diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt index 3d63358..49c42b7 100755 --- a/GPU_version/vio/depth_filter_log.txt +++ b/GPU_version/vio/depth_filter_log.txt @@ -1,181 +1,870 @@ -[16:40:15.960] init depth filter -[16:40:43.554] init depth filter -[16:40:48.325] DepthFilter: RESET. -[16:41:03.100] add key frame -[16:41:03.100] update seed -[16:41:03.100] init seeds -[16:41:03.106] DepthFilter: Initialized 85 new seeds -[16:41:03.253] add new frame -[16:41:03.253] update seed -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.254] Z inverse min: inf, Z inverse max: inf -[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403 -[16:41:03.255] Z inverse min: inf, Z inverse max: inf -[16:42:35.541] DepthFilter stop thread invoked. -[16:42:35.541] DepthFilter interrupt and join thread +[16:56:40.309] init depth filter +[16:56:43.421] init depth filter +[16:56:47.074] DepthFilter: RESET. +[16:57:03.840] add key frame +[16:57:03.840] update seed +[16:57:03.840] init seeds +[16:57:03.845] DepthFilter: Initialized 65 new seeds +[16:57:06.661] add new frame +[16:57:06.661] update seed +[16:57:06.662] If point is visible? -0.179351, -1.189585, -1.699112 +[16:57:06.662] If point is visible? -0.164602, -1.167021, -1.717044 +[16:57:06.662] If point is visible? -0.078735, -0.579468, -2.012863 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.074434, -0.520351, -2.029918 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? 0.389323, -0.512534, -1.988616 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? 1.177754, -0.442963, -1.637355 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.036256, -0.353963, -2.067936 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.402407, 0.042201, -2.062437 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.402295, 0.046593, -2.062360 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.366723, 0.098568, -2.067021 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.372412, 0.098693, -2.066006 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.378098, 0.098819, -2.064975 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.406483, 0.099476, -2.059570 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.444479, 0.148868, -2.048562 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? 1.271653, 0.185938, -1.613627 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.427221, 0.157244, -2.051577 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.860018, 0.309218, -1.888446 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.398598, 0.403606, -2.021672 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? 0.108153, 0.532170, -2.023080 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? 0.371849, 0.574091, -1.974562 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.860419, 0.680836, -1.782159 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.152893, -1.170822, -1.715290 +[16:57:06.662] If point is visible? 0.927863, -1.117044, -1.459474 +[16:57:06.662] If point is visible? 1.161718, -0.523909, -1.624256 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? 1.172412, -0.451542, -1.639017 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? 1.183086, -0.442316, -1.633365 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.018651, -0.362530, -2.066431 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.030337, -0.362546, -2.066408 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? 0.404675, -0.279093, -2.033636 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? 0.156952, -0.189051, -2.082639 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? 1.276995, 0.149535, -1.613087 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.427535, 0.148437, -2.052201 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.417949, 0.095351, -2.057484 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -1.109430, 0.291846, -1.751658 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -1.119416, 0.292459, -1.744920 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.388579, 0.270999, -2.046743 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.298729, 0.463126, -2.025268 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.310075, 0.463355, -2.023541 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.257290, 0.391844, -2.046520 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.478181, 0.476118, -1.987467 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? -0.801438, 0.530573, -1.862789 +[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.662] If point is visible? 0.957923, 0.569725, -1.747480 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? 0.287807, 0.630652, -1.972120 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? 0.068241, -0.895469, -1.885479 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? 1.012133, -0.918253, -1.544280 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? 0.922482, -0.810057, -1.665409 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? 1.012271, -0.932869, -1.534774 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? 0.481551, -0.686706, -1.909297 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? 0.361877, -1.133419, -1.701851 +[16:57:06.663] If point is visible? 0.969712, -1.011761, -1.511117 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? 0.004914, -0.379619, -2.063029 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? -0.018477, -0.379682, -2.063189 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? 0.005110, -0.396742, -2.059635 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? -0.018279, -0.396811, -2.059796 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? -0.315094, -0.581611, -1.990350 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? 1.183082, -0.450241, -1.631058 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? -0.015009, -0.566682, -2.017547 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? -0.019211, -0.241867, -2.084901 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? -0.019197, -0.224550, -2.086936 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? -1.819097, 0.137130, -0.962549 +[16:57:06.663] If point is visible? -1.109987, 0.283157, -1.752803 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? -0.299806, 0.445532, -2.029262 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] calculated Z= 0.921898 +[16:57:06.663] update seeds +[16:57:06.663] If point is visible? -0.306563, 0.322203, -2.052688 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? -0.478777, 0.467328, -1.989520 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.663] If point is visible? 0.903568, 0.611183, -1.763959 +[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] add new frame +[16:57:06.953] update seed +[16:57:06.953] If point is visible? -0.180433, -1.189585, -1.706183 +[16:57:06.953] If point is visible? -0.165685, -1.167021, -1.724115 +[16:57:06.953] If point is visible? -0.079818, -0.579468, -2.019934 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.075517, -0.520351, -2.036989 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? 0.388240, -0.512534, -1.995687 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? 1.176671, -0.442963, -1.644426 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.037339, -0.353963, -2.075007 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.403490, 0.042201, -2.069508 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.403378, 0.046593, -2.069430 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.367806, 0.098568, -2.074092 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.373495, 0.098693, -2.073077 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.379181, 0.098819, -2.072046 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.407566, 0.099476, -2.066641 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.445561, 0.148868, -2.055633 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? 1.270570, 0.185938, -1.620698 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.428303, 0.157244, -2.058648 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.861101, 0.309218, -1.895517 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.399681, 0.403606, -2.028743 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? 0.107071, 0.532170, -2.030151 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? 0.370766, 0.574091, -1.981633 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.861502, 0.680836, -1.789229 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.153976, -1.170822, -1.722361 +[16:57:06.953] If point is visible? 0.926780, -1.117044, -1.466545 +[16:57:06.953] If point is visible? 1.160635, -0.523909, -1.631327 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? 1.171329, -0.451542, -1.646088 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? 1.182003, -0.442316, -1.640436 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.019733, -0.362530, -2.073502 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? -0.031420, -0.362546, -2.073479 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? 0.403592, -0.279093, -2.040707 +[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.953] If point is visible? 0.155869, -0.189051, -2.089710 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? 1.275913, 0.149535, -1.620158 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.428617, 0.148437, -2.059272 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.419032, 0.095351, -2.064555 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -1.110512, 0.291846, -1.758729 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -1.120499, 0.292459, -1.751991 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.389662, 0.270999, -2.053814 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.299811, 0.463126, -2.032338 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.311158, 0.463355, -2.030612 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.258373, 0.391844, -2.053591 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.479264, 0.476118, -1.994538 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.802520, 0.530573, -1.869860 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? 0.956840, 0.569725, -1.754551 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? 0.286725, 0.630652, -1.979191 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? 0.067158, -0.895469, -1.892550 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? 1.011050, -0.918253, -1.551351 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? 0.921400, -0.810057, -1.672480 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? 1.011188, -0.932869, -1.541845 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? 0.480468, -0.686706, -1.916368 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? 0.360794, -1.133419, -1.708922 +[16:57:06.954] If point is visible? 0.968629, -1.011761, -1.518188 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? 0.003832, -0.379619, -2.070100 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.019559, -0.379682, -2.070260 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? 0.004027, -0.396742, -2.066706 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.019362, -0.396811, -2.066867 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.316177, -0.581611, -1.997421 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? 1.181999, -0.450241, -1.638129 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.016092, -0.566682, -2.024618 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.020294, -0.241867, -2.091972 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.020280, -0.224550, -2.094007 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -1.820180, 0.137130, -0.969620 +[16:57:06.954] If point is visible? -1.111070, 0.283157, -1.759874 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.226345, 0.326334, -1.520538 +[16:57:06.954] Z inverse min: 1.042875, Z inverse max: 0.323593 +[16:57:06.954] If point is visible? -0.307646, 0.322203, -2.059759 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? -0.479860, 0.467328, -1.996591 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:06.954] If point is visible? 0.902485, 0.611183, -1.771030 +[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] add new frame +[16:57:07.115] update seed +[16:57:07.115] If point is visible? -0.180175, -1.189585, -1.706297 +[16:57:07.115] If point is visible? -0.165427, -1.167021, -1.724228 +[16:57:07.115] If point is visible? -0.079560, -0.579468, -2.020047 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.075259, -0.520351, -2.037103 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? 0.388498, -0.512534, -1.995800 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? 1.176929, -0.442963, -1.644540 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.037081, -0.353963, -2.075120 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.403232, 0.042201, -2.069622 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.403120, 0.046593, -2.069544 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.367548, 0.098568, -2.074206 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.373237, 0.098693, -2.073191 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.378923, 0.098819, -2.072159 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.407308, 0.099476, -2.066754 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.445303, 0.148868, -2.055747 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? 1.270828, 0.185938, -1.620811 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.428045, 0.157244, -2.058761 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.860843, 0.309218, -1.895631 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.399423, 0.403606, -2.028856 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? 0.107329, 0.532170, -2.030264 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? 0.371024, 0.574091, -1.981747 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.861244, 0.680836, -1.789343 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.153718, -1.170822, -1.722475 +[16:57:07.115] If point is visible? 0.927038, -1.117044, -1.466658 +[16:57:07.115] If point is visible? 1.160893, -0.523909, -1.631440 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? 1.171587, -0.451542, -1.646201 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? 1.182261, -0.442316, -1.640550 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.019475, -0.362530, -2.073615 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.031162, -0.362546, -2.073593 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? 0.403850, -0.279093, -2.040821 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? 0.156127, -0.189051, -2.089823 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? 1.276171, 0.149535, -1.620272 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.428360, 0.148437, -2.059386 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -0.418774, 0.095351, -2.064669 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -1.110254, 0.291846, -1.758842 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.115] If point is visible? -1.120241, 0.292459, -1.752105 +[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.389404, 0.270999, -2.053928 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.299553, 0.463126, -2.032452 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.310900, 0.463355, -2.030726 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.258115, 0.391844, -2.053705 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.479006, 0.476118, -1.994652 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.802262, 0.530573, -1.869974 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? 0.957098, 0.569725, -1.754664 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? 0.286983, 0.630652, -1.979304 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? 0.067416, -0.895469, -1.892663 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? 1.011308, -0.918253, -1.551464 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? 0.921658, -0.810057, -1.672593 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? 1.011446, -0.932869, -1.541959 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? 0.480726, -0.686706, -1.916481 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? 0.361052, -1.133419, -1.709035 +[16:57:07.116] If point is visible? 0.968887, -1.011761, -1.518302 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? 0.004090, -0.379619, -2.070214 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.019301, -0.379682, -2.070373 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? 0.004285, -0.396742, -2.066820 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.019104, -0.396811, -2.066980 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.315919, -0.581611, -1.997534 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? 1.182257, -0.450241, -1.638243 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.015834, -0.566682, -2.024731 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.020036, -0.241867, -2.092085 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.020022, -0.224550, -2.094120 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -1.819922, 0.137130, -0.969733 +[16:57:07.116] If point is visible? -1.110812, 0.283157, -1.759988 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.226087, 0.326334, -1.520651 +[16:57:07.116] Z inverse min: 1.042875, Z inverse max: 0.323593 +[16:57:07.116] If point is visible? -0.307388, 0.322203, -2.059872 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? -0.479602, 0.467328, -1.996705 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:07.116] If point is visible? 0.902743, 0.611183, -1.771144 +[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:08.647] add new frame +[16:57:08.647] add key frame +[16:57:08.647] update seed +[16:57:08.647] init seeds +[16:57:08.647] update seed +[16:57:08.647] init seeds +[16:57:08.650] DepthFilter: Initialized 54 new seeds +[16:57:08.655] DepthFilter: Initialized 96 new seeds +[16:57:08.967] add new frame +[16:57:08.967] add key frame +[16:57:08.967] update seed +[16:57:08.967] init seeds +[16:57:08.967] update seed +[16:57:08.967] init seeds +[16:57:08.971] DepthFilter: Initialized 22 new seeds +[16:57:08.974] DepthFilter: Initialized 83 new seeds +[16:57:09.122] add new frame +[16:57:09.122] add key frame +[16:57:09.122] update seed +[16:57:09.122] init seeds +[16:57:09.125] DepthFilter: Initialized 24 new seeds +[16:57:09.445] add new frame +[16:57:09.445] add key frame +[16:57:09.445] update seed +[16:57:09.445] init seeds +[16:57:09.448] DepthFilter: Initialized 13 new seeds +[16:57:09.963] add new frame +[16:57:09.963] add key frame +[16:57:09.963] update seed +[16:57:09.963] init seeds +[16:57:09.963] update seed +[16:57:09.963] init seeds +[16:57:09.966] DepthFilter: Initialized 13 new seeds +[16:57:09.969] DepthFilter: Initialized 93 new seeds +[16:57:10.158] add new frame +[16:57:10.158] update seed +[16:57:10.158] If point is visible? -0.209392, -1.189585, -1.801518 +[16:57:10.158] If point is visible? -0.194643, -1.167021, -1.819450 +[16:57:10.158] If point is visible? -0.108776, -0.579468, -2.115269 +[16:57:10.158] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:10.158] If point is visible? -0.104475, -0.520351, -2.132324 +[16:57:10.158] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:10.158] add key frame +[16:57:10.158] init seeds +[16:57:10.158] update seed +[16:57:10.158] init seeds +[16:57:10.161] DepthFilter: Initialized 16 new seeds +[16:57:10.164] DepthFilter: Initialized 87 new seeds +[16:57:10.342] add new frame +[16:57:10.342] update seed +[16:57:10.342] If point is visible? -0.210671, -1.189585, -1.805557 +[16:57:10.342] If point is visible? -0.195922, -1.167021, -1.823488 +[16:57:10.342] If point is visible? -0.110055, -0.579468, -2.119308 +[16:57:10.342] add key frame +[16:57:10.342] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:10.342] init seeds +[16:57:10.342] update seed +[16:57:10.342] init seeds +[16:57:10.346] DepthFilter: Initialized 13 new seeds +[16:57:10.348] DepthFilter: Initialized 103 new seeds +[16:57:10.522] add new frame +[16:57:10.522] update seed +[16:57:10.522] If point is visible? -0.211787, -1.189585, -1.809065 +[16:57:10.522] If point is visible? -0.197038, -1.167021, -1.826996 +[16:57:10.522] If point is visible? -0.111171, -0.579468, -2.122815 +[16:57:10.522] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:10.522] add key frame +[16:57:10.522] init seeds +[16:57:10.522] update seed +[16:57:10.523] init seeds +[16:57:10.526] DepthFilter: Initialized 7 new seeds +[16:57:10.528] DepthFilter: Initialized 98 new seeds +[16:57:10.892] add new frame +[16:57:10.892] update seed +[16:57:10.892] If point is visible? -0.214452, -1.189585, -1.818033 +[16:57:10.892] If point is visible? -0.199704, -1.167021, -1.835964 +[16:57:10.892] If point is visible? -0.113837, -0.579468, -2.131783 +[16:57:10.892] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:10.892] add key frame +[16:57:10.893] init seeds +[16:57:10.893] update seed +[16:57:10.893] init seeds +[16:57:10.896] DepthFilter: Initialized 8 new seeds +[16:57:10.898] DepthFilter: Initialized 99 new seeds +[16:57:11.097] add new frame +[16:57:11.097] update seed +[16:57:11.097] If point is visible? -0.216085, -1.189585, -1.821615 +[16:57:11.097] If point is visible? -0.201337, -1.167021, -1.839546 +[16:57:11.097] add key frame +[16:57:11.097] If point is visible? -0.115470, -0.579468, -2.135365 +[16:57:11.097] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:11.097] init seeds +[16:57:11.097] update seed +[16:57:11.097] init seeds +[16:57:11.100] DepthFilter: Initialized 12 new seeds +[16:57:11.102] DepthFilter: Initialized 99 new seeds +[16:57:11.296] add new frame +[16:57:11.296] add key frame +[16:57:11.296] update seed +[16:57:11.296] init seeds +[16:57:11.296] update seed +[16:57:11.296] init seeds +[16:57:11.298] DepthFilter: Initialized 11 new seeds +[16:57:11.301] DepthFilter: Initialized 111 new seeds +[16:57:11.512] add new frame +[16:57:11.512] update seed +[16:57:11.512] If point is visible? -0.217935, -1.189585, -1.827810 +[16:57:11.512] If point is visible? -0.203186, -1.167021, -1.845741 +[16:57:11.512] If point is visible? -0.117319, -0.579468, -2.141560 +[16:57:11.512] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:11.512] add key frame +[16:57:11.512] init seeds +[16:57:11.512] update seed +[16:57:11.512] init seeds +[16:57:11.515] DepthFilter: Initialized 4 new seeds +[16:57:11.517] DepthFilter: Initialized 117 new seeds +[16:57:11.728] add new frame +[16:57:11.728] update seed +[16:57:11.728] If point is visible? -0.218959, -1.189585, -1.831097 +[16:57:11.728] If point is visible? -0.204210, -1.167021, -1.849028 +[16:57:11.728] If point is visible? -0.118343, -0.579468, -2.144847 +[16:57:11.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:11.728] add key frame +[16:57:11.728] init seeds +[16:57:11.728] update seed +[16:57:11.728] init seeds +[16:57:11.731] DepthFilter: Initialized 4 new seeds +[16:57:11.733] DepthFilter: Initialized 90 new seeds +[16:57:12.223] add new frame +[16:57:12.223] update seed +[16:57:12.223] add key frame +[16:57:12.223] If point is visible? -0.223316, -1.189585, -1.843837 +[16:57:12.223] init seeds +[16:57:12.223] update seed +[16:57:12.223] init seeds +[16:57:12.226] DepthFilter: Initialized 5 new seeds +[16:57:12.228] DepthFilter: Initialized 105 new seeds +[16:57:12.911] add new frame +[16:57:12.911] update seed +[16:57:12.911] If point is visible? -0.230395, -1.189585, -1.865398 +[16:57:12.911] If point is visible? -0.215646, -1.167021, -1.883329 +[16:57:12.911] add key frame +[16:57:12.911] If point is visible? -0.129779, -0.579468, -2.179148 +[16:57:12.911] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:12.911] init seeds +[16:57:12.911] update seed +[16:57:12.911] init seeds +[16:57:12.914] DepthFilter: Initialized 5 new seeds +[16:57:12.917] DepthFilter: Initialized 97 new seeds +[16:57:13.155] add new frame +[16:57:13.155] update seed +[16:57:13.155] add key frame +[16:57:13.155] If point is visible? -0.231376, -1.189585, -1.868343 +[16:57:13.155] init seeds +[16:57:13.155] update seed +[16:57:13.155] init seeds +[16:57:13.158] DepthFilter: Initialized 5 new seeds +[16:57:13.160] DepthFilter: Initialized 98 new seeds +[16:57:13.932] add new frame +[16:57:13.932] update seed +[16:57:13.932] If point is visible? -0.231325, -1.189585, -1.868780 +[16:57:13.932] If point is visible? -0.216576, -1.167021, -1.886711 +[16:57:13.932] add key frame +[16:57:13.932] If point is visible? -0.130709, -0.579468, -2.182530 +[16:57:13.932] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:13.932] init seeds +[16:57:13.932] update seed +[16:57:13.932] init seeds +[16:57:13.935] DepthFilter: Initialized 3 new seeds +[16:57:13.937] DepthFilter: Initialized 99 new seeds +[16:57:14.455] add new frame +[16:57:14.455] update seed +[16:57:14.455] If point is visible? -0.231355, -1.189585, -1.869405 +[16:57:14.455] If point is visible? -0.216606, -1.167021, -1.887336 +[16:57:14.455] If point is visible? -0.130739, -0.579468, -2.183155 +[16:57:14.455] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.455] If point is visible? -0.126438, -0.520351, -2.200211 +[16:57:14.455] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.455] add key frame +[16:57:14.455] init seeds +[16:57:14.455] update seed +[16:57:14.455] init seeds +[16:57:14.458] DepthFilter: Initialized 1 new seeds +[16:57:14.460] DepthFilter: Initialized 99 new seeds +[16:57:14.727] add new frame +[16:57:14.727] update seed +[16:57:14.727] If point is visible? -0.231372, -1.189585, -1.869650 +[16:57:14.727] add key frame +[16:57:14.727] If point is visible? -0.216623, -1.167021, -1.887581 +[16:57:14.727] init seeds +[16:57:14.727] remove key frame +[16:57:14.728] update seed +[16:57:14.728] If point is visible? -0.231372, -1.189585, -1.869650 +[16:57:14.728] If point is visible? -0.216623, -1.167021, -1.887581 +[16:57:14.728] If point is visible? -0.130756, -0.579468, -2.183400 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.126455, -0.520351, -2.200456 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? 0.337302, -0.512534, -2.159153 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? 1.125733, -0.442963, -1.807893 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.088277, -0.353963, -2.238474 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.454428, 0.042201, -2.232975 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.454316, 0.046593, -2.232897 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.418744, 0.098568, -2.237559 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.424433, 0.098693, -2.236544 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.430119, 0.098819, -2.235513 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.458504, 0.099476, -2.230107 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.496500, 0.148868, -2.219100 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? 1.219632, 0.185938, -1.784165 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.479242, 0.157244, -2.222114 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.912039, 0.309218, -2.058984 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.450619, 0.403606, -2.192209 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? 0.056132, 0.532170, -2.193617 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? 0.319828, 0.574091, -2.145100 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.912440, 0.680836, -1.952696 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? -0.204914, -1.170822, -1.885828 +[16:57:14.728] If point is visible? 0.875842, -1.117044, -1.630011 +[16:57:14.728] If point is visible? 1.109697, -0.523909, -1.794794 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.728] If point is visible? 1.120391, -0.451542, -1.809554 +[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] calculated Z= 0.930841 +[16:57:14.729] update seeds +[16:57:14.729] If point is visible? 1.131065, -0.442316, -1.803903 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? -0.070672, -0.362530, -2.236969 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? -0.082358, -0.362546, -2.236946 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? 0.352654, -0.279093, -2.204174 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? 0.104931, -0.189051, -2.253177 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? 1.224974, 0.149535, -1.783625 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? -0.479556, 0.148437, -2.222739 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? -0.469970, 0.095351, -2.228022 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? -1.161451, 0.291846, -1.922196 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? -1.171437, 0.292459, -1.915458 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? -0.440600, 0.270999, -2.217281 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? -0.350750, 0.463126, -2.195805 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? -0.362096, 0.463355, -2.194079 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? -0.309311, 0.391844, -2.217058 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? -0.530202, 0.476118, -2.158005 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? -0.853459, 0.530573, -2.033327 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? 0.905902, 0.569725, -1.918018 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? 0.235786, 0.630652, -2.142658 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? 0.016220, -0.895469, -2.056017 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? 0.960112, -0.918253, -1.714817 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.729] If point is visible? 0.870461, -0.810057, -1.835947 +[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? 0.960250, -0.932869, -1.705312 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? 0.429530, -0.686706, -2.079834 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? 0.309856, -1.133419, -1.872389 +[16:57:14.730] If point is visible? 0.917691, -1.011761, -1.681655 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? -0.047107, -0.379619, -2.233567 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? -0.070498, -0.379682, -2.233727 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? -0.046911, -0.396742, -2.230173 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? -0.070300, -0.396811, -2.230334 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? -0.367115, -0.581611, -2.160888 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? 1.131061, -0.450241, -1.801596 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? -0.067030, -0.566682, -2.188084 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? -0.071232, -0.241867, -2.255439 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? -0.071218, -0.224550, -2.257473 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? -1.871118, 0.137130, -1.133086 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? -1.162008, 0.283157, -1.923341 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? -0.277284, 0.326334, -1.684005 +[16:57:14.730] Z inverse min: 1.042875, Z inverse max: 0.323593 +[16:57:14.730] If point is visible? -0.358584, 0.322203, -2.223226 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? -0.530798, 0.467328, -2.160058 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? 0.851547, 0.611183, -1.934497 +[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:14.730] If point is visible? -0.042559, -0.025568, -0.409253 +[16:57:14.730] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:14.730] If point is visible? -0.057284, -0.002275, -0.409612 +[16:57:14.730] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:14.730] If point is visible? -0.129447, 0.008900, -0.395314 +[16:57:14.730] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:14.731] If point is visible? -0.124918, 0.016753, -0.396405 +[16:57:14.731] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:14.731] init seeds +[16:57:14.731] DepthFilter: Initialized 0 new seeds +[16:57:14.733] DepthFilter: Initialized 0 new seeds +[16:57:15.291] add new frame +[16:57:15.291] update seed +[16:57:15.291] If point is visible? -0.231445, -1.189585, -1.870357 +[16:57:15.291] If point is visible? -0.216696, -1.167021, -1.888288 +[16:57:15.291] If point is visible? -0.130829, -0.579468, -2.184107 +[16:57:15.291] Z inverse min: 0.845768, Z inverse max: 0.155113 +[16:57:15.291] add key frame +[16:57:15.291] remove key frame +[16:57:15.291] init seeds +[16:57:15.291] update seed +[16:57:15.291] If point is visible? -0.042632, -0.025568, -0.409959 +[16:57:15.291] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.291] If point is visible? -0.057357, -0.002275, -0.410319 +[16:57:15.291] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.291] If point is visible? -0.129520, 0.008900, -0.396021 +[16:57:15.291] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? -0.124991, 0.016753, -0.397112 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? -0.125829, 0.016785, -0.396849 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? -0.130009, 0.016945, -0.395500 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? 0.024549, 0.019519, -0.404517 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? -0.126042, 0.028853, -0.395829 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? -0.229002, 0.046173, -0.336775 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? 0.027254, 0.039910, -0.401908 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? -0.128286, 0.065844, -0.388960 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? -0.129113, 0.065876, -0.388678 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? 0.123147, -0.157030, -0.313457 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? 0.123097, -0.155993, -0.314282 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? 0.000363, -0.168123, -0.357807 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] calculated Z= 0.882540 +[16:57:15.292] update seeds +[16:57:15.292] If point is visible? 0.077595, -0.171591, -0.331099 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? -0.001451, -0.150694, -0.368910 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? 0.130881, -0.142904, -0.317603 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? 0.135531, -0.133434, -0.320085 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? 0.091381, -0.143385, -0.343244 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? 0.137077, -0.129890, -0.321029 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? 0.137110, -0.130975, -0.320339 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? 0.099213, -0.125314, -0.349127 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.292] If point is visible? 0.146453, -0.109449, -0.324676 +[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? -0.048027, -0.030151, -0.409359 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.016883, 0.031972, -0.404885 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? -0.273685, 0.040636, -0.291215 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? -0.274849, 0.040772, -0.289666 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.016944, 0.033290, -0.404729 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? -0.125004, 0.044917, -0.394094 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? -0.126671, 0.044980, -0.393557 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? -0.126767, 0.043641, -0.393734 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? -0.216345, 0.093565, -0.332637 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.107810, 0.098511, -0.356486 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.109449, 0.097246, -0.356035 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.097965, 0.106130, -0.358809 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? -0.005446, 0.097949, -0.393335 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.130962, -0.145024, -0.316082 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.124706, -0.154645, -0.314056 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.140210, -0.123854, -0.322060 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.130881, -0.142904, -0.317603 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.133953, -0.135887, -0.319794 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.137110, -0.130975, -0.320339 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? -0.112887, -0.092668, -0.386055 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.121591, -0.159407, -0.312823 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.140269, -0.126039, -0.320736 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.293] If point is visible? 0.093196, -0.144284, -0.341708 +[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.294] If point is visible? 0.105712, -0.112931, -0.351512 +[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.294] If point is visible? -0.111074, 0.087310, -0.388275 +[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.294] If point is visible? -0.110969, 0.052478, -0.396842 +[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.294] If point is visible? -0.114343, 0.052591, -0.395919 +[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.294] If point is visible? 0.114475, 0.095913, -0.353562 +[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.294] If point is visible? 0.111088, 0.095983, -0.355566 +[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.294] If point is visible? -0.005188, 0.100558, -0.392401 +[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.294] If point is visible? -0.061731, -0.142829, -0.374140 +[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.294] If point is visible? -0.062665, -0.142220, -0.374371 +[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.294] init seeds +[16:57:15.294] DepthFilter: Initialized 0 new seeds +[16:57:15.296] DepthFilter: Initialized 0 new seeds +[16:57:15.588] add new frame +[16:57:15.588] update seed +[16:57:15.588] If point is visible? -0.042479, -0.025568, -0.410364 +[16:57:15.588] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.588] add key frame +[16:57:15.588] If point is visible? -0.057203, -0.002275, -0.410723 +[16:57:15.588] Z inverse min: 5.408916, Z inverse max: 1.176790 +[16:57:15.588] remove key frame +[16:57:15.588] init seeds +[16:57:15.588] update seed +[16:57:15.588] init seeds +[16:57:15.591] DepthFilter: Initialized 0 new seeds +[16:57:15.593] DepthFilter: Initialized 113 new seeds +[16:57:16.208] add new frame +[16:57:16.208] update seed +[16:57:16.208] If point is visible? -0.093186, -0.162757, -0.524512 +[16:57:16.208] Z inverse min: 4.329425, Z inverse max: 0.018509 +[16:57:16.208] add key frame +[16:57:16.208] remove key frame +[16:57:16.208] init seeds +[16:57:16.208] update seed +[16:57:16.208] init seeds +[16:57:16.211] DepthFilter: Initialized 2 new seeds +[16:57:16.213] DepthFilter: Initialized 95 new seeds +[16:57:25.024] DepthFilter stop thread invoked. +[16:57:25.024] DepthFilter interrupt and join thread diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index 375a11c..5fa6732 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,810 +1,834 @@ -[16:40:48.426] Init: frame zero: 0.000000, 0.000000 0.000000 -[16:40:48.426] Init: Selected first frame. -[16:40:48.532] Init: px average disparity is:0.180039 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:48.532] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:48.629] Init: px average disparity is:0.236903 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:48.629] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:48.725] Init: px average disparity is:0.247999 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:48.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:48.826] Init: px average disparity is:0.304020 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:48.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:48.926] Init: px average disparity is:0.458450 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:48.926] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:49.027] Init: px average disparity is:0.360611 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:49.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:49.126] Init: px average disparity is:0.501986 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:49.126] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:49.228] Init: px average disparity is:0.499503 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:49.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:49.326] Init: px average disparity is:0.496040 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:49.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:49.427] Init: px average disparity is:0.564079 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:49.428] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:49.526] Init: px average disparity is:0.635364 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:49.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:49.627] Init: px average disparity is:0.707101 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:49.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:49.727] Init: px average disparity is:0.692861 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:49.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:49.826] Init: px average disparity is:0.665708 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:49.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:49.925] Init: px average disparity is:0.725993 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:49.925] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:50.025] Init: px average disparity is:0.618970 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:50.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:50.124] Init: px average disparity is:0.643709 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:50.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:50.224] Init: px average disparity is:0.693985 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:50.225] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:50.325] Init: px average disparity is:0.760127 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:50.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:50.425] Init: px average disparity is:0.639421 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:50.425] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:50.526] Init: px average disparity is:0.675828 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:50.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:50.626] Init: px average disparity is:0.685111 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:50.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:50.726] Init: px average disparity is:0.635898 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:50.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:50.825] Init: px average disparity is:0.633533 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:50.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:50.926] Init: px average disparity is:0.687717 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:50.926] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:51.027] Init: px average disparity is:0.582819 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:51.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:51.126] Init: px average disparity is:0.701395 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:51.126] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:51.227] Init: px average disparity is:0.660810 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:51.227] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:51.325] Init: px average disparity is:0.634058 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:51.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:51.426] Init: px average disparity is:0.626220 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:51.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:51.526] Init: px average disparity is:0.691617 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:51.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:51.624] Init: px average disparity is:0.715179 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:51.624] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:51.724] Init: px average disparity is:0.595055 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:51.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:51.826] Init: px average disparity is:0.547822 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:51.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:51.924] Init: px average disparity is:0.633333 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:51.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:52.026] Init: px average disparity is:0.649269 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:52.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:52.124] Init: px average disparity is:0.606178 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:52.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:52.226] Init: px average disparity is:0.577103 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:52.226] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:52.325] Init: px average disparity is:0.703724 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:52.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:52.425] Init: px average disparity is:0.574262 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:52.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:52.525] Init: px average disparity is:0.688359 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:52.525] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:52.625] Init: px average disparity is:0.601962 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:52.625] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:52.726] Init: px average disparity is:0.674725 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:52.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:52.822] Init: px average disparity is:0.663489 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:52.822] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:52.924] Init: px average disparity is:0.709665 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:52.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:53.026] Init: px average disparity is:0.627627 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:53.026] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:53.125] Init: px average disparity is:0.703663 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:53.126] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:53.226] Init: px average disparity is:0.524369 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:53.226] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:53.325] Init: px average disparity is:0.723811 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:53.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:53.417] Init: px average disparity is:0.701386 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:53.417] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:53.529] Init: px average disparity is:0.695519 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:53.529] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:53.626] Init: px average disparity is:0.609904 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:53.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:53.730] Init: px average disparity is:0.655241 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:53.730] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:53.811] Odometry x=-0.000315, y=-0.012623, theta=0.058136 -[16:40:53.826] Init: px average disparity is:0.640421 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:53.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:53.912] Odometry x=-0.000332, y=-0.012868, theta=0.060750 -[16:40:53.926] Init: px average disparity is:0.594451 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:53.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:54.012] Odometry x=-0.000119, y=-0.009295, theta=0.063280 -[16:40:54.026] Init: px average disparity is:0.661276 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:54.026] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:54.113] Odometry x=0.000084, y=-0.005195, theta=0.068812 -[16:40:54.127] Init: px average disparity is:5.136573 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:54.127] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:54.206] Odometry x=0.000366, y=-0.001386, theta=0.065439 -[16:40:54.227] Init: px average disparity is:9.975437 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:54.227] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:54.313] Odometry x=0.000708, y=0.002240, theta=0.056478 -[16:40:54.327] Init: px average disparity is:9.444013 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:54.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:54.410] Odometry x=0.001111, y=0.006061, theta=0.052066 -[16:40:54.431] Init: px average disparity is:10.911169 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:54.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:54.510] Odometry x=0.001409, y=0.009605, theta=0.050043 -[16:40:54.527] Init: px average disparity is:13.731557 ,While minimum is: 40.000000 KLT tracked : 119 -[16:40:54.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:54.611] Odometry x=0.001683, y=0.013238, theta=0.057282 -[16:40:54.627] Init: px average disparity is:17.303048 ,While minimum is: 40.000000 KLT tracked : 118 -[16:40:54.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:54.713] Odometry x=0.001832, y=0.017086, theta=0.052460 -[16:40:54.726] Init: px average disparity is:18.739879 ,While minimum is: 40.000000 KLT tracked : 117 -[16:40:54.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:54.806] Odometry x=0.002043, y=0.021056, theta=0.045945 -[16:40:54.827] Init: px average disparity is:21.151078 ,While minimum is: 40.000000 KLT tracked : 116 -[16:40:54.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:54.912] Odometry x=0.002232, y=0.024370, theta=0.043616 -[16:40:54.926] Init: px average disparity is:23.304610 ,While minimum is: 40.000000 KLT tracked : 116 -[16:40:54.926] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:55.007] Odometry x=0.002546, y=0.028455, theta=0.043675 -[16:40:55.025] Init: px average disparity is:26.207851 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:55.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:55.107] Odometry x=0.002822, y=0.032469, theta=0.047318 -[16:40:55.127] Init: px average disparity is:25.438680 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:55.127] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:55.209] Odometry x=0.003074, y=0.036344, theta=0.054030 -[16:40:55.228] Init: px average disparity is:18.534907 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:55.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:55.310] Odometry x=0.003357, y=0.040194, theta=0.055921 -[16:40:55.326] Init: px average disparity is:15.077748 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:55.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:55.411] Odometry x=0.003611, y=0.043838, theta=0.065643 -[16:40:55.429] Init: px average disparity is:11.815838 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:55.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:55.522] Odometry x=0.003932, y=0.047392, theta=0.072628 -[16:40:55.538] Init: px average disparity is:10.688229 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:55.538] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:55.609] Odometry x=0.001716, y=0.051009, theta=0.031218 -[16:40:55.627] Init: px average disparity is:10.552707 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:55.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:55.715] Odometry x=0.001899, y=0.054656, theta=0.039747 -[16:40:55.728] Init: px average disparity is:10.006608 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:55.728] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:55.809] Odometry x=0.001979, y=0.058412, theta=0.041135 -[16:40:55.828] Init: px average disparity is:11.045814 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:55.829] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:55.912] Odometry x=0.002247, y=0.061833, theta=0.029103 -[16:40:55.920] Init: px average disparity is:13.668932 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:55.920] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:56.011] Odometry x=0.002403, y=0.065548, theta=0.031268 -[16:40:56.019] Init: px average disparity is:14.264462 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:56.019] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:56.114] Odometry x=0.002659, y=0.069365, theta=0.028181 -[16:40:56.129] Init: px average disparity is:15.221798 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:56.130] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:56.213] Odometry x=0.002789, y=0.073027, theta=0.024692 -[16:40:56.229] Init: px average disparity is:17.323704 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:56.229] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:56.312] Odometry x=0.003051, y=0.076732, theta=0.032107 -[16:40:56.328] Init: px average disparity is:16.200760 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:56.328] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:56.411] Odometry x=0.003160, y=0.080513, theta=0.030296 -[16:40:56.428] Init: px average disparity is:20.515656 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:56.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:56.511] Odometry x=0.003327, y=0.084393, theta=0.022000 -[16:40:56.528] Init: px average disparity is:23.089232 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:56.528] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:56.615] Odometry x=0.003404, y=0.088202, theta=0.023823 -[16:40:56.629] Init: px average disparity is:24.072324 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:56.629] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:56.715] Odometry x=0.003519, y=0.092207, theta=0.020137 -[16:40:56.728] Init: px average disparity is:25.174151 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:56.728] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:56.815] Odometry x=0.003612, y=0.096067, theta=0.036275 -[16:40:56.828] Init: px average disparity is:21.005192 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:56.828] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:56.915] Odometry x=0.003845, y=0.099987, theta=0.035974 -[16:40:56.928] Init: px average disparity is:19.614601 ,While minimum is: 40.000000 KLT tracked : 115 -[16:40:56.928] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:57.019] Odometry x=0.003956, y=0.103717, theta=0.054327 -[16:40:57.032] Init: px average disparity is:14.279696 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:57.032] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:57.112] Odometry x=0.004271, y=0.107587, theta=0.071001 -[16:40:57.119] Init: px average disparity is:12.346450 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:57.119] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:57.216] Odometry x=0.001902, y=0.111058, theta=0.046615 -[16:40:57.230] Init: px average disparity is:13.402972 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:57.230] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:57.316] Odometry x=0.002116, y=0.114709, theta=0.062470 -[16:40:57.324] Init: px average disparity is:15.987081 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:57.324] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:57.411] Odometry x=0.002313, y=0.118411, theta=0.055586 -[16:40:57.425] Init: px average disparity is:13.758488 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:57.425] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:57.508] Odometry x=0.002491, y=0.122014, theta=0.058853 -[16:40:57.526] Init: px average disparity is:16.116715 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:57.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:57.614] Odometry x=0.002759, y=0.125427, theta=0.048565 -[16:40:57.630] Init: px average disparity is:14.145615 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:57.630] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:57.707] Odometry x=0.003106, y=0.129343, theta=0.044568 -[16:40:57.729] Init: px average disparity is:14.043955 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:57.729] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:57.808] Odometry x=0.003291, y=0.132812, theta=0.041515 -[16:40:57.828] Init: px average disparity is:15.604550 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:57.828] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:57.906] Odometry x=0.003610, y=0.136327, theta=0.037664 -[16:40:57.930] Init: px average disparity is:16.592214 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:57.930] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:58.012] Odometry x=0.003757, y=0.140415, theta=0.019115 -[16:40:58.037] Init: px average disparity is:23.449684 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:58.037] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:58.112] Odometry x=0.004231, y=0.144035, theta=0.021513 -[16:40:58.125] Init: px average disparity is:22.574838 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:58.125] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:58.214] Odometry x=0.004405, y=0.148115, theta=0.027268 -[16:40:58.220] Init: px average disparity is:21.461218 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:58.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:58.307] Odometry x=0.004593, y=0.151742, theta=0.040476 -[16:40:58.319] Init: px average disparity is:19.463690 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:58.319] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:58.409] Odometry x=0.004767, y=0.155377, theta=0.039739 -[16:40:58.418] Init: px average disparity is:20.382672 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:58.418] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:58.509] Odometry x=0.005056, y=0.159278, theta=0.042832 -[16:40:58.520] Init: px average disparity is:20.760859 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:58.520] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:58.613] Odometry x=0.005304, y=0.163217, theta=0.051806 -[16:40:58.619] Init: px average disparity is:19.600786 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:58.619] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:58.709] Odometry x=0.005658, y=0.167133, theta=0.049136 -[16:40:58.721] Init: px average disparity is:22.187608 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:58.721] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:58.808] Odometry x=0.005931, y=0.170662, theta=0.067637 -[16:40:58.830] Init: px average disparity is:21.528185 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:58.830] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:58.910] Odometry x=0.006430, y=0.174250, theta=0.084908 -[16:40:58.935] Init: px average disparity is:21.330895 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:58.935] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:59.011] Odometry x=0.002889, y=0.178102, theta=0.046058 -[16:40:59.030] Init: px average disparity is:22.620537 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:59.030] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:59.111] Odometry x=0.003216, y=0.181629, theta=0.046524 -[16:40:59.132] Init: px average disparity is:23.454259 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:59.132] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:59.210] Odometry x=0.003419, y=0.185615, theta=0.044651 -[16:40:59.222] Init: px average disparity is:22.501303 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:59.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:59.308] Odometry x=0.003729, y=0.189255, theta=0.040108 -[16:40:59.332] Init: px average disparity is:22.572086 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:59.332] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:59.410] Odometry x=0.003957, y=0.192849, theta=0.038163 -[16:40:59.430] Init: px average disparity is:22.058267 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:59.430] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:59.513] Odometry x=0.004314, y=0.196779, theta=0.036542 -[16:40:59.531] Init: px average disparity is:23.511469 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:59.531] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:59.610] Odometry x=0.004520, y=0.200576, theta=0.037145 -[16:40:59.631] Init: px average disparity is:24.454396 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:59.631] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:59.713] Odometry x=0.004730, y=0.204177, theta=0.033820 -[16:40:59.729] Init: px average disparity is:26.548847 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:59.730] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:59.807] Odometry x=0.004890, y=0.207944, theta=0.028446 -[16:40:59.829] Init: px average disparity is:26.675716 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:59.830] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:40:59.909] Odometry x=0.005107, y=0.211422, theta=0.024521 -[16:40:59.932] Init: px average disparity is:25.631122 ,While minimum is: 40.000000 KLT tracked : 114 -[16:40:59.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:00.010] Odometry x=0.005226, y=0.215226, theta=0.024664 -[16:41:00.031] Init: px average disparity is:23.699713 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:00.031] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:00.111] Odometry x=0.005397, y=0.219032, theta=0.017836 -[16:41:00.134] Init: px average disparity is:24.830997 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:00.134] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:00.212] Odometry x=0.005450, y=0.223002, theta=0.016897 -[16:41:00.230] Init: px average disparity is:25.198499 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:00.230] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:00.308] Odometry x=0.005555, y=0.226792, theta=0.014357 -[16:41:00.329] Init: px average disparity is:26.523793 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:00.329] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:00.407] Odometry x=0.005597, y=0.230661, theta=0.024656 -[16:41:00.431] Init: px average disparity is:25.310277 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:00.431] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:00.511] Odometry x=0.005745, y=0.234389, theta=0.029864 -[16:41:00.529] Init: px average disparity is:26.612717 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:00.529] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:00.609] Odometry x=0.005973, y=0.238292, theta=0.036818 -[16:41:00.631] Init: px average disparity is:26.182313 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:00.631] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:00.715] Odometry x=0.006214, y=0.241917, theta=0.048429 -[16:41:00.730] Init: px average disparity is:27.971842 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:00.730] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:00.812] Odometry x=0.006406, y=0.245896, theta=0.062426 -[16:41:00.829] Init: px average disparity is:28.676399 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:00.830] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:00.907] Odometry x=0.006666, y=0.249598, theta=0.070973 -[16:41:00.929] Init: px average disparity is:31.777546 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:00.929] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:01.011] Odometry x=0.002926, y=0.253044, theta=0.038818 -[16:41:01.040] Init: px average disparity is:29.990076 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:01.040] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:01.111] Odometry x=0.003146, y=0.256823, theta=0.045919 -[16:41:01.130] Init: px average disparity is:29.140964 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:01.130] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:01.211] Odometry x=0.003365, y=0.260711, theta=0.040166 -[16:41:01.230] Init: px average disparity is:29.803489 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:01.230] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:01.310] Odometry x=0.003566, y=0.264469, theta=0.033378 -[16:41:01.327] Init: px average disparity is:32.507392 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:01.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:01.408] Odometry x=0.003652, y=0.268052, theta=0.026469 -[16:41:01.432] Init: px average disparity is:32.407136 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:01.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:01.511] Odometry x=0.003856, y=0.271809, theta=0.018313 -[16:41:01.530] Init: px average disparity is:33.928681 ,While minimum is: 40.000000 KLT tracked : 114 -[16:41:01.530] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:01.609] Odometry x=0.004018, y=0.275519, theta=0.016460 -[16:41:01.640] Init: px average disparity is:36.186426 ,While minimum is: 40.000000 KLT tracked : 113 -[16:41:01.640] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:01.708] Odometry x=0.004183, y=0.279105, theta=0.012329 -[16:41:01.730] Init: px average disparity is:35.936952 ,While minimum is: 40.000000 KLT tracked : 113 -[16:41:01.730] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:01.811] Odometry x=0.004277, y=0.282848, theta=0.022976 -[16:41:01.829] Init: px average disparity is:32.570496 ,While minimum is: 40.000000 KLT tracked : 112 -[16:41:01.829] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:01.909] Odometry x=0.004319, y=0.286603, theta=0.018003 -[16:41:01.932] Init: px average disparity is:29.141144 ,While minimum is: 40.000000 KLT tracked : 110 -[16:41:01.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:02.009] Odometry x=0.004424, y=0.290406, theta=0.026188 -[16:41:02.030] Init: px average disparity is:29.042551 ,While minimum is: 40.000000 KLT tracked : 110 -[16:41:02.030] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:02.114] Odometry x=0.004489, y=0.294297, theta=0.005679 -[16:41:02.130] Init: px average disparity is:34.758604 ,While minimum is: 40.000000 KLT tracked : 110 -[16:41:02.131] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:02.209] Odometry x=0.004590, y=0.298102, theta=0.011238 -[16:41:02.230] Init: px average disparity is:34.776916 ,While minimum is: 40.000000 KLT tracked : 108 -[16:41:02.230] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:02.309] Odometry x=0.004740, y=0.301677, theta=0.023448 -[16:41:02.330] Init: px average disparity is:33.202363 ,While minimum is: 40.000000 KLT tracked : 107 -[16:41:02.330] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:02.407] Odometry x=0.004927, y=0.305479, theta=0.040867 -[16:41:02.420] Init: px average disparity is:31.464470 ,While minimum is: 40.000000 KLT tracked : 106 -[16:41:02.420] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:02.514] Odometry x=0.005100, y=0.309191, theta=0.053331 -[16:41:02.530] Init: px average disparity is:32.963785 ,While minimum is: 40.000000 KLT tracked : 106 -[16:41:02.530] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:02.608] Odometry x=0.005267, y=0.313118, theta=0.062323 -[16:41:02.633] Init: px average disparity is:33.661779 ,While minimum is: 40.000000 KLT tracked : 106 -[16:41:02.633] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:02.708] Odometry x=0.005504, y=0.316635, theta=0.071985 -[16:41:02.732] Init: px average disparity is:35.335995 ,While minimum is: 40.000000 KLT tracked : 106 -[16:41:02.732] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:02.809] Odometry x=0.002469, y=0.320280, theta=0.031864 -[16:41:02.834] Init: px average disparity is:37.231235 ,While minimum is: 40.000000 KLT tracked : 106 -[16:41:02.834] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:02.910] Odometry x=0.002636, y=0.324018, theta=0.041816 -[16:41:02.941] Init: px average disparity is:39.299241 ,While minimum is: 40.000000 KLT tracked : 106 -[16:41:02.941] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:41:03.014] Odometry x=0.002846, y=0.327720, theta=0.050113 -[16:41:03.100] Init finished: Homography RANSAC (inlier) is:52 ,While 30 inliers minimum required. px average disparity is:40.949818 ,While minimum is: 40.000000 KLT tracked: 105 -[16:41:03.100] Init: distance between the first and current frame is x:0.002999 ,z=0.331347,angle between two frames: 0.050964 -[16:41:03.100] Init: Selected Second frame. The number of features: 52 -[16:41:03.114] Image Alignment failed 0 -[16:41:03.115] Odometry x=0.002998, y=0.331318, theta=0.050086 -[16:41:03.212] Odometry x=0.003178, y=0.334891, theta=0.032432 -[16:41:03.253] After Reprojection Map nPoint:38 ,nCell:24 ,nMatches:24 ,distance between two frames x:-0.000001 ,z=-0.000030,angle between two frames:0.000879 -[16:41:03.253] n deleted obs = 9 n obs with reprojection error less than 0.5 px =53 error init =0.182574 error end=0.182574 -[16:41:03.253] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000030,angle between two frames:0.000879 -[16:41:03.253] Update EKF and 3D points, distance between two frames x:0.000019 ,z=0.000403,angle between two frames:0.001942 -[16:41:03.305] Odometry x=0.003142, y=0.334330, theta=0.045112 -[16:41:03.413] After Reprojection Map nPoint:34 ,nCell:34 ,nMatches:0 ,distance between two frames x:0.000525 ,z=0.004026,angle between two frames:0.006513 -[16:41:03.413] After pose optimization, distance between two frames x:0.000525 ,z=0.004026,angle between two frames:0.006513 -[16:41:03.414] Odometry x=0.003394, y=0.337775, theta=0.044251 -[16:41:03.417] Image Alignment failed 0 -[16:41:03.486] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[16:41:03.508] Odometry x=0.003611, y=0.341740, theta=0.037063 -[16:41:03.515] Image Alignment failed 0 -[16:41:03.585] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000147 ,z=0.003662,angle between two frames:0.001606 -[16:41:03.610] Odometry x=0.003766, y=0.345401, theta=0.031506 -[16:41:03.615] Image Alignment failed 0 -[16:41:03.687] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000022 ,z=-0.000005,angle between two frames:0.001389 -[16:41:03.709] Odometry x=0.003864, y=0.349215, theta=0.024623 -[16:41:03.714] Image Alignment failed 0 -[16:41:03.786] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000005,angle between two frames:0.000765 -[16:41:03.812] Odometry x=0.003978, y=0.353058, theta=0.026347 -[16:41:03.814] Image Alignment failed 0 -[16:41:03.886] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000017 ,z=0.000004,angle between two frames:0.001019 -[16:41:03.909] Odometry x=0.004171, y=0.356864, theta=0.022003 -[16:41:03.916] Image Alignment failed 0 -[16:41:03.988] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000108 ,z=0.003779,angle between two frames:0.000953 -[16:41:04.007] Odometry x=0.004339, y=0.360682, theta=0.034976 -[16:41:04.018] Image Alignment failed 0 -[16:41:04.087] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000158 ,z=0.003654,angle between two frames:0.001605 -[16:41:04.107] Odometry x=0.004517, y=0.364261, theta=0.032785 -[16:41:04.116] Image Alignment failed 0 -[16:41:04.186] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000127 ,z=0.003816,angle between two frames:0.000309 -[16:41:04.205] Odometry x=0.004692, y=0.368105, theta=0.043792 -[16:41:04.220] Image Alignment failed 0 -[16:41:04.307] Odometry x=0.004874, y=0.371884, theta=0.052060 -[16:41:04.314] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000149 ,z=0.003821,angle between two frames:0.003652 -[16:41:04.321] Image Alignment failed 0 -[16:41:04.405] Odometry x=0.005102, y=0.375597, theta=0.061073 -[16:41:04.411] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000006,angle between two frames:0.000287 -[16:41:04.416] Image Alignment failed 0 -[16:41:04.493] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000010,angle between two frames:0.000688 -[16:41:04.507] Odometry x=0.005362, y=0.379337, theta=0.070961 -[16:41:04.516] Image Alignment failed 0 -[16:41:04.588] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000283 ,z=0.003803,angle between two frames:0.001094 -[16:41:04.606] Odometry x=0.005657, y=0.383048, theta=0.078437 -[16:41:04.615] Image Alignment failed 0 -[16:41:04.692] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000344 ,z=0.003747,angle between two frames:0.001798 -[16:41:04.704] Odometry x=0.006080, y=0.386722, theta=0.089769 -[16:41:04.716] Image Alignment failed 0 -[16:41:04.796] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000345 ,z=0.003834,angle between two frames:0.003505 -[16:41:04.806] Odometry x=0.006464, y=0.390460, theta=0.103082 -[16:41:04.817] Image Alignment failed 0 -[16:41:04.894] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000417 ,z=0.003748,angle between two frames:0.001440 -[16:41:04.908] Odometry x=0.006865, y=0.394087, theta=0.106206 -[16:41:04.915] Image Alignment failed 0 -[16:41:04.987] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000404 ,z=0.003780,angle between two frames:0.000694 -[16:41:05.006] Odometry x=0.007290, y=0.397686, theta=0.092452 -[16:41:05.016] Image Alignment failed 0 -[16:41:05.086] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000373 ,z=0.003740,angle between two frames:0.002988 -[16:41:05.108] Odometry x=0.007728, y=0.401310, theta=0.085697 -[16:41:05.115] Image Alignment failed 0 -[16:41:05.196] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000337 ,z=0.003759,angle between two frames:0.000055 -[16:41:05.205] Odometry x=0.008147, y=0.404972, theta=0.078887 -[16:41:05.216] Image Alignment failed 0 -[16:41:05.291] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000345 ,z=0.003787,angle between two frames:0.002730 -[16:41:05.309] Odometry x=0.008507, y=0.408685, theta=0.067839 -[16:41:05.317] Image Alignment failed 0 -[16:41:05.387] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000253 ,z=0.003790,angle between two frames:0.000672 -[16:41:05.411] Odometry x=0.008839, y=0.412448, theta=0.069197 -[16:41:05.415] Image Alignment failed 0 -[16:41:05.485] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000021 ,z=-0.000022,angle between two frames:0.000721 -[16:41:05.510] Odometry x=0.009098, y=0.416192, theta=0.070586 -[16:41:05.516] Image Alignment failed 0 -[16:41:05.585] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000265 ,z=0.003807,angle between two frames:0.001164 -[16:41:05.607] Odometry x=0.009437, y=0.419999, theta=0.076013 -[16:41:05.615] Image Alignment failed 0 -[16:41:05.684] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000321 ,z=0.003831,angle between two frames:0.000637 -[16:41:05.708] Odometry x=0.009786, y=0.423846, theta=0.073351 -[16:41:05.721] Image Alignment failed 0 -[16:41:05.794] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000281 ,z=0.003590,angle between two frames:0.000610 -[16:41:05.810] Odometry x=0.010147, y=0.427342, theta=0.080186 -[16:41:05.815] Image Alignment failed 0 -[16:41:05.885] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000333 ,z=0.003944,angle between two frames:0.000986 -[16:41:05.909] Odometry x=0.010501, y=0.431188, theta=0.083068 -[16:41:05.914] Image Alignment failed 0 -[16:41:05.984] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=-0.000023,angle between two frames:0.001765 -[16:41:06.012] Odometry x=0.010875, y=0.435048, theta=0.094048 -[16:41:06.024] Image Alignment failed 0 -[16:41:06.095] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000410 ,z=0.003599,angle between two frames:0.003939 -[16:41:06.115] Odometry x=0.011298, y=0.438600, theta=0.104877 -[16:41:06.119] Image Alignment failed 0 -[16:41:06.191] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000011,angle between two frames:0.001014 -[16:41:06.215] Odometry x=0.011745, y=0.442774, theta=0.112955 -[16:41:06.218] Image Alignment failed 0 -[16:41:06.289] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000010 ,z=-0.000018,angle between two frames:0.001458 -[16:41:06.313] Odometry x=0.012265, y=0.446623, theta=0.123348 -[16:41:06.314] Image Alignment failed 0 -[16:41:06.385] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000003,angle between two frames:0.002682 -[16:41:06.411] Odometry x=0.012741, y=0.450260, theta=0.133346 -[16:41:06.417] Image Alignment failed 0 -[16:41:06.495] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000545 ,z=0.003677,angle between two frames:0.002680 -[16:41:06.505] Odometry x=0.013301, y=0.453852, theta=0.141901 -[16:41:06.514] Image Alignment failed 0 -[16:41:06.584] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000497 ,z=0.003429,angle between two frames:0.000045 -[16:41:06.609] Odometry x=0.013838, y=0.457124, theta=0.138035 -[16:41:06.618] Image Alignment failed 0 -[16:41:06.692] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000602 ,z=0.004023,angle between two frames:0.001456 -[16:41:06.710] Odometry x=0.014452, y=0.461176, theta=0.138679 -[16:41:06.715] Image Alignment failed 0 -[16:41:06.787] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=0.000012,angle between two frames:0.001159 -[16:41:06.810] Odometry x=0.015053, y=0.464635, theta=0.132568 -[16:41:06.814] Image Alignment failed 0 -[16:41:06.885] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000014 ,z=-0.000153,angle between two frames:0.004781 -[16:41:06.911] Odometry x=0.015521, y=0.468243, theta=0.126682 -[16:41:06.915] Image Alignment failed 0 -[16:41:06.984] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000020,angle between two frames:0.000530 -[16:41:07.011] Odometry x=0.016072, y=0.471823, theta=0.114125 -[16:41:07.015] Image Alignment failed 0 -[16:41:07.088] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000038 ,z=-0.000008,angle between two frames:0.005195 -[16:41:07.111] Odometry x=0.016572, y=0.475654, theta=0.107308 -[16:41:07.114] Image Alignment failed 0 -[16:41:07.183] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000016,angle between two frames:0.000247 -[16:41:07.211] Odometry x=0.017051, y=0.479236, theta=0.104180 -[16:41:07.215] Image Alignment failed 0 -[16:41:07.285] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000010 ,z=-0.000041,angle between two frames:0.002166 -[16:41:07.305] Odometry x=0.017477, y=0.482985, theta=0.098889 -[16:41:07.314] Image Alignment failed 0 -[16:41:07.386] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000368 ,z=0.003586,angle between two frames:0.000478 -[16:41:07.410] Odometry x=0.017951, y=0.486552, theta=0.109276 -[16:41:07.415] Image Alignment failed 0 -[16:41:07.485] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000031 ,z=-0.000012,angle between two frames:0.002789 -[16:41:07.511] Odometry x=0.018436, y=0.490475, theta=0.118950 -[16:41:07.515] Image Alignment failed 0 -[16:41:07.584] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.000742 -[16:41:07.606] Odometry x=0.018918, y=0.494437, theta=0.119369 -[16:41:07.614] Image Alignment failed 0 -[16:41:07.683] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000433 ,z=0.003391,angle between two frames:0.000187 -[16:41:07.711] Odometry x=0.019418, y=0.497720, theta=0.116681 -[16:41:07.715] Image Alignment failed 0 -[16:41:07.784] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000013 ,z=-0.000038,angle between two frames:0.000501 -[16:41:07.811] Odometry x=0.019960, y=0.501653, theta=0.124566 -[16:41:07.814] Image Alignment failed 0 -[16:41:07.884] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000032 ,z=-0.000013,angle between two frames:0.001940 -[16:41:07.911] Odometry x=0.020540, y=0.505501, theta=0.131664 -[16:41:07.914] Image Alignment failed 0 -[16:41:07.985] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=-0.000019,angle between two frames:0.001578 -[16:41:08.011] Odometry x=0.021064, y=0.509072, theta=0.142202 -[16:41:08.015] Image Alignment failed 0 -[16:41:08.087] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000013 ,z=-0.000017,angle between two frames:0.001917 -[16:41:08.105] Odometry x=0.021685, y=0.512875, theta=0.151653 -[16:41:08.115] Image Alignment failed 0 -[16:41:08.184] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000540 ,z=0.003385,angle between two frames:0.002422 -[16:41:08.211] Odometry x=0.022231, y=0.516172, theta=0.163425 -[16:41:08.215] Image Alignment failed 0 -[16:41:08.285] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000028,angle between two frames:0.001338 -[16:41:08.310] Odometry x=0.022931, y=0.520141, theta=0.166677 -[16:41:08.317] Image Alignment failed 0 -[16:41:08.393] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000634 ,z=0.003725,angle between two frames:0.001016 -[16:41:08.411] Odometry x=0.023624, y=0.523653, theta=0.176197 -[16:41:08.415] Image Alignment failed 0 -[16:41:08.484] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000017 ,z=-0.000014,angle between two frames:0.002266 -[16:41:08.510] Odometry x=0.024375, y=0.527427, theta=0.181854 -[16:41:08.514] Image Alignment failed 0 -[16:41:08.584] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000000,angle between two frames:0.000375 -[16:41:08.613] Odometry x=0.025160, y=0.530916, theta=0.179700 -[16:41:08.614] Image Alignment failed 0 -[16:41:08.684] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000043 ,z=-0.000116,angle between two frames:0.000034 -[16:41:08.707] Odometry x=0.025843, y=0.534617, theta=0.171994 -[16:41:08.715] Image Alignment failed 0 -[16:41:08.784] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000612 ,z=0.003522,angle between two frames:0.001060 -[16:41:08.813] Odometry x=0.026514, y=0.538024, theta=0.164075 -[16:41:08.814] Image Alignment failed 0 -[16:41:08.883] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000026 ,z=-0.000016,angle between two frames:0.003929 -[16:41:08.909] Odometry x=0.027212, y=0.541916, theta=0.153731 -[16:41:08.916] Image Alignment failed 0 -[16:41:08.991] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000558 ,z=0.003632,angle between two frames:0.000160 -[16:41:09.009] Odometry x=0.027856, y=0.545520, theta=0.151132 -[16:41:09.021] Image Alignment failed 0 -[16:41:09.107] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000591 ,z=0.003726,angle between two frames:0.005210 -[16:41:09.109] Odometry x=0.028483, y=0.549214, theta=0.137817 -[16:41:09.114] Image Alignment failed 0 -[16:41:09.192] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[16:41:09.212] Odometry x=0.029115, y=0.553012, theta=0.152447 -[16:41:09.214] Image Alignment failed 0 -[16:41:09.288] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000028 ,z=0.000012,angle between two frames:0.002202 -[16:41:09.311] Odometry x=0.029785, y=0.556850, theta=0.154216 -[16:41:09.315] Image Alignment failed 0 -[16:41:09.387] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000006,angle between two frames:0.000285 -[16:41:09.411] Odometry x=0.030455, y=0.560632, theta=0.156378 -[16:41:09.415] Image Alignment failed 0 -[16:41:09.485] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000042 ,z=-0.000016,angle between two frames:0.001122 -[16:41:09.511] Odometry x=0.031108, y=0.564312, theta=0.152442 -[16:41:09.515] Image Alignment failed 0 -[16:41:09.585] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000016 ,z=-0.000032,angle between two frames:0.000479 -[16:41:09.613] Odometry x=0.031725, y=0.568080, theta=0.160670 -[16:41:09.615] Image Alignment failed 0 -[16:41:09.686] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000023 ,z=-0.000007,angle between two frames:0.001660 -[16:41:09.710] Odometry x=0.032455, y=0.572015, theta=0.166407 -[16:41:09.715] Image Alignment failed 0 -[16:41:09.793] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000019 ,z=0.000002,angle between two frames:0.001500 -[16:41:09.812] Odometry x=0.033119, y=0.575512, theta=0.175504 -[16:41:09.815] Image Alignment failed 0 -[16:41:09.887] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000014 ,z=-0.000018,angle between two frames:0.001150 -[16:41:09.911] Odometry x=0.033887, y=0.579176, theta=0.187068 -[16:41:09.915] Image Alignment failed 0 -[16:41:09.998] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000013 ,z=-0.000008,angle between two frames:0.002628 -[16:41:10.012] Odometry x=0.034640, y=0.582879, theta=0.196700 -[16:41:10.016] Image Alignment failed 0 -[16:41:10.093] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000018,angle between two frames:0.000941 -[16:41:10.109] Odometry x=0.035421, y=0.586506, theta=0.205316 -[16:41:10.116] Image Alignment failed 0 -[16:41:10.206] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000753 ,z=0.003557,angle between two frames:0.002126 -[16:41:10.215] Odometry x=0.036285, y=0.589933, theta=0.213844 -[16:41:10.218] Image Alignment failed 0 -[16:41:10.312] Odometry x=0.037188, y=0.593795, theta=0.222730 -[16:41:10.319] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000003,angle between two frames:0.000356 -[16:41:10.325] Image Alignment failed 0 -[16:41:10.406] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=-0.000016,angle between two frames:0.000616 -[16:41:10.414] Odometry x=0.038107, y=0.597326, theta=0.229352 -[16:41:10.419] Image Alignment failed 0 -[16:41:10.509] Odometry x=0.038976, y=0.601002, theta=0.226402 -[16:41:10.510] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000006,angle between two frames:0.000096 -[16:41:10.518] Image Alignment failed 0 -[16:41:10.612] Odometry x=0.039821, y=0.604333, theta=0.220985 -[16:41:10.622] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000826 ,z=0.003535,angle between two frames:0.000161 -[16:41:10.629] Image Alignment failed 0 -[16:41:10.705] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000012 ,z=-0.000020,angle between two frames:0.001332 -[16:41:10.709] Odometry x=0.040734, y=0.608175, theta=0.209452 -[16:41:10.717] Image Alignment failed 0 -[16:41:10.796] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000762 ,z=0.003536,angle between two frames:0.000785 -[16:41:10.806] Odometry x=0.041622, y=0.611590, theta=0.204948 -[16:41:10.817] Image Alignment failed 0 -[16:41:10.891] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000814 ,z=0.003694,angle between two frames:0.000818 -[16:41:10.914] Image Alignment failed 0 -[16:41:10.914] Odometry x=0.042470, y=0.615213, theta=0.196386 -[16:41:10.988] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000007 ,z=-0.000022,angle between two frames:0.001272 -[16:41:11.010] Odometry x=0.043350, y=0.619094, theta=0.192565 -[16:41:11.017] Image Alignment failed 0 -[16:41:11.089] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000721 ,z=0.003543,angle between two frames:0.001689 -[16:41:11.112] Odometry x=0.044104, y=0.622602, theta=0.182484 -[16:41:11.116] Image Alignment failed 0 -[16:41:11.193] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000019 ,z=-0.000001,angle between two frames:0.003075 -[16:41:11.209] Odometry x=0.044902, y=0.626519, theta=0.175720 -[16:41:11.217] Image Alignment failed 0 -[16:41:11.289] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000686 ,z=0.003629,angle between two frames:0.001087 -[16:41:11.308] Odometry x=0.045630, y=0.630127, theta=0.164520 -[16:41:11.314] Image Alignment failed 0 -[16:41:11.388] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000647 ,z=0.003749,angle between two frames:0.004774 -[16:41:11.410] Odometry x=0.046348, y=0.633901, theta=0.158542 -[16:41:11.416] Image Alignment failed 0 -[16:41:11.492] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000659 ,z=0.003807,angle between two frames:0.000335 -[16:41:11.510] Odometry x=0.047062, y=0.637656, theta=0.154831 -[16:41:11.515] Image Alignment failed 0 -[16:41:11.590] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000627 ,z=0.003761,angle between two frames:0.000646 -[16:41:11.607] Odometry x=0.047726, y=0.641400, theta=0.153521 -[16:41:11.622] Image Alignment failed 0 -[16:41:11.716] Odometry x=0.048347, y=0.644827, theta=0.151087 -[16:41:11.723] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000567 ,z=0.003608,angle between two frames:0.001548 -[16:41:11.730] Image Alignment failed 0 -[16:41:11.814] Odometry x=0.049030, y=0.648938, theta=0.148716 -[16:41:11.833] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000031,angle between two frames:0.000029 -[16:41:11.839] Image Alignment failed 0 -[16:41:11.913] Odometry x=0.049605, y=0.652504, theta=0.143937 -[16:41:11.943] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000002,angle between two frames:0.000153 -[16:41:11.950] Image Alignment failed 0 -[16:41:12.010] Odometry x=0.050240, y=0.655942, theta=0.156352 -[16:41:12.029] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000012 ,z=-0.000022,angle between two frames:0.001271 -[16:41:12.036] Image Alignment failed 0 -[16:41:12.110] Odometry x=0.050937, y=0.659223, theta=0.168604 -[16:41:12.122] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000015,angle between two frames:0.000641 -[16:41:12.127] Image Alignment failed 0 -[16:41:12.203] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[16:41:12.209] Odometry x=0.051775, y=0.662548, theta=0.184004 -[16:41:12.218] Image Alignment failed 0 -[16:41:12.290] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000713 ,z=0.003879,angle between two frames:0.000938 -[16:41:12.304] Odometry x=0.052465, y=0.666382, theta=0.186868 -[16:41:12.318] Image Alignment failed 0 -[16:41:12.394] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000596 ,z=0.003154,angle between two frames:0.000501 -[16:41:12.411] Odometry x=0.053115, y=0.669436, theta=0.198398 -[16:41:12.414] Image Alignment failed 0 -[16:41:12.507] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000013,angle between two frames:0.002266 -[16:41:12.512] Odometry x=0.054033, y=0.673830, theta=0.203255 -[16:41:12.515] Image Alignment failed 0 -[16:41:12.585] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[16:41:12.612] Odometry x=0.054883, y=0.677458, theta=0.201860 -[16:41:12.615] Image Alignment failed 0 -[16:41:12.686] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000045 ,z=-0.000051,angle between two frames:0.002298 -[16:41:12.711] Odometry x=0.055776, y=0.680995, theta=0.223374 -[16:41:12.715] Image Alignment failed 0 -[16:41:12.786] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000009 ,z=-0.000038,angle between two frames:0.005473 -[16:41:12.811] Odometry x=0.056567, y=0.684545, theta=0.252471 -[16:41:12.819] Image Alignment failed 0 -[16:41:12.891] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000964 ,z=0.003675,angle between two frames:0.007089 -[16:41:12.913] Odometry x=0.057574, y=0.688125, theta=0.259044 -[16:41:12.915] Image Alignment failed 0 -[16:41:12.988] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000030,angle between two frames:0.000282 -[16:41:13.012] Odometry x=0.058556, y=0.691858, theta=0.258583 -[16:41:13.016] Image Alignment failed 0 -[16:41:13.087] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000045,angle between two frames:0.000597 -[16:41:13.111] Odometry x=0.059507, y=0.695214, theta=0.263690 -[16:41:13.116] Image Alignment failed 0 -[16:41:13.188] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000023,angle between two frames:0.001095 -[16:41:13.211] Odometry x=0.060514, y=0.698753, theta=0.273499 -[16:41:13.216] Image Alignment failed 0 -[16:41:13.294] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000014 ,z=-0.000015,angle between two frames:0.001974 -[16:41:13.311] Odometry x=0.061525, y=0.702309, theta=0.281696 -[16:41:13.318] Image Alignment failed 0 -[16:41:13.410] Odometry x=0.062638, y=0.705886, theta=0.283244 -[16:41:13.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001049 ,z=0.003658,angle between two frames:0.000374 -[16:41:13.422] Image Alignment failed 0 -[16:41:13.510] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000009,angle between two frames:0.000626 -[16:41:13.513] Odometry x=0.063741, y=0.709544, theta=0.293775 -[16:41:13.515] Image Alignment failed 0 -[16:41:13.591] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[16:41:13.612] Odometry x=0.064933, y=0.713356, theta=0.301878 -[16:41:13.615] Image Alignment failed 0 -[16:41:13.690] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000048,angle between two frames:0.001795 -[16:41:13.710] Odometry x=0.066023, y=0.716729, theta=0.306838 -[16:41:13.717] Image Alignment failed 0 -[16:41:13.803] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001176 ,z=0.003670,angle between two frames:0.001591 -[16:41:13.813] Odometry x=0.067261, y=0.720288, theta=0.313328 -[16:41:13.822] Image Alignment failed 0 -[16:41:13.894] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001239 ,z=0.003787,angle between two frames:0.000712 -[16:41:13.913] Odometry x=0.068533, y=0.724134, theta=0.316083 -[16:41:13.915] Image Alignment failed 0 -[16:41:13.994] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000010 ,z=-0.000008,angle between two frames:0.000756 -[16:41:14.011] Odometry x=0.069732, y=0.727379, theta=0.309405 -[16:41:14.015] Image Alignment failed 0 -[16:41:14.087] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=-0.000023,angle between two frames:0.001150 -[16:41:14.115] Odometry x=0.070907, y=0.730985, theta=0.306835 -[16:41:14.116] Image Alignment failed 0 -[16:41:14.188] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000003,angle between two frames:0.000294 -[16:41:14.208] Odometry x=0.072115, y=0.734431, theta=0.309474 -[16:41:14.214] Image Alignment failed 0 -[16:41:14.288] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001123 ,z=0.003406,angle between two frames:0.000606 -[16:41:14.310] Odometry x=0.073213, y=0.737819, theta=0.300819 -[16:41:14.315] Image Alignment failed 0 -[16:41:14.390] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001153 ,z=0.003647,angle between two frames:0.002688 -[16:41:14.410] Odometry x=0.074459, y=0.741355, theta=0.291844 -[16:41:14.415] Image Alignment failed 0 -[16:41:14.488] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000015 ,z=-0.000027,angle between two frames:0.000589 -[16:41:14.509] Odometry x=0.075548, y=0.744813, theta=0.281905 -[16:41:14.521] Image Alignment failed 0 -[16:41:14.605] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001062 ,z=0.003605,angle between two frames:0.000043 -[16:41:14.615] Image Alignment failed 0 -[16:41:14.685] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000002,angle between two frames:0.000616 -[16:41:14.714] Image Alignment failed 0 -[16:41:14.783] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000020 ,z=-0.000023,angle between two frames:0.001479 -[16:41:14.814] Image Alignment failed 0 -[16:41:14.885] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=-0.000025,angle between two frames:0.003069 -[16:41:14.914] Image Alignment failed 0 -[16:41:14.985] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000046 ,z=-0.000040,angle between two frames:0.002128 -[16:41:15.017] Image Alignment failed 0 -[16:41:15.089] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000031 ,z=-0.000034,angle between two frames:0.002600 -[16:41:15.119] Image Alignment failed 0 -[16:41:15.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000022 ,z=0.000028,angle between two frames:0.002547 -[16:41:15.224] Image Alignment failed 0 -[16:41:15.322] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000005,angle between two frames:0.000753 -[16:41:15.329] Image Alignment failed 0 -[16:41:15.419] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000004,angle between two frames:0.000619 -[16:41:15.426] Image Alignment failed 0 -[16:41:15.531] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000027,angle between two frames:0.001312 -[16:41:15.536] Image Alignment failed 0 -[16:41:15.608] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[16:41:15.616] Image Alignment failed 0 -[16:41:15.688] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000044,angle between two frames:0.000783 -[16:41:15.715] Image Alignment failed 0 -[16:41:15.786] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=-0.000001,angle between two frames:0.001032 -[16:41:15.816] Image Alignment failed 0 -[16:41:15.886] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000020 ,z=-0.000061,angle between two frames:0.000184 -[16:41:15.915] Image Alignment failed 0 -[16:41:16.002] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000044,angle between two frames:0.000748 -[16:41:16.016] Image Alignment failed 0 -[16:41:16.093] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000022,angle between two frames:0.000382 -[16:41:16.115] Image Alignment failed 0 -[16:41:16.187] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000028,angle between two frames:0.000526 -[16:41:16.214] Image Alignment failed 0 -[16:41:16.287] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000041,angle between two frames:0.000797 -[16:41:16.315] Image Alignment failed 0 -[16:41:16.386] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000034,angle between two frames:0.000643 -[16:41:16.415] Image Alignment failed 0 -[16:41:16.485] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000041,angle between two frames:0.000778 -[16:41:16.516] Image Alignment failed 0 -[16:41:16.597] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000015 ,z=-0.000054,angle between two frames:0.000791 -[16:41:16.615] Image Alignment failed 0 -[16:41:16.687] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000039,angle between two frames:0.000605 -[16:41:16.715] Image Alignment failed 0 -[16:41:16.789] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000047,angle between two frames:0.000743 -[16:41:16.815] Image Alignment failed 0 -[16:41:16.887] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000015 ,z=-0.000054,angle between two frames:0.000860 -[16:41:16.915] Image Alignment failed 0 -[16:41:16.986] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000027,angle between two frames:0.000527 -[16:41:17.015] Image Alignment failed 0 -[16:41:17.085] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=-0.000027,angle between two frames:0.000512 -[16:41:17.115] Image Alignment failed 0 -[16:41:17.185] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000012 ,z=-0.000041,angle between two frames:0.000785 -[16:41:17.217] Image Alignment failed 0 -[16:41:17.306] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000015 ,z=-0.000053,angle between two frames:0.000859 -[16:41:17.315] Image Alignment failed 0 -[16:41:17.385] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=-0.000013,angle between two frames:0.000263 -[16:41:17.415] Image Alignment failed 0 -[16:41:17.486] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000045,angle between two frames:0.000819 -[16:41:17.514] Image Alignment failed 0 -[16:41:17.585] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000036,angle between two frames:0.000667 -[16:41:17.614] Image Alignment failed 0 -[16:41:17.685] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000042,angle between two frames:0.000800 -[16:41:17.715] Image Alignment failed 0 -[16:41:17.791] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000017 ,z=-0.000054,angle between two frames:0.000785 -[16:41:17.817] Image Alignment failed 0 -[16:41:17.892] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000034,angle between two frames:0.000657 -[16:41:17.918] Image Alignment failed 0 -[16:41:17.987] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000036,angle between two frames:0.000581 -[16:41:18.014] Image Alignment failed 0 -[16:41:18.086] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000034,angle between two frames:0.000648 -[16:41:18.115] Image Alignment failed 0 -[16:41:18.184] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000020 ,z=-0.000060,angle between two frames:0.000913 -[16:41:18.216] Image Alignment failed 0 -[16:41:18.296] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000041,angle between two frames:0.000783 -[16:41:18.315] Image Alignment failed 0 -[16:41:18.386] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000027,angle between two frames:0.000527 +[16:56:47.087] Init: frame zero: 0.000000, 0.000000 0.000000 +[16:56:47.087] Init: Selected first frame. +[16:56:47.188] Init: px average disparity is:0.199845 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:47.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:47.281] Init: px average disparity is:0.228584 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:47.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:47.381] Init: px average disparity is:0.247869 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:47.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:47.482] Init: px average disparity is:0.264516 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:47.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:47.582] Init: px average disparity is:0.244909 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:47.582] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:47.681] Init: px average disparity is:0.247212 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:47.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:47.786] Init: px average disparity is:0.245599 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:47.786] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:47.884] Init: px average disparity is:0.243039 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:47.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:47.980] Init: px average disparity is:0.265452 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:47.980] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:48.081] Init: px average disparity is:0.234299 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:48.081] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:48.180] Init: px average disparity is:0.243746 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:48.180] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:48.279] Init: px average disparity is:0.254030 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:48.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:48.380] Init: px average disparity is:0.239410 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:48.380] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:48.480] Init: px average disparity is:0.257267 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:48.480] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:48.580] Init: px average disparity is:0.238989 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:48.580] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:48.680] Init: px average disparity is:0.256103 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:48.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:48.781] Init: px average disparity is:0.261871 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:48.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:48.880] Init: px average disparity is:0.252308 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:48.880] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:48.981] Init: px average disparity is:0.232597 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:48.981] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:49.080] Init: px average disparity is:0.237933 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:49.080] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:49.179] Init: px average disparity is:0.266207 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:49.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:49.279] Init: px average disparity is:0.267942 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:49.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:49.381] Init: px average disparity is:0.241865 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:49.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:49.479] Init: px average disparity is:0.233046 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:49.479] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:49.579] Init: px average disparity is:0.264817 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:49.579] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:49.682] Init: px average disparity is:0.254301 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:49.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:49.780] Init: px average disparity is:0.224649 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:49.780] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:49.882] Init: px average disparity is:0.269531 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:49.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:49.980] Init: px average disparity is:0.232919 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:49.980] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:50.016] Odometry x=0.001748, y=-0.001846, theta=0.046293 +[16:56:50.080] Init: px average disparity is:0.233538 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:50.080] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:50.116] Odometry x=0.001858, y=-0.001908, theta=0.049126 +[16:56:50.180] Init: px average disparity is:0.216412 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:50.180] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:50.217] Odometry x=0.001830, y=-0.005507, theta=0.052242 +[16:56:50.280] Init: px average disparity is:1.668148 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:50.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:50.317] Odometry x=0.001727, y=-0.009872, theta=0.055510 +[16:56:50.381] Init: px average disparity is:5.889293 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:50.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:50.418] Odometry x=0.001632, y=-0.013943, theta=0.064133 +[16:56:50.480] Init: px average disparity is:7.604896 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:50.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:50.517] Odometry x=0.001490, y=-0.018079, theta=0.065692 +[16:56:50.581] Init: px average disparity is:4.900131 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:50.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:50.618] Odometry x=0.001368, y=-0.021957, theta=0.065981 +[16:56:50.680] Init: px average disparity is:5.242668 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:50.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:50.719] Odometry x=0.001295, y=-0.026015, theta=0.068299 +[16:56:50.782] Init: px average disparity is:4.227580 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:50.782] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:50.818] Odometry x=0.000528, y=-0.029837, theta=0.029658 +[16:56:50.882] Init: px average disparity is:5.631726 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:50.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:50.917] Odometry x=0.000539, y=-0.033897, theta=0.022544 +[16:56:50.983] Init: px average disparity is:4.536826 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:50.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:51.017] Odometry x=0.000558, y=-0.037777, theta=0.039868 +[16:56:51.081] Init: px average disparity is:6.439505 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:51.081] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:51.117] Odometry x=0.000595, y=-0.041802, theta=0.039951 +[16:56:51.183] Init: px average disparity is:7.900317 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:51.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:51.217] Odometry x=0.000589, y=-0.045501, theta=0.057023 +[16:56:51.280] Init: px average disparity is:9.271796 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:51.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:51.320] Odometry x=0.000434, y=-0.049494, theta=0.057566 +[16:56:51.382] Init: px average disparity is:12.623408 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:51.382] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:51.419] Odometry x=0.000135, y=-0.053327, theta=0.035957 +[16:56:51.482] Init: px average disparity is:15.328059 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:51.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:51.522] Odometry x=0.000252, y=-0.057327, theta=0.038459 +[16:56:51.583] Init: px average disparity is:13.620907 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:51.583] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:51.616] Odometry x=-0.000035, y=-0.061318, theta=0.043685 +[16:56:51.683] Init: px average disparity is:12.845169 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:51.683] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:51.717] Odometry x=0.000016, y=-0.065465, theta=0.040170 +[16:56:51.784] Init: px average disparity is:11.228482 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:51.784] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:51.817] Odometry x=-0.000014, y=-0.069456, theta=0.037026 +[16:56:51.882] Init: px average disparity is:12.517680 ,While minimum is: 40.000000 KLT tracked : 141 +[16:56:51.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:51.920] Odometry x=-0.000023, y=-0.073584, theta=0.027114 +[16:56:51.982] Init: px average disparity is:12.672291 ,While minimum is: 40.000000 KLT tracked : 140 +[16:56:51.982] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:52.020] Odometry x=0.000088, y=-0.077726, theta=0.015746 +[16:56:52.082] Init: px average disparity is:18.810323 ,While minimum is: 40.000000 KLT tracked : 140 +[16:56:52.082] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:52.131] Odometry x=0.000199, y=-0.082119, theta=-0.001302 +[16:56:52.183] Init: px average disparity is:13.644659 ,While minimum is: 40.000000 KLT tracked : 140 +[16:56:52.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:52.217] Odometry x=0.000506, y=-0.086442, theta=-0.005196 +[16:56:52.282] Init: px average disparity is:13.433403 ,While minimum is: 40.000000 KLT tracked : 140 +[16:56:52.282] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:52.322] Odometry x=0.000629, y=-0.090230, theta=0.006733 +[16:56:52.383] Init: px average disparity is:8.942875 ,While minimum is: 40.000000 KLT tracked : 140 +[16:56:52.383] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:52.420] Odometry x=0.000856, y=-0.094088, theta=0.004129 +[16:56:52.481] Init: px average disparity is:9.564199 ,While minimum is: 40.000000 KLT tracked : 140 +[16:56:52.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:52.520] Odometry x=0.001121, y=-0.098073, theta=0.020498 +[16:56:52.581] Init: px average disparity is:9.621380 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:52.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:52.620] Odometry x=0.001276, y=-0.102021, theta=0.022698 +[16:56:52.682] Init: px average disparity is:10.655478 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:52.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:52.724] Odometry x=0.001333, y=-0.105727, theta=0.046843 +[16:56:52.784] Init: px average disparity is:11.881271 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:52.784] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:52.824] Odometry x=0.001482, y=-0.109798, theta=0.051030 +[16:56:52.882] Init: px average disparity is:10.134313 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:52.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:52.924] Odometry x=0.001336, y=-0.113695, theta=0.053150 +[16:56:52.982] Init: px average disparity is:12.372132 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:52.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:53.024] Odometry x=0.001275, y=-0.117747, theta=0.058155 +[16:56:53.082] Init: px average disparity is:14.799960 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:53.082] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:53.124] Odometry x=0.001031, y=-0.121803, theta=0.067822 +[16:56:53.183] Init: px average disparity is:15.967116 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:53.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:53.224] Odometry x=0.000428, y=-0.125687, theta=0.030984 +[16:56:53.278] Init: px average disparity is:16.881765 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:53.278] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:53.317] Odometry x=0.000283, y=-0.129749, theta=0.032906 +[16:56:53.383] Init: px average disparity is:17.417264 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:53.383] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:53.417] Odometry x=0.000290, y=-0.133622, theta=0.039261 +[16:56:53.483] Init: px average disparity is:17.972542 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:53.483] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:53.516] Odometry x=0.000146, y=-0.137629, theta=0.040263 +[16:56:53.586] Init: px average disparity is:20.458865 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:53.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:53.621] Odometry x=0.000117, y=-0.141583, theta=0.048100 +[16:56:53.685] Init: px average disparity is:23.029251 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:53.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:53.720] Odometry x=-0.000091, y=-0.145625, theta=0.048468 +[16:56:53.785] Init: px average disparity is:21.158786 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:53.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:53.819] Odometry x=-0.000137, y=-0.149689, theta=0.031550 +[16:56:53.885] Init: px average disparity is:20.309493 ,While minimum is: 40.000000 KLT tracked : 139 +[16:56:53.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:53.919] Odometry x=-0.000223, y=-0.153613, theta=0.036548 +[16:56:53.992] Init: px average disparity is:20.115124 ,While minimum is: 40.000000 KLT tracked : 138 +[16:56:53.992] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:54.019] Odometry x=-0.000413, y=-0.157640, theta=0.022272 +[16:56:54.085] Init: px average disparity is:20.367568 ,While minimum is: 40.000000 KLT tracked : 138 +[16:56:54.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:54.118] Odometry x=-0.000283, y=-0.161637, theta=0.015980 +[16:56:54.187] Init: px average disparity is:22.556545 ,While minimum is: 40.000000 KLT tracked : 138 +[16:56:54.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:54.218] Odometry x=-0.000381, y=-0.165710, theta=0.012817 +[16:56:54.287] Init: px average disparity is:22.160010 ,While minimum is: 40.000000 KLT tracked : 138 +[16:56:54.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:54.319] Odometry x=-0.000277, y=-0.169798, theta=0.003755 +[16:56:54.386] Init: px average disparity is:23.012553 ,While minimum is: 40.000000 KLT tracked : 133 +[16:56:54.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:54.418] Odometry x=-0.000329, y=-0.173760, theta=0.012404 +[16:56:54.487] Init: px average disparity is:23.446189 ,While minimum is: 40.000000 KLT tracked : 133 +[16:56:54.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:54.518] Odometry x=-0.000242, y=-0.177762, theta=0.015281 +[16:56:54.586] Init: px average disparity is:22.011711 ,While minimum is: 40.000000 KLT tracked : 133 +[16:56:54.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:54.618] Odometry x=-0.000251, y=-0.181711, theta=0.040094 +[16:56:54.685] Init: px average disparity is:22.996573 ,While minimum is: 40.000000 KLT tracked : 133 +[16:56:54.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:54.718] Odometry x=-0.000262, y=-0.185528, theta=0.044769 +[16:56:54.785] Init: px average disparity is:22.768269 ,While minimum is: 40.000000 KLT tracked : 133 +[16:56:54.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:54.818] Odometry x=-0.000546, y=-0.189502, theta=0.054347 +[16:56:54.884] Init: px average disparity is:24.337389 ,While minimum is: 40.000000 KLT tracked : 132 +[16:56:54.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:54.918] Odometry x=-0.000681, y=-0.193387, theta=0.060758 +[16:56:54.986] Init: px average disparity is:23.094483 ,While minimum is: 40.000000 KLT tracked : 132 +[16:56:54.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:55.018] Odometry x=-0.000957, y=-0.197461, theta=0.063246 +[16:56:55.086] Init: px average disparity is:24.222666 ,While minimum is: 40.000000 KLT tracked : 132 +[16:56:55.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:55.124] Odometry x=-0.001073, y=-0.201378, theta=0.066331 +[16:56:55.186] Init: px average disparity is:23.117713 ,While minimum is: 40.000000 KLT tracked : 132 +[16:56:55.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:55.221] Odometry x=-0.001473, y=-0.205617, theta=0.069284 +[16:56:55.285] Init: px average disparity is:25.206573 ,While minimum is: 40.000000 KLT tracked : 132 +[16:56:55.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:55.318] Odometry x=-0.000616, y=-0.209498, theta=0.032237 +[16:56:55.389] Init: px average disparity is:23.432607 ,While minimum is: 40.000000 KLT tracked : 132 +[16:56:55.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:55.421] Odometry x=-0.000903, y=-0.213591, theta=0.018187 +[16:56:55.484] Init: px average disparity is:24.976364 ,While minimum is: 40.000000 KLT tracked : 132 +[16:56:55.484] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:55.518] Odometry x=-0.000725, y=-0.217456, theta=0.029001 +[16:56:55.587] Init: px average disparity is:23.540417 ,While minimum is: 40.000000 KLT tracked : 132 +[16:56:55.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:55.620] Odometry x=-0.000918, y=-0.221552, theta=0.016630 +[16:56:55.687] Init: px average disparity is:25.422799 ,While minimum is: 40.000000 KLT tracked : 129 +[16:56:55.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:55.720] Odometry x=-0.000904, y=-0.225706, theta=0.002476 +[16:56:55.786] Init: px average disparity is:25.606499 ,While minimum is: 40.000000 KLT tracked : 129 +[16:56:55.786] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:55.822] Odometry x=-0.000798, y=-0.229909, theta=0.003524 +[16:56:55.885] Init: px average disparity is:27.805471 ,While minimum is: 40.000000 KLT tracked : 129 +[16:56:55.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:55.918] Odometry x=-0.001015, y=-0.233660, theta=-0.009173 +[16:56:55.989] Init: px average disparity is:29.274710 ,While minimum is: 40.000000 KLT tracked : 129 +[16:56:55.989] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:56.024] Odometry x=-0.000745, y=-0.237615, theta=-0.016914 +[16:56:56.086] Init: px average disparity is:29.080838 ,While minimum is: 40.000000 KLT tracked : 129 +[16:56:56.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:56.123] Odometry x=-0.000785, y=-0.241570, theta=0.000758 +[16:56:56.185] Init: px average disparity is:28.571370 ,While minimum is: 40.000000 KLT tracked : 129 +[16:56:56.185] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:56.218] Odometry x=-0.000569, y=-0.245722, theta=-0.002792 +[16:56:56.288] Init: px average disparity is:27.890500 ,While minimum is: 40.000000 KLT tracked : 129 +[16:56:56.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:56.319] Odometry x=-0.000727, y=-0.249482, theta=0.023446 +[16:56:56.386] Init: px average disparity is:27.323397 ,While minimum is: 40.000000 KLT tracked : 129 +[16:56:56.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:56.419] Odometry x=-0.000718, y=-0.253662, theta=0.025499 +[16:56:56.488] Init: px average disparity is:26.864283 ,While minimum is: 40.000000 KLT tracked : 129 +[16:56:56.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:56.525] Odometry x=-0.000854, y=-0.257585, theta=0.047857 +[16:56:56.587] Init: px average disparity is:27.671257 ,While minimum is: 40.000000 KLT tracked : 129 +[16:56:56.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:56.618] Odometry x=-0.000999, y=-0.261466, theta=0.053275 +[16:56:56.687] Init: px average disparity is:27.577535 ,While minimum is: 40.000000 KLT tracked : 129 +[16:56:56.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:56.718] Odometry x=-0.001273, y=-0.265342, theta=0.052462 +[16:56:56.790] Init: px average disparity is:28.541893 ,While minimum is: 40.000000 KLT tracked : 129 +[16:56:56.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:56.824] Odometry x=-0.001380, y=-0.269318, theta=0.053591 +[16:56:56.889] Init: px average disparity is:28.339669 ,While minimum is: 40.000000 KLT tracked : 129 +[16:56:56.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:56.922] Odometry x=-0.001619, y=-0.273381, theta=0.054341 +[16:56:56.990] Init: px average disparity is:29.375958 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:56.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:57.018] Odometry x=-0.001716, y=-0.277285, theta=0.047431 +[16:56:57.087] Init: px average disparity is:29.436318 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:57.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:57.123] Odometry x=-0.002021, y=-0.281255, theta=0.048654 +[16:56:57.187] Init: px average disparity is:30.050139 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:57.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:57.219] Odometry x=-0.002118, y=-0.285362, theta=0.040875 +[16:56:57.288] Init: px average disparity is:31.933067 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:57.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:57.320] Odometry x=-0.002281, y=-0.289207, theta=0.044516 +[16:56:57.386] Init: px average disparity is:31.196739 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:57.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:57.423] Odometry x=-0.002477, y=-0.293131, theta=0.044912 +[16:56:57.487] Init: px average disparity is:33.847034 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:57.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:57.524] Odometry x=-0.002510, y=-0.297018, theta=0.032715 +[16:56:57.587] Init: px average disparity is:32.836846 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:57.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:57.618] Odometry x=-0.002781, y=-0.301129, theta=0.029614 +[16:56:57.687] Init: px average disparity is:36.742226 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:57.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:57.719] Odometry x=-0.002692, y=-0.304867, theta=0.029751 +[16:56:57.788] Init: px average disparity is:33.684067 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:57.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:57.820] Odometry x=-0.002990, y=-0.308861, theta=0.039648 +[16:56:57.886] Init: px average disparity is:36.308023 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:57.886] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:57.922] Odometry x=-0.002959, y=-0.312797, theta=0.033273 +[16:56:57.988] Init: px average disparity is:35.402450 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:57.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:58.018] Odometry x=-0.003221, y=-0.317000, theta=0.050796 +[16:56:58.088] Init: px average disparity is:35.080882 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:58.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:58.117] Odometry x=-0.003375, y=-0.320814, theta=0.046080 +[16:56:58.190] Init: px average disparity is:33.866669 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:58.190] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:58.219] Odometry x=-0.003647, y=-0.324776, theta=0.064601 +[16:56:58.280] Init: px average disparity is:34.136894 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:58.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:58.318] Odometry x=-0.001494, y=-0.328705, theta=0.031319 +[16:56:58.387] Init: px average disparity is:33.815742 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:58.387] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:58.418] Odometry x=-0.001661, y=-0.332476, theta=0.047700 +[16:56:58.487] Init: px average disparity is:34.465015 ,While minimum is: 40.000000 KLT tracked : 128 +[16:56:58.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:58.518] Odometry x=-0.001637, y=-0.336670, theta=0.056361 +[16:56:58.590] Init: px average disparity is:35.652162 ,While minimum is: 40.000000 KLT tracked : 123 +[16:56:58.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:58.617] Odometry x=-0.001928, y=-0.340685, theta=0.056105 +[16:56:58.689] Init: px average disparity is:35.245859 ,While minimum is: 40.000000 KLT tracked : 123 +[16:56:58.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:58.721] Odometry x=-0.001971, y=-0.344761, theta=0.066375 +[16:56:58.792] Init: px average disparity is:36.054419 ,While minimum is: 40.000000 KLT tracked : 119 +[16:56:58.792] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:58.819] Odometry x=-0.002205, y=-0.348495, theta=0.062097 +[16:56:58.887] Init: px average disparity is:35.766178 ,While minimum is: 40.000000 KLT tracked : 119 +[16:56:58.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:58.919] Odometry x=-0.002272, y=-0.352565, theta=0.067690 +[16:56:58.990] Init: px average disparity is:37.025734 ,While minimum is: 40.000000 KLT tracked : 119 +[16:56:58.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:59.019] Odometry x=-0.002597, y=-0.356386, theta=0.063527 +[16:56:59.089] Init: px average disparity is:39.402319 ,While minimum is: 40.000000 KLT tracked : 118 +[16:56:59.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:59.119] Odometry x=-0.002604, y=-0.360311, theta=0.053191 +[16:56:59.189] Init: px average disparity is:39.908562 ,While minimum is: 40.000000 KLT tracked : 118 +[16:56:59.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:59.219] Odometry x=-0.002913, y=-0.364224, theta=0.057275 +[16:56:59.318] Odometry x=-0.002933, y=-0.368153, theta=0.032662 +[16:56:59.359] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required. px average disparity is:42.799618 ,While minimum is: 40.000000 KLT tracked: 117 +[16:56:59.359] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:59.421] Odometry x=-0.003066, y=-0.372017, theta=0.044534 +[16:56:59.443] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required. px average disparity is:42.733281 ,While minimum is: 40.000000 KLT tracked: 117 +[16:56:59.443] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:59.518] Odometry x=-0.003089, y=-0.375886, theta=0.042443 +[16:56:59.543] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:44.212266 ,While minimum is: 40.000000 KLT tracked: 117 +[16:56:59.543] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:59.621] Odometry x=-0.003235, y=-0.379836, theta=0.061590 +[16:56:59.640] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:41.919257 ,While minimum is: 40.000000 KLT tracked: 117 +[16:56:59.640] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:59.719] Odometry x=-0.003338, y=-0.383913, theta=0.057502 +[16:56:59.741] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:43.720157 ,While minimum is: 40.000000 KLT tracked: 117 +[16:56:59.741] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:59.818] Odometry x=-0.003577, y=-0.387721, theta=0.080515 +[16:56:59.841] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:40.664316 ,While minimum is: 40.000000 KLT tracked: 116 +[16:56:59.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:56:59.921] Odometry x=-0.003721, y=-0.391560, theta=0.096118 +[16:56:59.940] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:41.536004 ,While minimum is: 40.000000 KLT tracked: 116 +[16:56:59.941] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:00.022] Odometry x=-0.004241, y=-0.395581, theta=0.091328 +[16:57:00.041] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:40.484126 ,While minimum is: 40.000000 KLT tracked: 116 +[16:57:00.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:00.120] Odometry x=-0.004406, y=-0.399443, theta=0.105963 +[16:57:00.140] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:42.972791 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:00.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:00.218] Odometry x=-0.004758, y=-0.403410, theta=0.091724 +[16:57:00.241] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:42.124904 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:00.241] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:00.316] Odometry x=-0.004980, y=-0.407058, theta=0.101284 +[16:57:00.341] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:43.877975 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:00.341] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:00.414] Odometry x=-0.005281, y=-0.411017, theta=0.094386 +[16:57:00.442] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:43.138903 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:00.442] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:00.523] Odometry x=-0.005637, y=-0.414845, theta=0.102645 +[16:57:00.540] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:45.000427 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:00.540] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:00.620] Odometry x=-0.005895, y=-0.419047, theta=0.104206 +[16:57:00.641] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:43.806255 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:00.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:00.721] Odometry x=-0.006352, y=-0.422797, theta=0.102488 +[16:57:00.739] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:42.862623 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:00.739] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:00.819] Odometry x=-0.006467, y=-0.426652, theta=0.092999 +[16:57:00.840] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:44.241816 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:00.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:00.918] Odometry x=-0.006937, y=-0.430801, theta=0.093203 +[16:57:00.939] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:43.744958 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:00.939] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:01.017] Odometry x=-0.007161, y=-0.434686, theta=0.074563 +[16:57:01.040] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:47.034720 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:01.040] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:01.117] Odometry x=-0.007478, y=-0.438573, theta=0.079855 +[16:57:01.140] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:46.988252 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:01.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:01.220] Odometry x=-0.007721, y=-0.442449, theta=0.080750 +[16:57:01.240] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:49.191608 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:01.240] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:01.318] Odometry x=-0.007989, y=-0.446442, theta=0.094894 +[16:57:01.342] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:50.458442 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:01.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:01.417] Odometry x=-0.008269, y=-0.450400, theta=0.090314 +[16:57:01.445] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:50.910475 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:01.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:01.520] Odometry x=-0.008561, y=-0.454282, theta=0.097253 +[16:57:01.542] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:50.026571 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:01.542] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:01.618] Odometry x=-0.008816, y=-0.458317, theta=0.106177 +[16:57:01.642] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:48.747043 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:01.642] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:01.716] Odometry x=-0.009344, y=-0.462087, theta=0.120254 +[16:57:01.742] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:48.211866 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:01.742] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:01.819] Odometry x=-0.009683, y=-0.465887, theta=0.138566 +[16:57:01.840] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:47.226457 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:01.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:01.916] Odometry x=-0.010273, y=-0.469823, theta=0.137745 +[16:57:01.940] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:47.204117 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:01.940] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:02.019] Odometry x=-0.010690, y=-0.473533, theta=0.155984 +[16:57:02.041] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required. px average disparity is:46.898639 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:02.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:02.118] Odometry x=-0.011223, y=-0.477441, theta=0.145973 +[16:57:02.140] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required. px average disparity is:47.868773 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:02.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:02.221] Odometry x=-0.011838, y=-0.481456, theta=0.150806 +[16:57:02.241] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required. px average disparity is:47.294273 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:02.241] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:02.320] Odometry x=-0.012345, y=-0.485334, theta=0.152724 +[16:57:02.340] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required. px average disparity is:48.700626 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:02.340] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:02.418] Odometry x=-0.012997, y=-0.489307, theta=0.149647 +[16:57:02.441] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:48.353654 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:02.441] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:02.521] Odometry x=-0.013521, y=-0.493160, theta=0.152365 +[16:57:02.541] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required. px average disparity is:51.413175 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:02.541] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:02.623] Odometry x=-0.014160, y=-0.497130, theta=0.142399 +[16:57:02.641] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:48.726179 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:02.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:02.716] Odometry x=-0.014655, y=-0.500996, theta=0.144415 +[16:57:02.740] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:49.939785 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:02.740] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:02.817] Odometry x=-0.015196, y=-0.504841, theta=0.138633 +[16:57:02.840] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:48.905919 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:02.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:02.920] Odometry x=-0.015702, y=-0.508799, theta=0.133739 +[16:57:02.941] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:50.259221 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:02.941] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:03.014] Odometry x=-0.016313, y=-0.512975, theta=0.132449 +[16:57:03.043] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:50.525339 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:03.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:03.122] Odometry x=-0.016774, y=-0.516729, theta=0.129860 +[16:57:03.140] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:51.588312 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:03.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:03.234] Odometry x=-0.017269, y=-0.520933, theta=0.127142 +[16:57:03.241] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:53.369681 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:03.241] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:03.317] Odometry x=-0.017740, y=-0.525162, theta=0.131926 +[16:57:03.342] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:55.476506 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:03.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:03.430] Odometry x=-0.018188, y=-0.528566, theta=0.138793 +[16:57:03.445] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:55.603795 ,While minimum is: 40.000000 KLT tracked: 114 +[16:57:03.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:03.523] Odometry x=-0.018758, y=-0.532754, theta=0.145018 +[16:57:03.541] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:54.641108 ,While minimum is: 40.000000 KLT tracked: 112 +[16:57:03.541] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:03.622] Odometry x=-0.019305, y=-0.536573, theta=0.146286 +[16:57:03.641] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required. px average disparity is:55.714571 ,While minimum is: 40.000000 KLT tracked: 112 +[16:57:03.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:03.719] Odometry x=-0.019782, y=-0.540184, theta=0.158947 +[16:57:03.740] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:56.139668 ,While minimum is: 40.000000 KLT tracked: 112 +[16:57:03.740] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:57:03.819] Odometry x=-0.020360, y=-0.544179, theta=0.177084 +[16:57:03.840] Init finished: Homography RANSAC (inlier) is:30 ,While 30 inliers minimum required. px average disparity is:54.009591 ,While minimum is: 40.000000 KLT tracked: 111 +[16:57:03.840] Init: distance between the first and current frame is x:-0.021045 ,z=-0.548093,angle between two frames: 0.179187 +[16:57:03.840] Init: Selected Second frame. The number of features: 30 +[16:57:03.915] Odometry x=-0.021006, y=-0.548187, theta=0.186057 +[16:57:04.011] After Reprojection Map nPoint:31 ,nCell:14 ,nMatches:9 ,distance between two frames x:-0.000011 ,z=-0.000017,angle between two frames:0.002546 +[16:57:04.011] n deleted obs = 8 n obs with reprojection error less than 0.5 px =23 error init =0.320186 error end=0.306870 +[16:57:04.011] After pose optimization, distance between two frames x:-0.044057 ,z=0.011984,angle between two frames:0.018650 +[16:57:04.019] Odometry x=-0.021638, y=-0.551806, theta=0.197303 +[16:57:04.118] Odometry x=-0.022426, y=-0.556072, theta=0.195814 +[16:57:04.161] After Reprojection Map nPoint:29 ,nCell:23 ,nMatches:7 ,distance between two frames x:0.001225 ,z=0.000604,angle between two frames:0.000808 +[16:57:04.161] n deleted obs = 3 n obs with reprojection error less than 0.5 px =14 error init =0.332397 error end=0.287844 +[16:57:04.161] After pose optimization, distance between two frames x:-0.029314 ,z=0.041206,angle between two frames:0.005888 +[16:57:04.221] Odometry x=-0.023161, y=-0.559878, theta=0.206286 +[16:57:04.305] After Reprojection Map nPoint:29 ,nCell:25 ,nMatches:9 ,distance between two frames x:-0.000469 ,z=0.000091,angle between two frames:0.000607 +[16:57:04.306] n deleted obs = 4 n obs with reprojection error less than 0.5 px =17 error init =0.404105 error end=0.306786 +[16:57:04.306] After pose optimization, distance between two frames x:-0.078383 ,z=0.119370,angle between two frames:0.020204 +[16:57:04.320] Odometry x=-0.023770, y=-0.563553, theta=0.208526 +[16:57:04.419] Odometry x=-0.024662, y=-0.567688, theta=0.199490 +[16:57:04.452] After Reprojection Map nPoint:26 ,nCell:23 ,nMatches:9 ,distance between two frames x:-0.001145 ,z=-0.000128,angle between two frames:0.000452 +[16:57:04.453] n deleted obs = 5 n obs with reprojection error less than 0.5 px =14 error init =0.392450 error end=0.276496 +[16:57:04.453] After pose optimization, distance between two frames x:-0.084639 ,z=0.114951,angle between two frames:0.016781 +[16:57:04.521] Odometry x=-0.025372, y=-0.571478, theta=0.192947 +[16:57:04.597] After Reprojection Map nPoint:25 ,nCell:21 ,nMatches:8 ,distance between two frames x:-0.002004 ,z=-0.000369,angle between two frames:0.001182 +[16:57:04.598] n deleted obs = 3 n obs with reprojection error less than 0.5 px =15 error init =0.333162 error end=0.211289 +[16:57:04.598] After pose optimization, distance between two frames x:-0.081410 ,z=0.156270,angle between two frames:0.008023 +[16:57:04.619] Odometry x=-0.026146, y=-0.575497, theta=0.192885 +[16:57:04.719] Odometry x=-0.026835, y=-0.579372, theta=0.187491 +[16:57:04.743] After Reprojection Map nPoint:32 ,nCell:28 ,nMatches:12 ,distance between two frames x:-0.000748 ,z=-0.000129,angle between two frames:0.000402 +[16:57:04.744] n deleted obs = 8 n obs with reprojection error less than 0.5 px =18 error init =0.453924 error end=0.272833 +[16:57:04.744] After pose optimization, distance between two frames x:-0.145987 ,z=0.201035,angle between two frames:0.055548 +[16:57:04.818] Odometry x=-0.027496, y=-0.583251, theta=0.179033 +[16:57:04.890] After Reprojection Map nPoint:35 ,nCell:31 ,nMatches:11 ,distance between two frames x:0.001649 ,z=0.000677,angle between two frames:0.000484 +[16:57:04.890] n deleted obs = 7 n obs with reprojection error less than 0.5 px =18 error init =0.439960 error end=0.321213 +[16:57:04.890] After pose optimization, distance between two frames x:-0.078617 ,z=0.102380,angle between two frames:0.010314 +[16:57:04.917] Odometry x=-0.028168, y=-0.587159, theta=0.172317 +[16:57:05.018] Odometry x=-0.028729, y=-0.591077, theta=0.171013 +[16:57:05.036] After Reprojection Map nPoint:31 ,nCell:26 ,nMatches:11 ,distance between two frames x:-0.000474 ,z=-0.000073,angle between two frames:0.000689 +[16:57:05.037] n deleted obs = 5 n obs with reprojection error less than 0.5 px =19 error init =0.419491 error end=0.302210 +[16:57:05.037] After pose optimization, distance between two frames x:-0.073334 ,z=0.114291,angle between two frames:0.008850 +[16:57:05.120] Odometry x=-0.029387, y=-0.595004, theta=0.174559 +[16:57:05.188] After Reprojection Map nPoint:31 ,nCell:26 ,nMatches:10 ,distance between two frames x:0.002253 ,z=0.000560,angle between two frames:0.001314 +[16:57:05.189] n deleted obs = 6 n obs with reprojection error less than 0.5 px =16 error init =0.443003 error end=0.332857 +[16:57:05.189] After pose optimization, distance between two frames x:-0.058298 ,z=0.132800,angle between two frames:0.030072 +[16:57:05.218] Odometry x=-0.030043, y=-0.598864, theta=0.188462 +[16:57:05.319] Odometry x=-0.030728, y=-0.602719, theta=0.198780 +[16:57:05.339] After Reprojection Map nPoint:31 ,nCell:24 ,nMatches:9 ,distance between two frames x:0.004000 ,z=0.001724,angle between two frames:0.003083 +[16:57:05.339] n deleted obs = 6 n obs with reprojection error less than 0.5 px =15 error init =0.901406 error end=0.818028 +[16:57:05.339] After pose optimization, distance between two frames x:-0.054497 ,z=0.037545,angle between two frames:0.014091 +[16:57:05.421] Odometry x=-0.031498, y=-0.606514, theta=0.219147 +[16:57:05.486] After Reprojection Map nPoint:30 ,nCell:26 ,nMatches:9 ,distance between two frames x:-0.000246 ,z=0.000014,angle between two frames:0.000079 +[16:57:05.487] n deleted obs = 5 n obs with reprojection error less than 0.5 px =16 error init =0.417430 error end=0.296814 +[16:57:05.487] After pose optimization, distance between two frames x:-0.070377 ,z=0.107558,angle between two frames:0.020433 +[16:57:05.519] Odometry x=-0.032325, y=-0.610511, theta=0.230366 +[16:57:05.616] Odometry x=-0.033141, y=-0.614246, theta=0.241339 +[16:57:05.643] After Reprojection Map nPoint:31 ,nCell:28 ,nMatches:10 ,distance between two frames x:-0.000736 ,z=-0.000216,angle between two frames:0.000213 +[16:57:05.644] n deleted obs = 6 n obs with reprojection error less than 0.5 px =17 error init =0.524247 error end=0.340504 +[16:57:05.644] After pose optimization, distance between two frames x:-0.119881 ,z=0.155360,angle between two frames:0.013792 +[16:57:05.719] Odometry x=-0.033988, y=-0.617995, theta=0.242211 +[16:57:05.791] After Reprojection Map nPoint:30 ,nCell:24 ,nMatches:10 ,distance between two frames x:0.000225 ,z=0.000154,angle between two frames:0.000244 +[16:57:05.792] n deleted obs = 6 n obs with reprojection error less than 0.5 px =17 error init =0.894112 error end=0.345368 +[16:57:05.792] After pose optimization, distance between two frames x:-0.176334 ,z=0.244320,angle between two frames:0.120512 +[16:57:05.821] Odometry x=-0.034907, y=-0.621891, theta=0.240063 +[16:57:05.919] Odometry x=-0.035778, y=-0.625814, theta=0.243675 +[16:57:05.937] After Reprojection Map nPoint:30 ,nCell:27 ,nMatches:11 ,distance between two frames x:0.000269 ,z=0.000170,angle between two frames:0.000490 +[16:57:05.937] n deleted obs = 5 n obs with reprojection error less than 0.5 px =17 error init =0.437482 error end=0.316087 +[16:57:05.937] After pose optimization, distance between two frames x:-0.064134 ,z=0.145069,angle between two frames:0.036484 +[16:57:06.019] Odometry x=-0.036656, y=-0.629517, theta=0.240250 +[16:57:06.082] After Reprojection Map nPoint:26 ,nCell:25 ,nMatches:9 ,distance between two frames x:-0.000954 ,z=-0.000218,angle between two frames:0.000525 +[16:57:06.082] n deleted obs = 6 n obs with reprojection error less than 0.5 px =13 error init =0.598469 error end=0.471030 +[16:57:06.082] After pose optimization, distance between two frames x:-0.084128 ,z=0.103365,angle between two frames:0.018333 +[16:57:06.119] Odometry x=-0.037575, y=-0.633114, theta=0.238920 +[16:57:06.215] Odometry x=-0.038567, y=-0.637235, theta=0.235605 +[16:57:06.226] After Reprojection Map nPoint:29 ,nCell:23 ,nMatches:8 ,distance between two frames x:-0.000292 ,z=-0.000047,angle between two frames:0.000140 +[16:57:06.227] n deleted obs = 5 n obs with reprojection error less than 0.5 px =16 error init =0.488488 error end=0.299266 +[16:57:06.227] After pose optimization, distance between two frames x:-0.084316 ,z=0.189263,angle between two frames:0.082876 +[16:57:06.319] Odometry x=-0.039446, y=-0.640984, theta=0.232506 +[16:57:06.374] After Reprojection Map nPoint:33 ,nCell:31 ,nMatches:11 ,distance between two frames x:0.001414 ,z=0.000845,angle between two frames:0.000858 +[16:57:06.374] n deleted obs = 7 n obs with reprojection error less than 0.5 px =16 error init =0.470497 error end=0.452040 +[16:57:06.374] After pose optimization, distance between two frames x:-0.054791 ,z=0.016222,angle between two frames:0.023115 +[16:57:06.423] Odometry x=-0.040385, y=-0.645011, theta=0.232381 +[16:57:06.518] Odometry x=-0.041277, y=-0.648930, theta=0.230315 +[16:57:06.518] After Reprojection Map nPoint:31 ,nCell:26 ,nMatches:9 ,distance between two frames x:-0.000567 ,z=-0.000022,angle between two frames:0.000199 +[16:57:06.518] n deleted obs = 6 n obs with reprojection error less than 0.5 px =14 error init =0.472911 error end=0.416737 +[16:57:06.518] After pose optimization, distance between two frames x:-0.058418 ,z=0.015028,angle between two frames:0.023782 +[16:57:06.613] Odometry x=-0.042128, y=-0.652635, theta=0.228827 +[16:57:06.661] After Reprojection Map nPoint:29 ,nCell:24 ,nMatches:8 ,distance between two frames x:-0.000904 ,z=-0.000101,angle between two frames:0.000348 +[16:57:06.661] n deleted obs = 7 n obs with reprojection error less than 0.5 px =11 error init =0.480341 error end=0.480341 +[16:57:06.661] After pose optimization, distance between two frames x:-0.000904 ,z=-0.000101,angle between two frames:0.000348 +[16:57:06.661] Update EKF and 3D points, distance between two frames x:-0.000949 ,z=-0.000518,angle between two frames:0.000584 +[16:57:06.719] Odometry x=-0.042509, y=-0.652019, theta=0.227237 +[16:57:06.808] After Reprojection Map nPoint:29 ,nCell:28 ,nMatches:11 ,distance between two frames x:-0.002960 ,z=-0.003318,angle between two frames:0.002998 +[16:57:06.809] n deleted obs = 10 n obs with reprojection error less than 0.5 px =12 error init =0.884337 error end=0.437390 +[16:57:06.809] After pose optimization, distance between two frames x:-0.133865 ,z=0.190830,angle between two frames:0.036201 +[16:57:06.814] Odometry x=-0.043457, y=-0.656211, theta=0.223775 +[16:57:06.916] Odometry x=-0.044256, y=-0.659937, theta=0.222031 +[16:57:06.953] After Reprojection Map nPoint:29 ,nCell:24 ,nMatches:10 ,distance between two frames x:0.000259 ,z=0.000139,angle between two frames:0.000164 +[16:57:06.953] n deleted obs = 13 n obs with reprojection error less than 0.5 px =12 error init =0.991870 error end=0.991870 +[16:57:06.953] After pose optimization, distance between two frames x:0.000259 ,z=0.000139,angle between two frames:0.000164 +[16:57:06.953] Update EKF and 3D points, distance between two frames x:0.000148 ,z=-0.000307,angle between two frames:0.000129 +[16:57:07.019] Odometry x=-0.043969, y=-0.659322, theta=0.226920 +[16:57:07.115] After Reprojection Map nPoint:32 ,nCell:22 ,nMatches:9 ,distance between two frames x:0.000366 ,z=0.000288,angle between two frames:0.000267 +[16:57:07.115] n deleted obs = 13 n obs with reprojection error less than 0.5 px =13 error init =1.075156 error end=1.075156 +[16:57:07.115] After pose optimization, distance between two frames x:0.000366 ,z=0.000288,angle between two frames:0.000267 +[16:57:07.115] Update EKF and 3D points, distance between two frames x:0.000258 ,z=-0.000114,angle between two frames:0.000592 +[16:57:07.120] Odometry x=-0.043716, y=-0.659116, theta=0.226605 +[16:57:07.217] Odometry x=-0.044589, y=-0.662854, theta=0.230779 +[16:57:07.261] After Reprojection Map nPoint:34 ,nCell:23 ,nMatches:8 ,distance between two frames x:-0.001247 ,z=-0.002600,angle between two frames:0.001889 +[16:57:07.263] n deleted obs = 11 n obs with reprojection error less than 0.5 px =16 error init =1.683323 error end=0.610423 +[16:57:07.263] After pose optimization, distance between two frames x:-0.127539 ,z=0.293230,angle between two frames:0.220580 +[16:57:07.320] Odometry x=-0.045453, y=-0.666570, theta=0.247918 +[16:57:07.412] After Reprojection Map nPoint:37 ,nCell:26 ,nMatches:14 ,distance between two frames x:0.000582 ,z=0.000379,angle between two frames:0.001197 +[16:57:07.412] n deleted obs = 28 n obs with reprojection error less than 0.5 px =7 error init =1.833810 error end=0.934215 +[16:57:07.412] After pose optimization, distance between two frames x:-0.281233 ,z=0.099094,angle between two frames:0.100665 +[16:57:07.417] Odometry x=-0.046366, y=-0.670380, theta=0.262991 +[16:57:07.519] Odometry x=-0.047350, y=-0.674162, theta=0.275379 +[16:57:07.564] After Reprojection Map nPoint:34 ,nCell:19 ,nMatches:15 ,distance between two frames x:0.000253 ,z=0.000146,angle between two frames:0.000137 +[16:57:07.565] n deleted obs = 19 n obs with reprojection error less than 0.5 px =22 error init =2.921414 error end=0.693298 +[16:57:07.565] After pose optimization, distance between two frames x:-0.403667 ,z=0.519699,angle between two frames:0.521608 +[16:57:07.617] Odometry x=-0.048354, y=-0.677981, theta=0.285735 +[16:57:07.710] After Reprojection Map nPoint:41 ,nCell:28 ,nMatches:14 ,distance between two frames x:-0.000268 ,z=-0.000118,angle between two frames:0.000334 +[16:57:07.712] n deleted obs = 4 n obs with reprojection error less than 0.5 px =32 error init =2.828647 error end=0.248795 +[16:57:07.712] After pose optimization, distance between two frames x:-0.383334 ,z=0.801532,angle between two frames:0.265850 +[16:57:07.715] Odometry x=-0.049379, y=-0.681786, theta=0.286618 +[16:57:07.816] Odometry x=-0.050363, y=-0.685504, theta=0.287190 +[16:57:07.864] After Reprojection Map nPoint:40 ,nCell:34 ,nMatches:11 ,distance between two frames x:-0.000345 ,z=-0.000186,angle between two frames:0.000161 +[16:57:07.865] n deleted obs = 2 n obs with reprojection error less than 0.5 px =24 error init =5.617108 error end=0.328347 +[16:57:07.865] After pose optimization, distance between two frames x:4.273812 ,z=34.032846,angle between two frames:2.440983 +[16:57:07.918] Odometry x=-0.051468, y=-0.689338, theta=0.287511 +[16:57:08.016] Odometry x=-0.052566, y=-0.693224, theta=0.284596 +[16:57:08.030] After Reprojection Map nPoint:36 ,nCell:29 ,nMatches:12 ,distance between two frames x:-0.000729 ,z=-0.000216,angle between two frames:0.000320 +[16:57:08.030] n deleted obs = 22 n obs with reprojection error less than 0.5 px =7 error init =8.404643 error end=0.761826 +[16:57:08.030] After pose optimization, distance between two frames x:12.495614 ,z=20.647873,angle between two frames:3.410851 +[16:57:08.118] Odometry x=-0.053648, y=-0.697068, theta=0.279036 +[16:57:08.180] After Reprojection Map nPoint:35 ,nCell:16 ,nMatches:12 ,distance between two frames x:0.000471 ,z=0.000181,angle between two frames:0.000241 +[16:57:08.180] n deleted obs = 39 n obs with reprojection error less than 0.5 px =0 error init =12.362821 error end=4.386689 +[16:57:08.180] After pose optimization, distance between two frames x:21.370085 ,z=5.977602,angle between two frames:3.120183 +[16:57:08.185] Image Alignment failed 0 +[16:57:08.220] Odometry x=-0.054692, y=-0.700945, theta=0.277710 +[16:57:08.317] Odometry x=-0.055749, y=-0.704757, theta=0.276979 +[16:57:08.325] After Reprojection Map nPoint:41 ,nCell:22 ,nMatches:20 ,distance between two frames x:-0.000002 ,z=-0.000008,angle between two frames:0.000097 +[16:57:08.327] n deleted obs = 35 n obs with reprojection error less than 0.5 px =21 error init =13.420795 error end=0.652936 +[16:57:08.327] After pose optimization, distance between two frames x:6.204062 ,z=17.927219,angle between two frames:2.849369 +[16:57:08.419] Odometry x=-0.056766, y=-0.708528, theta=0.274070 +[16:57:08.495] After Reprojection Map nPoint:54 ,nCell:31 ,nMatches:21 ,distance between two frames x:0.002239 ,z=0.001227,angle between two frames:0.000916 +[16:57:08.496] n deleted obs = 20 n obs with reprojection error less than 0.5 px =39 error init =10.577184 error end=0.443697 +[16:57:08.496] After pose optimization, distance between two frames x:-34.598309 ,z=-267.704768,angle between two frames:0.483368 +[16:57:08.516] Odometry x=-0.057834, y=-0.712518, theta=0.268929 +[16:57:08.618] Odometry x=-0.058829, y=-0.716291, theta=0.264262 +[16:57:08.647] After Reprojection Map nPoint:51 ,nCell:38 ,nMatches:15 ,distance between two frames x:-0.001071 ,z=-0.000350,angle between two frames:0.000452 +[16:57:08.647] n deleted obs = 30 n obs with reprojection error less than 0.5 px =10 error init =3.426891 error end=3.426891 +[16:57:08.647] After pose optimization, distance between two frames x:-0.001071 ,z=-0.000350,angle between two frames:0.000452 +[16:57:08.647] Update EKF and 3D points, distance between two frames x:-0.001125 ,z=-0.000768,angle between two frames:0.000743 +[16:57:08.647] Choose frame as a key frame Scene Depth mean:0.303688 ,depth min:0.157525 +[16:57:08.715] Odometry x=-0.059306, y=-0.715961, theta=0.265280 +[16:57:08.814] Odometry x=-0.060238, y=-0.719764, theta=0.275873 +[16:57:08.819] After Reprojection Map nPoint:49 ,nCell:26 ,nMatches:18 ,distance between two frames x:-0.009117 ,z=-0.008677,angle between two frames:0.006741 +[16:57:08.819] n deleted obs = 50 n obs with reprojection error less than 0.5 px =7 error init =4.615433 error end=4.615433 +[16:57:08.819] After pose optimization, distance between two frames x:-0.009117 ,z=-0.008677,angle between two frames:0.006741 +[16:57:08.917] Odometry x=-0.061313, y=-0.723658, theta=0.285102 +[16:57:08.967] After Reprojection Map nPoint:61 ,nCell:29 ,nMatches:24 ,distance between two frames x:-0.000993 ,z=-0.003628,angle between two frames:0.000558 +[16:57:08.967] n deleted obs = 61 n obs with reprojection error less than 0.5 px =13 error init =3.446296 error end=3.446296 +[16:57:08.967] After pose optimization, distance between two frames x:-0.000993 ,z=-0.003628,angle between two frames:0.000558 +[16:57:08.967] Update EKF and 3D points, distance between two frames x:-0.001058 ,z=-0.003865,angle between two frames:0.001265 +[16:57:08.967] Choose frame as a key frame Scene Depth mean:0.459989 ,depth min:0.154646 +[16:57:09.020] Odometry x=-0.061694, y=-0.725182, theta=0.287107 +[16:57:09.119] Odometry x=-0.062800, y=-0.729061, theta=0.298968 +[16:57:09.122] After Reprojection Map nPoint:100 ,nCell:35 ,nMatches:25 ,distance between two frames x:-0.000552 ,z=-0.001524,angle between two frames:0.004609 +[16:57:09.122] n deleted obs = 90 n obs with reprojection error less than 0.5 px =18 error init =3.626424 error end=3.626424 +[16:57:09.122] After pose optimization, distance between two frames x:-0.000552 ,z=-0.001524,angle between two frames:0.004609 +[16:57:09.122] Update EKF and 3D points, distance between two frames x:-0.000773 ,z=-0.002302,angle between two frames:0.005612 +[16:57:09.122] Choose frame as a key frame Scene Depth mean:0.315688 ,depth min:0.151923 +[16:57:09.217] Odometry x=-0.063312, y=-0.730826, theta=0.289295 +[16:57:09.276] After Reprojection Map nPoint:114 ,nCell:30 ,nMatches:23 ,distance between two frames x:-0.001572 ,z=-0.004789,angle between two frames:0.006170 +[16:57:09.276] n deleted obs = 87 n obs with reprojection error less than 0.5 px =24 error init =3.404891 error end=3.404891 +[16:57:09.276] After pose optimization, distance between two frames x:-0.001572 ,z=-0.004789,angle between two frames:0.006170 +[16:57:09.323] Odometry x=-0.064413, y=-0.734539, theta=0.303506 +[16:57:09.418] Odometry x=-0.065584, y=-0.738425, theta=0.312618 +[16:57:09.444] After Reprojection Map nPoint:130 ,nCell:33 ,nMatches:27 ,distance between two frames x:-0.003672 ,z=-0.001897,angle between two frames:0.000490 +[16:57:09.445] n deleted obs = 100 n obs with reprojection error less than 0.5 px =24 error init =3.516763 error end=3.516763 +[16:57:09.445] After pose optimization, distance between two frames x:-0.003672 ,z=-0.001897,angle between two frames:0.000490 +[16:57:09.445] Update EKF and 3D points, distance between two frames x:-0.003593 ,z=-0.002228,angle between two frames:0.000831 +[16:57:09.445] Choose frame as a key frame Scene Depth mean:0.292367 ,depth min:0.123542 +[16:57:09.521] Odometry x=-0.067527, y=-0.738852, theta=0.318795 +[16:57:09.618] Odometry x=-0.068688, y=-0.742738, theta=0.324676 +[16:57:09.631] After Reprojection Map nPoint:150 ,nCell:36 ,nMatches:28 ,distance between two frames x:-0.002625 ,z=-0.004213,angle between two frames:0.007324 +[16:57:09.636] n deleted obs = 21 n obs with reprojection error less than 0.5 px =130 error init =5.260816 error end=0.300573 +[16:57:09.636] After pose optimization, distance between two frames x:-2.781231 ,z=11.102395,angle between two frames:0.528309 +[16:57:09.720] Odometry x=-0.069949, y=-0.746524, theta=0.336334 +[16:57:09.807] After Reprojection Map nPoint:170 ,nCell:71 ,nMatches:30 ,distance between two frames x:-0.000516 ,z=-0.000175,angle between two frames:0.000305 +[16:57:09.807] n deleted obs = 138 n obs with reprojection error less than 0.5 px =0 error init =59.062118 error end=2.173062 +[16:57:09.807] After pose optimization, distance between two frames x:36.270899 ,z=14.127681,angle between two frames:2.388093 +[16:57:09.812] Image Alignment failed 0 +[16:57:09.813] Odometry x=-0.071137, y=-0.750430, theta=0.343618 +[16:57:09.915] Odometry x=-0.072402, y=-0.753988, theta=0.342746 +[16:57:09.963] After Reprojection Map nPoint:153 ,nCell:40 ,nMatches:34 ,distance between two frames x:-0.000001 ,z=-0.000009,angle between two frames:0.000023 +[16:57:09.963] n deleted obs = 129 n obs with reprojection error less than 0.5 px =35 error init =3.419291 error end=3.419291 +[16:57:09.963] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000009,angle between two frames:0.000023 +[16:57:09.963] Update EKF and 3D points, distance between two frames x:-0.000149 ,z=-0.000436,angle between two frames:0.000234 +[16:57:09.963] Choose frame as a key frame Scene Depth mean:0.385474 ,depth min:0.099109 +[16:57:10.017] Odometry x=-0.072228, y=-0.753596, theta=0.339623 +[16:57:10.120] Odometry x=-0.073550, y=-0.757370, theta=0.337384 +[16:57:10.158] After Reprojection Map nPoint:193 ,nCell:47 ,nMatches:32 ,distance between two frames x:-0.000823 ,z=-0.000424,angle between two frames:0.000384 +[16:57:10.158] n deleted obs = 154 n obs with reprojection error less than 0.5 px =34 error init =4.230090 error end=4.230090 +[16:57:10.158] After pose optimization, distance between two frames x:-0.000823 ,z=-0.000424,angle between two frames:0.000384 +[16:57:10.158] Update EKF and 3D points, distance between two frames x:-0.000981 ,z=-0.000997,angle between two frames:0.000837 +[16:57:10.158] Choose frame as a key frame Scene Depth mean:0.364365 ,depth min:0.098316 +[16:57:10.220] Odometry x=-0.073228, y=-0.755495, theta=0.326669 +[16:57:10.323] Odometry x=-0.074548, y=-0.759349, theta=0.312902 +[16:57:10.342] After Reprojection Map nPoint:223 ,nCell:49 ,nMatches:35 ,distance between two frames x:-0.001145 ,z=-0.003596,angle between two frames:0.003262 +[16:57:10.342] n deleted obs = 169 n obs with reprojection error less than 0.5 px =41 error init =4.115191 error end=4.115191 +[16:57:10.342] After pose optimization, distance between two frames x:-0.001145 ,z=-0.003596,angle between two frames:0.003262 +[16:57:10.342] Update EKF and 3D points, distance between two frames x:-0.001279 ,z=-0.004039,angle between two frames:0.004930 +[16:57:10.342] Choose frame as a key frame Scene Depth mean:0.476566 ,depth min:0.095463 +[16:57:10.416] Odometry x=-0.074392, y=-0.758833, theta=0.320299 +[16:57:10.518] Odometry x=-0.075528, y=-0.762435, theta=0.317420 +[16:57:10.522] After Reprojection Map nPoint:259 ,nCell:46 ,nMatches:32 ,distance between two frames x:-0.000867 ,z=-0.002733,angle between two frames:0.010676 +[16:57:10.522] n deleted obs = 179 n obs with reprojection error less than 0.5 px =56 error init =4.209288 error end=4.209288 +[16:57:10.522] After pose optimization, distance between two frames x:-0.000867 ,z=-0.002733,angle between two frames:0.010676 +[16:57:10.522] Update EKF and 3D points, distance between two frames x:-0.001116 ,z=-0.003508,angle between two frames:0.011231 +[16:57:10.522] Choose frame as a key frame Scene Depth mean:0.388197 ,depth min:0.094579 +[16:57:10.620] Odometry x=-0.076208, y=-0.764292, theta=0.322887 +[16:57:10.707] After Reprojection Map nPoint:311 ,nCell:44 ,nMatches:34 ,distance between two frames x:-0.001534 ,z=-0.004801,angle between two frames:0.003936 +[16:57:10.707] n deleted obs = 240 n obs with reprojection error less than 0.5 px =40 error init =3.663614 error end=3.663614 +[16:57:10.707] After pose optimization, distance between two frames x:-0.001534 ,z=-0.004801,angle between two frames:0.003936 +[16:57:10.718] Odometry x=-0.077338, y=-0.768014, theta=0.318433 +[16:57:10.815] Odometry x=-0.078498, y=-0.771714, theta=0.312232 +[16:57:10.892] After Reprojection Map nPoint:326 ,nCell:45 ,nMatches:36 ,distance between two frames x:0.000167 ,z=0.000080,angle between two frames:0.000529 +[16:57:10.892] n deleted obs = 230 n obs with reprojection error less than 0.5 px =57 error init =3.662255 error end=3.662255 +[16:57:10.892] After pose optimization, distance between two frames x:0.000167 ,z=0.000080,angle between two frames:0.000529 +[16:57:10.892] Update EKF and 3D points, distance between two frames x:0.000024 ,z=-0.000357,angle between two frames:0.000656 +[16:57:10.892] Choose frame as a key frame Scene Depth mean:0.332232 ,depth min:0.087272 +[16:57:10.916] Odometry x=-0.078206, y=-0.771052, theta=0.318154 +[16:57:11.019] Odometry x=-0.079370, y=-0.774753, theta=0.323167 +[16:57:11.096] After Reprojection Map nPoint:330 ,nCell:39 ,nMatches:33 ,distance between two frames x:-0.001535 ,z=-0.003173,angle between two frames:0.000978 +[16:57:11.097] n deleted obs = 247 n obs with reprojection error less than 0.5 px =51 error init =3.870413 error end=3.870413 +[16:57:11.097] After pose optimization, distance between two frames x:-0.001535 ,z=-0.003173,angle between two frames:0.000978 +[16:57:11.097] Update EKF and 3D points, distance between two frames x:-0.001633 ,z=-0.003582,angle between two frames:0.000725 +[16:57:11.097] Choose frame as a key frame Scene Depth mean:0.290793 ,depth min:0.083851 +[16:57:11.116] Odometry x=-0.079567, y=-0.774488, theta=0.319371 +[16:57:11.223] Odometry x=-0.080769, y=-0.778193, theta=0.318885 +[16:57:11.295] After Reprojection Map nPoint:413 ,nCell:43 ,nMatches:37 ,distance between two frames x:-0.000660 ,z=-0.002562,angle between two frames:0.001466 +[16:57:11.295] n deleted obs = 322 n obs with reprojection error less than 0.5 px =45 error init =4.487689 error end=4.487689 +[16:57:11.295] After pose optimization, distance between two frames x:-0.000660 ,z=-0.002562,angle between two frames:0.001466 +[16:57:11.295] Update EKF and 3D points, distance between two frames x:-0.000801 ,z=-0.003010,angle between two frames:0.001859 +[16:57:11.296] Choose frame as a key frame Scene Depth mean:0.396633 ,depth min:0.080427 +[16:57:11.320] Odometry x=-0.080627, y=-0.777805, theta=0.326490 +[16:57:11.415] Odometry x=-0.081838, y=-0.781638, theta=0.333647 +[16:57:11.511] After Reprojection Map nPoint:447 ,nCell:45 ,nMatches:41 ,distance between two frames x:-0.000914 ,z=-0.002757,angle between two frames:0.002904 +[16:57:11.512] n deleted obs = 353 n obs with reprojection error less than 0.5 px =50 error init =3.611283 error end=3.611283 +[16:57:11.512] After pose optimization, distance between two frames x:-0.000914 ,z=-0.002757,angle between two frames:0.002904 +[16:57:11.512] Update EKF and 3D points, distance between two frames x:-0.001049 ,z=-0.003185,angle between two frames:0.003850 +[16:57:11.512] Choose frame as a key frame Scene Depth mean:0.283221 ,depth min:0.076375 +[16:57:11.518] Odometry x=-0.081644, y=-0.780792, theta=0.330331 +[16:57:11.618] Odometry x=-0.082866, y=-0.784612, theta=0.341181 +[16:57:11.721] Odometry x=-0.084203, y=-0.788492, theta=0.352987 +[16:57:11.727] After Reprojection Map nPoint:436 ,nCell:43 ,nMatches:40 ,distance between two frames x:-0.000796 ,z=-0.002623,angle between two frames:0.006309 +[16:57:11.728] n deleted obs = 332 n obs with reprojection error less than 0.5 px =71 error init =3.095068 error end=3.095068 +[16:57:11.728] After pose optimization, distance between two frames x:-0.000796 ,z=-0.002623,angle between two frames:0.006309 +[16:57:11.728] Update EKF and 3D points, distance between two frames x:-0.001024 ,z=-0.003287,angle between two frames:0.007672 +[16:57:11.728] Choose frame as a key frame Scene Depth mean:0.284055 ,depth min:0.056632 +[16:57:11.820] Odometry x=-0.083233, y=-0.785667, theta=0.342864 +[16:57:11.917] Odometry x=-0.084559, y=-0.789503, theta=0.334729 +[16:57:11.993] After Reprojection Map nPoint:461 ,nCell:39 ,nMatches:35 ,distance between two frames x:-0.003598 ,z=-0.005813,angle between two frames:0.007424 +[16:57:11.994] n deleted obs = 361 n obs with reprojection error less than 0.5 px =61 error init =3.579419 error end=3.579419 +[16:57:11.994] After pose optimization, distance between two frames x:-0.003598 ,z=-0.005813,angle between two frames:0.007424 +[16:57:12.025] Odometry x=-0.085783, y=-0.793069, theta=0.328878 +[16:57:12.115] Odometry x=-0.087099, y=-0.797008, theta=0.327133 +[16:57:12.220] Odometry x=-0.088187, y=-0.800445, theta=0.319522 +[16:57:12.222] After Reprojection Map nPoint:515 ,nCell:55 ,nMatches:47 ,distance between two frames x:-0.000095 ,z=-0.000142,angle between two frames:0.000376 +[16:57:12.223] n deleted obs = 395 n obs with reprojection error less than 0.5 px =78 error init =3.187368 error end=3.187368 +[16:57:12.223] After pose optimization, distance between two frames x:-0.000095 ,z=-0.000142,angle between two frames:0.000376 +[16:57:12.223] Update EKF and 3D points, distance between two frames x:-0.000420 ,z=-0.001132,angle between two frames:0.000969 +[16:57:12.223] Choose frame as a key frame Scene Depth mean:0.331601 ,depth min:0.059186 +[16:57:12.319] Odometry x=-0.088244, y=-0.800432, theta=0.318796 +[16:57:12.421] Odometry x=-0.089451, y=-0.804226, theta=0.319223 +[16:57:12.455] After Reprojection Map nPoint:542 ,nCell:49 ,nMatches:40 ,distance between two frames x:-0.002159 ,z=-0.006192,angle between two frames:0.003717 +[16:57:12.456] n deleted obs = 410 n obs with reprojection error less than 0.5 px =85 error init =5.028159 error end=5.028159 +[16:57:12.456] After pose optimization, distance between two frames x:-0.002159 ,z=-0.006192,angle between two frames:0.003717 +[16:57:12.519] Odometry x=-0.090758, y=-0.808181, theta=0.338048 +[16:57:12.620] Odometry x=-0.091918, y=-0.811570, theta=0.344830 +[16:57:12.686] After Reprojection Map nPoint:554 ,nCell:51 ,nMatches:43 ,distance between two frames x:-0.000664 ,z=-0.000384,angle between two frames:0.000794 +[16:57:12.688] n deleted obs = 117 n obs with reprojection error less than 0.5 px =381 error init =132.584561 error end=0.417699 +[16:57:12.688] After pose optimization, distance between two frames x:4630.350083 ,z=-66878.623095,angle between two frames:0.296461 +[16:57:12.717] Odometry x=-0.093160, y=-0.815324, theta=0.350337 +[16:57:12.818] Odometry x=-0.094485, y=-0.818947, theta=0.361652 +[16:57:12.910] After Reprojection Map nPoint:551 ,nCell:84 ,nMatches:37 ,distance between two frames x:0.000080 ,z=0.000031,angle between two frames:0.000142 +[16:57:12.911] n deleted obs = 386 n obs with reprojection error less than 0.5 px =64 error init =12.796887 error end=12.796887 +[16:57:12.911] After pose optimization, distance between two frames x:0.000080 ,z=0.000031,angle between two frames:0.000142 +[16:57:12.911] Update EKF and 3D points, distance between two frames x:-0.000080 ,z=-0.000399,angle between two frames:0.001528 +[16:57:12.911] Choose frame as a key frame Scene Depth mean:0.280771 ,depth min:0.045475 +[16:57:13.154] After Reprojection Map nPoint:617 ,nCell:41 ,nMatches:36 ,distance between two frames x:-0.000981 ,z=-0.002950,angle between two frames:0.008825 +[16:57:13.155] n deleted obs = 479 n obs with reprojection error less than 0.5 px =80 error init =11.081945 error end=11.081945 +[16:57:13.155] After pose optimization, distance between two frames x:-0.000981 ,z=-0.002950,angle between two frames:0.008825 +[16:57:13.155] Update EKF and 3D points, distance between two frames x:-0.000982 ,z=-0.002945,angle between two frames:0.010647 +[16:57:13.155] Choose frame as a key frame Scene Depth mean:0.308601 ,depth min:0.081042 +[16:57:13.410] After Reprojection Map nPoint:653 ,nCell:41 ,nMatches:35 ,distance between two frames x:0.000205 ,z=-0.000428,angle between two frames:0.011692 +[16:57:13.426] n deleted obs = 147 n obs with reprojection error less than 0.5 px =446 error init =17.986318 error end=0.383636 +[16:57:13.426] After pose optimization, distance between two frames x:-3.753411 ,z=53.461298,angle between two frames:1.551438 +[16:57:13.676] After Reprojection Map nPoint:655 ,nCell:88 ,nMatches:39 ,distance between two frames x:0.000225 ,z=-0.000009,angle between two frames:0.000049 +[16:57:13.679] n deleted obs = 122 n obs with reprojection error less than 0.5 px =434 error init =11.457302 error end=0.363173 +[16:57:13.679] After pose optimization, distance between two frames x:-3.046133 ,z=34.763231,angle between two frames:1.192111 +[16:57:13.931] After Reprojection Map nPoint:625 ,nCell:86 ,nMatches:36 ,distance between two frames x:0.000071 ,z=0.000018,angle between two frames:0.000434 +[16:57:13.931] n deleted obs = 444 n obs with reprojection error less than 0.5 px =75 error init =14.838809 error end=14.838809 +[16:57:13.931] After pose optimization, distance between two frames x:0.000071 ,z=0.000018,angle between two frames:0.000434 +[16:57:13.931] Update EKF and 3D points, distance between two frames x:0.000065 ,z=-0.000011,angle between two frames:0.000913 +[16:57:13.932] Choose frame as a key frame Scene Depth mean:0.318475 ,depth min:0.009242 +[16:57:14.190] After Reprojection Map nPoint:723 ,nCell:39 ,nMatches:37 ,distance between two frames x:0.000249 ,z=-0.000237,angle between two frames:0.003028 +[16:57:14.191] n deleted obs = 198 n obs with reprojection error less than 0.5 px =452 error init =14.658043 error end=0.425869 +[16:57:14.191] After pose optimization, distance between two frames x:1.413224 ,z=10.578393,angle between two frames:0.999683 +[16:57:14.454] After Reprojection Map nPoint:669 ,nCell:70 ,nMatches:37 ,distance between two frames x:0.000025 ,z=0.000009,angle between two frames:0.000193 +[16:57:14.455] n deleted obs = 486 n obs with reprojection error less than 0.5 px =79 error init =8.830209 error end=8.830209 +[16:57:14.455] After pose optimization, distance between two frames x:0.000025 ,z=0.000009,angle between two frames:0.000193 +[16:57:14.455] Update EKF and 3D points, distance between two frames x:0.000022 ,z=-0.000019,angle between two frames:0.000657 +[16:57:14.455] Choose frame as a key frame Scene Depth mean:0.328377 ,depth min:0.005036 +[16:57:14.726] After Reprojection Map nPoint:749 ,nCell:44 ,nMatches:40 ,distance between two frames x:-0.000015 ,z=-0.000219,angle between two frames:0.002936 +[16:57:14.727] n deleted obs = 593 n obs with reprojection error less than 0.5 px =86 error init =15.421143 error end=15.421143 +[16:57:14.727] After pose optimization, distance between two frames x:-0.000015 ,z=-0.000219,angle between two frames:0.002936 +[16:57:14.727] Update EKF and 3D points, distance between two frames x:-0.000017 ,z=-0.000245,angle between two frames:0.003423 +[16:57:14.727] Choose frame as a key frame Scene Depth mean:0.351507 ,depth min:0.003695 +[16:57:15.014] After Reprojection Map nPoint:801 ,nCell:48 ,nMatches:40 ,distance between two frames x:0.000878 ,z=-0.000299,angle between two frames:0.003085 +[16:57:15.016] n deleted obs = 317 n obs with reprojection error less than 0.5 px =410 error init =8.655468 error end=0.497873 +[16:57:15.016] After pose optimization, distance between two frames x:2.227401 ,z=4.045424,angle between two frames:0.487325 +[16:57:15.290] After Reprojection Map nPoint:803 ,nCell:57 ,nMatches:35 ,distance between two frames x:-0.000030 ,z=-0.000009,angle between two frames:0.000140 +[16:57:15.291] n deleted obs = 597 n obs with reprojection error less than 0.5 px =88 error init =11.631466 error end=11.631466 +[16:57:15.291] After pose optimization, distance between two frames x:-0.000030 ,z=-0.000009,angle between two frames:0.000140 +[16:57:15.291] Update EKF and 3D points, distance between two frames x:-0.000030 ,z=-0.000035,angle between two frames:0.000619 +[16:57:15.291] Choose frame as a key frame Scene Depth mean:0.370439 ,depth min:0.055015 +[16:57:15.586] After Reprojection Map nPoint:940 ,nCell:46 ,nMatches:40 ,distance between two frames x:0.000165 ,z=-0.000387,angle between two frames:0.003046 +[16:57:15.587] n deleted obs = 719 n obs with reprojection error less than 0.5 px =130 error init =13.403856 error end=13.403856 +[16:57:15.588] After pose optimization, distance between two frames x:0.000165 ,z=-0.000387,angle between two frames:0.003046 +[16:57:15.588] Update EKF and 3D points, distance between two frames x:0.000153 ,z=-0.000405,angle between two frames:0.003576 +[16:57:15.588] Choose frame as a key frame Scene Depth mean:0.341954 ,depth min:0.054013 +[16:57:15.895] After Reprojection Map nPoint:945 ,nCell:41 ,nMatches:33 ,distance between two frames x:0.000216 ,z=-0.000290,angle between two frames:0.003318 +[16:57:15.898] n deleted obs = 190 n obs with reprojection error less than 0.5 px =647 error init =12.778012 error end=0.378965 +[16:57:15.898] After pose optimization, distance between two frames x:91.374530 ,z=-911.030551,angle between two frames:1.145878 +[16:57:16.206] After Reprojection Map nPoint:942 ,nCell:77 ,nMatches:34 ,distance between two frames x:-0.000403 ,z=-0.000352,angle between two frames:0.000049 +[16:57:16.208] n deleted obs = 689 n obs with reprojection error less than 0.5 px =102 error init =23.829769 error end=23.829769 +[16:57:16.208] After pose optimization, distance between two frames x:-0.000403 ,z=-0.000352,angle between two frames:0.000049 +[16:57:16.208] Update EKF and 3D points, distance between two frames x:-0.000382 ,z=-0.000364,angle between two frames:0.000513 +[16:57:16.208] Choose frame as a key frame Scene Depth mean:0.349214 ,depth min:0.050744 +[16:57:16.530] After Reprojection Map nPoint:961 ,nCell:35 ,nMatches:34 ,distance between two frames x:0.000318 ,z=-0.000138,angle between two frames:0.003562 +[16:57:16.535] n deleted obs = 250 n obs with reprojection error less than 0.5 px =620 error init =12.213993 error end=0.411763 +[16:57:16.535] After pose optimization, distance between two frames x:6.276927 ,z=-148.314403,angle between two frames:0.950186 +[16:57:16.843] After Reprojection Map nPoint:989 ,nCell:64 ,nMatches:42 ,distance between two frames x:-0.000040 ,z=-0.000174,angle between two frames:0.000053 +[16:57:16.846] n deleted obs = 184 n obs with reprojection error less than 0.5 px =670 error init =13.528270 error end=0.372262 +[16:57:16.846] After pose optimization, distance between two frames x:-772.120755 ,z=5799.458727,angle between two frames:0.897264 +[16:57:17.169] After Reprojection Map nPoint:1028 ,nCell:78 ,nMatches:40 ,distance between two frames x:-0.000255 ,z=-0.000261,angle between two frames:0.000002 +[16:57:17.173] n deleted obs = 218 n obs with reprojection error less than 0.5 px =658 error init =19.641106 error end=0.380484 +[16:57:17.173] After pose optimization, distance between two frames x:47.517090 ,z=-937.379122,angle between two frames:1.567944 +[16:57:17.490] After Reprojection Map nPoint:987 ,nCell:68 ,nMatches:38 ,distance between two frames x:-0.000060 ,z=-0.000160,angle between two frames:0.000087 +[16:57:17.492] n deleted obs = 257 n obs with reprojection error less than 0.5 px =600 error init =55.783201 error end=0.467115 +[16:57:17.492] After pose optimization, distance between two frames x:2656.743532 ,z=-6511.028731,angle between two frames:2.559673 +[16:57:17.823] After Reprojection Map nPoint:1074 ,nCell:89 ,nMatches:42 ,distance between two frames x:-0.000359 ,z=-0.000426,angle between two frames:0.000075 +[16:57:17.826] n deleted obs = 216 n obs with reprojection error less than 0.5 px =697 error init =8.406800 error end=0.402245 +[16:57:17.826] After pose optimization, distance between two frames x:-80.345420 ,z=595.224475,angle between two frames:0.414437 +[16:57:18.144] After Reprojection Map nPoint:1056 ,nCell:66 ,nMatches:44 ,distance between two frames x:-0.000035 ,z=-0.000073,angle between two frames:0.000121 +[16:57:18.146] n deleted obs = 397 n obs with reprojection error less than 0.5 px =521 error init =13.713360 error end=0.557514 +[16:57:18.146] After pose optimization, distance between two frames x:262.151117 ,z=-447.091004,angle between two frames:0.063391 +[16:57:18.467] After Reprojection Map nPoint:1028 ,nCell:76 ,nMatches:38 ,distance between two frames x:-0.000138 ,z=-0.000154,angle between two frames:0.000101 +[16:57:18.469] n deleted obs = 253 n obs with reprojection error less than 0.5 px =624 error init =20.823346 error end=0.414697 +[16:57:18.469] After pose optimization, distance between two frames x:-16.538165 ,z=2059.648834,angle between two frames:1.581722 diff --git a/GPU_version/vio/src/map.cpp b/GPU_version/vio/src/map.cpp index 0791e61..53ad928 100644 --- a/GPU_version/vio/src/map.cpp +++ b/GPU_version/vio/src/map.cpp @@ -222,7 +222,7 @@ MapPointCandidates::~MapPointCandidates() void MapPointCandidates::newCandidatePoint(std::shared_ptr point, double depth_sigma2) { point->type_ = Point::TYPE_CANDIDATE; - //boost::unique_lock lock(mut_); + boost::unique_lock lock(mut_); candidates_.push_back(PointCandidate(point, point->obs_.front())); }