temporery both direction is working
This commit is contained in:
gfuse
File diff suppressed because it is too large
Load Diff
@@ -1,825 +0,0 @@
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[15:57:13.256] Init: frame zero: 0.000000, 0.000000 0.000000
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[15:57:13.256] Init: Selected first frame.
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[15:57:13.355] Init: px average disparity is:0.182458 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:13.355] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:13.455] Init: px average disparity is:0.208631 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:13.455] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:13.550] Init: px average disparity is:0.221658 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:13.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:13.655] Init: px average disparity is:0.239027 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:13.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:13.751] Init: px average disparity is:0.213316 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:13.751] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:13.851] Init: px average disparity is:0.207014 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:13.851] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:13.956] Init: px average disparity is:0.224536 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:13.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:14.056] Init: px average disparity is:0.218930 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:14.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:14.152] Init: px average disparity is:0.244855 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:14.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:14.251] Init: px average disparity is:0.214005 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:14.251] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:14.351] Init: px average disparity is:0.221194 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:14.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:14.450] Init: px average disparity is:0.221781 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:14.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:14.553] Init: px average disparity is:0.218839 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:14.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:14.651] Init: px average disparity is:0.230555 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:14.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:14.750] Init: px average disparity is:0.211936 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:14.750] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:14.853] Init: px average disparity is:0.225697 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:14.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:14.951] Init: px average disparity is:0.241706 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:14.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:15.051] Init: px average disparity is:0.226826 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:15.051] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:15.152] Init: px average disparity is:0.213878 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:15.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:15.253] Init: px average disparity is:0.218954 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:15.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:15.354] Init: px average disparity is:0.237313 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:15.354] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:15.451] Init: px average disparity is:0.245096 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:15.451] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:15.550] Init: px average disparity is:0.217467 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:15.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:15.650] Init: px average disparity is:0.206635 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:15.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:15.752] Init: px average disparity is:0.235425 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:15.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:15.856] Init: px average disparity is:0.224179 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:15.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:15.951] Init: px average disparity is:0.204473 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:15.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:16.053] Init: px average disparity is:0.238146 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:16.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:16.152] Init: px average disparity is:0.212682 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:16.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:16.198] Odometry x=0.000069, y=-0.000045, theta=0.046417
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[15:57:16.252] Init: px average disparity is:0.210971 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:16.252] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:16.294] Odometry x=0.000073, y=-0.000047, theta=0.049189
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[15:57:16.351] Init: px average disparity is:0.197316 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:16.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:16.394] Odometry x=-0.000094, y=-0.007070, theta=0.052302
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[15:57:16.450] Init: px average disparity is:1.688277 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:16.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:16.495] Odometry x=-0.000298, y=-0.015576, theta=0.055571
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[15:57:16.552] Init: px average disparity is:5.915578 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:16.552] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:16.595] Odometry x=-0.000502, y=-0.023322, theta=0.064195
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[15:57:16.652] Init: px average disparity is:7.643498 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:16.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:16.697] Odometry x=-0.000742, y=-0.031154, theta=0.065818
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[15:57:16.752] Init: px average disparity is:4.921304 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:16.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:16.799] Odometry x=-0.000967, y=-0.038858, theta=0.066166
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[15:57:16.853] Init: px average disparity is:5.261207 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:16.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:16.897] Odometry x=-0.001183, y=-0.046624, theta=0.068555
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[15:57:16.952] Init: px average disparity is:4.220503 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:16.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:16.999] Odometry x=-0.000580, y=-0.054245, theta=0.030399
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[15:57:17.055] Init: px average disparity is:5.636864 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:17.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:17.097] Odometry x=-0.000682, y=-0.062055, theta=0.023090
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[15:57:17.153] Init: px average disparity is:4.453530 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:17.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:17.196] Odometry x=-0.000767, y=-0.069721, theta=0.040450
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[15:57:17.253] Init: px average disparity is:6.273521 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:17.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:17.298] Odometry x=-0.000897, y=-0.077418, theta=0.040751
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[15:57:17.353] Init: px average disparity is:7.747516 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:17.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:17.396] Odometry x=-0.001019, y=-0.084974, theta=0.058179
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[15:57:17.460] Init: px average disparity is:9.119587 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:17.460] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:17.499] Odometry x=-0.001244, y=-0.092828, theta=0.058724
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[15:57:17.557] Init: px average disparity is:12.383728 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:17.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:17.598] Odometry x=-0.000612, y=-0.100454, theta=0.037065
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[15:57:17.659] Init: px average disparity is:15.051672 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:17.659] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:17.699] Odometry x=-0.000679, y=-0.108139, theta=0.039671
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[15:57:17.759] Init: px average disparity is:13.320668 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:17.759] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:17.798] Odometry x=-0.000880, y=-0.115836, theta=0.044889
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[15:57:17.860] Init: px average disparity is:12.501075 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:17.860] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:17.899] Odometry x=-0.001001, y=-0.123760, theta=0.041118
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[15:57:17.960] Init: px average disparity is:10.920831 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:17.960] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:17.998] Odometry x=-0.001144, y=-0.131840, theta=0.038498
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[15:57:18.058] Init: px average disparity is:12.642454 ,While minimum is: 40.000000 KLT tracked : 135
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[15:57:18.058] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:18.096] Odometry x=-0.001271, y=-0.139384, theta=0.028545
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[15:57:18.160] Init: px average disparity is:12.845400 ,While minimum is: 40.000000 KLT tracked : 134
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[15:57:18.160] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:18.199] Odometry x=-0.001339, y=-0.147418, theta=0.017077
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[15:57:18.261] Init: px average disparity is:18.988911 ,While minimum is: 40.000000 KLT tracked : 134
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[15:57:18.261] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:18.307] Odometry x=-0.001353, y=-0.156003, theta=-0.000006
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[15:57:18.359] Init: px average disparity is:13.904068 ,While minimum is: 40.000000 KLT tracked : 134
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[15:57:18.359] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:18.400] Odometry x=-0.001242, y=-0.164480, theta=-0.004162
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[15:57:18.461] Init: px average disparity is:13.781491 ,While minimum is: 40.000000 KLT tracked : 134
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[15:57:18.461] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:18.498] Odometry x=-0.001192, y=-0.171970, theta=0.007726
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[15:57:18.561] Init: px average disparity is:9.301549 ,While minimum is: 40.000000 KLT tracked : 134
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[15:57:18.561] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:18.597] Odometry x=-0.001151, y=-0.179668, theta=0.005429
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[15:57:18.658] Init: px average disparity is:9.870279 ,While minimum is: 40.000000 KLT tracked : 134
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[15:57:18.658] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:18.694] Odometry x=-0.001094, y=-0.187342, theta=0.020929
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[15:57:18.760] Init: px average disparity is:9.745344 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:18.760] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:18.797] Odometry x=-0.001098, y=-0.194788, theta=0.023842
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[15:57:18.859] Init: px average disparity is:10.646211 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:18.859] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:18.900] Odometry x=-0.001181, y=-0.202522, theta=0.047988
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[15:57:18.962] Init: px average disparity is:11.371652 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:18.962] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:19.000] Odometry x=-0.001230, y=-0.210506, theta=0.052241
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[15:57:19.060] Init: px average disparity is:9.418939 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:19.060] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:19.103] Odometry x=-0.001422, y=-0.218226, theta=0.054408
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[15:57:19.159] Init: px average disparity is:11.482006 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:19.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:19.202] Odometry x=-0.001618, y=-0.225972, theta=0.059485
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[15:57:19.259] Init: px average disparity is:13.507589 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:19.259] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:19.300] Odometry x=-0.001851, y=-0.233724, theta=0.069154
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[15:57:19.359] Init: px average disparity is:14.626848 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:19.359] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:19.398] Odometry x=-0.000865, y=-0.241255, theta=0.031670
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[15:57:19.460] Init: px average disparity is:15.434095 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:19.460] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:19.496] Odometry x=-0.000986, y=-0.248967, theta=0.033353
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[15:57:19.560] Init: px average disparity is:15.938078 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:19.560] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:19.594] Odometry x=-0.001097, y=-0.256399, theta=0.039611
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[15:57:19.661] Init: px average disparity is:16.460145 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:19.661] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:19.697] Odometry x=-0.001250, y=-0.264088, theta=0.040487
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[15:57:19.761] Init: px average disparity is:18.890586 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:19.761] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:19.800] Odometry x=-0.001395, y=-0.271746, theta=0.048295
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[15:57:19.861] Init: px average disparity is:21.543992 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:19.862] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:19.898] Odometry x=-0.001580, y=-0.279622, theta=0.048708
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[15:57:19.962] Init: px average disparity is:19.541629 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:19.962] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:19.996] Odometry x=-0.001781, y=-0.287371, theta=0.032347
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[15:57:20.062] Init: px average disparity is:18.580754 ,While minimum is: 40.000000 KLT tracked : 133
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[15:57:20.062] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:20.099] Odometry x=-0.001960, y=-0.295026, theta=0.037519
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[15:57:20.162] Init: px average disparity is:18.143738 ,While minimum is: 40.000000 KLT tracked : 131
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[15:57:20.162] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[15:57:20.196] Odometry x=-0.002226, y=-0.302764, theta=0.024007
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[15:57:20.261] Init: px average disparity is:18.576413 ,While minimum is: 40.000000 KLT tracked : 131
|
||||
[15:57:20.262] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:20.300] Odometry x=-0.002273, y=-0.310451, theta=0.017852
|
||||
[15:57:20.361] Init: px average disparity is:21.370174 ,While minimum is: 40.000000 KLT tracked : 131
|
||||
[15:57:20.361] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:20.398] Odometry x=-0.002420, y=-0.318504, theta=0.014795
|
||||
[15:57:20.461] Init: px average disparity is:20.911161 ,While minimum is: 40.000000 KLT tracked : 131
|
||||
[15:57:20.461] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:20.498] Odometry x=-0.002454, y=-0.326452, theta=0.005778
|
||||
[15:57:20.561] Init: px average disparity is:21.617203 ,While minimum is: 40.000000 KLT tracked : 125
|
||||
[15:57:20.561] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:20.596] Odometry x=-0.002492, y=-0.334194, theta=0.014577
|
||||
[15:57:20.662] Init: px average disparity is:21.927397 ,While minimum is: 40.000000 KLT tracked : 125
|
||||
[15:57:20.663] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:20.699] Odometry x=-0.002513, y=-0.341941, theta=0.017541
|
||||
[15:57:20.762] Init: px average disparity is:20.332671 ,While minimum is: 40.000000 KLT tracked : 125
|
||||
[15:57:20.762] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:20.797] Odometry x=-0.002589, y=-0.349791, theta=0.042657
|
||||
[15:57:20.862] Init: px average disparity is:21.235041 ,While minimum is: 40.000000 KLT tracked : 125
|
||||
[15:57:20.863] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:20.895] Odometry x=-0.002698, y=-0.357224, theta=0.047331
|
||||
[15:57:20.963] Init: px average disparity is:20.971910 ,While minimum is: 40.000000 KLT tracked : 125
|
||||
[15:57:20.963] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:20.998] Odometry x=-0.002907, y=-0.364945, theta=0.056723
|
||||
[15:57:21.064] Init: px average disparity is:22.914781 ,While minimum is: 40.000000 KLT tracked : 125
|
||||
[15:57:21.064] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:21.096] Odometry x=-0.003120, y=-0.372602, theta=0.063134
|
||||
[15:57:21.164] Init: px average disparity is:21.538414 ,While minimum is: 40.000000 KLT tracked : 125
|
||||
[15:57:21.164] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:21.199] Odometry x=-0.003383, y=-0.380578, theta=0.065581
|
||||
[15:57:21.263] Init: px average disparity is:22.721924 ,While minimum is: 40.000000 KLT tracked : 125
|
||||
[15:57:21.263] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:21.302] Odometry x=-0.001511, y=-0.388433, theta=0.027570
|
||||
[15:57:21.365] Init: px average disparity is:21.510001 ,While minimum is: 40.000000 KLT tracked : 125
|
||||
[15:57:21.365] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:21.398] Odometry x=-0.001630, y=-0.396486, theta=0.030239
|
||||
[15:57:21.465] Init: px average disparity is:23.712983 ,While minimum is: 40.000000 KLT tracked : 125
|
||||
[15:57:21.465] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:21.497] Odometry x=-0.001729, y=-0.404174, theta=0.038818
|
||||
[15:57:21.564] Init: px average disparity is:21.868391 ,While minimum is: 40.000000 KLT tracked : 125
|
||||
[15:57:21.565] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:21.600] Odometry x=-0.002001, y=-0.411866, theta=0.025146
|
||||
[15:57:21.653] Init: px average disparity is:23.431160 ,While minimum is: 40.000000 KLT tracked : 125
|
||||
[15:57:21.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:21.696] Odometry x=-0.002029, y=-0.419774, theta=0.035962
|
||||
[15:57:21.763] Init: px average disparity is:21.918030 ,While minimum is: 40.000000 KLT tracked : 125
|
||||
[15:57:21.763] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:21.798] Odometry x=-0.002261, y=-0.427623, theta=0.023592
|
||||
[15:57:21.861] Init: px average disparity is:23.804345 ,While minimum is: 40.000000 KLT tracked : 122
|
||||
[15:57:21.861] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:21.902] Odometry x=-0.002355, y=-0.435976, theta=0.008759
|
||||
[15:57:21.965] Init: px average disparity is:24.330194 ,While minimum is: 40.000000 KLT tracked : 122
|
||||
[15:57:21.965] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:22.001] Odometry x=-0.002345, y=-0.444067, theta=0.009806
|
||||
[15:57:22.062] Init: px average disparity is:26.705504 ,While minimum is: 40.000000 KLT tracked : 122
|
||||
[15:57:22.062] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:22.099] Odometry x=-0.002543, y=-0.451646, theta=-0.002600
|
||||
[15:57:22.165] Init: px average disparity is:28.299165 ,While minimum is: 40.000000 KLT tracked : 122
|
||||
[15:57:22.165] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:22.202] Odometry x=-0.002436, y=-0.459295, theta=-0.010139
|
||||
[15:57:22.265] Init: px average disparity is:28.128716 ,While minimum is: 40.000000 KLT tracked : 122
|
||||
[15:57:22.265] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:22.300] Odometry x=-0.002469, y=-0.467136, theta=0.007533
|
||||
[15:57:22.363] Init: px average disparity is:27.593604 ,While minimum is: 40.000000 KLT tracked : 122
|
||||
[15:57:22.363] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:22.398] Odometry x=-0.002429, y=-0.475193, theta=0.004156
|
||||
[15:57:22.466] Init: px average disparity is:27.039827 ,While minimum is: 40.000000 KLT tracked : 122
|
||||
[15:57:22.466] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:22.502] Odometry x=-0.002497, y=-0.482566, theta=0.030439
|
||||
[15:57:22.563] Init: px average disparity is:26.368010 ,While minimum is: 40.000000 KLT tracked : 122
|
||||
[15:57:22.563] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:22.600] Odometry x=-0.002612, y=-0.490549, theta=0.032452
|
||||
[15:57:22.671] Init: px average disparity is:25.921742 ,While minimum is: 40.000000 KLT tracked : 122
|
||||
[15:57:22.671] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:22.698] Odometry x=-0.002749, y=-0.498282, theta=0.055106
|
||||
[15:57:22.764] Init: px average disparity is:26.761232 ,While minimum is: 40.000000 KLT tracked : 122
|
||||
[15:57:22.765] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:22.796] Odometry x=-0.002954, y=-0.505841, theta=0.060535
|
||||
[15:57:22.862] Init: px average disparity is:26.509494 ,While minimum is: 40.000000 KLT tracked : 122
|
||||
[15:57:22.863] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:22.897] Odometry x=-0.003205, y=-0.513511, theta=0.059726
|
||||
[15:57:22.964] Init: px average disparity is:27.671438 ,While minimum is: 40.000000 KLT tracked : 122
|
||||
[15:57:22.964] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:23.000] Odometry x=-0.003427, y=-0.521176, theta=0.060684
|
||||
[15:57:23.068] Init: px average disparity is:27.354082 ,While minimum is: 40.000000 KLT tracked : 122
|
||||
[15:57:23.068] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:23.102] Odometry x=-0.003698, y=-0.529221, theta=0.061436
|
||||
[15:57:23.165] Init: px average disparity is:27.926169 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:23.165] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:23.197] Odometry x=-0.003922, y=-0.536885, theta=0.054685
|
||||
[15:57:23.266] Init: px average disparity is:27.900709 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:23.266] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:23.302] Odometry x=-0.004235, y=-0.544736, theta=0.055909
|
||||
[15:57:23.366] Init: px average disparity is:28.843828 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:23.366] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:23.400] Odometry x=-0.004447, y=-0.552726, theta=0.048370
|
||||
[15:57:23.467] Init: px average disparity is:30.689869 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:23.467] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:23.502] Odometry x=-0.004778, y=-0.560507, theta=0.052964
|
||||
[15:57:23.567] Init: px average disparity is:29.944060 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:23.567] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:23.601] Odometry x=-0.004992, y=-0.568274, theta=0.053280
|
||||
[15:57:23.667] Init: px average disparity is:32.848706 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:23.667] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:23.702] Odometry x=-0.005156, y=-0.575937, theta=0.041085
|
||||
[15:57:23.766] Init: px average disparity is:31.707472 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:23.766] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:23.800] Odometry x=-0.005373, y=-0.583926, theta=0.037854
|
||||
[15:57:23.866] Init: px average disparity is:35.823111 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:23.866] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:23.898] Odometry x=-0.005463, y=-0.591470, theta=0.038007
|
||||
[15:57:23.966] Init: px average disparity is:32.787631 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:23.966] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:23.997] Odometry x=-0.005856, y=-0.599063, theta=0.047906
|
||||
[15:57:24.065] Init: px average disparity is:35.347129 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:24.065] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:24.101] Odometry x=-0.006012, y=-0.606626, theta=0.041637
|
||||
[15:57:24.167] Init: px average disparity is:34.398729 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:24.167] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:24.199] Odometry x=-0.006396, y=-0.614812, theta=0.059148
|
||||
[15:57:24.266] Init: px average disparity is:33.980797 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:24.266] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:24.299] Odometry x=-0.006595, y=-0.622365, theta=0.053910
|
||||
[15:57:24.354] Init: px average disparity is:32.700843 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:24.354] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:24.398] Odometry x=-0.006830, y=-0.630071, theta=0.072713
|
||||
[15:57:24.468] Init: px average disparity is:32.865956 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:24.468] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:24.497] Odometry x=-0.002950, y=-0.637518, theta=0.034528
|
||||
[15:57:24.566] Init: px average disparity is:32.421076 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:24.566] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:24.597] Odometry x=-0.003142, y=-0.644990, theta=0.050911
|
||||
[15:57:24.666] Init: px average disparity is:33.008215 ,While minimum is: 40.000000 KLT tracked : 120
|
||||
[15:57:24.666] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:24.700] Odometry x=-0.003299, y=-0.652976, theta=0.059638
|
||||
[15:57:24.767] Init: px average disparity is:33.497909 ,While minimum is: 40.000000 KLT tracked : 114
|
||||
[15:57:24.767] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:24.798] Odometry x=-0.003586, y=-0.660834, theta=0.059341
|
||||
[15:57:24.865] Init: px average disparity is:33.157230 ,While minimum is: 40.000000 KLT tracked : 114
|
||||
[15:57:24.865] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:24.897] Odometry x=-0.003787, y=-0.668598, theta=0.069489
|
||||
[15:57:24.969] Init: px average disparity is:34.366795 ,While minimum is: 40.000000 KLT tracked : 112
|
||||
[15:57:24.969] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:25.000] Odometry x=-0.004170, y=-0.676144, theta=0.065133
|
||||
[15:57:25.068] Init: px average disparity is:34.074986 ,While minimum is: 40.000000 KLT tracked : 112
|
||||
[15:57:25.068] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:25.098] Odometry x=-0.001800, y=-0.683923, theta=0.029546
|
||||
[15:57:25.167] Init: px average disparity is:35.284900 ,While minimum is: 40.000000 KLT tracked : 112
|
||||
[15:57:25.167] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:25.196] Odometry x=-0.002046, y=-0.691593, theta=0.025009
|
||||
[15:57:25.264] Init: px average disparity is:37.632551 ,While minimum is: 40.000000 KLT tracked : 111
|
||||
[15:57:25.264] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:25.299] Odometry x=-0.002077, y=-0.699246, theta=0.014802
|
||||
[15:57:25.367] Init: px average disparity is:38.220796 ,While minimum is: 40.000000 KLT tracked : 111
|
||||
[15:57:25.367] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:25.397] Odometry x=-0.002169, y=-0.707090, theta=0.018830
|
||||
[15:57:25.500] Odometry x=-0.002169, y=-0.714825, theta=-0.005642
|
||||
[15:57:25.536] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:41.099812 ,While minimum is: 40.000000 KLT tracked: 110
|
||||
[15:57:25.536] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:25.596] Odometry x=-0.002176, y=-0.722395, theta=0.006145
|
||||
[15:57:25.620] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:41.069550 ,While minimum is: 40.000000 KLT tracked: 110
|
||||
[15:57:25.620] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:25.698] Odometry x=-0.002176, y=-0.730061, theta=0.004116
|
||||
[15:57:25.721] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:42.495851 ,While minimum is: 40.000000 KLT tracked: 110
|
||||
[15:57:25.721] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:25.755] Init: px average disparity is:39.925961 ,While minimum is: 40.000000 KLT tracked : 110
|
||||
[15:57:25.755] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:25.796] Odometry x=-0.002270, y=-0.737732, theta=0.023104
|
||||
[15:57:25.899] Odometry x=-0.002306, y=-0.745391, theta=0.018786
|
||||
[15:57:25.936] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:41.701552 ,While minimum is: 40.000000 KLT tracked: 110
|
||||
[15:57:25.936] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:25.955] Init: px average disparity is:37.818157 ,While minimum is: 40.000000 KLT tracked : 109
|
||||
[15:57:25.955] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:25.997] Odometry x=-0.002403, y=-0.753109, theta=0.041800
|
||||
[15:57:26.066] Init: px average disparity is:38.418910 ,While minimum is: 40.000000 KLT tracked : 109
|
||||
[15:57:26.066] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:26.100] Odometry x=-0.002545, y=-0.760714, theta=0.057404
|
||||
[15:57:26.168] Init: px average disparity is:37.333675 ,While minimum is: 40.000000 KLT tracked : 109
|
||||
[15:57:26.168] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:26.202] Odometry x=-0.002878, y=-0.768631, theta=0.052368
|
||||
[15:57:26.266] Init: px average disparity is:39.904166 ,While minimum is: 40.000000 KLT tracked : 108
|
||||
[15:57:26.266] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:26.300] Odometry x=-0.003048, y=-0.776402, theta=0.067285
|
||||
[15:57:26.365] Init: px average disparity is:39.088175 ,While minimum is: 40.000000 KLT tracked : 108
|
||||
[15:57:26.365] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:26.393] Odometry x=-0.003300, y=-0.784273, theta=0.053139
|
||||
[15:57:26.496] Odometry x=-0.003484, y=-0.791516, theta=0.062617
|
||||
[15:57:26.535] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:40.837588 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:26.535] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:26.593] Odometry x=-0.003647, y=-0.799283, theta=0.055407
|
||||
[15:57:26.621] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:40.085862 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:26.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:26.702] Odometry x=-0.003855, y=-0.806906, theta=0.063668
|
||||
[15:57:26.720] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:41.951572 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:26.720] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:26.799] Odometry x=-0.004079, y=-0.815071, theta=0.065230
|
||||
[15:57:26.820] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:40.714350 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:26.820] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:26.854] Init: px average disparity is:39.801983 ,While minimum is: 40.000000 KLT tracked : 108
|
||||
[15:57:26.854] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:26.901] Odometry x=-0.004325, y=-0.822368, theta=0.063514
|
||||
[15:57:26.998] Odometry x=-0.004501, y=-0.829814, theta=0.054026
|
||||
[15:57:27.035] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:41.176819 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:27.035] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:27.097] Odometry x=-0.004872, y=-0.837863, theta=0.054232
|
||||
[15:57:27.121] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:41.007556 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:27.121] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:27.196] Odometry x=-0.005060, y=-0.845466, theta=0.035594
|
||||
[15:57:27.221] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:44.283540 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:27.221] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:27.294] Odometry x=-0.005288, y=-0.853046, theta=0.040904
|
||||
[15:57:27.320] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:44.203467 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:27.320] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:27.397] Odometry x=-0.005465, y=-0.860754, theta=0.041800
|
||||
[15:57:27.419] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:46.372594 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:27.419] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:27.500] Odometry x=-0.005618, y=-0.868607, theta=0.055936
|
||||
[15:57:27.522] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:47.712950 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:27.522] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:27.597] Odometry x=-0.005817, y=-0.876351, theta=0.051113
|
||||
[15:57:27.622] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:48.094338 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:27.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:27.700] Odometry x=-0.006011, y=-0.884022, theta=0.058055
|
||||
[15:57:27.726] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:47.087537 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:27.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:27.798] Odometry x=-0.006224, y=-0.891785, theta=0.066799
|
||||
[15:57:27.820] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:45.659203 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:27.820] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:27.895] Odometry x=-0.006614, y=-0.899428, theta=0.080514
|
||||
[15:57:27.920] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:45.704571 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:27.920] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:27.997] Odometry x=-0.006906, y=-0.906754, theta=0.098731
|
||||
[15:57:28.020] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:44.382095 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:28.020] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:28.095] Odometry x=-0.007287, y=-0.914357, theta=0.097994
|
||||
[15:57:28.120] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:44.293175 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:28.120] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:28.197] Odometry x=-0.007652, y=-0.922039, theta=0.116235
|
||||
[15:57:28.222] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:43.857959 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:28.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:28.299] Odometry x=-0.008091, y=-0.929681, theta=0.106351
|
||||
[15:57:28.320] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:44.767274 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:28.320] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:28.397] Odometry x=-0.008509, y=-0.937458, theta=0.111230
|
||||
[15:57:28.423] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:44.317834 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:28.423] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:28.499] Odometry x=-0.008933, y=-0.945094, theta=0.113308
|
||||
[15:57:28.520] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:45.631195 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:28.520] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:28.596] Odometry x=-0.009391, y=-0.952799, theta=0.110458
|
||||
[15:57:28.624] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:45.285910 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:28.624] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:28.699] Odometry x=-0.009810, y=-0.960399, theta=0.113179
|
||||
[15:57:28.725] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:48.390843 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:28.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:28.798] Odometry x=-0.010247, y=-0.968062, theta=0.103328
|
||||
[15:57:28.823] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:45.628408 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:28.823] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:28.895] Odometry x=-0.010642, y=-0.975735, theta=0.105230
|
||||
[15:57:28.923] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:46.906805 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:28.923] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:28.995] Odometry x=-0.011062, y=-0.983268, theta=0.099452
|
||||
[15:57:29.025] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:45.967957 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:29.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:29.102] Odometry x=-0.011436, y=-0.990791, theta=0.094595
|
||||
[15:57:29.125] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:47.348300 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:29.125] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:29.196] Odometry x=-0.011825, y=-0.998873, theta=0.093633
|
||||
[15:57:29.225] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:47.729219 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:29.225] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
||||
[15:57:29.302] Odometry x=-0.012162, y=-1.006124, theta=0.091007
|
||||
[15:57:29.328] Init finished: Homography RANSAC (inlier) is:21 ,While 20 inliers minimum required. px average disparity is:48.689971 ,While minimum is: 40.000000 KLT tracked: 108
|
||||
[15:57:29.328] Init: distance between the first and current frame is x:-0.012528 ,z=-1.014167,angle between two frames: 0.088885
|
||||
[15:57:29.328] Init: Selected Second frame. The number of features: 21 depth mean:6.043997 min:0.179634
|
||||
[15:57:29.410] Odometry x=-0.012529, y=-1.014205, theta=0.088418
|
||||
[15:57:29.496] Odometry x=-0.012897, y=-1.022584, theta=0.093320
|
||||
[15:57:29.503] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between two frames x:-0.000075 ,z=0.000017,angle between two frames:0.001639
|
||||
[15:57:29.503] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.360052 error end=0.360052
|
||||
[15:57:29.503] After pose optimization, distance between two frames x:-0.000075 ,z=0.000017,angle between two frames:0.001639
|
||||
[15:57:29.609] Odometry x=-0.013205, y=-1.029152, theta=0.100190
|
||||
[15:57:29.650] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between two frames x:0.001078 ,z=0.000681,angle between two frames:0.000316
|
||||
[15:57:29.650] After pose optimization, distance between two frames x:0.001078 ,z=0.000681,angle between two frames:0.000316
|
||||
[15:57:29.655] Image Alignment failed 0
|
||||
[15:57:29.702] Odometry x=-0.013618, y=-1.037341, theta=0.106418
|
||||
[15:57:29.791] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000391
|
||||
[15:57:29.792] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000391
|
||||
[15:57:29.796] Image Alignment failed 0
|
||||
[15:57:29.800] Odometry x=-0.014019, y=-1.044852, theta=0.107689
|
||||
[15:57:29.898] Odometry x=-0.014405, y=-1.052006, theta=0.120352
|
||||
[15:57:29.936] After Reprojection Map nPoint:15 ,nCell:14 ,nMatches:1 ,distance between two frames x:-0.000000 ,z=-0.000003,angle between two frames:0.000287
|
||||
[15:57:29.936] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.372431 error end=0.372289
|
||||
[15:57:29.936] After pose optimization, distance between two frames x:0.001133 ,z=0.003273,angle between two frames:0.000369
|
||||
[15:57:29.997] Odometry x=-0.014870, y=-1.059691, theta=0.138380
|
||||
[15:57:30.081] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between two frames x:-0.022442 ,z=-0.003908,angle between two frames:0.001643
|
||||
[15:57:30.081] n deleted obs = 1 n obs with reprojection error less than 0.5 px =0 error init =1.363494 error end=1.363494
|
||||
[15:57:30.081] After pose optimization, distance between two frames x:-0.022442 ,z=-0.003908,angle between two frames:0.001643
|
||||
[15:57:30.086] Image Alignment failed 0
|
||||
[15:57:30.094] Odometry x=-0.015412, y=-1.067510, theta=0.147385
|
||||
[15:57:30.198] Odometry x=-0.015933, y=-1.074564, theta=0.158634
|
||||
[15:57:30.225] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:3 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000370
|
||||
[15:57:30.225] n deleted obs = 2 n obs with reprojection error less than 0.5 px =2 error init =1.484719 error end=1.484719
|
||||
[15:57:30.225] After pose optimization, distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000370
|
||||
[15:57:30.297] Odometry x=-0.016588, y=-1.082789, theta=0.157216
|
||||
[15:57:30.385] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between two frames x:0.118162 ,z=0.043167,angle between two frames:0.015922
|
||||
[15:57:30.385] n deleted obs = 2 n obs with reprojection error less than 0.5 px =0 error init =3.120391 error end=3.120391
|
||||
[15:57:30.385] After pose optimization, distance between two frames x:0.118162 ,z=0.043167,angle between two frames:0.015922
|
||||
[15:57:30.389] Image Alignment failed 0
|
||||
[15:57:30.400] Odometry x=-0.017174, y=-1.090184, theta=0.167722
|
||||
[15:57:30.499] Odometry x=-0.017766, y=-1.097289, theta=0.169966
|
||||
[15:57:30.526] After Reprojection Map nPoint:15 ,nCell:14 ,nMatches:1 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
|
||||
[15:57:30.527] n deleted obs = 2 n obs with reprojection error less than 0.5 px =0 error init =2.333769 error end=0.833609
|
||||
[15:57:30.527] After pose optimization, distance between two frames x:0.042293 ,z=-0.335190,angle between two frames:0.056942
|
||||
[15:57:30.531] Image Alignment failed 0
|
||||
[15:57:30.598] Odometry x=-0.018464, y=-1.105426, theta=0.160935
|
||||
[15:57:30.670] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000474
|
||||
[15:57:30.670] n deleted obs = 2 n obs with reprojection error less than 0.5 px =0 error init =0.812391 error end=0.812391
|
||||
[15:57:30.670] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000474
|
||||
[15:57:30.674] Image Alignment failed 0
|
||||
[15:57:30.700] Odometry x=-0.019061, y=-1.112786, theta=0.154396
|
||||
[15:57:30.798] Odometry x=-0.019670, y=-1.120630, theta=0.154339
|
||||
[15:57:30.814] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
|
||||
[15:57:30.814] n deleted obs = 2 n obs with reprojection error less than 0.5 px =0 error init =0.839061 error end=0.839061
|
||||
[15:57:30.814] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
|
||||
[15:57:30.818] Image Alignment failed 0
|
||||
[15:57:30.897] Odometry x=-0.020247, y=-1.128083, theta=0.148949
|
||||
[15:57:30.957] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:2 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
|
||||
[15:57:30.957] n deleted obs = 2 n obs with reprojection error less than 0.5 px =1 error init =0.580265 error end=0.580265
|
||||
[15:57:30.957] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
|
||||
[15:57:30.997] Odometry x=-0.020808, y=-1.135647, theta=0.140495
|
||||
[15:57:31.096] Odometry x=-0.021345, y=-1.143263, theta=0.133782
|
||||
[15:57:31.104] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:1 ,distance between two frames x:-0.002646 ,z=-0.001584,angle between two frames:0.000494
|
||||
[15:57:31.104] n deleted obs = 1 n obs with reprojection error less than 0.5 px =1 error init =0.603434 error end=0.603434
|
||||
[15:57:31.104] After pose optimization, distance between two frames x:-0.002646 ,z=-0.001584,angle between two frames:0.000494
|
||||
[15:57:31.197] Odometry x=-0.021843, y=-1.150732, theta=0.132482
|
||||
[15:57:31.257] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:2 ,distance between two frames x:0.000016 ,z=0.002198,angle between two frames:0.000370
|
||||
[15:57:31.257] n deleted obs = 2 n obs with reprojection error less than 0.5 px =1 error init =0.980363 error end=0.980363
|
||||
[15:57:31.257] After pose optimization, distance between two frames x:0.000016 ,z=0.002198,angle between two frames:0.000370
|
||||
[15:57:31.299] Odometry x=-0.022366, y=-1.158575, theta=0.136032
|
||||
[15:57:31.397] Odometry x=-0.022881, y=-1.166088, theta=0.149938
|
||||
[15:57:31.403] After Reprojection Map nPoint:19 ,nCell:18 ,nMatches:4 ,distance between two frames x:-0.046646 ,z=-0.005807,angle between two frames:0.004833
|
||||
[15:57:31.403] n deleted obs = 3 n obs with reprojection error less than 0.5 px =2 error init =1.080985 error end=1.080985
|
||||
[15:57:31.403] After pose optimization, distance between two frames x:-0.046646 ,z=-0.005807,angle between two frames:0.004833
|
||||
[15:57:31.498] Odometry x=-0.023449, y=-1.173607, theta=0.160260
|
||||
[15:57:31.551] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:3 ,distance between two frames x:-0.000984 ,z=-0.000673,angle between two frames:0.000683
|
||||
[15:57:31.551] n deleted obs = 6 n obs with reprojection error less than 0.5 px =0 error init =1.850691 error end=1.721495
|
||||
[15:57:31.551] After pose optimization, distance between two frames x:-0.205893 ,z=-0.053353,angle between two frames:0.096808
|
||||
[15:57:31.555] Image Alignment failed 0
|
||||
[15:57:31.600] Odometry x=-0.024053, y=-1.181057, theta=0.180631
|
||||
[15:57:31.696] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:3 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001064
|
||||
[15:57:31.696] n deleted obs = 5 n obs with reprojection error less than 0.5 px =0 error init =1.269796 error end=0.896895
|
||||
[15:57:31.696] After pose optimization, distance between two frames x:0.222016 ,z=-0.258584,angle between two frames:0.051033
|
||||
[15:57:31.698] Odometry x=-0.024773, y=-1.188942, theta=0.191856
|
||||
[15:57:31.700] Image Alignment failed 0
|
||||
[15:57:31.795] Odometry x=-0.025481, y=-1.196257, theta=0.202833
|
||||
[15:57:31.839] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:8 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
|
||||
[15:57:31.839] n deleted obs = 15 n obs with reprojection error less than 0.5 px =2 error init =1.400032 error end=1.400032
|
||||
[15:57:31.839] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
|
||||
[15:57:31.898] Odometry x=-0.026231, y=-1.203570, theta=0.203711
|
||||
[15:57:31.987] After Reprojection Map nPoint:22 ,nCell:16 ,nMatches:12 ,distance between two frames x:-0.042804 ,z=-0.007356,angle between two frames:0.012741
|
||||
[15:57:31.987] n deleted obs = 25 n obs with reprojection error less than 0.5 px =2 error init =1.011789 error end=1.011789
|
||||
[15:57:31.987] After pose optimization, distance between two frames x:-0.042804 ,z=-0.007356,angle between two frames:0.012741
|
||||
[15:57:32.000] Odometry x=-0.027021, y=-1.211250, theta=0.201569
|
||||
[15:57:32.098] Odometry x=-0.027805, y=-1.218940, theta=0.205186
|
||||
[15:57:32.134] After Reprojection Map nPoint:27 ,nCell:16 ,nMatches:14 ,distance between two frames x:0.113247 ,z=0.026113,angle between two frames:0.034941
|
||||
[15:57:32.134] n deleted obs = 25 n obs with reprojection error less than 0.5 px =9 error init =1.108359 error end=1.108359
|
||||
[15:57:32.134] After pose optimization, distance between two frames x:0.113247 ,z=0.026113,angle between two frames:0.034941
|
||||
[15:57:32.198] Odometry x=-0.028565, y=-1.226253, theta=0.201766
|
||||
[15:57:32.280] After Reprojection Map nPoint:32 ,nCell:22 ,nMatches:16 ,distance between two frames x:-0.000149 ,z=-0.000151,angle between two frames:0.000061
|
||||
[15:57:32.281] n deleted obs = 30 n obs with reprojection error less than 0.5 px =5 error init =1.115391 error end=1.115391
|
||||
[15:57:32.281] After pose optimization, distance between two frames x:-0.000149 ,z=-0.000151,angle between two frames:0.000061
|
||||
[15:57:32.297] Odometry x=-0.029277, y=-1.233223, theta=0.200440
|
||||
[15:57:32.394] Odometry x=-0.030098, y=-1.241307, theta=0.197132
|
||||
[15:57:32.445] After Reprojection Map nPoint:27 ,nCell:15 ,nMatches:13 ,distance between two frames x:0.005869 ,z=0.003114,angle between two frames:0.001537
|
||||
[15:57:32.445] n deleted obs = 25 n obs with reprojection error less than 0.5 px =7 error init =1.148768 error end=1.148314
|
||||
[15:57:32.445] After pose optimization, distance between two frames x:-0.007283 ,z=-0.000049,angle between two frames:0.002905
|
||||
[15:57:32.498] Odometry x=-0.030834, y=-1.248679, theta=0.194098
|
||||
[15:57:32.601] Odometry x=-0.031598, y=-1.256464, theta=0.193979
|
||||
[15:57:32.602] After Reprojection Map nPoint:33 ,nCell:18 ,nMatches:13 ,distance between two frames x:0.001426 ,z=0.000183,angle between two frames:0.000101
|
||||
[15:57:32.602] n deleted obs = 26 n obs with reprojection error less than 0.5 px =9 error init =1.055926 error end=0.915079
|
||||
[15:57:32.602] After pose optimization, distance between two frames x:-0.075457 ,z=-0.094237,angle between two frames:0.051801
|
||||
[15:57:32.696] Odometry x=-0.032351, y=-1.264142, theta=0.191919
|
||||
[15:57:32.758] After Reprojection Map nPoint:35 ,nCell:22 ,nMatches:14 ,distance between two frames x:-0.000240 ,z=-0.007373,angle between two frames:0.000142
|
||||
[15:57:32.758] n deleted obs = 27 n obs with reprojection error less than 0.5 px =8 error init =1.021363 error end=0.867365
|
||||
[15:57:32.758] After pose optimization, distance between two frames x:0.150516 ,z=-0.112550,angle between two frames:0.045155
|
||||
[15:57:32.792] Odometry x=-0.033050, y=-1.271346, theta=0.190435
|
||||
[15:57:32.898] Odometry x=-0.033724, y=-1.278333, theta=0.186921
|
||||
[15:57:32.916] After Reprojection Map nPoint:31 ,nCell:19 ,nMatches:13 ,distance between two frames x:0.001191 ,z=0.000128,angle between two frames:0.000280
|
||||
[15:57:32.916] n deleted obs = 24 n obs with reprojection error less than 0.5 px =12 error init =0.898733 error end=0.898733
|
||||
[15:57:32.916] After pose optimization, distance between two frames x:0.001191 ,z=0.000128,angle between two frames:0.000280
|
||||
[15:57:32.916] Update EKF and 3D points, distance between two frames x:0.001037 ,z=-0.000765,angle between two frames:0.000005
|
||||
[15:57:32.916] Choose frame as a key frame Scene Depth mean:-1.142745 ,depth min:-3.671568
|
||||
[15:57:32.995] Odometry x=-0.032965, y=-1.277638, theta=0.186162
|
||||
[15:57:33.083] After Reprojection Map nPoint:36 ,nCell:24 ,nMatches:16 ,distance between two frames x:0.000632 ,z=-0.005623,angle between two frames:0.001401
|
||||
[15:57:33.083] n deleted obs = 19 n obs with reprojection error less than 0.5 px =22 error init =0.730831 error end=0.585516
|
||||
[15:57:33.083] After pose optimization, distance between two frames x:-0.014294 ,z=-0.165024,angle between two frames:0.034832
|
||||
[15:57:33.098] Odometry x=-0.033646, y=-1.284889, theta=0.184226
|
||||
[15:57:33.196] Odometry x=-0.034353, y=-1.292489, theta=0.188606
|
||||
[15:57:33.235] After Reprojection Map nPoint:34 ,nCell:23 ,nMatches:11 ,distance between two frames x:0.001348 ,z=0.000773,angle between two frames:0.000436
|
||||
[15:57:33.235] n deleted obs = 16 n obs with reprojection error less than 0.5 px =15 error init =0.791454 error end=0.762981
|
||||
[15:57:33.235] After pose optimization, distance between two frames x:-0.072081 ,z=-0.027524,angle between two frames:0.036300
|
||||
[15:57:33.298] Odometry x=-0.035086, y=-1.300171, theta=0.191365
|
||||
[15:57:33.385] After Reprojection Map nPoint:32 ,nCell:22 ,nMatches:14 ,distance between two frames x:-0.000419 ,z=-0.000125,angle between two frames:0.000102
|
||||
[15:57:33.385] n deleted obs = 29 n obs with reprojection error less than 0.5 px =8 error init =0.890066 error end=0.844244
|
||||
[15:57:33.385] After pose optimization, distance between two frames x:0.181753 ,z=-0.084794,angle between two frames:0.075102
|
||||
[15:57:33.395] Odometry x=-0.035813, y=-1.307672, theta=0.194996
|
||||
[15:57:33.498] Odometry x=-0.036558, y=-1.315199, theta=0.212140
|
||||
[15:57:33.543] After Reprojection Map nPoint:34 ,nCell:22 ,nMatches:15 ,distance between two frames x:0.000309 ,z=0.000227,angle between two frames:0.000664
|
||||
[15:57:33.543] n deleted obs = 31 n obs with reprojection error less than 0.5 px =10 error init =0.973527 error end=0.920553
|
||||
[15:57:33.543] After pose optimization, distance between two frames x:0.047583 ,z=-0.026534,angle between two frames:0.015505
|
||||
[15:57:33.600] Odometry x=-0.037363, y=-1.322676, theta=0.227245
|
||||
[15:57:33.697] Odometry x=-0.038225, y=-1.330126, theta=0.239500
|
||||
[15:57:33.708] After Reprojection Map nPoint:38 ,nCell:27 ,nMatches:19 ,distance between two frames x:0.000141 ,z=-0.001026,angle between two frames:0.000649
|
||||
[15:57:33.708] n deleted obs = 40 n obs with reprojection error less than 0.5 px =6 error init =0.959819 error end=0.959819
|
||||
[15:57:33.708] After pose optimization, distance between two frames x:0.000141 ,z=-0.001026,angle between two frames:0.000649
|
||||
[15:57:33.796] Odometry x=-0.039133, y=-1.337571, theta=0.249862
|
||||
[15:57:33.859] After Reprojection Map nPoint:39 ,nCell:21 ,nMatches:18 ,distance between two frames x:-0.000358 ,z=-0.000132,angle between two frames:0.000553
|
||||
[15:57:33.859] n deleted obs = 42 n obs with reprojection error less than 0.5 px =8 error init =0.985646 error end=0.985646
|
||||
[15:57:33.859] After pose optimization, distance between two frames x:-0.000358 ,z=-0.000132,angle between two frames:0.000553
|
||||
[15:57:33.894] Odometry x=-0.040075, y=-1.344998, theta=0.250751
|
||||
[15:57:33.996] Odometry x=-0.040986, y=-1.352146, theta=0.251303
|
||||
[15:57:34.013] After Reprojection Map nPoint:44 ,nCell:28 ,nMatches:21 ,distance between two frames x:-0.000845 ,z=-0.000297,angle between two frames:0.000104
|
||||
[15:57:34.013] n deleted obs = 40 n obs with reprojection error less than 0.5 px =14 error init =0.932597 error end=0.932597
|
||||
[15:57:34.013] After pose optimization, distance between two frames x:-0.000845 ,z=-0.000297,angle between two frames:0.000104
|
||||
[15:57:34.013] Update EKF and 3D points, distance between two frames x:-0.000905 ,z=-0.001131,angle between two frames:0.000072
|
||||
[15:57:34.013] Choose frame as a key frame Scene Depth mean:-1.077149 ,depth min:-3.721877
|
||||
[15:57:34.093] Odometry x=-0.041351, y=-1.351306, theta=0.251262
|
||||
[15:57:34.168] After Reprojection Map nPoint:45 ,nCell:34 ,nMatches:22 ,distance between two frames x:-0.000424 ,z=-0.005229,angle between two frames:0.000007
|
||||
[15:57:34.168] n deleted obs = 34 n obs with reprojection error less than 0.5 px =19 error init =0.889498 error end=0.829629
|
||||
[15:57:34.168] After pose optimization, distance between two frames x:0.283964 ,z=-0.196961,angle between two frames:0.082440
|
||||
[15:57:34.196] Odometry x=-0.042309, y=-1.358779, theta=0.248412
|
||||
[15:57:34.298] Odometry x=-0.043255, y=-1.366259, theta=0.242859
|
||||
[15:57:34.324] After Reprojection Map nPoint:43 ,nCell:30 ,nMatches:21 ,distance between two frames x:-0.000076 ,z=-0.000033,angle between two frames:0.000243
|
||||
[15:57:34.324] n deleted obs = 39 n obs with reprojection error less than 0.5 px =13 error init =0.946204 error end=0.756616
|
||||
[15:57:34.324] After pose optimization, distance between two frames x:0.324018 ,z=-0.417254,angle between two frames:0.064642
|
||||
[15:57:34.396] Odometry x=-0.044182, y=-1.373755, theta=0.241515
|
||||
[15:57:34.479] After Reprojection Map nPoint:39 ,nCell:28 ,nMatches:23 ,distance between two frames x:-0.000307 ,z=-0.000113,angle between two frames:0.000093
|
||||
[15:57:34.479] n deleted obs = 43 n obs with reprojection error less than 0.5 px =10 error init =0.901351 error end=0.901351
|
||||
[15:57:34.480] After pose optimization, distance between two frames x:-0.000307 ,z=-0.000113,angle between two frames:0.000093
|
||||
[15:57:34.480] Update EKF and 3D points, distance between two frames x:-0.000343 ,z=-0.000546,angle between two frames:0.000209
|
||||
[15:57:34.480] Choose frame as a key frame Scene Depth mean:-1.651711 ,depth min:-5.159786
|
||||
[15:57:34.493] Odometry x=-0.044741, y=-1.376906, theta=0.241892
|
||||
[15:57:34.596] Odometry x=-0.045636, y=-1.384192, theta=0.238876
|
||||
[15:57:34.637] After Reprojection Map nPoint:40 ,nCell:30 ,nMatches:22 ,distance between two frames x:-0.000335 ,z=-0.002691,angle between two frames:0.000799
|
||||
[15:57:34.638] n deleted obs = 33 n obs with reprojection error less than 0.5 px =18 error init =0.907140 error end=0.904750
|
||||
[15:57:34.638] After pose optimization, distance between two frames x:-0.037715 ,z=-0.012388,angle between two frames:0.016581
|
||||
[15:57:34.638] Update EKF and 3D points, distance between two frames x:-0.035639 ,z=-0.012691,angle between two frames:0.015996
|
||||
[15:57:34.638] Choose frame as a key frame Scene Depth mean:-3.396900 ,depth min:-41.202340
|
||||
[15:57:34.699] Odometry x=-0.067330, y=-1.388831, theta=0.227611
|
||||
[15:57:34.795] Odometry x=-0.068191, y=-1.396288, theta=0.222919
|
||||
[15:57:34.813] After Reprojection Map nPoint:39 ,nCell:27 ,nMatches:19 ,distance between two frames x:0.013035 ,z=-0.002118,angle between two frames:0.003257
|
||||
[15:57:34.813] n deleted obs = 29 n obs with reprojection error less than 0.5 px =17 error init =0.831482 error end=0.831482
|
||||
[15:57:34.813] After pose optimization, distance between two frames x:0.013035 ,z=-0.002118,angle between two frames:0.003257
|
||||
[15:57:34.813] Update EKF and 3D points, distance between two frames x:0.012924 ,z=-0.002973,angle between two frames:0.002868
|
||||
[15:57:34.814] Choose frame as a key frame Scene Depth mean:-1.096216 ,depth min:-3.774684
|
||||
[15:57:34.894] Odometry x=-0.067925, y=-1.395217, theta=0.225029
|
||||
[15:57:34.987] After Reprojection Map nPoint:38 ,nCell:28 ,nMatches:22 ,distance between two frames x:-0.000569 ,z=-0.005341,angle between two frames:0.002442
|
||||
[15:57:34.987] n deleted obs = 28 n obs with reprojection error less than 0.5 px =23 error init =0.710471 error end=0.710471
|
||||
[15:57:34.987] After pose optimization, distance between two frames x:-0.000569 ,z=-0.005341,angle between two frames:0.002442
|
||||
[15:57:34.987] Update EKF and 3D points, distance between two frames x:-0.000624 ,z=-0.005760,angle between two frames:0.001943
|
||||
[15:57:34.987] Choose frame as a key frame Scene Depth mean:-2.919058 ,depth min:-41.203731
|
||||
[15:57:34.993] Odometry x=-0.068199, y=-1.398253, theta=0.231222
|
||||
[15:57:35.096] Odometry x=-0.069094, y=-1.405850, theta=0.240458
|
||||
[15:57:35.169] After Reprojection Map nPoint:42 ,nCell:28 ,nMatches:19 ,distance between two frames x:-0.000294 ,z=-0.002480,angle between two frames:0.003600
|
||||
[15:57:35.169] n deleted obs = 31 n obs with reprojection error less than 0.5 px =19 error init =0.769864 error end=0.769864
|
||||
[15:57:35.170] After pose optimization, distance between two frames x:-0.000294 ,z=-0.002480,angle between two frames:0.003600
|
||||
[15:57:35.170] Update EKF and 3D points, distance between two frames x:-0.000402 ,z=-0.003363,angle between two frames:0.004505
|
||||
[15:57:35.170] Choose frame as a key frame Scene Depth mean:-1.041500 ,depth min:-3.782709
|
||||
[15:57:35.199] Odometry x=-0.068927, y=-1.404486, theta=0.240556
|
||||
[15:57:35.296] Odometry x=-0.069877, y=-1.412238, theta=0.252424
|
||||
[15:57:35.357] After Reprojection Map nPoint:41 ,nCell:29 ,nMatches:21 ,distance between two frames x:-0.000613 ,z=-0.005394,angle between two frames:0.005964
|
||||
[15:57:35.357] n deleted obs = 28 n obs with reprojection error less than 0.5 px =23 error init =0.723844 error end=0.723844
|
||||
[15:57:35.357] After pose optimization, distance between two frames x:-0.000613 ,z=-0.005394,angle between two frames:0.005964
|
||||
[15:57:35.357] Update EKF and 3D points, distance between two frames x:-0.000725 ,z=-0.006275,angle between two frames:0.006752
|
||||
[15:57:35.358] Choose frame as a key frame Scene Depth mean:-3.025603 ,depth min:-41.121346
|
||||
[15:57:35.395] Odometry x=-0.069677, y=-1.410751, theta=0.244784
|
||||
[15:57:35.501] Odometry x=-0.070582, y=-1.418023, theta=0.258860
|
||||
[15:57:35.545] After Reprojection Map nPoint:43 ,nCell:23 ,nMatches:16 ,distance between two frames x:-0.000683 ,z=-0.005479,angle between two frames:0.004827
|
||||
[15:57:35.545] n deleted obs = 23 n obs with reprojection error less than 0.5 px =26 error init =0.680609 error end=0.680609
|
||||
[15:57:35.545] After pose optimization, distance between two frames x:-0.000683 ,z=-0.005479,angle between two frames:0.004827
|
||||
[15:57:35.545] Update EKF and 3D points, distance between two frames x:-0.000794 ,z=-0.006340,angle between two frames:0.006049
|
||||
[15:57:35.545] Choose frame as a key frame Scene Depth mean:-1.143706 ,depth min:-3.789600
|
||||
[15:57:35.596] Odometry x=-0.070469, y=-1.416969, theta=0.256052
|
||||
[15:57:35.700] Odometry x=-0.071419, y=-1.424229, theta=0.274824
|
||||
[15:57:35.729] After Reprojection Map nPoint:39 ,nCell:27 ,nMatches:19 ,distance between two frames x:-0.000725 ,z=-0.005322,angle between two frames:0.007812
|
||||
[15:57:35.729] n deleted obs = 30 n obs with reprojection error less than 0.5 px =18 error init =0.794635 error end=0.773964
|
||||
[15:57:35.729] After pose optimization, distance between two frames x:0.232714 ,z=-0.133561,angle between two frames:0.080381
|
||||
[15:57:35.800] Odometry x=-0.072468, y=-1.431695, theta=0.280832
|
||||
[15:57:35.899] Odometry x=-0.073600, y=-1.439539, theta=0.292475
|
||||
[15:57:35.921] After Reprojection Map nPoint:38 ,nCell:22 ,nMatches:16 ,distance between two frames x:0.000297 ,z=0.000545,angle between two frames:0.000411
|
||||
[15:57:35.921] n deleted obs = 35 n obs with reprojection error less than 0.5 px =11 error init =0.900669 error end=0.900669
|
||||
[15:57:35.921] After pose optimization, distance between two frames x:0.000297 ,z=0.000545,angle between two frames:0.000411
|
||||
[15:57:35.921] Update EKF and 3D points, distance between two frames x:0.000152 ,z=-0.000353,angle between two frames:0.001465
|
||||
[15:57:35.921] Choose frame as a key frame Scene Depth mean:-1.396787 ,depth min:-3.739083
|
||||
[15:57:35.996] Odometry x=-0.073206, y=-1.437637, theta=0.289592
|
||||
[15:57:36.094] Odometry x=-0.074256, y=-1.444682, theta=0.288726
|
||||
[15:57:36.109] After Reprojection Map nPoint:38 ,nCell:23 ,nMatches:19 ,distance between two frames x:-0.000947 ,z=-0.005518,angle between two frames:0.006862
|
||||
[15:57:36.109] n deleted obs = 27 n obs with reprojection error less than 0.5 px =22 error init =0.757582 error end=0.737398
|
||||
[15:57:36.109] After pose optimization, distance between two frames x:0.099529 ,z=-0.066296,angle between two frames:0.035486
|
||||
[15:57:36.196] Odometry x=-0.075363, y=-1.452152, theta=0.283639
|
||||
[15:57:36.299] Odometry x=-0.076462, y=-1.459691, theta=0.281407
|
||||
[15:57:36.310] After Reprojection Map nPoint:37 ,nCell:23 ,nMatches:18 ,distance between two frames x:0.000536 ,z=0.000206,angle between two frames:0.000077
|
||||
[15:57:36.310] n deleted obs = 21 n obs with reprojection error less than 0.5 px =26 error init =0.646435 error end=0.558300
|
||||
[15:57:36.310] After pose optimization, distance between two frames x:0.295814 ,z=-0.294786,angle between two frames:0.061267
|
||||
[15:57:36.398] Odometry x=-0.077541, y=-1.467182, theta=0.266453
|
||||
[15:57:36.496] After Reprojection Map nPoint:37 ,nCell:23 ,nMatches:20 ,distance between two frames x:-0.000239 ,z=-0.000049,angle between two frames:0.000164
|
||||
[15:57:36.496] n deleted obs = 19 n obs with reprojection error less than 0.5 px =31 error init =0.589491 error end=0.589491
|
||||
[15:57:36.496] After pose optimization, distance between two frames x:-0.000239 ,z=-0.000049,angle between two frames:0.000164
|
||||
[15:57:36.496] Update EKF and 3D points, distance between two frames x:-0.000285 ,z=-0.000485,angle between two frames:0.001816
|
||||
[15:57:36.496] Choose frame as a key frame Scene Depth mean:-31.278772 ,depth min:-747.447036
|
||||
[15:57:36.501] Odometry x=-0.077826, y=-1.467649, theta=0.278890
|
||||
[15:57:36.598] Odometry x=-0.079152, y=-1.476934, theta=0.269970
|
||||
[15:57:36.696] Odometry x=-0.080135, y=-1.484047, theta=0.267170
|
||||
[15:57:36.710] After Reprojection Map nPoint:40 ,nCell:25 ,nMatches:19 ,distance between two frames x:0.000010 ,z=-0.000016,angle between two frames:0.000000
|
||||
[15:57:36.710] n deleted obs = 36 n obs with reprojection error less than 0.5 px =12 error init =0.940521 error end=0.856072
|
||||
[15:57:36.710] After pose optimization, distance between two frames x:0.171999 ,z=-0.171223,angle between two frames:0.029256
|
||||
[15:57:36.798] Odometry x=-0.081144, y=-1.491432, theta=0.267088
|
||||
[15:57:36.896] Odometry x=-0.082148, y=-1.498801, theta=0.262638
|
||||
[15:57:36.915] After Reprojection Map nPoint:36 ,nCell:21 ,nMatches:17 ,distance between two frames x:0.001766 ,z=0.000810,angle between two frames:0.000192
|
||||
[15:57:36.915] n deleted obs = 18 n obs with reprojection error less than 0.5 px =27 error init =0.590949 error end=0.536504
|
||||
[15:57:36.915] After pose optimization, distance between two frames x:0.188680 ,z=-0.154356,angle between two frames:0.044724
|
||||
[15:57:36.999] Odometry x=-0.083138, y=-1.506199, theta=0.256466
|
||||
[15:57:37.095] Odometry x=-0.084109, y=-1.513600, theta=0.260966
|
||||
[15:57:37.117] After Reprojection Map nPoint:32 ,nCell:24 ,nMatches:16 ,distance between two frames x:-0.000133 ,z=-0.000016,angle between two frames:0.000673
|
||||
[15:57:37.118] n deleted obs = 24 n obs with reprojection error less than 0.5 px =15 error init =0.880675 error end=0.880675
|
||||
[15:57:37.118] After pose optimization, distance between two frames x:-0.000133 ,z=-0.000016,angle between two frames:0.000673
|
||||
[15:57:37.118] Update EKF and 3D points, distance between two frames x:-0.000239 ,z=-0.000875,angle between two frames:0.000529
|
||||
[15:57:37.118] Choose frame as a key frame Scene Depth mean:-1.527561 ,depth min:-3.826178
|
||||
[15:57:37.197] Odometry x=-0.084032, y=-1.512391, theta=0.264771
|
||||
[15:57:37.294] Odometry x=-0.085035, y=-1.519810, theta=0.263417
|
||||
[15:57:37.315] After Reprojection Map nPoint:32 ,nCell:22 ,nMatches:18 ,distance between two frames x:-0.000678 ,z=-0.005286,angle between two frames:0.001129
|
||||
[15:57:37.315] n deleted obs = 25 n obs with reprojection error less than 0.5 px =19 error init =0.682591 error end=0.682591
|
||||
[15:57:37.315] After pose optimization, distance between two frames x:-0.000678 ,z=-0.005286,angle between two frames:0.001129
|
||||
[15:57:37.315] Update EKF and 3D points, distance between two frames x:-0.000793 ,z=-0.006150,angle between two frames:0.001178
|
||||
[15:57:37.315] Choose frame as a key frame Scene Depth mean:-1.320157 ,depth min:-5.701362
|
||||
[15:57:37.402] Odometry x=-0.084882, y=-1.518570, theta=0.262276
|
||||
[15:57:37.494] Odometry x=-0.085935, y=-1.526430, theta=0.272498
|
||||
[15:57:37.531] After Reprojection Map nPoint:36 ,nCell:25 ,nMatches:18 ,distance between two frames x:-0.000081 ,z=-0.000081,angle between two frames:0.000026
|
||||
[15:57:37.531] n deleted obs = 23 n obs with reprojection error less than 0.5 px =24 error init =0.637526 error end=0.636970
|
||||
[15:57:37.531] After pose optimization, distance between two frames x:-0.074974 ,z=-0.021790,angle between two frames:0.030137
|
||||
[15:57:37.593] Odometry x=-0.086923, y=-1.533514, theta=0.280700
|
||||
[15:57:37.697] Odometry x=-0.087939, y=-1.540581, theta=0.286473
|
||||
[15:57:37.747] After Reprojection Map nPoint:34 ,nCell:17 ,nMatches:14 ,distance between two frames x:-0.000120 ,z=-0.000047,angle between two frames:0.000343
|
||||
[15:57:37.747] n deleted obs = 20 n obs with reprojection error less than 0.5 px =23 error init =0.617048 error end=0.609954
|
||||
[15:57:37.747] After pose optimization, distance between two frames x:0.155758 ,z=-0.087724,angle between two frames:0.043917
|
||||
[15:57:37.797] Odometry x=-0.089015, y=-1.547915, theta=0.297330
|
||||
[15:57:37.900] Odometry x=-0.090177, y=-1.555496, theta=0.309175
|
||||
[15:57:37.966] After Reprojection Map nPoint:41 ,nCell:26 ,nMatches:22 ,distance between two frames x:-0.000169 ,z=-0.000059,angle between two frames:0.000047
|
||||
[15:57:37.966] n deleted obs = 25 n obs with reprojection error less than 0.5 px =32 error init =0.559846 error end=0.559846
|
||||
[15:57:37.966] After pose optimization, distance between two frames x:-0.000169 ,z=-0.000059,angle between two frames:0.000047
|
||||
[15:57:37.966] Update EKF and 3D points, distance between two frames x:-0.000296 ,z=-0.000931,angle between two frames:0.001203
|
||||
[15:57:37.966] Choose frame as a key frame Scene Depth mean:-2.906306 ,depth min:-40.753972
|
||||
[15:57:37.999] Odometry x=-0.090093, y=-1.554213, theta=0.299768
|
||||
[15:57:38.096] Odometry x=-0.091250, y=-1.561719, theta=0.291640
|
||||
[15:57:38.193] After Reprojection Map nPoint:36 ,nCell:27 ,nMatches:20 ,distance between two frames x:-0.000794 ,z=-0.005388,angle between two frames:0.007819
|
||||
[15:57:38.193] n deleted obs = 19 n obs with reprojection error less than 0.5 px =28 error init =0.643337 error end=0.620747
|
||||
[15:57:38.193] After pose optimization, distance between two frames x:0.094756 ,z=-0.069664,angle between two frames:0.032962
|
||||
[15:57:38.204] Odometry x=-0.092310, y=-1.568795, theta=0.285797
|
||||
[15:57:38.294] Odometry x=-0.093454, y=-1.576578, theta=0.284073
|
||||
[15:57:38.399] Odometry x=-0.094435, y=-1.583313, theta=0.276469
|
||||
[15:57:38.421] After Reprojection Map nPoint:33 ,nCell:27 ,nMatches:20 ,distance between two frames x:-0.000008 ,z=-0.000094,angle between two frames:0.000115
|
||||
[15:57:38.421] n deleted obs = 19 n obs with reprojection error less than 0.5 px =27 error init =0.541224 error end=0.541224
|
||||
[15:57:38.421] After pose optimization, distance between two frames x:-0.000008 ,z=-0.000094,angle between two frames:0.000115
|
||||
[15:57:38.421] Update EKF and 3D points, distance between two frames x:-0.000193 ,z=-0.001374,angle between two frames:0.000711
|
||||
[15:57:38.422] Choose frame as a key frame Scene Depth mean:-1.379003 ,depth min:-4.370282
|
||||
[15:57:38.497] Odometry x=-0.093653, y=-1.578091, theta=0.275603
|
||||
[15:57:38.600] Odometry x=-0.094700, y=-1.585501, theta=0.275740
|
||||
[15:57:38.663] After Reprojection Map nPoint:34 ,nCell:24 ,nMatches:20 ,distance between two frames x:-0.000640 ,z=-0.007682,angle between two frames:0.003821
|
||||
[15:57:38.663] n deleted obs = 18 n obs with reprojection error less than 0.5 px =29 error init =0.524486 error end=0.524063
|
||||
[15:57:38.663] After pose optimization, distance between two frames x:-0.019621 ,z=-0.014000,angle between two frames:0.012278
|
||||
[15:57:38.663] Update EKF and 3D points, distance between two frames x:-0.018669 ,z=-0.014512,angle between two frames:0.011275
|
||||
[15:57:38.663] Choose frame as a key frame Scene Depth mean:-1.226084 ,depth min:-3.895067
|
||||
[15:57:38.697] Odometry x=-0.105285, y=-1.587844, theta=0.285933
|
||||
[15:57:38.799] Odometry x=-0.106362, y=-1.595165, theta=0.292722
|
||||
[15:57:38.896] Odometry x=-0.107479, y=-1.602600, theta=0.298171
|
||||
[15:57:38.898] After Reprojection Map nPoint:32 ,nCell:20 ,nMatches:12 ,distance between two frames x:0.005898 ,z=-0.003147,angle between two frames:0.006886
|
||||
[15:57:38.898] n deleted obs = 12 n obs with reprojection error less than 0.5 px =22 error init =0.472084 error end=0.461809
|
||||
[15:57:38.898] After pose optimization, distance between two frames x:0.076221 ,z=-0.052735,angle between two frames:0.024180
|
||||
[15:57:38.997] Odometry x=-0.108603, y=-1.609910, theta=0.309494
|
||||
[15:57:39.147] After Reprojection Map nPoint:31 ,nCell:23 ,nMatches:16 ,distance between two frames x:-0.000244 ,z=-0.007287,angle between two frames:0.000822
|
||||
[15:57:39.147] n deleted obs = 20 n obs with reprojection error less than 0.5 px =18 error init =0.661036 error end=0.528785
|
||||
[15:57:39.147] After pose optimization, distance between two frames x:-0.035630 ,z=-0.498333,angle between two frames:0.092511
|
||||
[15:57:39.384] After Reprojection Map nPoint:33 ,nCell:29 ,nMatches:21 ,distance between two frames x:0.000217 ,z=-0.000001,angle between two frames:0.000688
|
||||
[15:57:39.384] n deleted obs = 27 n obs with reprojection error less than 0.5 px =19 error init =0.672129 error end=0.672129
|
||||
[15:57:39.384] After pose optimization, distance between two frames x:0.000217 ,z=-0.000001,angle between two frames:0.000688
|
||||
[15:57:39.384] Update EKF and 3D points, distance between two frames x:0.000204 ,z=-0.000005,angle between two frames:0.002707
|
||||
[15:57:39.384] Choose frame as a key frame Scene Depth mean:-3.476221 ,depth min:-40.405736
|
||||
[15:57:39.619] After Reprojection Map nPoint:31 ,nCell:21 ,nMatches:16 ,distance between two frames x:-0.000084 ,z=0.000002,angle between two frames:0.012992
|
||||
[15:57:39.619] n deleted obs = 14 n obs with reprojection error less than 0.5 px =27 error init =0.467211 error end=0.467211
|
||||
[15:57:39.619] After pose optimization, distance between two frames x:-0.000084 ,z=0.000002,angle between two frames:0.012992
|
||||
[15:57:39.619] Update EKF and 3D points, distance between two frames x:-0.000085 ,z=-0.000005,angle between two frames:0.013754
|
||||
[15:57:39.619] Choose frame as a key frame Scene Depth mean:-1.463201 ,depth min:-3.877981
|
||||
[15:57:39.860] After Reprojection Map nPoint:37 ,nCell:28 ,nMatches:18 ,distance between two frames x:-0.000046 ,z=-0.000071,angle between two frames:0.004869
|
||||
[15:57:39.860] n deleted obs = 28 n obs with reprojection error less than 0.5 px =16 error init =0.689290 error end=0.675277
|
||||
[15:57:39.860] After pose optimization, distance between two frames x:0.082928 ,z=-0.053635,angle between two frames:0.021358
|
||||
[15:57:40.120] After Reprojection Map nPoint:37 ,nCell:21 ,nMatches:14 ,distance between two frames x:0.008144 ,z=0.004243,angle between two frames:0.002676
|
||||
[15:57:40.120] n deleted obs = 32 n obs with reprojection error less than 0.5 px =11 error init =0.803938 error end=0.803938
|
||||
[15:57:40.120] After pose optimization, distance between two frames x:0.008144 ,z=0.004243,angle between two frames:0.002676
|
||||
[15:57:40.120] Update EKF and 3D points, distance between two frames x:0.007669 ,z=0.003989,angle between two frames:0.003042
|
||||
[15:57:40.120] Choose frame as a key frame Scene Depth mean:-1.325817 ,depth min:-3.910435
|
||||
[15:57:40.373] After Reprojection Map nPoint:23 ,nCell:14 ,nMatches:10 ,distance between two frames x:-0.002386 ,z=-0.001241,angle between two frames:0.002517
|
||||
[15:57:40.373] n deleted obs = 13 n obs with reprojection error less than 0.5 px =10 error init =0.758361 error end=0.758361
|
||||
[15:57:40.373] After pose optimization, distance between two frames x:-0.002386 ,z=-0.001241,angle between two frames:0.002517
|
||||
[15:57:40.373] Update EKF and 3D points, distance between two frames x:-0.002419 ,z=-0.001264,angle between two frames:0.002959
|
||||
[15:57:40.639] After Reprojection Map nPoint:14 ,nCell:12 ,nMatches:9 ,distance between two frames x:-0.000369 ,z=-0.000908,angle between two frames:0.002668
|
||||
[15:57:40.639] n deleted obs = 18 n obs with reprojection error less than 0.5 px =1 error init =0.974272 error end=0.974272
|
||||
[15:57:40.639] After pose optimization, distance between two frames x:-0.000369 ,z=-0.000908,angle between two frames:0.002668
|
||||
[15:57:40.884] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between two frames x:0.000021 ,z=-0.000002,angle between two frames:0.000210
|
||||
[15:57:41.133] After Reprojection Map nPoint:9 ,nCell:9 ,nMatches:0 ,distance between two frames x:-0.000247 ,z=-0.000184,angle between two frames:0.000089
|
||||
[15:57:41.138] Image Alignment failed 0
|
||||
[15:57:41.292] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000150
|
||||
[15:57:41.298] Image Alignment failed 0
|
||||
[15:57:41.457] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000151
|
||||
[15:57:41.465] Image Alignment failed 0
|
||||
[15:57:41.630] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000003,angle between two frames:0.000299
|
||||
[15:57:41.638] Image Alignment failed 0
|
||||
[15:57:41.805] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000002,angle between two frames:0.000308
|
||||
[15:57:41.815] Image Alignment failed 0
|
||||
[15:57:41.977] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000151
|
||||
[15:57:41.985] Image Alignment failed 0
|
||||
[15:57:42.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000297
|
||||
[15:57:42.158] Image Alignment failed 0
|
||||
[15:57:42.321] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000154
|
||||
[15:57:42.329] Image Alignment failed 0
|
||||
[15:57:42.494] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000003,angle between two frames:0.000298
|
||||
[15:57:42.503] Image Alignment failed 0
|
||||
[15:57:42.666] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000149
|
||||
[15:57:42.675] Image Alignment failed 0
|
||||
[15:57:42.842] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000301
|
||||
[15:57:42.851] Image Alignment failed 0
|
||||
[15:57:43.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000309
|
||||
[15:57:43.026] Image Alignment failed 0
|
||||
[15:57:43.190] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000004,angle between two frames:0.000360
|
||||
[15:57:43.199] Image Alignment failed 0
|
||||
[15:57:43.364] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000336
|
||||
[15:57:43.372] Image Alignment failed 0
|
||||
[15:57:43.534] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000305
|
||||
[15:57:43.544] Image Alignment failed 0
|
||||
[15:57:43.708] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.000302
|
||||
[15:57:43.717] Image Alignment failed 0
|
||||
[15:57:43.882] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000008,angle between two frames:0.000491
|
||||
[15:57:43.892] Image Alignment failed 0
|
||||
[15:57:44.059] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000299
|
||||
[15:57:44.068] Image Alignment failed 0
|
||||
[15:57:44.232] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000304
|
||||
|
||||
@@ -129,12 +129,12 @@ public:
|
||||
//Notice T_F_W is the position of the first frame with respect to the new frame while they are looking at one feature
|
||||
std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5> UpdateSvo(double x/*in camera frame*/,double z/*in camera frame*/,double pitch/*in camera frame*/) {
|
||||
boost::unique_lock<boost::mutex> lock(ekf_mut_);
|
||||
filter_->correct(x,-1.0*z,-1.0*pitch);
|
||||
return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(filter_->cov_,vio::SE2_5(filter_->state_(0),-1.0*filter_->state_(1),-1.0*(filter_->state_(2))));
|
||||
filter_->correct(x,z,-1.0*pitch);
|
||||
return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(filter_->cov_,vio::SE2_5(filter_->state_(0),filter_->state_(1),-1.0*(filter_->state_(2))));
|
||||
};
|
||||
std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5> get_location(){
|
||||
boost::unique_lock<boost::mutex> lock(ekf_mut_);
|
||||
return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(filter_->cov_,vio::SE2_5(filter_->state_(0),-1.0*filter_->state_(1),-1.0*(filter_->state_(2))));
|
||||
return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(filter_->cov_,vio::SE2_5(filter_->state_(0),filter_->state_(1),-1.0*(filter_->state_(2))));
|
||||
}
|
||||
bool start_=false;
|
||||
private:
|
||||
|
||||
@@ -130,13 +130,17 @@ namespace vio {
|
||||
fprintf(log_,"[%s] add key frame\n",vio::time_in_HH_MM_SS_MMM().c_str());
|
||||
#endif
|
||||
|
||||
if(thread_ != NULL)
|
||||
if(!seeds_.empty())
|
||||
{
|
||||
new_keyframe_ = frame;
|
||||
new_keyframe_set_ = true;
|
||||
seeds_updating_halt_ = true;
|
||||
frame_queue_cond_.notify_one();
|
||||
}else{
|
||||
new_keyframe_ = frame;
|
||||
new_keyframe_set_ = true;
|
||||
seeds_updating_halt_ = true;
|
||||
frame_queue_cond_.notify_one();
|
||||
initializeSeeds(frame);
|
||||
}
|
||||
}
|
||||
@@ -224,7 +228,7 @@ namespace vio {
|
||||
}
|
||||
else
|
||||
{
|
||||
frame = frame_queue_.back();
|
||||
frame = frame_queue_.front();
|
||||
frame_queue_.pop();
|
||||
}
|
||||
}
|
||||
@@ -267,7 +271,9 @@ namespace vio {
|
||||
SE3 T_cur_ref(q.toRotationMatrix(),Vector3d(T.translation()(0), 0.0,T.translation()(1)));
|
||||
const Vector3d xyz_f(T_cur_ref*(1.0/(*it)->mu * (*it)->ftr->f) );
|
||||
#if VIO_DEBUG
|
||||
fprintf(log_,"[%s] If point is visible? %f, %f, %f\n",vio::time_in_HH_MM_SS_MMM().c_str(),xyz_f.x(),xyz_f.y(),xyz_f.z());
|
||||
fprintf(log_,"[%s] If point is visible? %f, %f, %f mu:%f unit_bearing:%f %f %f T_cur_ref: x=%f y=%f z=%f\n",vio::time_in_HH_MM_SS_MMM().c_str(),
|
||||
xyz_f.x(),xyz_f.y(),xyz_f.z(),(*it)->mu,(*it)->ftr->f.x(),(*it)->ftr->f.y(),(*it)->ftr->f.z(),
|
||||
T_cur_ref.translation().x(),T_cur_ref.translation().y(),T_cur_ref.translation().z());
|
||||
#endif
|
||||
if(!frame->cam_->isInFrame(frame->f2c(xyz_f).cast<int>())) {
|
||||
++it; // point does not project in image
|
||||
@@ -302,7 +308,7 @@ namespace vio {
|
||||
continue;
|
||||
}
|
||||
#if VIO_DEBUG
|
||||
fprintf(log_,"[%s] update seeds \n",vio::time_in_HH_MM_SS_MMM().c_str());
|
||||
fprintf(log_,"[%s] update seeds 305\n",vio::time_in_HH_MM_SS_MMM().c_str());
|
||||
#endif
|
||||
++n_updates;
|
||||
|
||||
|
||||
@@ -226,8 +226,8 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
|
||||
new_frame_->T_f_w_.se2().translation().y()-last_frame_->T_f_w_.se2().translation().y(),
|
||||
fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch()));
|
||||
#endif
|
||||
if((last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.05 ||
|
||||
fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch())>M_PI_2 || sfba_n_edges_final < Config::qualityMinFts()){
|
||||
if((last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.1 ||
|
||||
fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch())>M_PI_2){
|
||||
auto init_f= ukfPtr_.get_location();
|
||||
new_frame_->T_f_w_=init_f.second;
|
||||
new_frame_->Cov_ = init_f.first;
|
||||
|
||||
Reference in New Issue
Block a user