
-[21:01:41.423] frame Scene Depth mean:1.209169 ,depth min:0.062942
-[21:01:41.427] need key frame pitch dis: 0.004807 translation dif:0.054999
-[21:01:41.427] frame process finished the id is: 271 the obs is:282 
-[21:01:41.438] Odometry x=0.858616, y=1.319974, theta=-2.333048
-[21:01:41.696] Odometry x=0.866223, y=1.312755, theta=-2.336019
-[21:01:41.949] Odometry x=0.875847, y=1.303644, theta=-2.334503
-[21:01:41.998] After Reprojection Map nMatches:348 ,distance between ekf and vo x:0.000252 ,z=0.000073,angle between two frames:0.000225
-[21:01:42.001]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =297 	 error init =0.064489 	 error end=0.033995
-[21:01:42.001] After pose optimization, distance between ekf and vo x:0.009873 ,z=0.008007,angle between two frames:0.001000
-[21:01:42.001] Update EKF and 3D points the number of feature in the new frame: 297 and number of obs: 297
-[21:01:42.001] frame Scene Depth mean:0.989533 ,depth min:0.056473
-[21:01:42.005] need key frame pitch dis: 0.003492 translation dif:0.098226
-[21:01:42.005] frame process finished the id is: 272 the obs is:297 
-[21:01:42.204] Odometry x=0.893571, y=1.288302, theta=-2.334285
-[21:01:42.430] Odometry x=0.903703, y=1.278659, theta=-2.322957
-[21:01:42.518] After Reprojection Map nMatches:337 ,distance between ekf and vo x:0.000053 ,z=0.000093,angle between two frames:0.000063
-[21:01:42.521]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =265 	 error init =0.047871 	 error end=0.054908
-[21:01:42.521] After pose optimization, distance between ekf and vo x:-0.181730 ,z=0.228693,angle between two frames:0.092524
-[21:01:42.521] frame process finished the id is: 272 the obs is:297 
-[21:01:42.683] Odometry x=0.913928, y=1.269071, theta=-2.325420
-[21:01:42.984] After Reprojection Map nMatches:206 ,distance between ekf and vo x:-0.000157 ,z=0.000050,angle between two frames:0.000021
-[21:01:42.986]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =160 	 error init =0.196557 	 error end=0.055503
-[21:01:42.986] After pose optimization, distance between ekf and vo x:-0.153143 ,z=0.084571,angle between two frames:0.191784
-[21:01:42.986] Update EKF and 3D points the number of feature in the new frame: 160 and number of obs: 160
-[21:01:42.986] frame Scene Depth mean:0.916725 ,depth min:0.068389
-[21:01:42.987] need key frame pitch dis: 0.120219 translation dif:0.225528
-[21:01:42.988] Choose frame as a key frame Scene Depth mean:0.916725 ,depth min:0.068389
-[21:01:42.988] frame process finished the id is: 274 the obs is:160 
-[21:01:43.021] Odometry x=0.886617, y=1.281239, theta=-2.252347
-[21:01:43.181] Odometry x=0.894874, y=1.274472, theta=-2.240225
-[21:01:43.427] After Reprojection Map nMatches:177 ,distance between ekf and vo x:-0.000003 ,z=0.000037,angle between two frames:0.000131
-[21:01:43.429]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =153 	 error init =0.018967 	 error end=0.023605
-[21:01:43.429] After pose optimization, distance between ekf and vo x:-0.007973 ,z=0.020648,angle between two frames:0.007662
-[21:01:43.429] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153
-[21:01:43.429] frame Scene Depth mean:1.345159 ,depth min:0.081039
-[21:01:43.431] need key frame pitch dis: 0.098749 translation dif:0.115586
-[21:01:43.431] Choose frame as a key frame Scene Depth mean:1.345159 ,depth min:0.081039
-[21:01:43.431] frame process finished the id is: 275 the obs is:153 
-[21:01:43.449] Odometry x=0.898732, y=1.274465, theta=-2.239105
-[21:01:43.693] Odometry x=0.908182, y=1.267352, theta=-2.234402
-[21:01:43.921] Odometry x=0.919533, y=1.258384, theta=-2.228938
-[21:01:43.931] After Reprojection Map nMatches:169 ,distance between ekf and vo x:0.000049 ,z=0.000095,angle between two frames:0.000149
-[21:01:43.932]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =117 	 error init =0.809239 	 error end=0.103357
-[21:01:43.932] After pose optimization, distance between ekf and vo x:-0.048764 ,z=0.074751,angle between two frames:0.033616
-[21:01:43.932] Update EKF and 3D points the number of feature in the new frame: 117 and number of obs: 117
-[21:01:43.933] frame Scene Depth mean:1.494055 ,depth min:0.160699
-[21:01:43.935] need key frame pitch dis: 0.027402 translation dif:0.044972
-[21:01:43.935] frame process finished the id is: 276 the obs is:117 
-[21:01:44.191] Odometry x=0.933693, y=1.250746, theta=-2.234182
-[21:01:44.312] After Reprojection Map nMatches:179 ,distance between ekf and vo x:0.000084 ,z=0.000080,angle between two frames:0.000201
-[21:01:44.313]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =162 	 error init =0.070970 	 error end=0.013752
-[21:01:44.313] After pose optimization, distance between ekf and vo x:-0.003451 ,z=0.009493,angle between two frames:0.003361
-[21:01:44.313] Update EKF and 3D points the number of feature in the new frame: 162 and number of obs: 162
-[21:01:44.313] frame Scene Depth mean:0.758467 ,depth min:0.062416
-[21:01:44.315] need key frame pitch dis: 0.101333 translation dif:0.162441
-[21:01:44.315] Choose frame as a key frame Scene Depth mean:0.758467 ,depth min:0.062416
-[21:01:44.315] frame process finished the id is: 277 the obs is:162 
-[21:01:44.419] Odometry x=0.939109, y=1.248738, theta=-2.236521
-[21:01:44.661] Odometry x=0.947450, y=1.242255, theta=-2.245122
-[21:01:44.822] After Reprojection Map nMatches:240 ,distance between ekf and vo x:-0.000363 ,z=0.000299,angle between two frames:0.000565
-[21:01:44.823]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =212 	 error init =0.001369 	 error end=0.003249
-[21:01:44.823] After pose optimization, distance between ekf and vo x:-0.000363 ,z=0.000299,angle between two frames:0.000565
-[21:01:44.823] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212
-[21:01:44.823] frame Scene Depth mean:0.952353 ,depth min:0.150093
-[21:01:44.827] need key frame pitch dis: 0.006713 translation dif:0.069428
-[21:01:44.827] frame process finished the id is: 278 the obs is:212 
-[21:01:44.982] Odometry x=0.955155, y=1.234009, theta=-2.245818
-[21:01:45.204] Odometry x=0.963641, y=1.228303, theta=-2.250771
-[21:01:45.367] After Reprojection Map nMatches:277 ,distance between ekf and vo x:-0.000086 ,z=0.000136,angle between two frames:0.000086
-[21:01:45.367]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =253 	 error init =0.034366 	 error end=0.001689
-[21:01:45.367] After pose optimization, distance between ekf and vo x:-0.000086 ,z=0.000136,angle between two frames:0.000086
-[21:01:45.367] Update EKF and 3D points the number of feature in the new frame: 253 and number of obs: 253
-[21:01:45.367] frame Scene Depth mean:1.447604 ,depth min:0.069074
-[21:01:45.371] need key frame pitch dis: 0.092689 translation dif:0.202202
-[21:01:45.371] Choose frame as a key frame Scene Depth mean:1.447604 ,depth min:0.069074
-[21:01:45.371] frame process finished the id is: 279 the obs is:253 
-[21:01:45.447] Odometry x=0.971233, y=1.225008, theta=-2.245166
-[21:01:45.690] Odometry x=0.980054, y=1.218647, theta=-2.223310
-[21:01:45.913] After Reprojection Map nMatches:306 ,distance between ekf and vo x:-0.000084 ,z=0.000194,angle between two frames:0.000147
-[21:01:45.914]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =276 	 error init =0.035112 	 error end=0.012828
-[21:01:45.914] After pose optimization, distance between ekf and vo x:-0.000084 ,z=0.000194,angle between two frames:0.000147
-[21:01:45.914] Update EKF and 3D points the number of feature in the new frame: 276 and number of obs: 276
-[21:01:45.914] frame Scene Depth mean:1.541091 ,depth min:0.075511
-[21:01:45.919] need key frame pitch dis: 0.115081 translation dif:0.220832
-[21:01:45.919] Choose frame as a key frame Scene Depth mean:1.541091 ,depth min:0.075511
-[21:01:45.919] frame process finished the id is: 280 the obs is:276 
-[21:01:45.922] Odometry x=0.986215, y=1.213843, theta=-2.222773
-[21:01:46.184] Odometry x=0.994569, y=1.207482, theta=-2.224143
-[21:01:46.432] Odometry x=1.005165, y=1.199450, theta=-2.199452
-[21:01:46.472] After Reprojection Map nMatches:248 ,distance between ekf and vo x:-0.000423 ,z=0.000479,angle between two frames:0.001123
-[21:01:46.473]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =182 	 error init =0.093616 	 error end=0.068004
-[21:01:46.473] After pose optimization, distance between ekf and vo x:-0.000423 ,z=0.000479,angle between two frames:0.001123
-[21:01:46.473] Update EKF and 3D points the number of feature in the new frame: 182 and number of obs: 182
-[21:01:46.473] frame Scene Depth mean:1.809442 ,depth min:0.193090
-[21:01:46.476] need key frame pitch dis: 0.127474 translation dif:0.249856
-[21:01:46.476] Choose frame as a key frame Scene Depth mean:1.809442 ,depth min:0.193090
-[21:01:46.476] frame process finished the id is: 281 the obs is:182 
-[21:01:46.685] Odometry x=1.008681, y=1.195452, theta=-2.210380
-[21:01:46.879] After Reprojection Map nMatches:187 ,distance between ekf and vo x:-0.000153 ,z=0.000057,angle between two frames:0.000026
-[21:01:46.880]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =169 	 error init =0.326528 	 error end=0.017320
-[21:01:46.880] After pose optimization, distance between ekf and vo x:0.001889 ,z=0.000398,angle between two frames:0.000231
-[21:01:46.880] Update EKF and 3D points the number of feature in the new frame: 169 and number of obs: 169
-[21:01:46.880] frame Scene Depth mean:1.768129 ,depth min:0.173673
-[21:01:46.884] need key frame pitch dis: 0.004809 translation dif:0.037583
-[21:01:46.884] frame process finished the id is: 282 the obs is:169 
-[21:01:46.985] Odometry x=1.015400, y=1.190163, theta=-2.217964
-[21:01:47.198] Odometry x=1.023762, y=1.183923, theta=-2.231197
-[21:01:47.347] After Reprojection Map nMatches:328 ,distance between ekf and vo x:-0.000163 ,z=0.000048,angle between two frames:0.000041
-[21:01:47.349]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =312 	 error init =0.002221 	 error end=0.002378
-[21:01:47.349] After pose optimization, distance between ekf and vo x:-0.000162 ,z=0.000050,angle between two frames:0.000041
-[21:01:47.349] Update EKF and 3D points the number of feature in the new frame: 312 and number of obs: 312
-[21:01:47.349] frame Scene Depth mean:1.407994 ,depth min:0.156803
-[21:01:47.354] need key frame pitch dis: 0.021738 translation dif:0.026551
-[21:01:47.354] frame process finished the id is: 283 the obs is:312 
-[21:01:47.439] Odometry x=1.030840, y=1.180825, theta=-2.232118
-[21:01:47.703] Odometry x=1.039184, y=1.174666, theta=-2.234506
-[21:01:47.765] After Reprojection Map nMatches:250 ,distance between ekf and vo x:-0.000091 ,z=0.000056,angle between two frames:0.000021
-[21:01:47.766]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =220 	 error init =0.005246 	 error end=0.020422
-[21:01:47.766] After pose optimization, distance between ekf and vo x:-0.000091 ,z=0.000056,angle between two frames:0.000021
-[21:01:47.766] Update EKF and 3D points the number of feature in the new frame: 220 and number of obs: 220
-[21:01:47.766] frame Scene Depth mean:1.712627 ,depth min:0.067399
-[21:01:47.771] need key frame pitch dis: 0.014828 translation dif:0.132771
-[21:01:47.771] Choose frame as a key frame Scene Depth mean:1.712627 ,depth min:0.067399
-[21:01:47.771] frame process finished the id is: 284 the obs is:220 
-[21:01:47.941] Odometry x=1.045567, y=1.169399, theta=-2.221693
-[21:01:48.207] Odometry x=1.054294, y=1.162095, theta=-2.204554
-[21:01:48.314] After Reprojection Map nMatches:306 ,distance between ekf and vo x:-0.000170 ,z=0.000097,angle between two frames:0.000097
-[21:01:48.316]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =273 	 error init =1.141587 	 error end=0.028816
-[21:01:48.316] After pose optimization, distance between ekf and vo x:0.006008 ,z=0.005663,angle between two frames:0.000295
-[21:01:48.316] Update EKF and 3D points the number of feature in the new frame: 273 and number of obs: 273
-[21:01:48.317] frame Scene Depth mean:1.409855 ,depth min:0.140410
-[21:01:48.321] need key frame pitch dis: 0.000155 translation dif:0.064390
-[21:01:48.321] frame process finished the id is: 285 the obs is:273 
-[21:01:48.444] Odometry x=1.061838, y=1.159115, theta=-2.210536
-[21:01:48.718] Odometry x=1.070357, y=1.152983, theta=-2.232730
-[21:01:48.788] After Reprojection Map nMatches:346 ,distance between ekf and vo x:-0.000124 ,z=0.000057,angle between two frames:0.000071
-[21:01:48.789]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =292 	 error init =0.019490 	 error end=0.030784
-[21:01:48.789] After pose optimization, distance between ekf and vo x:-0.000124 ,z=0.000057,angle between two frames:0.000071
-[21:01:48.789] Update EKF and 3D points the number of feature in the new frame: 292 and number of obs: 292
-[21:01:48.789] frame Scene Depth mean:1.444753 ,depth min:0.189728
-[21:01:48.794] need key frame pitch dis: 0.018287 translation dif:0.083850
-[21:01:48.794] frame process finished the id is: 286 the obs is:292 
-[21:01:48.970] Odometry x=1.077380, y=1.147377, theta=-2.228667
-[21:01:49.186] Odometry x=1.086052, y=1.140840, theta=-2.215802
-[21:01:49.251] After Reprojection Map nMatches:351 ,distance between ekf and vo x:-0.000008 ,z=0.000058,angle between two frames:0.000034
-[21:01:49.254]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =295 	 error init =0.104217 	 error end=0.029790
-[21:01:49.254] After pose optimization, distance between ekf and vo x:0.000971 ,z=0.001190,angle between two frames:0.000016
-[21:01:49.254] Update EKF and 3D points the number of feature in the new frame: 295 and number of obs: 295
-[21:01:49.254] frame Scene Depth mean:1.403793 ,depth min:0.147677
-[21:01:49.258] need key frame pitch dis: 0.015899 translation dif:0.130782
-[21:01:49.258] Choose frame as a key frame Scene Depth mean:1.403793 ,depth min:0.147677
-[21:01:49.258] frame process finished the id is: 287 the obs is:295 
-[21:01:49.446] Odometry x=1.092123, y=1.137114, theta=-2.206873
-[21:01:49.690] Odometry x=1.100927, y=1.131647, theta=-2.192481
-[21:01:49.729] After Reprojection Map nMatches:293 ,distance between ekf and vo x:-0.000095 ,z=0.000049,angle between two frames:0.000002
-[21:01:49.730]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =263 	 error init =0.158359 	 error end=0.060907
-[21:01:49.730] After pose optimization, distance between ekf and vo x:-0.000095 ,z=0.000049,angle between two frames:0.000002
-[21:01:49.730] Update EKF and 3D points the number of feature in the new frame: 263 and number of obs: 263
-[21:01:49.730] frame Scene Depth mean:1.471681 ,depth min:0.063667
-[21:01:49.734] need key frame pitch dis: 0.146729 translation dif:0.369563
-[21:01:49.734] Choose frame as a key frame Scene Depth mean:1.471681 ,depth min:0.063667
-[21:01:49.734] frame process finished the id is: 288 the obs is:263 
-[21:01:49.925] Odometry x=1.107266, y=1.126802, theta=-2.191125
-[21:01:50.185] Odometry x=1.116178, y=1.120568, theta=-2.209926
-[21:01:50.243] After Reprojection Map nMatches:315 ,distance between ekf and vo x:0.000011 ,z=0.000123,angle between two frames:0.000076
-[21:01:50.244]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =289 	 error init =0.008234 	 error end=0.003142
-[21:01:50.244] After pose optimization, distance between ekf and vo x:0.000011 ,z=0.000123,angle between two frames:0.000076
-[21:01:50.244] Update EKF and 3D points the number of feature in the new frame: 289 and number of obs: 289
-[21:01:50.244] frame Scene Depth mean:1.507173 ,depth min:0.069083
-[21:01:50.249] need key frame pitch dis: 0.017548 translation dif:0.036661
-[21:01:50.249] frame process finished the id is: 289 the obs is:289 
-[21:01:50.452] Odometry x=1.121722, y=1.115483, theta=-2.189326
-[21:01:50.679] Odometry x=1.130621, y=1.109232, theta=-2.207050
-[21:01:50.683] After Reprojection Map nMatches:226 ,distance between ekf and vo x:-0.000132 ,z=0.000183,angle between two frames:0.000116
-[21:01:50.683]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =201 	 error init =0.028569 	 error end=0.017446
-[21:01:50.683] After pose optimization, distance between ekf and vo x:-0.000132 ,z=0.000183,angle between two frames:0.000116
-[21:01:50.683] Update EKF and 3D points the number of feature in the new frame: 201 and number of obs: 201
-[21:01:50.683] frame Scene Depth mean:2.207454 ,depth min:0.139990
-[21:01:50.686] need key frame pitch dis: 0.012244 translation dif:0.050912
-[21:01:50.686] frame process finished the id is: 290 the obs is:201 
-[21:01:50.988] Odometry x=1.151002, y=1.094285, theta=-2.200261
-[21:01:51.144] After Reprojection Map nMatches:370 ,distance between ekf and vo x:-0.000024 ,z=-0.000077,angle between two frames:0.000344
-[21:01:51.146]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =331 	 error init =0.016110 	 error end=0.007134
-[21:01:51.146] After pose optimization, distance between ekf and vo x:-0.000175 ,z=-0.000150,angle between two frames:0.000364
-[21:01:51.146] Update EKF and 3D points the number of feature in the new frame: 331 and number of obs: 331
-[21:01:51.146] frame Scene Depth mean:1.743450 ,depth min:0.078126
-[21:01:51.152] need key frame pitch dis: 0.017632 translation dif:0.053513
-[21:01:51.152] frame process finished the id is: 291 the obs is:331 
-[21:01:51.604] After Reprojection Map nMatches:362 ,distance between ekf and vo x:0.000134 ,z=-0.000042,angle between two frames:0.000403
-[21:01:51.607]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =313 	 error init =0.048058 	 error end=0.078916
-[21:01:51.607] After pose optimization, distance between ekf and vo x:0.017136 ,z=0.039027,angle between two frames:0.005360
-[21:01:51.607] Update EKF and 3D points the number of feature in the new frame: 313 and number of obs: 313
-[21:01:51.607] frame Scene Depth mean:1.480341 ,depth min:0.086953
-[21:01:51.612] need key frame pitch dis: 0.017765 translation dif:0.052893
-[21:01:51.612] frame process finished the id is: 292 the obs is:313 
-[21:01:52.173] After Reprojection Map nMatches:472 ,distance between ekf and vo x:-0.000098 ,z=0.000095,angle between two frames:0.000010
-[21:01:52.174]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =416 	 error init =0.035843 	 error end=0.050667
-[21:01:52.174] After pose optimization, distance between ekf and vo x:-0.000098 ,z=0.000095,angle between two frames:0.000010
-[21:01:52.174] Update EKF and 3D points the number of feature in the new frame: 416 and number of obs: 416
-[21:01:52.174] frame Scene Depth mean:2.176380 ,depth min:0.058663
-[21:01:52.180] need key frame pitch dis: 0.004182 translation dif:0.072115
-[21:01:52.180] frame process finished the id is: 293 the obs is:416 
-[21:01:52.808] After Reprojection Map nMatches:496 ,distance between ekf and vo x:-0.000040 ,z=0.000216,angle between two frames:0.000238
-[21:01:52.810]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =407 	 error init =0.608670 	 error end=0.127441
-[21:01:52.810] After pose optimization, distance between ekf and vo x:-0.000040 ,z=0.000216,angle between two frames:0.000238
-[21:01:52.810] Update EKF and 3D points the number of feature in the new frame: 407 and number of obs: 407
-[21:01:52.810] frame Scene Depth mean:2.313601 ,depth min:0.057143
-[21:01:52.816] need key frame pitch dis: 0.005121 translation dif:0.072466
-[21:01:52.816] frame process finished the id is: 294 the obs is:407 
-[21:01:53.423] After Reprojection Map nMatches:417 ,distance between ekf and vo x:-0.000034 ,z=0.000059,angle between two frames:0.000025
-[21:01:53.426]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =368 	 error init =0.034860 	 error end=0.008889
-[21:01:53.426] After pose optimization, distance between ekf and vo x:0.000037 ,z=0.000150,angle between two frames:0.000023
-[21:01:53.426] Update EKF and 3D points the number of feature in the new frame: 368 and number of obs: 368
-[21:01:53.426] frame Scene Depth mean:2.325636 ,depth min:0.056794
-[21:01:53.431] need key frame pitch dis: 0.125595 translation dif:0.423763
-[21:01:53.431] Choose frame as a key frame Scene Depth mean:2.325636 ,depth min:0.056794
-[21:01:53.431] frame process finished the id is: 295 the obs is:368 
-[21:01:53.690] Odometry x=1.151218, y=1.094983, theta=-2.212260
-[21:01:53.927] Odometry x=1.151289, y=1.094852, theta=-2.212416
-[21:01:54.063] After Reprojection Map nMatches:468 ,distance between ekf and vo x:0.000010 ,z=0.000092,angle between two frames:0.000062
-[21:01:54.065]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =396 	 error init =0.208571 	 error end=0.027683
-[21:01:54.065] After pose optimization, distance between ekf and vo x:0.000010 ,z=0.000092,angle between two frames:0.000062
-[21:01:54.065] Update EKF and 3D points the number of feature in the new frame: 396 and number of obs: 396
-[21:01:54.065] frame Scene Depth mean:2.086112 ,depth min:0.055833
-[21:01:54.071] need key frame pitch dis: 0.025084 translation dif:0.073316
-[21:01:54.071] frame process finished the id is: 296 the obs is:396 
-[21:01:54.209] Odometry x=1.151633, y=1.094291, theta=-2.231957
-[21:01:54.431] Odometry x=1.152513, y=1.094076, theta=-2.290118
-[21:01:54.631] After Reprojection Map nMatches:443 ,distance between ekf and vo x:-0.000022 ,z=0.000121,angle between two frames:0.000060
-[21:01:54.634]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =350 	 error init =0.074193 	 error end=0.051380
-[21:01:54.634] After pose optimization, distance between ekf and vo x:0.003013 ,z=0.002614,angle between two frames:0.000192
-[21:01:54.634] Update EKF and 3D points the number of feature in the new frame: 350 and number of obs: 350
-[21:01:54.634] frame Scene Depth mean:2.111053 ,depth min:0.111661
-[21:01:54.639] need key frame pitch dis: 0.099190 translation dif:0.131117
-[21:01:54.639] Choose frame as a key frame Scene Depth mean:2.111053 ,depth min:0.111661
-[21:01:54.639] frame process finished the id is: 297 the obs is:350 
-[21:01:54.722] Odometry x=1.152983, y=1.094208, theta=-2.320883
-[21:01:54.981] Odometry x=1.153006, y=1.093956, theta=-2.379483
-[21:01:55.184] Odometry x=1.152995, y=1.093934, theta=-2.449783
-[21:01:55.218] After Reprojection Map nMatches:395 ,distance between ekf and vo x:-0.000101 ,z=0.000185,angle between two frames:0.000003
-[21:01:55.220]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =321 	 error init =0.116890 	 error end=0.041920
-[21:01:55.220] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000231,angle between two frames:0.000026
-[21:01:55.220] Update EKF and 3D points the number of feature in the new frame: 321 and number of obs: 321
-[21:01:55.221] frame Scene Depth mean:1.921079 ,depth min:0.063570
-[21:01:55.226] need key frame pitch dis: 0.329820 translation dif:0.002028
-[21:01:55.226] Choose frame as a key frame Scene Depth mean:1.921079 ,depth min:0.063570
-[21:01:55.227] frame process finished the id is: 298 the obs is:320 
-[21:01:55.450] Odometry x=1.152878, y=1.093981, theta=-2.561321
-[21:01:55.665] After Reprojection Map nMatches:331 ,distance between ekf and vo x:0.000022 ,z=0.000044,angle between two frames:0.000014
-[21:01:55.666]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =243 	 error init =0.070498 	 error end=0.062683
-[21:01:55.666] After pose optimization, distance between ekf and vo x:0.000022 ,z=0.000044,angle between two frames:0.000014
-[21:01:55.666] Update EKF and 3D points the number of feature in the new frame: 243 and number of obs: 243
-[21:01:55.666] frame Scene Depth mean:1.807136 ,depth min:0.060802
-[21:01:55.671] need key frame pitch dis: 0.313265 translation dif:0.000170
-[21:01:55.671] Choose frame as a key frame Scene Depth mean:1.807136 ,depth min:0.060802
-[21:01:55.671] frame process finished the id is: 299 the obs is:239 
-[21:01:55.719] Odometry x=1.152857, y=1.094094, theta=-2.634148
-[21:01:55.948] Odometry x=1.152859, y=1.094088, theta=-2.673319
-[21:01:56.097] After Reprojection Map nMatches:300 ,distance between ekf and vo x:0.000135 ,z=0.000019,angle between two frames:0.000033
-[21:01:56.098]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =222 	 error init =0.441197 	 error end=0.122831
-[21:01:56.098] After pose optimization, distance between ekf and vo x:0.000135 ,z=0.000019,angle between two frames:0.000033
-[21:01:56.098] Update EKF and 3D points the number of feature in the new frame: 222 and number of obs: 222
-[21:01:56.098] frame Scene Depth mean:1.866440 ,depth min:0.079486
-[21:01:56.103] need key frame pitch dis: 0.169052 translation dif:0.000344
-[21:01:56.103] Choose frame as a key frame Scene Depth mean:1.866440 ,depth min:0.079486
-[21:01:56.103] frame process finished the id is: 300 the obs is:222 
-[21:01:56.205] Odometry x=1.152682, y=1.093892, theta=-2.711131
-[21:01:56.422] Odometry x=1.152690, y=1.093800, theta=-2.753698
-[21:01:56.453] After Reprojection Map nMatches:231 ,distance between ekf and vo x:0.000050 ,z=0.000077,angle between two frames:0.000040
-[21:01:56.454]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =206 	 error init =0.049577 	 error end=0.063044
-[21:01:56.454] After pose optimization, distance between ekf and vo x:0.000050 ,z=0.000077,angle between two frames:0.000040
-[21:01:56.454] Update EKF and 3D points the number of feature in the new frame: 206 and number of obs: 206
-[21:01:56.454] frame Scene Depth mean:1.424845 ,depth min:0.057601
-[21:01:56.459] need key frame pitch dis: 0.243926 translation dif:0.000346
-[21:01:56.459] Choose frame as a key frame Scene Depth mean:1.424845 ,depth min:0.057601
-[21:01:56.459] frame process finished the id is: 301 the obs is:206 
-[21:01:56.680] Odometry x=1.152799, y=1.093739, theta=-2.786005
-[21:01:56.752] After Reprojection Map nMatches:196 ,distance between ekf and vo x:-0.000034 ,z=0.000364,angle between two frames:0.000124
-[21:01:56.753]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =170 	 error init =0.081010 	 error end=0.014686
-[21:01:56.753] After pose optimization, distance between ekf and vo x:-0.000034 ,z=0.000364,angle between two frames:0.000124
-[21:01:56.753] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170
-[21:01:56.753] frame Scene Depth mean:1.736896 ,depth min:0.065861
-[21:01:56.757] need key frame pitch dis: 0.111260 translation dif:0.000134
-[21:01:56.757] Choose frame as a key frame Scene Depth mean:1.736896 ,depth min:0.065861
-[21:01:56.757] frame process finished the id is: 302 the obs is:162 
-[21:01:57.002] Odometry x=1.152756, y=1.093779, theta=-2.822391
-[21:01:57.059] After Reprojection Map nMatches:223 ,distance between ekf and vo x:0.000066 ,z=0.000071,angle between two frames:0.000053
-[21:01:57.060]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =163 	 error init =0.039925 	 error end=0.029011
-[21:01:57.060] After pose optimization, distance between ekf and vo x:0.012114 ,z=0.001496,angle between two frames:0.000744
-[21:01:57.060] Update EKF and 3D points the number of feature in the new frame: 163 and number of obs: 163
-[21:01:57.060] frame Scene Depth mean:1.258022 ,depth min:0.050841
-[21:01:57.064] need key frame pitch dis: 0.073468 translation dif:0.002491
-[21:01:57.064] frame process finished the id is: 303 the obs is:163 
-[21:01:57.183] Odometry x=1.155289, y=1.093677, theta=-2.859473
-[21:01:57.376] After Reprojection Map nMatches:229 ,distance between ekf and vo x:0.000002 ,z=0.000358,angle between two frames:0.000125
-[21:01:57.377]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =168 	 error init =0.646085 	 error end=0.143916
-[21:01:57.377] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000358,angle between two frames:0.000125
-[21:01:57.377] Update EKF and 3D points the number of feature in the new frame: 168 and number of obs: 168
-[21:01:57.377] frame Scene Depth mean:1.109572 ,depth min:0.053271
-[21:01:57.380] need key frame pitch dis: 0.350705 translation dif:0.002261
-[21:01:57.380] Choose frame as a key frame Scene Depth mean:1.109572 ,depth min:0.053271
-[21:01:57.380] frame process finished the id is: 304 the obs is:157 
-[21:01:57.445] Odometry x=1.155238, y=1.093679, theta=-2.892784
-[21:01:57.682] After Reprojection Map nMatches:265 ,distance between ekf and vo x:0.000209 ,z=0.000234,angle between two frames:0.000100
-[21:01:57.683]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =188 	 error init =0.044504 	 error end=0.065304
-[21:01:57.683] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000234,angle between two frames:0.000100
-[21:01:57.683] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188
-[21:01:57.683] frame Scene Depth mean:1.250061 ,depth min:0.056102
-[21:01:57.687] need key frame pitch dis: 0.378021 translation dif:0.002868
-[21:01:57.687] Choose frame as a key frame Scene Depth mean:1.250061 ,depth min:0.056102
-[21:01:57.687] frame process finished the id is: 305 the obs is:188 
-[21:01:58.066] After Reprojection Map nMatches:311 ,distance between ekf and vo x:0.000176 ,z=0.000026,angle between two frames:0.000024
-[21:01:58.067]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =243 	 error init =0.060576 	 error end=0.021960
-[21:01:58.067] After pose optimization, distance between ekf and vo x:0.000176 ,z=0.000026,angle between two frames:0.000024
-[21:01:58.067] Update EKF and 3D points the number of feature in the new frame: 243 and number of obs: 243
-[21:01:58.067] frame Scene Depth mean:0.968187 ,depth min:0.054478
-[21:01:58.074] need key frame pitch dis: 0.109282 translation dif:0.003328
-[21:01:58.074] Choose frame as a key frame Scene Depth mean:0.968187 ,depth min:0.054478
-[21:01:58.074] frame process finished the id is: 306 the obs is:243 
-[21:01:58.216] Odometry x=1.155969, y=1.094645, theta=-2.931672
-[21:01:58.435] Odometry x=1.155940, y=1.094572, theta=-2.934240
-[21:01:58.494] After Reprojection Map nMatches:306 ,distance between ekf and vo x:0.000119 ,z=0.000023,angle between two frames:0.000017
-[21:01:58.496]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =265 	 error init =0.328341 	 error end=0.013886
-[21:01:58.496] After pose optimization, distance between ekf and vo x:-0.068681 ,z=0.057192,angle between two frames:0.066241
-[21:01:58.496] Update EKF and 3D points the number of feature in the new frame: 265 and number of obs: 265
-[21:01:58.496] frame Scene Depth mean:1.191687 ,depth min:0.066509
-[21:01:58.502] need key frame pitch dis: 0.574716 translation dif:0.406827
-[21:01:58.502] Choose frame as a key frame Scene Depth mean:1.191687 ,depth min:0.066509
-[21:01:58.502] frame process finished the id is: 307 the obs is:265 
-[21:01:58.677] Odometry x=1.139774, y=1.107823, theta=-2.912571
-[21:01:58.908] After Reprojection Map nMatches:387 ,distance between ekf and vo x:0.000125 ,z=0.000039,angle between two frames:0.000018
-[21:01:58.910]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =249 	 error init =0.121324 	 error end=0.045822
-[21:01:58.910] After pose optimization, distance between ekf and vo x:0.001476 ,z=-0.000961,angle between two frames:0.000307
-[21:01:58.910] Update EKF and 3D points the number of feature in the new frame: 249 and number of obs: 249
-[21:01:58.910] frame Scene Depth mean:1.152139 ,depth min:0.058104
-[21:01:58.915] need key frame pitch dis: 0.719594 translation dif:0.016785
-[21:01:58.915] Choose frame as a key frame Scene Depth mean:1.152139 ,depth min:0.058104
-[21:01:58.915] frame process finished the id is: 308 the obs is:249 
-[21:01:59.016] Odometry x=1.140135, y=1.107588, theta=-2.931854
-[21:01:59.355] After Reprojection Map nMatches:318 ,distance between ekf and vo x:0.000116 ,z=0.000130,angle between two frames:0.000142
-[21:01:59.357]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =264 	 error init =0.011918 	 error end=0.011335
-[21:01:59.357] After pose optimization, distance between ekf and vo x:0.001765 ,z=0.001936,angle between two frames:0.001561
-[21:01:59.357] Update EKF and 3D points the number of feature in the new frame: 264 and number of obs: 264
-[21:01:59.357] frame Scene Depth mean:1.130381 ,depth min:0.050854
-[21:01:59.362] need key frame pitch dis: 0.732480 translation dif:0.016768
-[21:01:59.362] Choose frame as a key frame Scene Depth mean:1.130381 ,depth min:0.050854
-[21:01:59.362] frame process finished the id is: 309 the obs is:258 
-[21:01:59.859] After Reprojection Map nMatches:386 ,distance between ekf and vo x:0.000008 ,z=0.000011,angle between two frames:0.000003
-[21:01:59.861]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =256 	 error init =0.106953 	 error end=0.023158
-[21:01:59.861] After pose optimization, distance between ekf and vo x:-0.004131 ,z=0.001003,angle between two frames:0.000245
-[21:01:59.861] Update EKF and 3D points the number of feature in the new frame: 256 and number of obs: 256
-[21:01:59.861] frame Scene Depth mean:0.945059 ,depth min:0.051923
-[21:01:59.866] need key frame pitch dis: 0.738506 translation dif:0.017546
-[21:01:59.866] Choose frame as a key frame Scene Depth mean:0.945059 ,depth min:0.051923
-[21:01:59.866] frame process finished the id is: 310 the obs is:256 
-[21:02:00.369] After Reprojection Map nMatches:398 ,distance between ekf and vo x:0.000002 ,z=0.000015,angle between two frames:0.000007
-[21:02:00.372]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =279 	 error init =0.145245 	 error end=0.073030
-[21:02:00.372] After pose optimization, distance between ekf and vo x:-0.000360 ,z=0.001341,angle between two frames:0.000371
-[21:02:00.372] Update EKF and 3D points the number of feature in the new frame: 279 and number of obs: 279
-[21:02:00.372] frame Scene Depth mean:0.875259 ,depth min:0.051114
-[21:02:00.377] need key frame pitch dis: 0.741324 translation dif:0.017179
-[21:02:00.377] Choose frame as a key frame Scene Depth mean:0.875259 ,depth min:0.051114
-[21:02:00.377] frame process finished the id is: 311 the obs is:279 
-[21:02:00.425] Odometry x=1.139835, y=1.107850, theta=-2.953584
-[21:02:00.686] Odometry x=1.139608, y=1.107067, theta=-2.956939
-[21:02:00.913] After Reprojection Map nMatches:398 ,distance between ekf and vo x:0.000014 ,z=0.000021,angle between two frames:0.000007
-[21:02:00.916]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =279 	 error init =0.049399 	 error end=0.023338
-[21:02:00.916] After pose optimization, distance between ekf and vo x:-0.000574 ,z=0.004313,angle between two frames:0.000662
-[21:02:00.916] Update EKF and 3D points the number of feature in the new frame: 279 and number of obs: 279
-[21:02:00.916] frame Scene Depth mean:0.912694 ,depth min:0.051132
-[21:02:00.921] need key frame pitch dis: 0.315491 translation dif:0.012483
-[21:02:00.921] Choose frame as a key frame Scene Depth mean:0.912694 ,depth min:0.051132
-[21:02:00.921] frame process finished the id is: 312 the obs is:240 
-[21:02:01.026] Odometry x=1.140757, y=1.097164, theta=-2.949639
-[21:02:01.178] Odometry x=1.141733, y=1.092043, theta=-2.943758
-[21:02:01.446] Odometry x=1.144309, y=1.080730, theta=-2.939178
-[21:02:01.495] After Reprojection Map nMatches:434 ,distance between ekf and vo x:0.000035 ,z=0.000043,angle between two frames:0.000011
-[21:02:01.497]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =251 	 error init =0.073170 	 error end=0.021117
-[21:02:01.497] After pose optimization, distance between ekf and vo x:-0.004418 ,z=0.007283,angle between two frames:0.001132
-[21:02:01.497] Update EKF and 3D points the number of feature in the new frame: 251 and number of obs: 251
-[21:02:01.497] frame Scene Depth mean:1.331435 ,depth min:0.056891
-[21:02:01.502] need key frame pitch dis: 0.010981 translation dif:0.032061
-[21:02:01.502] frame process finished the id is: 313 the obs is:203 
-[21:02:01.702] Odometry x=1.144678, y=1.075850, theta=-2.942834
-[21:02:01.955] Odometry x=1.146948, y=1.065047, theta=-2.945227
-[21:02:02.033] After Reprojection Map nMatches:379 ,distance between ekf and vo x:0.000061 ,z=-0.000028,angle between two frames:0.000027
-[21:02:02.035]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =240 	 error init =0.147276 	 error end=0.093525
-[21:02:02.035] After pose optimization, distance between ekf and vo x:0.000061 ,z=-0.000028,angle between two frames:0.000027
-[21:02:02.035] Update EKF and 3D points the number of feature in the new frame: 240 and number of obs: 240
-[21:02:02.035] frame Scene Depth mean:1.050520 ,depth min:0.062880
-[21:02:02.038] need key frame pitch dis: 0.100451 translation dif:0.036481
-[21:02:02.038] Choose frame as a key frame Scene Depth mean:1.050520 ,depth min:0.062880
-[21:02:02.038] frame process finished the id is: 314 the obs is:224 
-[21:02:02.190] Odometry x=1.148281, y=1.057574, theta=-2.922842
-[21:02:02.410] After Reprojection Map nMatches:308 ,distance between ekf and vo x:0.000019 ,z=-0.000014,angle between two frames:0.000008
-[21:02:02.411]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =234 	 error init =0.011350 	 error end=0.008212
-[21:02:02.411] After pose optimization, distance between ekf and vo x:0.000019 ,z=-0.000014,angle between two frames:0.000008
-[21:02:02.411] Update EKF and 3D points the number of feature in the new frame: 234 and number of obs: 234
-[21:02:02.411] frame Scene Depth mean:0.920011 ,depth min:0.052050
-[21:02:02.418] need key frame pitch dis: 0.277313 translation dif:0.044404
-[21:02:02.418] Choose frame as a key frame Scene Depth mean:0.920011 ,depth min:0.052050
-[21:02:02.418] frame process finished the id is: 315 the obs is:233 
-[21:02:02.431] Odometry x=1.149895, y=1.049789, theta=-2.911461
-[21:02:02.700] Odometry x=1.152108, y=1.039796, theta=-2.902015
-[21:02:02.798] After Reprojection Map nMatches:248 ,distance between ekf and vo x:0.000006 ,z=-0.000099,angle between two frames:0.000071
-[21:02:02.798]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =215 	 error init =0.004129 	 error end=0.001936
-[21:02:02.798] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000099,angle between two frames:0.000071
-[21:02:02.798] Update EKF and 3D points the number of feature in the new frame: 215 and number of obs: 215
-[21:02:02.798] frame Scene Depth mean:0.661383 ,depth min:0.057002
-[21:02:02.803] need key frame pitch dis: 0.372618 translation dif:0.051824
-[21:02:02.803] Choose frame as a key frame Scene Depth mean:0.661383 ,depth min:0.057002
-[21:02:02.803] frame process finished the id is: 316 the obs is:194 
-[21:02:03.152] After Reprojection Map nMatches:301 ,distance between ekf and vo x:0.000009 ,z=-0.000017,angle between two frames:0.000001
-[21:02:03.155]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =192 	 error init =0.164655 	 error end=0.100360
-[21:02:03.155] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000014,angle between two frames:0.000001
-[21:02:03.155] Update EKF and 3D points the number of feature in the new frame: 192 and number of obs: 192
-[21:02:03.155] frame Scene Depth mean:0.963301 ,depth min:0.055452
-[21:02:03.160] need key frame pitch dis: 0.004508 translation dif:0.009646
-[21:02:03.160] frame process finished the id is: 317 the obs is:192 
-[21:02:03.444] Odometry x=1.152314, y=1.040451, theta=-2.915969
-[21:02:03.593] After Reprojection Map nMatches:392 ,distance between ekf and vo x:0.000016 ,z=-0.000059,angle between two frames:0.000001
-[21:02:03.594]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =268 	 error init =0.076589 	 error end=0.031831
-[21:02:03.594] After pose optimization, distance between ekf and vo x:0.000016 ,z=-0.000059,angle between two frames:0.000001
-[21:02:03.594] Update EKF and 3D points the number of feature in the new frame: 268 and number of obs: 268
-[21:02:03.595] frame Scene Depth mean:0.725284 ,depth min:0.052993
-[21:02:03.599] need key frame pitch dis: 0.129353 translation dif:0.055869
-[21:02:03.599] Choose frame as a key frame Scene Depth mean:0.725284 ,depth min:0.052993
-[21:02:03.599] frame process finished the id is: 318 the obs is:268 
-[21:02:03.718] Odometry x=1.152581, y=1.037870, theta=-2.915358
-[21:02:03.944] Odometry x=1.154540, y=1.029130, theta=-2.911588
-[21:02:04.099] After Reprojection Map nMatches:386 ,distance between ekf and vo x:0.000022 ,z=-0.000053,angle between two frames:0.000034
-[21:02:04.100]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =297 	 error init =0.029858 	 error end=0.012009
-[21:02:04.100] After pose optimization, distance between ekf and vo x:0.000022 ,z=-0.000053,angle between two frames:0.000034
-[21:02:04.100] Update EKF and 3D points the number of feature in the new frame: 297 and number of obs: 297
-[21:02:04.100] frame Scene Depth mean:0.847641 ,depth min:0.051037
-[21:02:04.105] need key frame pitch dis: 0.014284 translation dif:0.028926
-[21:02:04.105] frame process finished the id is: 319 the obs is:264 
-[21:02:04.213] Odometry x=1.156806, y=1.021701, theta=-2.925745
-[21:02:04.583] After Reprojection Map nMatches:338 ,distance between ekf and vo x:-0.000009 ,z=-0.000089,angle between two frames:0.000017
-[21:02:04.584]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =283 	 error init =0.046981 	 error end=0.022121
-[21:02:04.584] After pose optimization, distance between ekf and vo x:-0.000009 ,z=-0.000089,angle between two frames:0.000017
-[21:02:04.584] Update EKF and 3D points the number of feature in the new frame: 283 and number of obs: 283
-[21:02:04.584] frame Scene Depth mean:0.789084 ,depth min:0.054308
-[21:02:04.589] need key frame pitch dis: 0.004666 translation dif:0.016740
-[21:02:04.589] frame process finished the id is: 320 the obs is:283 
-[21:02:04.975] After Reprojection Map nMatches:315 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
-[21:02:04.977]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =262 	 error init =0.033447 	 error end=0.011957
-[21:02:04.977] After pose optimization, distance between ekf and vo x:0.000218 ,z=0.000039,angle between two frames:0.000126
-[21:02:04.977] Update EKF and 3D points the number of feature in the new frame: 262 and number of obs: 262
-[21:02:04.977] frame Scene Depth mean:0.797909 ,depth min:0.054081
-[21:02:04.980] need key frame pitch dis: 0.010301 translation dif:0.021115
-[21:02:04.980] frame process finished the id is: 321 the obs is:262 
-[21:02:05.365] After Reprojection Map nMatches:323 ,distance between ekf and vo x:0.000001 ,z=-0.000004,angle between two frames:0.000007
-[21:02:05.366]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =278 	 error init =0.019114 	 error end=0.004367
-[21:02:05.366] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000004,angle between two frames:0.000007
-[21:02:05.366] Update EKF and 3D points the number of feature in the new frame: 278 and number of obs: 278
-[21:02:05.366] frame Scene Depth mean:0.864428 ,depth min:0.053954
-[21:02:05.370] need key frame pitch dis: 0.013670 translation dif:0.016725
-[21:02:05.370] frame process finished the id is: 322 the obs is:278 
-[21:02:05.719] After Reprojection Map nMatches:349 ,distance between ekf and vo x:-0.000002 ,z=-0.000013,angle between two frames:0.000003
-[21:02:05.721]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =302 	 error init =0.013205 	 error end=0.009543
-[21:02:05.721] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000013,angle between two frames:0.000003
-[21:02:05.721] Update EKF and 3D points the number of feature in the new frame: 302 and number of obs: 302
-[21:02:05.721] frame Scene Depth mean:1.097460 ,depth min:0.053901
-[21:02:05.724] need key frame pitch dis: 0.014154 translation dif:0.021111
-[21:02:05.724] frame process finished the id is: 323 the obs is:302 
-[21:02:06.137] After Reprojection Map nMatches:304 ,distance between ekf and vo x:0.000004 ,z=-0.000016,angle between two frames:0.000007
-[21:02:06.138]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =261 	 error init =0.050624 	 error end=0.048856
-[21:02:06.138] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000016,angle between two frames:0.000007
-[21:02:06.138] Update EKF and 3D points the number of feature in the new frame: 261 and number of obs: 261
-[21:02:06.138] frame Scene Depth mean:0.970674 ,depth min:0.053879
-[21:02:06.142] need key frame pitch dis: 0.015296 translation dif:0.016727
-[21:02:06.142] frame process finished the id is: 324 the obs is:261 
-[21:02:06.529] After Reprojection Map nMatches:282 ,distance between ekf and vo x:0.000007 ,z=-0.000016,angle between two frames:0.000007
-[21:02:06.530]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =248 	 error init =0.032773 	 error end=0.009183
-[21:02:06.530] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000016,angle between two frames:0.000007
-[21:02:06.530] Update EKF and 3D points the number of feature in the new frame: 248 and number of obs: 248
-[21:02:06.530] frame Scene Depth mean:0.928779 ,depth min:0.067604
-[21:02:06.534] need key frame pitch dis: 0.015499 translation dif:0.016728
-[21:02:06.534] frame process finished the id is: 325 the obs is:248 
-[21:02:06.899] After Reprojection Map nMatches:311 ,distance between ekf and vo x:0.000009 ,z=-0.000007,angle between two frames:0.000007
-[21:02:06.901]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =260 	 error init =0.017751 	 error end=0.012780
-[21:02:06.901] After pose optimization, distance between ekf and vo x:0.000505 ,z=0.000085,angle between two frames:0.000424
-[21:02:06.901] Update EKF and 3D points the number of feature in the new frame: 260 and number of obs: 260
-[21:02:06.901] frame Scene Depth mean:0.886937 ,depth min:0.055642
-[21:02:06.904] need key frame pitch dis: 0.015409 translation dif:0.016734
-[21:02:06.904] frame process finished the id is: 326 the obs is:260 
-[21:02:07.279] After Reprojection Map nMatches:259 ,distance between ekf and vo x:0.000007 ,z=-0.000027,angle between two frames:0.000007
-[21:02:07.279]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =222 	 error init =0.002814 	 error end=0.005455
-[21:02:07.280] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000027,angle between two frames:0.000007
-[21:02:07.280] Update EKF and 3D points the number of feature in the new frame: 222 and number of obs: 222
-[21:02:07.280] frame Scene Depth mean:0.840400 ,depth min:0.067088
-[21:02:07.283] need key frame pitch dis: 0.023032 translation dif:0.036892
-[21:02:07.283] frame process finished the id is: 327 the obs is:222 
-[21:02:07.636] After Reprojection Map nMatches:336 ,distance between ekf and vo x:0.000010 ,z=-0.000006,angle between two frames:0.000007
-[21:02:07.636]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =243 	 error init =0.040280 	 error end=0.019352
-[21:02:07.636] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000006,angle between two frames:0.000007
-[21:02:07.636] Update EKF and 3D points the number of feature in the new frame: 243 and number of obs: 243
-[21:02:07.636] frame Scene Depth mean:0.803678 ,depth min:0.070116
-[21:02:07.639] need key frame pitch dis: 0.015605 translation dif:0.016727
-[21:02:07.639] frame process finished the id is: 328 the obs is:243 
-[21:02:08.020] After Reprojection Map nMatches:311 ,distance between ekf and vo x:0.000002 ,z=-0.000013,angle between two frames:0.000007
-[21:02:08.021]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =258 	 error init =0.034259 	 error end=0.019226
-[21:02:08.021] After pose optimization, distance between ekf and vo x:0.000002 ,z=-0.000013,angle between two frames:0.000007
-[21:02:08.021] Update EKF and 3D points the number of feature in the new frame: 258 and number of obs: 258
-[21:02:08.021] frame Scene Depth mean:0.799040 ,depth min:0.057030
-[21:02:08.024] need key frame pitch dis: 0.015630 translation dif:0.016726
-[21:02:08.024] frame process finished the id is: 329 the obs is:258 
-[21:02:08.491] After Reprojection Map nMatches:315 ,distance between ekf and vo x:0.000175 ,z=-0.000218,angle between two frames:0.000169
-[21:02:08.492]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =282 	 error init =0.001409 	 error end=0.001261
-[21:02:08.492] After pose optimization, distance between ekf and vo x:0.000175 ,z=-0.000218,angle between two frames:0.000169
-[21:02:08.492] Update EKF and 3D points the number of feature in the new frame: 282 and number of obs: 282
-[21:02:08.492] frame Scene Depth mean:0.911538 ,depth min:0.055900
-[21:02:08.495] need key frame pitch dis: 0.015054 translation dif:0.021171
-[21:02:08.495] frame process finished the id is: 330 the obs is:282 
-[21:02:08.933] After Reprojection Map nMatches:294 ,distance between ekf and vo x:0.000168 ,z=-0.000229,angle between two frames:0.000170
-[21:02:08.934]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =244 	 error init =0.018719 	 error end=0.006372
-[21:02:08.934] After pose optimization, distance between ekf and vo x:0.000168 ,z=-0.000229,angle between two frames:0.000170
-[21:02:08.934] Update EKF and 3D points the number of feature in the new frame: 244 and number of obs: 244
-[21:02:08.934] frame Scene Depth mean:0.864197 ,depth min:0.055258
-[21:02:08.936] need key frame pitch dis: 0.015751 translation dif:0.016802
-[21:02:08.936] frame process finished the id is: 331 the obs is:244 
-[21:02:09.382] After Reprojection Map nMatches:286 ,distance between ekf and vo x:0.000169 ,z=-0.000215,angle between two frames:0.000147
-[21:02:09.384]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =214 	 error init =0.034767 	 error end=0.010740
-[21:02:09.384] After pose optimization, distance between ekf and vo x:0.000222 ,z=-0.000143,angle between two frames:0.000073
-[21:02:09.384] Update EKF and 3D points the number of feature in the new frame: 214 and number of obs: 214
-[21:02:09.384] frame Scene Depth mean:0.873054 ,depth min:0.057477
-[21:02:09.386] need key frame pitch dis: 0.015725 translation dif:0.016789
-[21:02:09.386] frame process finished the id is: 332 the obs is:214 
-[21:02:09.836] After Reprojection Map nMatches:323 ,distance between ekf and vo x:0.000303 ,z=-0.000363,angle between two frames:0.000300
-[21:02:09.837]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =265 	 error init =0.041224 	 error end=0.004878
-[21:02:09.837] After pose optimization, distance between ekf and vo x:0.000303 ,z=-0.000363,angle between two frames:0.000300
-[21:02:09.837] Update EKF and 3D points the number of feature in the new frame: 265 and number of obs: 265
-[21:02:09.837] frame Scene Depth mean:0.868795 ,depth min:0.057820
-[21:02:09.840] need key frame pitch dis: 0.015810 translation dif:0.016843
-[21:02:09.840] frame process finished the id is: 333 the obs is:265 
diff --git a/GPU_version/vio/package.xml b/GPU_version/vio/package.xml
index 262fff1..8c73a7c 100755
--- a/GPU_version/vio/package.xml
+++ b/GPU_version/vio/package.xml
@@ -31,4 +31,7 @@
   <run_depend>tf</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>message_runtime</run_depend>
+  <run_depend>getOdom</run_depend>
+  <run_depend>start</run_depend>
+  <run_depend>stop</run_depend>
 </package>
\ No newline at end of file
diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml
index d00c294..d415c2d 100644
--- a/GPU_version/vio/param/vo_fast.yaml
+++ b/GPU_version/vio/param/vo_fast.yaml
@@ -8,9 +8,9 @@ vio:
   init_min_disparity: 10
   structureoptim_max_pts: 50
   kfselect_mindist: 0.01
-  poseoptim_thresh: 4.0
+  poseoptim_thresh: 1.5
   ACC_ekf: 0.2          #acc white noise in continuous in EKF
-  GYO_ekf: 0.5         #gyro white noise in continuous in EKF
+  GYO_ekf: 0.1         #gyro white noise in continuous in EKF
   VO_ekf_translation: 1.0              #VO noise  in EKF
   VO_ekf_orientation: 1.0              #VO noise  in EKF
   CMD_ekf_translation: 0.1  #control vector noise in EKF
diff --git a/GPU_version/vio/src/initialization.cpp b/GPU_version/vio/src/initialization.cpp
index 959c587..c279c14 100644
--- a/GPU_version/vio/src/initialization.cpp
+++ b/GPU_version/vio/src/initialization.cpp
@@ -75,7 +75,7 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
     }
   computeHomography(frame_cur,
        features_ref_, px_cur_,
-      frame_ref_->cam_->errorMultiplier2(), Config::poseOptimThresh(),
+      frame_ref_->cam_->errorMultiplier2(), 3.0*Config::poseOptimThresh(),
       inliers_, xyz_in_cur_, T_cur_from_ref_);
   if(inliers_.size() < Config::initMinInliers()){
 #if VIO_DEBUG
diff --git a/GPU_version/vio/src/point.cpp b/GPU_version/vio/src/point.cpp
index de271bd..d5b2597 100644
--- a/GPU_version/vio/src/point.cpp
+++ b/GPU_version/vio/src/point.cpp
@@ -165,11 +165,11 @@ void Point::optimize(const size_t n_iter)
     if(vk::norm_max(dp) <= EPS)
       break;
   }
-
+  n_failed_reproj_=0;
   for(auto it=obs_.begin(); it!=obs_.end(); ++it) {
             Vector2d e = vk::project2d((*it)->f) - vk::project2d((*it)->frame->w2f(pos_));
             e /= (1<<(*it)->level);
-            if (e.squaredNorm() > 8.0*vio::Config::poseOptimThresh()/ (*it)->frame->cam_->errorMultiplier2())
+            if (e.squaredNorm() > 2.0*vio::Config::poseOptimThresh()/ (*it)->frame->cam_->errorMultiplier2())
                 n_failed_reproj_++;
   }
   if(n_failed_reproj_<0.50*obs_.size())