From 9d3ecd8f1877ed73aee6f6ab0df018f0aca7a889 Mon Sep 17 00:00:00 2001
From: gfuse <majidgeravand68@gmail.com>
Date: Sat, 25 Sep 2021 11:00:41 +0200
Subject: [PATCH] debug

---
 GPU_version/vio/doc/notation.ipe              |  312 ---
 GPU_version/vio/doc/notation.pdf              |  Bin 50379 -> 0 bytes
 GPU_version/vio/doc/notation.png              |  Bin 27376 -> 30336 bytes
 GPU_version/vio/frame_handler_log.txt         | 2449 +++++++----------
 GPU_version/vio/include/vio/global.h          |    1 -
 .../vio/include/vio/global_optimizer.h        |    4 -
 GPU_version/vio/src/frame_handler_mono.cpp    |    7 +-
 GPU_version/vio/src/global_optimizer.cpp      |   13 -
 GPU_version/vio/src/initialization.cpp        |    4 +-
 GPU_version/vio/src/point.cpp                 |   19 +-
 GPU_version/vio/src/reprojector.cpp           |    2 -
 11 files changed, 1034 insertions(+), 1777 deletions(-)
 delete mode 100644 GPU_version/vio/doc/notation.ipe
 delete mode 100644 GPU_version/vio/doc/notation.pdf

diff --git a/GPU_version/vio/doc/notation.ipe b/GPU_version/vio/doc/notation.ipe
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diff --git a/GPU_version/vio/doc/notation.pdf b/GPU_version/vio/doc/notation.pdf
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diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt
index a8b9a96..344a511 100755
--- a/GPU_version/vio/frame_handler_log.txt
+++ b/GPU_version/vio/frame_handler_log.txt
@@ -1,1423 +1,1026 @@
-[19:49:38.521] Init: frame zero: 0.000000, 0.000000 0.000000
-[19:49:38.521] Init: Selected first frame. 
-[19:49:38.521] frame process finished the id is: 0 the obs is:0 
-[19:49:38.624] Init: px average disparity is:0.188269 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:38.624] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:38.624] frame process finished the id is: 1 the obs is:0 
-[19:49:38.717] Init: px average disparity is:0.221316 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:38.717] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:38.717] frame process finished the id is: 2 the obs is:0 
-[19:49:38.816] Init: px average disparity is:0.233082 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:38.816] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:38.816] frame process finished the id is: 3 the obs is:0 
-[19:49:38.917] Init: px average disparity is:0.250148 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:38.917] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:38.918] frame process finished the id is: 4 the obs is:0 
-[19:49:39.017] Init: px average disparity is:0.227952 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:39.017] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:39.017] frame process finished the id is: 5 the obs is:0 
-[19:49:39.117] Init: px average disparity is:0.226568 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:39.117] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:39.117] frame process finished the id is: 6 the obs is:0 
-[19:49:39.220] Init: px average disparity is:0.238835 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:39.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:39.220] frame process finished the id is: 7 the obs is:0 
-[19:49:39.313] Init: px average disparity is:0.234278 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:39.313] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:39.313] frame process finished the id is: 8 the obs is:0 
-[19:49:39.416] Init: px average disparity is:0.258770 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:39.416] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:39.416] frame process finished the id is: 9 the obs is:0 
-[19:49:39.506] Init: px average disparity is:0.227133 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:39.506] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:39.506] frame process finished the id is: 10 the obs is:0 
-[19:49:39.607] Init: px average disparity is:0.236011 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:39.607] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:39.607] frame process finished the id is: 11 the obs is:0 
-[19:49:39.715] Init: px average disparity is:0.239615 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:39.715] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:39.715] frame process finished the id is: 12 the obs is:0 
-[19:49:39.817] Init: px average disparity is:0.232306 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:39.817] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:39.817] frame process finished the id is: 13 the obs is:0 
-[19:49:39.917] Init: px average disparity is:0.246446 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:39.917] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:39.917] frame process finished the id is: 14 the obs is:0 
-[19:49:40.015] Init: px average disparity is:0.228394 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:40.015] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:40.015] frame process finished the id is: 15 the obs is:0 
-[19:49:40.115] Init: px average disparity is:0.237524 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:40.115] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:40.115] frame process finished the id is: 16 the obs is:0 
-[19:49:40.216] Init: px average disparity is:0.256782 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:40.216] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:40.216] frame process finished the id is: 17 the obs is:0 
-[19:49:40.315] Init: px average disparity is:0.242406 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:40.315] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:40.315] frame process finished the id is: 18 the obs is:0 
-[19:49:40.415] Init: px average disparity is:0.222805 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:40.415] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:40.415] frame process finished the id is: 19 the obs is:0 
-[19:49:40.516] Init: px average disparity is:0.236235 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:40.516] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:40.516] frame process finished the id is: 20 the obs is:0 
-[19:49:40.615] Init: px average disparity is:0.252421 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:40.616] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:40.616] frame process finished the id is: 21 the obs is:0 
-[19:49:40.708] Init: px average disparity is:0.259641 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:40.708] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:40.708] frame process finished the id is: 22 the obs is:0 
-[19:49:40.815] Init: px average disparity is:0.233535 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:40.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:40.815] frame process finished the id is: 23 the obs is:0 
-[19:49:40.915] Init: px average disparity is:0.218944 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:40.915] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:40.915] frame process finished the id is: 24 the obs is:0 
-[19:49:41.014] Init: px average disparity is:0.254586 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:41.014] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:41.015] frame process finished the id is: 25 the obs is:0 
-[19:49:41.119] Init: px average disparity is:0.235550 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:41.119] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:41.119] frame process finished the id is: 26 the obs is:0 
-[19:49:41.216] Init: px average disparity is:0.215086 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:41.216] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:41.216] frame process finished the id is: 27 the obs is:0 
-[19:49:41.318] Init: px average disparity is:0.251079 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:41.318] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:41.318] frame process finished the id is: 28 the obs is:0 
-[19:49:41.417] Init: px average disparity is:0.231826 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:41.417] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:41.417] frame process finished the id is: 29 the obs is:0 
-[19:49:41.457] Odometry x=0.000000, y=0.000000, theta=-0.000000
-[19:49:41.516] Init: px average disparity is:0.226935 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:41.516] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:41.516] frame process finished the id is: 30 the obs is:0 
-[19:49:41.551] Odometry x=0.000000, y=0.000000, theta=-0.000000
-[19:49:41.616] Init: px average disparity is:0.209080 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:41.616] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:41.617] frame process finished the id is: 31 the obs is:0 
-[19:49:41.652] Odometry x=0.000035, y=0.006149, theta=-0.001159
-[19:49:41.716] Init: px average disparity is:1.696404 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:41.716] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:41.716] frame process finished the id is: 32 the obs is:0 
-[19:49:41.753] Odometry x=0.000041, y=0.017375, theta=0.001838
-[19:49:41.817] Init: px average disparity is:5.936005 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:41.817] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:41.817] frame process finished the id is: 33 the obs is:0 
-[19:49:41.853] Odometry x=0.000150, y=0.025982, theta=-0.005847
-[19:49:41.917] Init: px average disparity is:7.669655 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:41.917] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:41.917] frame process finished the id is: 34 the obs is:0 
-[19:49:41.954] Odometry x=0.000549, y=0.033832, theta=0.002177
-[19:49:42.018] Init: px average disparity is:4.988225 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:42.018] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:42.018] frame process finished the id is: 35 the obs is:0 
-[19:49:42.053] Odometry x=0.000541, y=0.039811, theta=0.002773
-[19:49:42.108] Init: px average disparity is:5.346269 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:42.108] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:42.108] frame process finished the id is: 36 the obs is:0 
-[19:49:42.153] Odometry x=0.000613, y=0.045225, theta=-0.000899
-[19:49:42.217] Init: px average disparity is:4.364909 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:42.218] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:42.218] frame process finished the id is: 37 the obs is:0 
-[19:49:42.252] Odometry x=0.000666, y=0.050368, theta=-0.001773
-[19:49:42.317] Init: px average disparity is:5.790380 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:42.317] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:42.317] frame process finished the id is: 38 the obs is:0 
-[19:49:42.352] Odometry x=0.000856, y=0.057889, theta=0.007395
-[19:49:42.417] Init: px average disparity is:4.606778 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:42.417] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:42.417] frame process finished the id is: 39 the obs is:0 
-[19:49:42.452] Odometry x=0.000894, y=0.062013, theta=-0.019343
-[19:49:42.518] Init: px average disparity is:6.395837 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:42.518] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:42.518] frame process finished the id is: 40 the obs is:0 
-[19:49:42.556] Odometry x=0.000954, y=0.068169, theta=-0.009028
-[19:49:42.618] Init: px average disparity is:7.822779 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:42.618] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:42.618] frame process finished the id is: 41 the obs is:0 
-[19:49:42.657] Odometry x=0.000950, y=0.073294, theta=-0.004372
-[19:49:42.718] Init: px average disparity is:9.373783 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:42.718] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:42.718] frame process finished the id is: 42 the obs is:0 
-[19:49:42.752] Odometry x=0.001139, y=0.080271, theta=-0.004513
-[19:49:42.817] Init: px average disparity is:12.570659 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:42.818] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:42.818] frame process finished the id is: 43 the obs is:0 
-[19:49:42.852] Odometry x=0.001206, y=0.085630, theta=-0.016900
-[19:49:42.919] Init: px average disparity is:15.233979 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:42.919] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:42.919] frame process finished the id is: 44 the obs is:0 
-[19:49:42.957] Odometry x=0.001614, y=0.091347, theta=-0.006125
-[19:49:43.019] Init: px average disparity is:13.471584 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:43.019] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:43.019] frame process finished the id is: 45 the obs is:0 
-[19:49:43.051] Odometry x=0.001612, y=0.096716, theta=-0.002080
-[19:49:43.118] Init: px average disparity is:12.670569 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:43.118] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:43.118] frame process finished the id is: 46 the obs is:0 
-[19:49:43.152] Odometry x=0.001838, y=0.104755, theta=-0.002014
-[19:49:43.222] Init: px average disparity is:11.116645 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:43.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:43.222] frame process finished the id is: 47 the obs is:0 
-[19:49:43.257] Odometry x=0.001421, y=0.110147, theta=0.002937
-[19:49:43.318] Init: px average disparity is:12.894508 ,While minimum is: 20.000000  KLT tracked : 132
-[19:49:43.318] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:43.318] frame process finished the id is: 48 the obs is:0 
-[19:49:43.356] Odometry x=0.001499, y=0.115949, theta=0.005946
-[19:49:43.418] Init: px average disparity is:13.095316 ,While minimum is: 20.000000  KLT tracked : 131
-[19:49:43.419] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:43.419] frame process finished the id is: 49 the obs is:0 
-[19:49:43.457] Odometry x=0.001905, y=0.121058, theta=-0.002575
-[19:49:43.518] Init: px average disparity is:19.247756 ,While minimum is: 20.000000  KLT tracked : 131
-[19:49:43.518] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:43.518] frame process finished the id is: 50 the obs is:0 
-[19:49:43.568] Odometry x=0.002537, y=0.128010, theta=0.005480
-[19:49:43.617] Init: px average disparity is:14.037551 ,While minimum is: 20.000000  KLT tracked : 131
-[19:49:43.618] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:43.618] frame process finished the id is: 51 the obs is:0 
-[19:49:43.658] Odometry x=0.005611, y=0.134310, theta=-0.010446
-[19:49:43.718] Init: px average disparity is:13.830226 ,While minimum is: 20.000000  KLT tracked : 131
-[19:49:43.718] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:43.718] frame process finished the id is: 52 the obs is:0 
-[19:49:43.758] Odometry x=0.005676, y=0.149897, theta=-0.010394
-[19:49:43.818] Init: px average disparity is:9.265397 ,While minimum is: 20.000000  KLT tracked : 131
-[19:49:43.818] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:43.818] frame process finished the id is: 53 the obs is:0 
-[19:49:43.858] Odometry x=0.007187, y=0.155089, theta=-0.002603
-[19:49:43.917] Init: px average disparity is:9.777981 ,While minimum is: 20.000000  KLT tracked : 131
-[19:49:43.917] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:43.917] frame process finished the id is: 54 the obs is:0 
-[19:49:43.951] Odometry x=0.008259, y=0.160810, theta=-0.017180
-[19:49:44.017] Init: px average disparity is:9.536190 ,While minimum is: 20.000000  KLT tracked : 130
-[19:49:44.017] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:44.017] frame process finished the id is: 55 the obs is:0 
-[19:49:44.057] Odometry x=0.009017, y=0.165935, theta=-0.012630
-[19:49:44.117] Init: px average disparity is:10.369553 ,While minimum is: 20.000000  KLT tracked : 130
-[19:49:44.117] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:44.117] frame process finished the id is: 56 the obs is:0 
-[19:49:44.160] Odometry x=0.009079, y=0.171773, theta=-0.012267
-[19:49:44.220] Init: px average disparity is:11.258834 ,While minimum is: 20.000000  KLT tracked : 130
-[19:49:44.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:44.220] frame process finished the id is: 57 the obs is:0 
-[19:49:44.260] Odometry x=0.015880, y=0.177088, theta=-0.009673
-[19:49:44.317] Init: px average disparity is:9.456231 ,While minimum is: 20.000000  KLT tracked : 130
-[19:49:44.318] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:44.318] frame process finished the id is: 58 the obs is:0 
-[19:49:44.359] Odometry x=0.015899, y=0.182594, theta=0.002792
-[19:49:44.409] Init: px average disparity is:11.734588 ,While minimum is: 20.000000  KLT tracked : 130
-[19:49:44.409] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:44.410] frame process finished the id is: 59 the obs is:0 
-[19:49:44.458] Odometry x=0.016546, y=0.188423, theta=-0.008001
-[19:49:44.517] Init: px average disparity is:13.815966 ,While minimum is: 20.000000  KLT tracked : 130
-[19:49:44.517] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:44.517] frame process finished the id is: 60 the obs is:0 
-[19:49:44.559] Odometry x=0.016577, y=0.194581, theta=-0.013777
-[19:49:44.618] Init: px average disparity is:14.838170 ,While minimum is: 20.000000  KLT tracked : 130
-[19:49:44.618] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:44.618] frame process finished the id is: 61 the obs is:0 
-[19:49:44.658] Odometry x=0.017349, y=0.199856, theta=-0.012537
-[19:49:44.719] Init: px average disparity is:15.758682 ,While minimum is: 20.000000  KLT tracked : 130
-[19:49:44.719] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:44.719] frame process finished the id is: 62 the obs is:0 
-[19:49:44.751] Odometry x=0.017389, y=0.206513, theta=-0.005475
-[19:49:44.818] Init: px average disparity is:16.217376 ,While minimum is: 20.000000  KLT tracked : 130
-[19:49:44.818] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:44.818] frame process finished the id is: 63 the obs is:0 
-[19:49:44.852] Odometry x=0.017518, y=0.211920, theta=-0.011487
-[19:49:44.919] Init: px average disparity is:16.601058 ,While minimum is: 20.000000  KLT tracked : 130
-[19:49:44.919] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:44.919] frame process finished the id is: 64 the obs is:0 
-[19:49:44.953] Odometry x=0.017558, y=0.218570, theta=-0.006520
-[19:49:45.020] Init: px average disparity is:18.673430 ,While minimum is: 20.000000  KLT tracked : 130
-[19:49:45.020] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:45.020] frame process finished the id is: 65 the obs is:0 
-[19:49:45.058] Odometry x=0.017879, y=0.224554, theta=-0.011514
-[19:49:45.156] Odometry x=0.016186, y=0.230152, theta=-0.004655
-[19:49:45.188] cur: x=-0.466419, y=-0.476442, z=0.745289 ref: x=-0.403867 y=-0.484616 z=0.775911
-[19:49:45.188] cur: x=0.147257, y=-0.534141, z=0.832472 ref: x=0.156052 y=-0.478265 z=0.864240
-[19:49:45.188] cur: x=0.147190, y=-0.532144, z=0.833762 ref: x=0.156084 y=-0.476225 z=0.865360
-[19:49:45.188] cur: x=0.064522, y=-0.509227, z=0.858210 ref: x=0.039918 y=-0.471158 z=0.881145
-[19:49:45.188] cur: x=0.068497, y=-0.509223, z=0.857904 ref: x=0.042762 y=-0.471147 z=0.881017
-[19:49:45.188] cur: x=0.081535, y=-0.520356, z=0.850048 ref: x=0.096787 y=-0.464643 z=0.880193
-[19:49:45.188] cur: x=0.075181, y=-0.513342, z=0.854884 ref: x=0.091179 y=-0.456459 z=0.885060
-[19:49:45.188] cur: x=-0.014099, y=-0.438449, z=0.898645 ref: x=0.008683 y=-0.402739 z=0.915274
-[19:49:45.188] cur: x=-0.050501, y=-0.403500, z=0.913585 ref: x=-0.022836 y=-0.373277 z=0.927439
-[19:49:45.188] cur: x=-0.056928, y=-0.398299, z=0.915487 ref: x=-0.028577 y=-0.369045 z=0.928972
-[19:49:45.188] cur: x=-0.076402, y=-0.380436, z=0.921646 ref: x=-0.045820 y=-0.354195 z=0.934048
-[19:49:45.188] cur: x=-0.048134, y=-0.341461, z=0.938663 ref: x=-0.022916 y=-0.313819 z=0.949206
-[19:49:45.188] cur: x=-0.111832, y=-0.345688, z=0.931661 ref: x=-0.083259 y=-0.320054 z=0.943734
-[19:49:45.188] cur: x=-0.244186, y=-0.245493, z=0.938140 ref: x=-0.212743 y=-0.237814 z=0.947726
-[19:49:45.188] cur: x=-0.241265, y=-0.245491, z=0.938896 ref: x=-0.209888 y=-0.237838 z=0.948357
-[19:49:45.188] cur: x=-0.238449, y=-0.243350, z=0.940171 ref: x=-0.207049 y=-0.235711 z=0.949511
-[19:49:45.188] cur: x=-0.229973, y=-0.234674, z=0.944479 ref: x=-0.198538 y=-0.227168 z=0.953403
-[19:49:45.188] cur: x=-0.226999, y=-0.234602, z=0.945216 ref: x=-0.195677 y=-0.227188 z=0.953990
-[19:49:45.188] cur: x=-0.229923, y=-0.236817, z=0.943956 ref: x=-0.198522 y=-0.229321 z=0.952891
-[19:49:45.188] cur: x=-0.235644, y=-0.241194, z=0.941434 ref: x=-0.204208 y=-0.233582 z=0.950652
-[19:49:45.188] cur: x=-0.229842, y=-0.238947, z=0.943439 ref: x=-0.198506 y=-0.231473 z=0.952374
-[19:49:45.188] cur: x=-0.215632, y=-0.227211, z=0.949673 ref: x=-0.181415 y=-0.218663 z=0.958788
-[19:49:45.188] cur: x=-0.338281, y=-0.203740, z=0.918725 ref: x=-0.289722 y=-0.213448 z=0.933006
-[19:49:45.188] cur: x=-0.187654, y=-0.210157, z=0.959489 ref: x=-0.152805 y=-0.201543 z=0.967487
-[19:49:45.188] cur: x=-0.394710, y=-0.138186, z=0.908355 ref: x=-0.346836 y=-0.135421 z=0.928098
-[19:49:45.188] cur: x=-0.208843, y=-0.060691, z=0.976064 ref: x=-0.176271 y=-0.062410 z=0.982361
-[19:49:45.188] cur: x=-0.205973, y=-0.060703, z=0.976673 ref: x=-0.173393 y=-0.062415 z=0.982873
-[19:49:45.188] cur: x=-0.194591, y=-0.054141, z=0.979389 ref: x=-0.161882 y=-0.055891 z=0.985226
-[19:49:45.188] cur: x=-0.414127, y=0.009487, z=0.910170 ref: x=-0.358532 y=-0.053273 z=0.931996
-[19:49:45.188] cur: x=-0.411025, y=0.007947, z=0.911590 ref: x=-0.355725 y=-0.053282 z=0.933071
-[19:49:45.188] cur: x=-0.426643, y=0.042973, z=0.903398 ref: x=-0.369771 y=-0.044588 z=0.928053
-[19:49:45.188] cur: x=-0.424188, y=0.041598, z=0.904618 ref: x=-0.366970 y=-0.044596 z=0.929163
-[19:49:45.188] cur: x=-0.418078, y=0.033844, z=0.907780 ref: x=-0.361364 y=-0.044612 z=0.931357
-[19:49:45.188] cur: x=-0.102354, y=-0.053189, z=0.993325 ref: x=-0.072327 y=-0.045053 z=0.996363
-[19:49:45.188] cur: x=-0.411707, y=0.036789, z=0.910573 ref: x=-0.355762 y=-0.040299 z=0.933707
-[19:49:45.188] cur: x=-0.203726, y=-0.036658, z=0.978341 ref: x=-0.170544 y=-0.038433 z=0.984600
-[19:49:45.188] cur: x=-0.203788, y=-0.034476, z=0.978408 ref: x=-0.170546 y=-0.036252 z=0.984683
-[19:49:45.188] cur: x=-0.206709, y=-0.032287, z=0.977870 ref: x=-0.173427 y=-0.034068 z=0.984257
-[19:49:45.188] cur: x=-0.425681, y=0.011983, z=0.904794 ref: x=-0.375420 y=-0.018631 z=0.926667
-[19:49:45.188] cur: x=-0.418423, y=0.018191, z=0.908070 ref: x=-0.367026 y=-0.014315 z=0.930100
-[19:49:45.188] cur: x=-0.431876, y=0.073998, z=0.898892 ref: x=-0.378226 y=0.007314 z=0.925685
-[19:49:45.188] cur: x=-0.407948, y=0.019058, z=0.912806 ref: x=-0.358617 y=0.007323 z=0.933456
-[19:49:45.188] cur: x=-0.415685, y=0.006210, z=0.909487 ref: x=-0.367032 y=0.002992 z=0.930203
-[19:49:45.188] cur: x=-0.305918, y=0.012434, z=0.951977 ref: x=-0.262329 y=0.018235 z=0.964806
-[19:49:45.188] cur: x=-0.353328, y=0.122272, z=0.927474 ref: x=-0.369687 y=0.067856 z=0.926675
-[19:49:45.188] cur: x=-0.436407, y=0.144030, z=0.888147 ref: x=-0.383670 y=0.065634 z=0.921135
-[19:49:45.188] cur: x=-0.208121, y=0.074190, z=0.975285 ref: x=-0.170492 y=0.074987 z=0.982502
-[19:49:45.188] cur: x=-0.205278, y=0.074178, z=0.975889 ref: x=-0.167613 y=0.074992 z=0.982997
-[19:49:45.188] cur: x=-0.288229, y=0.080796, z=0.954147 ref: x=-0.259356 y=0.079114 z=0.962536
-[19:49:45.188] cur: x=-0.285384, y=0.080599, z=0.955018 ref: x=-0.256503 y=0.079123 z=0.963300
-[19:49:45.188] cur: x=-0.357155, y=0.165104, z=0.919337 ref: x=-0.372445 y=0.076482 z=0.924897
-[19:49:45.188] cur: x=-0.208272, y=0.076675, z=0.975061 ref: x=-0.170488 y=0.077166 z=0.982334
-[19:49:45.188] cur: x=-0.205423, y=0.076649, z=0.975667 ref: x=-0.167609 y=0.077171 z=0.982829
-[19:49:45.188] cur: x=-0.522890, y=-0.031622, z=0.851813 ref: x=-0.490642 y=0.092823 z=0.866403
-[19:49:45.188] cur: x=-0.356062, y=0.088661, z=0.930247 ref: x=-0.377719 y=0.123887 z=0.917595
-[19:49:45.188] cur: x=-0.367346, y=0.079160, z=0.926710 ref: x=-0.372153 y=0.121780 z=0.920148
-[19:49:45.188] cur: x=-0.085177, y=0.166554, z=0.982347 ref: x=-0.054871 y=0.151416 z=0.986946
-[19:49:45.188] cur: x=-0.099838, y=0.168475, z=0.980637 ref: x=-0.069325 y=0.153571 z=0.985703
-[19:49:45.188] cur: x=-0.088008, y=0.172411, z=0.981086 ref: x=-0.057755 y=0.157936 z=0.985759
-[19:49:45.188] cur: x=-0.102508, y=0.192274, z=0.975973 ref: x=-0.072174 y=0.177463 z=0.981477
-[19:49:45.188] cur: x=-0.099559, y=0.192347, z=0.976264 ref: x=-0.069285 y=0.177469 z=0.981684
-[19:49:45.188] cur: x=-0.096496, y=0.192356, z=0.976569 ref: x=-0.066396 y=0.177474 z=0.981883
-[19:49:45.188] cur: x=-0.026426, y=0.205102, z=0.978384 ref: x=-0.002791 y=0.190552 z=0.981673
-[19:49:45.188] cur: x=-0.047746, y=0.198756, z=0.978885 ref: x=-0.023031 y=0.184036 z=0.982650
-[19:49:45.188] cur: x=-0.017798, y=0.200640, z=0.979503 ref: x=0.005883 y=0.186213 z=0.982492
-[19:49:45.188] cur: x=-0.023524, y=0.207232, z=0.978009 ref: x=0.000100 y=0.192721 z=0.981254
-[19:49:45.188] cur: x=-0.105292, y=0.207998, z=0.972446 ref: x=-0.075031 y=0.192641 z=0.978397
-[19:49:45.188] cur: x=-0.588966, y=0.269835, z=0.761779 ref: x=-0.514089 y=0.261491 z=0.816906
-[19:49:45.188] cur: x=0.153621, y=0.290359, z=0.944506 ref: x=0.158330 y=0.272080 z=0.949160
-[19:49:45.188] cur: x=0.156534, y=0.290540, z=0.943972 ref: x=0.161195 y=0.272059 z=0.948683
-[19:49:45.188] cur: x=0.056889, y=0.357477, z=0.932188 ref: x=0.074811 y=0.328112 z=0.941672
-[19:49:45.188] cur: x=0.059844, y=0.357595, z=0.931957 ref: x=0.077682 y=0.328100 z=0.941444
-[19:49:45.188] cur: x=0.059285, y=0.359296, z=0.931339 ref: x=0.077673 y=0.330228 z=0.940700
-[19:49:45.188] cur: x=-0.279474, y=0.359953, z=0.890128 ref: x=-0.256887 y=0.343274 z=0.903423
-[19:49:45.188] cur: x=0.147706, y=0.450639, z=0.880402 ref: x=0.157216 y=0.392984 z=0.906006
-[19:49:45.188] cur: x=0.104762, y=0.409007, z=0.906498 ref: x=0.160034 y=0.395045 z=0.904615
-[19:49:45.188] cur: x=0.075075, y=-0.519062, z=0.851433 ref: x=0.091127 y=-0.462635 z=0.881853
-[19:49:45.188] cur: x=0.061750, y=-0.499426, z=0.864153 ref: x=0.079911 y=-0.442082 z=0.893408
-[19:49:45.188] cur: x=0.075193, y=-0.515334, z=0.853684 ref: x=0.091161 y=-0.458519 z=0.883996
-[19:49:45.188] cur: x=-0.028420, y=-0.431941, z=0.901454 ref: x=-0.005626 y=-0.396448 z=0.918040
-[19:49:45.188] cur: x=-0.016959, y=-0.440546, z=0.897570 ref: x=0.005821 y=-0.404835 z=0.914371
-[19:49:45.188] cur: x=-0.016956, y=-0.436303, z=0.899640 ref: x=0.005823 y=-0.400644 z=0.916215
-[19:49:45.188] cur: x=-0.057100, y=-0.404697, z=0.912666 ref: x=-0.028565 y=-0.375378 z=0.926432
-[19:49:45.188] cur: x=-0.062395, y=-0.400602, z=0.914125 ref: x=-0.034306 y=-0.371145 z=0.927941
-[19:49:45.188] cur: x=-0.544186, y=-0.300186, z=0.783422 ref: x=-0.484343 y=-0.279612 z=0.828993
-[19:49:45.188] cur: x=-0.238684, y=-0.236956, z=0.941744 ref: x=-0.207099 y=-0.229256 z=0.951079
-[19:49:45.188] cur: x=-0.244328, y=-0.241223, z=0.939210 ref: x=-0.212779 y=-0.233514 z=0.948787
-[19:49:45.188] cur: x=-0.238517, y=-0.241216, z=0.940704 ref: x=-0.207066 y=-0.233560 z=0.950039
-[19:49:45.188] cur: x=-0.201721, y=-0.216626, z=0.955187 ref: x=-0.167136 y=-0.207954 z=0.963753
-[19:49:45.188] cur: x=-0.402219, y=-0.096106, z=0.910485 ref: x=-0.282264 y=0.026912 z=0.958959
-[19:49:45.188] cur: x=-0.413582, y=-0.050812, z=0.909048 ref: x=-0.471585 y=0.103697 z=0.875702
-[19:49:45.188] cur: x=-0.205278, y=0.074178, z=0.975889 ref: x=-0.167613 y=0.074992 z=0.982997
-[19:49:45.188] cur: x=-0.645734, y=0.221534, z=0.730719 ref: x=-0.570122 y=0.220076 z=0.791535
-[19:49:45.188] cur: x=0.156626, y=0.284199, z=0.945885 ref: x=0.161240 y=0.265625 z=0.950497
-[19:49:45.188] cur: x=-0.099713, y=0.289238, z=0.952050 ref: x=-0.069064 y=0.270374 z=0.960275
-[19:49:45.188] cur: x=-0.099594, y=0.285171, z=0.953288 ref: x=-0.069077 y=0.266075 z=0.961474
-[19:49:45.188] cur: x=-0.625817, y=0.254240, z=0.737370 ref: x=-0.548490 y=0.249926 z=0.797932
-[19:49:45.188] cur: x=-0.610034, y=0.260052, z=0.748486 ref: x=-0.532699 y=0.254627 z=0.807092
-[19:49:45.188] cur: x=0.156558, y=0.288441, z=0.944612 ref: x=0.161210 y=0.269915 z=0.949293
-[19:49:45.188] cur: x=0.072344, y=0.292768, z=0.953443 ref: x=0.086521 y=0.274611 z=0.957655
-[19:49:45.188] cur: x=-0.717914, y=0.302680, z=0.626885 ref: x=-0.571748 y=0.310689 z=0.759326
-[19:49:45.188] cur: x=-0.112051, y=0.325606, z=0.938843 ref: x=-0.080452 y=0.304625 z=0.949068
-[19:49:45.188] cur: x=0.056334, y=0.359196, z=0.931560 ref: x=0.074802 y=0.330240 z=0.940928
-[19:49:45.188] cur: x=-0.123673, y=0.321370, z=0.938843 ref: x=-0.091965 y=0.300301 z=0.949401
-[19:49:45.188] cur: x=0.057214, y=0.355446, z=0.932944 ref: x=0.074820 y=0.325983 z=0.942410
-[19:49:45.188] cur: x=-0.274427, y=0.362194, z=0.890789 ref: x=-0.251209 y=0.345473 z=0.904181
-[19:49:45.188] cur: x=-0.291224, y=0.384011, z=0.876198 ref: x=-0.267739 y=0.366186 z=0.891192
-[19:49:45.188] cur: x=-0.275595, y=0.394324, z=0.876673 ref: x=-0.383200 y=0.400471 z=0.832335
-[19:49:45.188] cur: x=-0.244621, y=-0.232686, z=0.941285 ref: x=-0.212847 y=-0.224907 z=0.950849
-[19:49:45.188] cur: x=0.117368, y=-0.525216, z=0.842836 ref: x=0.130735 y=-0.470439 z=0.872694
-[19:49:45.188] cur: x=-0.407317, y=-0.157563, z=0.899593 ref: x=-0.360677 y=-0.154673 z=0.919776
-[19:49:45.188] cur: x=-0.324752, y=-0.241754, z=0.914380 ref: x=-0.281023 y=-0.232853 z=0.931024
-[19:49:45.188] cur: x=-0.313059, y=-0.242435, z=0.918270 ref: x=-0.269694 y=-0.232978 z=0.934337
-[19:49:45.188] cur: x=-0.301622, y=-0.242909, z=0.921965 ref: x=-0.258345 y=-0.233097 z=0.937509
-[19:49:45.188] cur: x=-0.301341, y=-0.251438, z=0.919768 ref: x=-0.258255 y=-0.241678 z=0.935359
-[19:49:45.188] cur: x=-0.213062, y=-0.216515, z=0.952747 ref: x=-0.178614 y=-0.207890 z=0.961706
-[19:49:45.188] cur: x=-0.233742, y=-0.075448, z=0.969367 ref: x=-0.202114 y=-0.077607 z=0.976282
-[19:49:45.188] cur: x=-0.223230, y=-0.075774, z=0.971816 ref: x=-0.190623 y=-0.077633 z=0.978589
-[19:49:45.188] cur: x=-0.399499, y=-0.103178, z=0.910909 ref: x=-0.282273 y=0.018219 z=0.959161
-[19:49:45.188] cur: x=-0.348377, y=0.007365, z=0.937326 ref: x=-0.394516 y=0.112984 z=0.911916
-[19:49:45.188] cur: x=-0.333106, y=0.005802, z=0.942871 ref: x=-0.383383 y=0.113074 z=0.916642
-[19:49:45.188] cur: x=-0.217262, y=0.088395, z=0.972103 ref: x=-0.179098 y=0.088039 z=0.979884
-[19:49:45.188] cur: x=-0.527515, y=-0.013401, z=0.849440 ref: x=-0.493234 y=0.103470 z=0.863721
-[19:49:45.188] cur: x=-0.212603, y=0.257800, z=0.942517 ref: x=-0.178381 y=0.244024 z=0.953222
-[19:49:45.188] cur: x=-0.648972, y=0.295058, z=0.701268 ref: x=-0.642545 y=0.282517 z=0.712264
-[19:49:45.188] cur: x=-0.053504, y=0.189892, z=0.980346 ref: x=-0.028820 y=0.175349 z=0.984084
-[19:49:45.188] cur: x=-0.533625, y=-0.026091, z=0.845319 ref: x=-0.504080 y=0.094823 z=0.858436
-[19:49:45.188] cur: x=-0.212703, y=0.266599, z=0.940044 ref: x=-0.178319 y=0.252622 z=0.950991
-[19:49:45.188] cur: x=0.151002, y=0.270971, z=0.950670 ref: x=0.155592 y=0.252776 z=0.954932
-[19:49:45.188] cur: x=0.025240, y=0.391129, z=0.919990 ref: x=0.119921 y=0.422593 z=0.898351
-[19:49:45.188] Init: Homography RANSAC (inlier) is:0 ,While 25 inliers minimum required.  px average disparity is:21.062103 ,While minimum is: 20.000000  KLT tracked: 130
-[19:49:45.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:45.188] frame process finished the id is: 66 the obs is:0 
-[19:49:45.209] Init: px average disparity is:18.990496 ,While minimum is: 20.000000  KLT tracked : 130
-[19:49:45.209] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:45.209] frame process finished the id is: 67 the obs is:0 
-[19:49:45.256] Odometry x=0.016278, y=0.237959, theta=0.000778
-[19:49:45.320] Init: px average disparity is:18.447386 ,While minimum is: 20.000000  KLT tracked : 130
-[19:49:45.320] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:45.320] frame process finished the id is: 68 the obs is:0 
-[19:49:45.358] Odometry x=0.012411, y=0.243228, theta=-0.011925
-[19:49:45.421] Init: px average disparity is:18.129400 ,While minimum is: 20.000000  KLT tracked : 128
-[19:49:45.421] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:45.421] frame process finished the id is: 69 the obs is:0 
-[19:49:45.455] Odometry x=0.013469, y=0.249513, theta=0.012812
-[19:49:45.511] Init: px average disparity is:18.415508 ,While minimum is: 20.000000  KLT tracked : 128
-[19:49:45.511] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:45.511] frame process finished the id is: 70 the obs is:0 
-[19:49:45.555] Odometry x=0.013843, y=0.255365, theta=0.001693
-[19:49:45.654] Odometry x=0.013631, y=0.273863, theta=0.020063
-[19:49:45.690] cur: x=-0.434125, y=-0.484281, z=0.759610 ref: x=-0.403867 y=-0.484616 z=0.775911
-[19:49:45.690] cur: x=0.111305, y=-0.508028, z=0.854119 ref: x=0.039918 y=-0.471158 z=0.881145
-[19:49:45.690] cur: x=0.114165, y=-0.508284, z=0.853589 ref: x=0.042762 y=-0.471147 z=0.881017
-[19:49:45.690] cur: x=0.164214, y=-0.503204, z=0.848422 ref: x=0.096787 y=-0.464643 z=0.880193
-[19:49:45.690] cur: x=0.158641, y=-0.495035, z=0.854268 ref: x=0.091179 y=-0.456459 z=0.885060
-[19:49:45.690] cur: x=0.021198, y=-0.438142, z=0.898656 ref: x=0.008683 y=-0.402739 z=0.915274
-[19:49:45.690] cur: x=-0.014032, y=-0.403078, z=0.915058 ref: x=-0.022836 y=-0.373277 z=0.927439
-[19:49:45.690] cur: x=-0.021098, y=-0.396875, z=0.917630 ref: x=-0.028577 y=-0.369045 z=0.928972
-[19:49:45.690] cur: x=-0.039937, y=-0.378315, z=0.924815 ref: x=-0.045820 y=-0.354195 z=0.934048
-[19:49:45.690] cur: x=-0.008934, y=-0.339843, z=0.940440 ref: x=-0.022916 y=-0.313819 z=0.949206
-[19:49:45.690] cur: x=-0.073247, y=-0.343103, z=0.936437 ref: x=-0.083259 y=-0.320054 z=0.943734
-[19:49:45.690] cur: x=-0.202572, y=-0.236280, z=0.950335 ref: x=-0.212743 y=-0.237814 z=0.947726
-[19:49:45.690] cur: x=-0.199512, y=-0.236281, z=0.950982 ref: x=-0.209888 y=-0.237838 z=0.948357
-[19:49:45.690] cur: x=-0.196670, y=-0.234195, z=0.952089 ref: x=-0.207049 y=-0.235711 z=0.949511
-[19:49:45.690] cur: x=-0.188793, y=-0.226107, z=0.955632 ref: x=-0.198538 y=-0.227168 z=0.953403
-[19:49:45.690] cur: x=-0.186082, y=-0.226277, z=0.956124 ref: x=-0.195677 y=-0.227188 z=0.953990
-[19:49:45.690] cur: x=-0.188748, y=-0.228259, z=0.955129 ref: x=-0.198522 y=-0.229321 z=0.952891
-[19:49:45.690] cur: x=-0.193955, y=-0.232162, z=0.953143 ref: x=-0.204208 y=-0.233582 z=0.950652
-[19:49:45.690] cur: x=-0.188692, y=-0.230400, z=0.954626 ref: x=-0.198506 y=-0.231473 z=0.952374
-[19:49:45.690] cur: x=-0.174223, y=-0.218929, z=0.960061 ref: x=-0.181415 y=-0.218663 z=0.958788
-[19:49:45.690] cur: x=-0.299831, y=-0.192924, z=0.934281 ref: x=-0.289722 y=-0.213448 z=0.933006
-[19:49:45.690] cur: x=-0.145886, y=-0.202539, z=0.968347 ref: x=-0.152805 y=-0.201543 z=0.967487
-[19:49:45.690] cur: x=-0.355491, y=-0.124505, z=0.926350 ref: x=-0.346836 y=-0.135421 z=0.928098
-[19:49:45.690] cur: x=-0.162213, y=-0.051822, z=0.985394 ref: x=-0.176271 y=-0.062410 z=0.982361
-[19:49:45.690] cur: x=-0.159344, y=-0.051834, z=0.985861 ref: x=-0.173393 y=-0.062415 z=0.982873
-[19:49:45.690] cur: x=-0.147702, y=-0.045479, z=0.987986 ref: x=-0.161882 y=-0.055891 z=0.985226
-[19:49:45.690] cur: x=-0.373168, y=0.034822, z=0.927110 ref: x=-0.358532 y=-0.053273 z=0.931996
-[19:49:45.690] cur: x=-0.369720, y=0.032581, z=0.928572 ref: x=-0.355725 y=-0.053282 z=0.933071
-[19:49:45.690] cur: x=-0.386825, y=0.095874, z=0.917156 ref: x=-0.369771 y=-0.044588 z=0.928053
-[19:49:45.690] cur: x=-0.384734, y=0.097633, z=0.917850 ref: x=-0.366970 y=-0.044596 z=0.929163
-[19:49:45.690] cur: x=-0.378376, y=0.082082, z=0.922006 ref: x=-0.361364 y=-0.044612 z=0.931357
-[19:49:45.690] cur: x=-0.053301, y=-0.128673, z=0.990254 ref: x=-0.072327 y=-0.045053 z=0.996363
-[19:49:45.690] cur: x=-0.372393, y=0.092603, z=0.923444 ref: x=-0.355762 y=-0.040299 z=0.933707
-[19:49:45.690] cur: x=-0.156624, y=-0.027954, z=0.987263 ref: x=-0.170544 y=-0.038433 z=0.984600
-[19:49:45.690] cur: x=-0.156655, y=-0.025767, z=0.987317 ref: x=-0.170546 y=-0.036252 z=0.984683
-[19:49:45.690] cur: x=-0.159559, y=-0.023570, z=0.986907 ref: x=-0.173427 y=-0.034068 z=0.984257
-[19:49:45.690] cur: x=-0.388055, y=0.092326, z=0.917000 ref: x=-0.375420 y=-0.018631 z=0.926667
-[19:49:45.690] cur: x=-0.376627, y=0.037738, z=0.925596 ref: x=-0.367026 y=-0.014315 z=0.930100
-[19:49:45.690] cur: x=-0.393556, y=0.184108, z=0.900676 ref: x=-0.378226 y=0.007314 z=0.925685
-[19:49:45.690] cur: x=-0.304506, y=0.019577, z=0.952309 ref: x=-0.358617 y=0.007323 z=0.933456
-[19:49:45.690] cur: x=-0.373869, y=0.024308, z=0.927163 ref: x=-0.367032 y=0.002992 z=0.930203
-[19:49:45.690] cur: x=-0.259348, y=0.021859, z=0.965537 ref: x=-0.262329 y=0.018235 z=0.964806
-[19:49:45.690] cur: x=-0.307481, y=0.111546, z=0.944994 ref: x=-0.369687 y=0.067856 z=0.926675
-[19:49:45.690] cur: x=-0.319526, y=0.106456, z=0.941578 ref: x=-0.383670 y=0.065634 z=0.921135
-[19:49:45.690] cur: x=-0.159007, y=0.082002, z=0.983866 ref: x=-0.170492 y=0.074987 z=0.982502
-[19:49:45.690] cur: x=-0.156138, y=0.081964, z=0.984329 ref: x=-0.167613 y=0.074992 z=0.982997
-[19:49:45.690] cur: x=-0.236999, y=0.089276, z=0.967399 ref: x=-0.259356 y=0.079114 z=0.962536
-[19:49:45.690] cur: x=-0.234156, y=0.089099, z=0.968108 ref: x=-0.256503 y=0.079123 z=0.963300
-[19:49:45.690] cur: x=-0.307485, y=0.157251, z=0.938470 ref: x=-0.372445 y=0.076482 z=0.924897
-[19:49:45.690] cur: x=-0.159077, y=0.084533, z=0.983641 ref: x=-0.170488 y=0.077166 z=0.982334
-[19:49:45.690] cur: x=-0.156206, y=0.084478, z=0.984105 ref: x=-0.167609 y=0.077171 z=0.982829
-[19:49:45.690] cur: x=-0.483743, y=-0.014016, z=0.875098 ref: x=-0.490642 y=0.092823 z=0.866403
-[19:49:45.690] cur: x=-0.308777, y=0.102645, z=0.945580 ref: x=-0.377719 y=0.123887 z=0.917595
-[19:49:45.690] cur: x=-0.321584, y=0.093280, z=0.942275 ref: x=-0.372153 y=0.121780 z=0.920148
-[19:49:45.690] cur: x=-0.032631, y=0.172537, z=0.984462 ref: x=-0.054871 y=0.151416 z=0.986946
-[19:49:45.690] cur: x=-0.047419, y=0.174323, z=0.983546 ref: x=-0.069325 y=0.153571 z=0.985703
-[19:49:45.690] cur: x=-0.035411, y=0.178187, z=0.983359 ref: x=-0.057755 y=0.157936 z=0.985759
-[19:49:45.690] cur: x=-0.049694, y=0.198068, z=0.978928 ref: x=-0.072174 y=0.177463 z=0.981477
-[19:49:45.690] cur: x=-0.046699, y=0.198150, z=0.979059 ref: x=-0.069285 y=0.177469 z=0.981684
-[19:49:45.690] cur: x=-0.043610, y=0.198155, z=0.979200 ref: x=-0.066396 y=0.177474 z=0.981883
-[19:49:45.690] cur: x=0.028039, y=0.210054, z=0.977288 ref: x=-0.002791 y=0.190552 z=0.981673
-[19:49:45.690] cur: x=0.005935, y=0.204156, z=0.978920 ref: x=-0.023031 y=0.184036 z=0.982650
-[19:49:45.690] cur: x=0.036630, y=0.205524, z=0.977966 ref: x=0.005883 y=0.186213 z=0.982492
-[19:49:45.690] cur: x=0.030972, y=0.212150, z=0.976746 ref: x=0.000100 y=0.192721 z=0.981254
-[19:49:45.690] cur: x=-0.052345, y=0.213883, z=0.975456 ref: x=-0.075031 y=0.192641 z=0.978397
-[19:49:45.690] cur: x=-0.552169, y=0.288980, z=0.782049 ref: x=-0.514089 y=0.261491 z=0.816906
-[19:49:45.690] cur: x=0.212328, y=0.289448, z=0.933347 ref: x=0.158330 y=0.272080 z=0.949160
-[19:49:45.690] cur: x=0.215214, y=0.289530, z=0.932660 ref: x=0.161195 y=0.272059 z=0.948683
-[19:49:45.690] cur: x=0.111475, y=0.356524, z=0.927612 ref: x=0.074811 y=0.328112 z=0.941672
-[19:49:45.690] cur: x=0.114562, y=0.356836, z=0.927116 ref: x=0.077682 y=0.328100 z=0.941444
-[19:49:45.690] cur: x=0.113962, y=0.358638, z=0.926494 ref: x=0.077673 y=0.330228 z=0.940700
-[19:49:45.690] cur: x=-0.250917, y=0.375170, z=0.892349 ref: x=-0.256887 y=0.343274 z=0.903423
-[19:49:45.690] cur: x=0.239779, y=0.487381, z=0.839622 ref: x=0.157216 y=0.392984 z=0.906006
-[19:49:45.690] cur: x=0.216128, y=0.464026, z=0.859051 ref: x=0.160034 y=0.395045 z=0.904615
-[19:49:45.690] cur: x=0.158243, y=-0.500799, z=0.850976 ref: x=0.091127 y=-0.462635 z=0.881853
-[19:49:45.690] cur: x=0.151528, y=-0.479711, z=0.864243 ref: x=0.079911 y=-0.442082 z=0.893408
-[19:49:45.690] cur: x=0.158356, y=-0.497091, z=0.853126 ref: x=0.091161 y=-0.458519 z=0.883996
-[19:49:45.690] cur: x=0.007027, y=-0.431561, z=0.902057 ref: x=-0.005626 y=-0.396448 z=0.918040
-[19:49:45.690] cur: x=0.018280, y=-0.440263, z=0.897683 ref: x=0.005821 y=-0.404835 z=0.914371
-[19:49:45.690] cur: x=0.018368, y=-0.435956, z=0.899781 ref: x=0.005823 y=-0.400644 z=0.916215
-[19:49:45.690] cur: x=-0.021194, y=-0.403701, z=0.914645 ref: x=-0.028565 y=-0.375378 z=0.926432
-[19:49:45.690] cur: x=-0.025875, y=-0.399902, z=0.916192 ref: x=-0.034306 y=-0.371145 z=0.927941
-[19:49:45.690] cur: x=-0.515588, y=-0.285619, z=0.807831 ref: x=-0.484343 y=-0.279612 z=0.828993
-[19:49:45.690] cur: x=-0.196765, y=-0.227749, z=0.953632 ref: x=-0.207099 y=-0.229256 z=0.951079
-[19:49:45.690] cur: x=-0.202581, y=-0.231964, z=0.951396 ref: x=-0.212779 y=-0.233514 z=0.948787
-[19:49:45.690] cur: x=-0.196677, y=-0.232038, z=0.952616 ref: x=-0.207066 y=-0.233560 z=0.950039
-[19:49:45.690] cur: x=-0.160185, y=-0.208581, z=0.964798 ref: x=-0.167136 y=-0.207954 z=0.963753
-[19:49:45.690] cur: x=-0.359677, y=-0.084927, z=0.929204 ref: x=-0.282264 y=0.026912 z=0.958959
-[19:49:45.690] cur: x=-0.464630, y=-0.012011, z=0.885423 ref: x=-0.471585 y=0.103697 z=0.875702
-[19:49:45.690] cur: x=-0.156138, y=0.081964, z=0.984329 ref: x=-0.167613 y=0.074992 z=0.982997
-[19:49:45.690] cur: x=-0.610686, y=0.241975, z=0.753997 ref: x=-0.570122 y=0.220076 z=0.791535
-[19:49:45.690] cur: x=0.215230, y=0.283238, z=0.934587 ref: x=0.161240 y=0.265625 z=0.950497
-[19:49:45.690] cur: x=-0.045577, y=0.295866, z=0.954142 ref: x=-0.069064 y=0.270374 z=0.960275
-[19:49:45.690] cur: x=-0.045538, y=0.291788, z=0.955398 ref: x=-0.069077 y=0.266075 z=0.961474
-[19:49:45.690] cur: x=-0.592151, y=0.273203, z=0.758102 ref: x=-0.548490 y=0.249926 z=0.797932
-[19:49:45.690] cur: x=-0.576684, y=0.278504, z=0.768030 ref: x=-0.532699 y=0.254627 z=0.807092
-[19:49:45.690] cur: x=0.215202, y=0.287443, z=0.933309 ref: x=0.161210 y=0.269915 z=0.949293
-[19:49:45.690] cur: x=0.129835, y=0.294198, z=0.946884 ref: x=0.086521 y=0.274611 z=0.957655
-[19:49:45.690] cur: x=-0.722930, y=0.317038, z=0.613889 ref: x=-0.571748 y=0.310689 z=0.759326
-[19:49:45.690] cur: x=-0.057772, y=0.333136, z=0.941107 ref: x=-0.080452 y=0.304625 z=0.949068
-[19:49:45.690] cur: x=0.111017, y=0.358512, z=0.926901 ref: x=0.074802 y=0.330240 z=0.940928
-[19:49:45.690] cur: x=-0.069420, y=0.329171, z=0.941715 ref: x=-0.091965 y=0.300301 z=0.949401
-[19:49:45.690] cur: x=0.112078, y=0.354817, z=0.928194 ref: x=0.074820 y=0.325983 z=0.942410
-[19:49:45.690] cur: x=-0.245598, y=0.377739, z=0.892746 ref: x=-0.251209 y=0.345473 z=0.904181
-[19:49:45.690] cur: x=-0.266141, y=0.403022, z=0.875639 ref: x=-0.267739 y=0.366186 z=0.891192
-[19:49:45.690] cur: x=0.088527, y=0.464005, z=0.881398 ref: x=-0.383200 y=0.400471 z=0.832335
-[19:49:45.690] cur: x=-0.202804, y=-0.223395, z=0.953397 ref: x=-0.212847 y=-0.224907 z=0.950849
-[19:49:45.690] cur: x=0.160485, y=-0.521952, z=0.837741 ref: x=0.130735 y=-0.470439 z=0.872694
-[19:49:45.690] cur: x=-0.368706, y=-0.144107, z=0.918308 ref: x=-0.360677 y=-0.154673 z=0.919776
-[19:49:45.690] cur: x=-0.286960, y=-0.231174, z=0.929630 ref: x=-0.281023 y=-0.232853 z=0.931024
-[19:49:45.690] cur: x=-0.275068, y=-0.232239, z=0.932954 ref: x=-0.269694 y=-0.232978 z=0.934337
-[19:49:45.690] cur: x=-0.263531, y=-0.232921, z=0.936108 ref: x=-0.258345 y=-0.233097 z=0.937509
-[19:49:45.690] cur: x=-0.263488, y=-0.241491, z=0.933947 ref: x=-0.258255 y=-0.241678 z=0.935359
-[19:49:45.690] cur: x=-0.171568, y=-0.208387, z=0.962881 ref: x=-0.178614 y=-0.207890 z=0.961706
-[19:49:45.690] cur: x=-0.185961, y=-0.066202, z=0.980324 ref: x=-0.202114 y=-0.077607 z=0.976282
-[19:49:45.690] cur: x=-0.176219, y=-0.066679, z=0.982090 ref: x=-0.190623 y=-0.077633 z=0.978589
-[19:49:45.690] cur: x=-0.357958, y=-0.089468, z=0.929442 ref: x=-0.282273 y=0.018219 z=0.959161
-[19:49:45.690] cur: x=-0.305056, y=0.018223, z=0.952160 ref: x=-0.394516 y=0.112984 z=0.911916
-[19:49:45.690] cur: x=-0.312450, y=0.094847, z=0.945187 ref: x=-0.383383 y=0.113074 z=0.916642
-[19:49:45.690] cur: x=-0.167994, y=0.096703, z=0.981033 ref: x=-0.179098 y=0.088039 z=0.979884
-[19:49:45.690] cur: x=-0.488209, y=0.004951, z=0.872713 ref: x=-0.493234 y=0.103470 z=0.863721
-[19:49:45.690] cur: x=-0.159493, y=0.265235, z=0.950901 ref: x=-0.178381 y=0.244024 z=0.953222
-[19:49:45.690] cur: x=-0.625225, y=0.314919, z=0.714087 ref: x=-0.642545 y=0.282517 z=0.712264
-[19:49:45.690] cur: x=0.000087, y=0.195457, z=0.980712 ref: x=-0.028820 y=0.175349 z=0.984084
-[19:49:45.690] cur: x=-0.495774, y=-0.004864, z=0.868438 ref: x=-0.504080 y=0.094823 z=0.858436
-[19:49:45.690] cur: x=-0.159634, y=0.275025, z=0.948092 ref: x=-0.178319 y=0.252622 z=0.950991
-[19:49:45.690] cur: x=0.209607, y=0.270253, z=0.939696 ref: x=0.155592 y=0.252776 z=0.954932
-[19:49:45.690] cur: x=0.102028, y=0.451039, z=0.886653 ref: x=0.119921 y=0.422593 z=0.898351
-[19:49:45.690] Init: Homography RANSAC (inlier) is:0 ,While 25 inliers minimum required.  px average disparity is:20.867987 ,While minimum is: 20.000000  KLT tracked: 128
-[19:49:45.690] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[19:49:45.690] frame process finished the id is: 71 the obs is:0 
-[19:49:45.757] Odometry x=0.013683, y=0.279379, theta=-0.008153
-[19:49:45.773] cur: x=-0.436812, y=-0.480596, z=0.760409 ref: x=-0.403867 y=-0.484616 z=0.775911
-[19:49:45.773] cur: x=0.123287, y=-0.507153, z=0.852992 ref: x=0.039918 y=-0.471158 z=0.881145
-[19:49:45.773] cur: x=0.125849, y=-0.507492, z=0.852417 ref: x=0.042762 y=-0.471147 z=0.881017
-[19:49:45.773] cur: x=0.170066, y=-0.507145, z=0.844915 ref: x=0.096787 y=-0.464643 z=0.880193
-[19:49:45.773] cur: x=0.164083, y=-0.499685, z=0.850524 ref: x=0.091179 y=-0.456459 z=0.885060
-[19:49:45.773] cur: x=0.025024, y=-0.442991, z=0.896177 ref: x=0.008683 y=-0.402739 z=0.915274
-[19:49:45.773] cur: x=-0.010671, y=-0.407427, z=0.913175 ref: x=-0.022836 y=-0.373277 z=0.927439
-[19:49:45.773] cur: x=-0.017540, y=-0.401403, z=0.915734 ref: x=-0.028577 y=-0.369045 z=0.928972
-[19:49:45.773] cur: x=-0.036653, y=-0.382847, z=0.923084 ref: x=-0.045820 y=-0.354195 z=0.934048
-[19:49:45.773] cur: x=-0.006145, y=-0.343789, z=0.939027 ref: x=-0.022916 y=-0.313819 z=0.949206
-[19:49:45.773] cur: x=-0.069937, y=-0.347827, z=0.934947 ref: x=-0.083259 y=-0.320054 z=0.943734
-[19:49:45.773] cur: x=-0.200610, y=-0.239941, z=0.949834 ref: x=-0.212743 y=-0.237814 z=0.947726
-[19:49:45.773] cur: x=-0.197790, y=-0.240019, z=0.950405 ref: x=-0.209888 y=-0.237838 z=0.948357
-[19:49:45.773] cur: x=-0.195097, y=-0.237990, z=0.951472 ref: x=-0.207049 y=-0.235711 z=0.949511
-[19:49:45.773] cur: x=-0.186897, y=-0.229583, z=0.955176 ref: x=-0.198538 y=-0.227168 z=0.953403
-[19:49:45.773] cur: x=-0.183997, y=-0.229593, z=0.955737 ref: x=-0.195677 y=-0.227188 z=0.953990
-[19:49:45.773] cur: x=-0.186860, y=-0.231744, z=0.954661 ref: x=-0.198522 y=-0.229321 z=0.952891
-[19:49:45.773] cur: x=-0.192383, y=-0.235928, z=0.952537 ref: x=-0.204208 y=-0.233582 z=0.950652
-[19:49:45.773] cur: x=-0.186793, y=-0.233890, z=0.954151 ref: x=-0.198506 y=-0.231473 z=0.952374
-[19:49:45.773] cur: x=-0.172873, y=-0.222504, z=0.959483 ref: x=-0.181415 y=-0.218663 z=0.958788
-[19:49:45.773] cur: x=-0.299411, y=-0.192767, z=0.934448 ref: x=-0.289722 y=-0.213448 z=0.933006
-[19:49:45.773] cur: x=-0.144274, y=-0.205455, z=0.967974 ref: x=-0.152805 y=-0.201543 z=0.967487
-[19:49:45.773] cur: x=-0.354798, y=-0.128731, z=0.926038 ref: x=-0.346836 y=-0.135421 z=0.928098
-[19:49:45.773] cur: x=-0.161214, y=-0.053295, z=0.985479 ref: x=-0.176271 y=-0.062410 z=0.982361
-[19:49:45.773] cur: x=-0.158359, y=-0.053306, z=0.985942 ref: x=-0.173393 y=-0.062415 z=0.982873
-[19:49:45.773] cur: x=-0.146799, y=-0.046900, z=0.988054 ref: x=-0.161882 y=-0.055891 z=0.985226
-[19:49:45.773] cur: x=-0.373196, y=0.032997, z=0.927166 ref: x=-0.358532 y=-0.053273 z=0.931996
-[19:49:45.773] cur: x=-0.369685, y=0.030356, z=0.928661 ref: x=-0.355725 y=-0.053282 z=0.933071
-[19:49:45.773] cur: x=-0.386908, y=0.093393, z=0.917377 ref: x=-0.369771 y=-0.044588 z=0.928053
-[19:49:45.773] cur: x=-0.384791, y=0.095361, z=0.918064 ref: x=-0.366970 y=-0.044596 z=0.929163
-[19:49:45.773] cur: x=-0.377989, y=0.075691, z=0.922711 ref: x=-0.361364 y=-0.044612 z=0.931357
-[19:49:45.773] cur: x=-0.050523, y=-0.162179, z=0.985467 ref: x=-0.072327 y=-0.045053 z=0.996363
-[19:49:45.773] cur: x=-0.371974, y=0.084594, z=0.924381 ref: x=-0.355762 y=-0.040299 z=0.933707
-[19:49:45.773] cur: x=-0.155724, y=-0.029402, z=0.987363 ref: x=-0.170544 y=-0.038433 z=0.984600
-[19:49:45.773] cur: x=-0.155778, y=-0.027217, z=0.987417 ref: x=-0.170546 y=-0.036252 z=0.984683
-[19:49:45.773] cur: x=-0.158701, y=-0.025026, z=0.987009 ref: x=-0.173427 y=-0.034068 z=0.984257
-[19:49:45.773] cur: x=-0.385178, y=0.050889, z=0.921438 ref: x=-0.375420 y=-0.018631 z=0.926667
-[19:49:45.773] cur: x=-0.376437, y=0.034834, z=0.925787 ref: x=-0.367026 y=-0.014315 z=0.930100
-[19:49:45.773] cur: x=-0.393274, y=0.179701, z=0.901689 ref: x=-0.378226 y=0.007314 z=0.925685
-[19:49:45.773] cur: x=-0.303352, y=0.017490, z=0.952718 ref: x=-0.358617 y=0.007323 z=0.933456
-[19:49:45.773] cur: x=-0.373148, y=0.015244, z=0.927647 ref: x=-0.367032 y=0.002992 z=0.930203
-[19:49:45.773] cur: x=-0.259718, y=0.020133, z=0.965475 ref: x=-0.262329 y=0.018235 z=0.964806
-[19:49:45.773] cur: x=-0.307368, y=0.110253, z=0.945182 ref: x=-0.369687 y=0.067856 z=0.926675
-[19:49:45.773] cur: x=-0.319723, y=0.104075, z=0.941778 ref: x=-0.383670 y=0.065634 z=0.921135
-[19:49:45.773] cur: x=-0.158833, y=0.081545, z=0.983932 ref: x=-0.170492 y=0.074987 z=0.982502
-[19:49:45.773] cur: x=-0.155962, y=0.081519, z=0.984394 ref: x=-0.167613 y=0.074992 z=0.982997
-[19:49:45.773] cur: x=-0.236684, y=0.088752, z=0.967524 ref: x=-0.259356 y=0.079114 z=0.962536
-[19:49:45.773] cur: x=-0.233829, y=0.088551, z=0.968237 ref: x=-0.256503 y=0.079123 z=0.963300
-[19:49:45.773] cur: x=-0.306917, y=0.154980, z=0.939033 ref: x=-0.372445 y=0.076482 z=0.924897
-[19:49:45.773] cur: x=-0.158924, y=0.084083, z=0.983704 ref: x=-0.170488 y=0.077166 z=0.982334
-[19:49:45.773] cur: x=-0.156050, y=0.084044, z=0.984167 ref: x=-0.167609 y=0.077171 z=0.982829
-[19:49:45.773] cur: x=-0.483595, y=-0.019601, z=0.875073 ref: x=-0.490642 y=0.092823 z=0.866403
-[19:49:45.773] cur: x=-0.308376, y=0.101965, z=0.945784 ref: x=-0.377719 y=0.123887 z=0.917595
-[19:49:45.773] cur: x=-0.321155, y=0.092274, z=0.942521 ref: x=-0.372153 y=0.121780 z=0.920148
-[19:49:45.773] cur: x=-0.032531, y=0.175038, z=0.984024 ref: x=-0.054871 y=0.151416 z=0.986946
-[19:49:45.773] cur: x=-0.047273, y=0.177186, z=0.983041 ref: x=-0.069325 y=0.153571 z=0.985703
-[19:49:45.773] cur: x=-0.035285, y=0.180902, z=0.982868 ref: x=-0.057755 y=0.157936 z=0.985759
-[19:49:45.773] cur: x=-0.049704, y=0.200912, z=0.978348 ref: x=-0.072174 y=0.177463 z=0.981477
-[19:49:45.773] cur: x=-0.046709, y=0.200996, z=0.978478 ref: x=-0.069285 y=0.177469 z=0.981684
-[19:49:45.773] cur: x=-0.043628, y=0.201018, z=0.978615 ref: x=-0.066396 y=0.177474 z=0.981883
-[19:49:45.773] cur: x=0.028225, y=0.213415, z=0.976554 ref: x=-0.002791 y=0.190552 z=0.981673
-[19:49:45.773] cur: x=0.006684, y=0.207219, z=0.978272 ref: x=-0.023031 y=0.184036 z=0.982650
-[19:49:45.773] cur: x=0.036850, y=0.208890, z=0.977245 ref: x=0.005883 y=0.186213 z=0.982492
-[19:49:45.773] cur: x=0.031137, y=0.215498, z=0.976008 ref: x=0.000100 y=0.192721 z=0.981254
-[19:49:45.773] cur: x=-0.052334, y=0.216692, z=0.974836 ref: x=-0.075031 y=0.192641 z=0.978397
-[19:49:45.773] cur: x=-0.553634, y=0.287933, z=0.781399 ref: x=-0.514089 y=0.261491 z=0.816906
-[19:49:45.773] cur: x=0.213305, y=0.294603, z=0.931510 ref: x=0.158330 y=0.272080 z=0.949160
-[19:49:45.773] cur: x=0.216193, y=0.294690, z=0.930816 ref: x=0.161195 y=0.272059 z=0.948683
-[19:49:45.773] cur: x=0.112574, y=0.361609, z=0.925509 ref: x=0.074811 y=0.328112 z=0.941672
-[19:49:45.773] cur: x=0.115567, y=0.361786, z=0.925070 ref: x=0.077682 y=0.328100 z=0.941444
-[19:49:45.773] cur: x=0.115082, y=0.363703, z=0.924379 ref: x=0.077673 y=0.330228 z=0.940700
-[19:49:45.773] cur: x=-0.255940, y=0.378555, z=0.889489 ref: x=-0.256887 y=0.343274 z=0.903423
-[19:49:45.773] cur: x=0.238408, y=0.489493, z=0.838784 ref: x=0.157216 y=0.392984 z=0.906006
-[19:49:45.773] cur: x=0.220530, y=0.472537, z=0.853273 ref: x=0.160034 y=0.395045 z=0.904615
-[19:49:45.773] cur: x=0.163779, y=-0.505316, z=0.847250 ref: x=0.091127 y=-0.462635 z=0.881853
-[19:49:45.773] cur: x=0.158019, y=-0.484213, z=0.860563 ref: x=0.079911 y=-0.442082 z=0.893408
-[19:49:45.773] cur: x=0.163749, y=-0.501748, z=0.849373 ref: x=0.091161 y=-0.458519 z=0.883996
-[19:49:45.773] cur: x=0.010865, y=-0.436437, z=0.899669 ref: x=-0.005626 y=-0.396448 z=0.918040
-[19:49:45.773] cur: x=0.022121, y=-0.445130, z=0.895192 ref: x=0.005821 y=-0.404835 z=0.914371
-[19:49:45.773] cur: x=0.022209, y=-0.440811, z=0.897325 ref: x=0.005823 y=-0.400644 z=0.916215
-[19:49:45.773] cur: x=-0.017412, y=-0.408446, z=0.912617 ref: x=-0.028565 y=-0.375378 z=0.926432
-[19:49:45.773] cur: x=-0.022024, y=-0.404718, z=0.914176 ref: x=-0.034306 y=-0.371145 z=0.927941
-[19:49:45.773] cur: x=-0.514150, y=-0.292984, z=0.806108 ref: x=-0.484343 y=-0.279612 z=0.828993
-[19:49:45.773] cur: x=-0.195286, y=-0.231567, z=0.953016 ref: x=-0.207099 y=-0.229256 z=0.951079
-[19:49:45.773] cur: x=-0.200700, y=-0.235662, z=0.950885 ref: x=-0.212779 y=-0.233514 z=0.948787
-[19:49:45.773] cur: x=-0.195145, y=-0.235850, z=0.951994 ref: x=-0.207066 y=-0.233560 z=0.950039
-[19:49:45.773] cur: x=-0.158608, y=-0.211923, z=0.964330 ref: x=-0.167136 y=-0.207954 z=0.963753
-[19:49:45.773] cur: x=-0.360231, y=-0.086978, z=0.928800 ref: x=-0.282264 y=0.026912 z=0.958959
-[19:49:45.773] cur: x=-0.465178, y=-0.015599, z=0.885080 ref: x=-0.471585 y=0.103697 z=0.875702
-[19:49:45.773] cur: x=-0.155962, y=0.081519, z=0.984394 ref: x=-0.167613 y=0.074992 z=0.982997
-[19:49:45.773] cur: x=-0.612149, y=0.240346, z=0.753331 ref: x=-0.570122 y=0.220076 z=0.791535
-[19:49:45.773] cur: x=0.216232, y=0.288421, z=0.932769 ref: x=0.161240 y=0.265625 z=0.950497
-[19:49:45.773] cur: x=-0.045701, y=0.298921, z=0.953183 ref: x=-0.069064 y=0.270374 z=0.960275
-[19:49:45.773] cur: x=-0.045658, y=0.294951, z=0.954421 ref: x=-0.069077 y=0.266075 z=0.961474
-[19:49:45.773] cur: x=-0.593503, y=0.271916, z=0.757506 ref: x=-0.548490 y=0.249926 z=0.797932
-[19:49:45.773] cur: x=-0.577790, y=0.277464, z=0.767576 ref: x=-0.532699 y=0.254627 z=0.807092
-[19:49:45.773] cur: x=0.216210, y=0.292609, z=0.931468 ref: x=0.161210 y=0.269915 z=0.949293
-[19:49:45.773] cur: x=0.130967, y=0.298989, z=0.945227 ref: x=0.086521 y=0.274611 z=0.957655
-[19:49:45.773] cur: x=-0.578669, y=0.339761, z=0.741421 ref: x=-0.571748 y=0.310689 z=0.759326
-[19:49:45.773] cur: x=-0.057796, y=0.336856, z=0.939781 ref: x=-0.080452 y=0.304625 z=0.949068
-[19:49:45.773] cur: x=0.112099, y=0.363545, z=0.924807 ref: x=0.074802 y=0.330240 z=0.940928
-[19:49:45.773] cur: x=-0.069442, y=0.332778, z=0.940445 ref: x=-0.091965 y=0.300301 z=0.949401
-[19:49:45.773] cur: x=0.113063, y=0.359763, z=0.926168 ref: x=0.074820 y=0.325983 z=0.942410
-[19:49:45.773] cur: x=-0.250657, y=0.381379, z=0.889787 ref: x=-0.251209 y=0.345473 z=0.904181
-[19:49:45.773] cur: x=-0.276897, y=0.409150, z=0.869439 ref: x=-0.267739 y=0.366186 z=0.891192
-[19:49:45.773] cur: x=-0.248086, y=0.413705, z=0.875958 ref: x=-0.383200 y=0.400471 z=0.832335
-[19:49:45.773] cur: x=-0.200934, y=-0.227075, z=0.952923 ref: x=-0.212847 y=-0.224907 z=0.950849
-[19:49:45.773] cur: x=0.198888, y=-0.505956, z=0.839316 ref: x=0.130735 y=-0.470439 z=0.872694
-[19:49:45.773] cur: x=-0.367861, y=-0.148199, z=0.917995 ref: x=-0.360677 y=-0.154673 z=0.919776
-[19:49:45.773] cur: x=-0.285626, y=-0.235459, z=0.928965 ref: x=-0.281023 y=-0.232853 z=0.931024
-[19:49:45.773] cur: x=-0.273731, y=-0.236417, z=0.932297 ref: x=-0.269694 y=-0.232978 z=0.934337
-[19:49:45.773] cur: x=-0.262168, y=-0.237083, z=0.935446 ref: x=-0.258345 y=-0.233097 z=0.937509
-[19:49:45.773] cur: x=-0.262111, y=-0.245656, z=0.933247 ref: x=-0.258255 y=-0.241678 z=0.935359
-[19:49:45.773] cur: x=-0.170123, y=-0.211830, z=0.962386 ref: x=-0.178614 y=-0.207890 z=0.961706
-[19:49:45.773] cur: x=-0.184924, y=-0.067589, z=0.980426 ref: x=-0.202114 y=-0.077607 z=0.976282
-[19:49:45.773] cur: x=-0.175120, y=-0.068089, z=0.982190 ref: x=-0.190623 y=-0.077633 z=0.978589
-[19:49:45.773] cur: x=-0.357157, y=-0.090578, z=0.929642 ref: x=-0.282273 y=0.018219 z=0.959161
-[19:49:45.773] cur: x=-0.304990, y=0.015637, z=0.952227 ref: x=-0.394516 y=0.112984 z=0.911916
-[19:49:45.773] cur: x=-0.312224, y=0.094271, z=0.945320 ref: x=-0.383383 y=0.113074 z=0.916642
-[19:49:45.773] cur: x=-0.167881, y=0.096216, z=0.981101 ref: x=-0.179098 y=0.088039 z=0.979884
-[19:49:45.774] cur: x=-0.487485, y=-0.003562, z=0.873124 ref: x=-0.493234 y=0.103470 z=0.863721
-[19:49:45.774] cur: x=-0.159534, y=0.265114, z=0.950928 ref: x=-0.178381 y=0.244024 z=0.953222
-[19:49:45.774] cur: x=-0.629839, y=0.313260, z=0.710754 ref: x=-0.642545 y=0.282517 z=0.712264
-[19:49:45.774] cur: x=0.000816, y=0.198407, z=0.980119 ref: x=-0.028820 y=0.175349 z=0.984084
-[19:49:45.774] cur: x=-0.495044, y=-0.013359, z=0.868765 ref: x=-0.504080 y=0.094823 z=0.858436
-[19:49:45.774] cur: x=-0.159626, y=0.275411, z=0.947981 ref: x=-0.178319 y=0.252622 z=0.950991
-[19:49:45.774] cur: x=0.210595, y=0.275270, z=0.938017 ref: x=0.155592 y=0.252776 z=0.954932
-[19:49:45.774] cur: x=0.102568, y=0.458438, z=0.882788 ref: x=0.119921 y=0.422593 z=0.898351
-[19:49:45.774] Init finished: Homography RANSAC (inlier) is:28 ,While 25 inliers minimum required.  px average disparity is:20.342007 ,While minimum is: 20.000000  KLT tracked: 128
-[19:49:45.774] Init: distance between the first and current frame is x:0.013655 ,z=0.285386,angle between two frames: -0.012099 
-[19:49:45.774] Init: Selected Second frame. 	 The number of features: 27 depth mean:0.539896 min:-1.519440
-[19:49:45.774] frame process finished the id is: 72 the obs is:27 
-[19:49:45.855] Odometry x=0.013655, y=0.285386, theta=-0.012099
-[19:49:45.954] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:0.000310 ,z=0.000306,angle between two frames:0.000128
-[19:49:45.954] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.052903 	 error end=0.052903
-[19:49:45.954] After pose optimization, distance between ekf and vo x:0.000310 ,z=0.000306,angle between two frames:0.000128
-[19:49:45.954] frame process finished the id is: 72 the obs is:27 
-[19:49:45.957] Odometry x=0.013701, y=0.290745, theta=-0.009176
-[19:49:46.055] Odometry x=0.013753, y=0.296979, theta=-0.014349
-[19:49:46.106] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:0.000201 ,z=0.000218,angle between two frames:0.000057
-[19:49:46.106] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.443223 	 error end=0.091135
-[19:49:46.106] After pose optimization, distance between ekf and vo x:0.067910 ,z=-0.355097,angle between two frames:0.310998
-[19:49:46.106] frame process finished the id is: 72 the obs is:27 
-[19:49:46.152] Odometry x=0.013803, y=0.302593, theta=-0.015931
-[19:49:46.250] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:1 ,distance between ekf and vo x:-0.000045 ,z=0.000041,angle between two frames:0.000012
-[19:49:46.250] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.283810 	 error end=0.283810
-[19:49:46.250] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000041,angle between two frames:0.000012
-[19:49:46.250] frame process finished the id is: 72 the obs is:27 
-[19:49:46.254] Odometry x=0.007529, y=0.309465, theta=-0.003639
-[19:49:46.351] Odometry x=0.007550, y=0.314819, theta=-0.007610
-[19:49:46.394] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:2 ,distance between ekf and vo x:-0.000051 ,z=0.000042,angle between two frames:0.000018
-[19:49:46.394] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.160618 	 error end=0.118608
-[19:49:46.394] After pose optimization, distance between ekf and vo x:-0.018617 ,z=0.013437,angle between two frames:0.010789
-[19:49:46.394] frame process finished the id is: 72 the obs is:27 
-[19:49:46.456] Odometry x=0.007568, y=0.321012, theta=0.003553
-[19:49:46.545] After Reprojection Map nPoint:22 ,nCell:21 ,nMatches:4 ,distance between ekf and vo x:0.000096 ,z=0.000010,angle between two frames:0.000008
-[19:49:46.545] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.118594 	 error end=0.113851
-[19:49:46.545] After pose optimization, distance between ekf and vo x:-0.004467 ,z=-0.000569,angle between two frames:0.004326
-[19:49:46.545] frame process finished the id is: 72 the obs is:27 
-[19:49:46.558] Odometry x=0.007625, y=0.326434, theta=-0.004443
-[19:49:46.655] Odometry x=0.007663, y=0.333651, theta=0.006665
-[19:49:46.689] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:4 ,distance between ekf and vo x:-0.000078 ,z=0.000033,angle between two frames:0.000029
-[19:49:46.689] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.220460 	 error end=0.210470
-[19:49:46.689] After pose optimization, distance between ekf and vo x:-0.061447 ,z=-0.027524,angle between two frames:0.030177
-[19:49:46.689] frame process finished the id is: 72 the obs is:27 
-[19:49:46.753] Odometry x=0.007699, y=0.339039, theta=-0.009782
-[19:49:46.831] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:-0.000054 ,z=0.000044,angle between two frames:0.000014
-[19:49:46.831] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.118916 	 error end=0.107877
-[19:49:46.831] After pose optimization, distance between ekf and vo x:-0.006002 ,z=-0.009901,angle between two frames:0.004382
-[19:49:46.831] frame process finished the id is: 72 the obs is:27 
-[19:49:46.851] Odometry x=0.008665, y=0.384703, theta=0.029010
-[19:49:46.953] Odometry x=0.008683, y=0.390007, theta=0.000288
-[19:49:46.990] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:0.000433 ,z=0.000084,angle between two frames:0.000077
-[19:49:46.990] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.153854 	 error end=0.153854
-[19:49:46.990] After pose optimization, distance between ekf and vo x:0.000433 ,z=0.000084,angle between two frames:0.000077
-[19:49:46.990] frame process finished the id is: 72 the obs is:27 
-[19:49:47.055] Odometry x=-0.003151, y=0.397040, theta=0.036708
-[19:49:47.148] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:2 ,distance between ekf and vo x:0.000173 ,z=0.000157,angle between two frames:0.000004
-[19:49:47.149] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.151370 	 error end=0.151370
-[19:49:47.149] After pose optimization, distance between ekf and vo x:0.000173 ,z=0.000157,angle between two frames:0.000004
-[19:49:47.149] frame process finished the id is: 72 the obs is:27 
-[19:49:47.157] Odometry x=0.000099, y=0.400603, theta=0.015345
-[19:49:47.256] Odometry x=0.000483, y=0.408753, theta=0.013666
-[19:49:47.299] After Reprojection Map nPoint:19 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:0.000079 ,z=0.000104,angle between two frames:0.000027
-[19:49:47.299] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.197063 	 error end=0.194166
-[19:49:47.299] After pose optimization, distance between ekf and vo x:0.016758 ,z=-0.006970,angle between two frames:0.017103
-[19:49:47.299] frame process finished the id is: 72 the obs is:27 
-[19:49:47.354] Odometry x=0.002293, y=0.413454, theta=0.026987
-[19:49:47.450] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:3 ,distance between ekf and vo x:0.000138 ,z=0.000127,angle between two frames:0.000048
-[19:49:47.450] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.251135 	 error end=0.214024
-[19:49:47.450] After pose optimization, distance between ekf and vo x:-0.029642 ,z=-0.092257,angle between two frames:0.023072
-[19:49:47.450] frame process finished the id is: 72 the obs is:27 
-[19:49:47.458] Odometry x=0.002309, y=0.422756, theta=0.006636
-[19:49:47.555] Odometry x=0.002300, y=0.428297, theta=0.002632
-[19:49:47.594] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:3 ,distance between ekf and vo x:-0.000103 ,z=0.000071,angle between two frames:0.000034
-[19:49:47.594] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.162899 	 error end=0.162220
-[19:49:47.594] After pose optimization, distance between ekf and vo x:-0.003368 ,z=-0.001571,angle between two frames:0.003026
-[19:49:47.594] frame process finished the id is: 72 the obs is:27 
-[19:49:47.654] Odometry x=0.002595, y=0.436219, theta=0.006295
-[19:49:47.739] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:-0.000083 ,z=0.000039,angle between two frames:0.000030
-[19:49:47.739] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.262343 	 error end=0.262343
-[19:49:47.739] After pose optimization, distance between ekf and vo x:-0.000083 ,z=0.000039,angle between two frames:0.000030
-[19:49:47.739] frame process finished the id is: 72 the obs is:27 
-[19:49:47.758] Odometry x=0.002627, y=0.439225, theta=-0.011812
-[19:49:47.857] Odometry x=0.002705, y=0.445883, theta=0.000127
-[19:49:47.892] After Reprojection Map nPoint:24 ,nCell:23 ,nMatches:3 ,distance between ekf and vo x:0.000017 ,z=0.000342,angle between two frames:0.000077
-[19:49:47.892] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.116559 	 error end=0.116559
-[19:49:47.892] After pose optimization, distance between ekf and vo x:0.000017 ,z=0.000342,angle between two frames:0.000077
-[19:49:47.892] frame process finished the id is: 72 the obs is:27 
-[19:49:47.958] Odometry x=0.003177, y=0.449928, theta=-0.010241
-[19:49:48.035] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000063 ,z=0.000043,angle between two frames:0.000019
-[19:49:48.035] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.373524 	 error end=0.373524
-[19:49:48.035] After pose optimization, distance between ekf and vo x:-0.000063 ,z=0.000043,angle between two frames:0.000019
-[19:49:48.035] frame process finished the id is: 72 the obs is:27 
-[19:49:48.055] Odometry x=0.003195, y=0.455075, theta=0.002417
-[19:49:48.153] Odometry x=0.002836, y=0.472874, theta=0.016623
-[19:49:48.185] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000055 ,z=0.000195,angle between two frames:0.000012
-[19:49:48.185] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.241648 	 error end=0.241648
-[19:49:48.185] After pose optimization, distance between ekf and vo x:-0.000055 ,z=0.000195,angle between two frames:0.000012
-[19:49:48.185] frame process finished the id is: 72 the obs is:27 
-[19:49:48.258] Odometry x=0.002789, y=0.479177, theta=0.005595
-[19:49:48.335] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:4 ,distance between ekf and vo x:0.000012 ,z=0.000054,angle between two frames:0.000012
-[19:49:48.335] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.188749 	 error end=0.188749
-[19:49:48.335] After pose optimization, distance between ekf and vo x:0.000012 ,z=0.000054,angle between two frames:0.000012
-[19:49:48.335] frame process finished the id is: 72 the obs is:27 
-[19:49:48.357] Odometry x=0.002261, y=0.507988, theta=0.018527
-[19:49:48.454] Odometry x=0.002210, y=0.513368, theta=0.011816
-[19:49:48.486] After Reprojection Map nPoint:15 ,nCell:14 ,nMatches:1 ,distance between ekf and vo x:0.000037 ,z=0.000173,angle between two frames:0.000012
-[19:49:48.486] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.179614 	 error end=0.179614
-[19:49:48.486] After pose optimization, distance between ekf and vo x:0.000037 ,z=0.000173,angle between two frames:0.000012
-[19:49:48.486] frame process finished the id is: 72 the obs is:27 
-[19:49:48.557] Odometry x=-0.006286, y=0.537190, theta=0.018735
-[19:49:48.637] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:4 ,distance between ekf and vo x:0.000196 ,z=0.000061,angle between two frames:0.000051
-[19:49:48.637] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.426657 	 error end=0.426657
-[19:49:48.637] After pose optimization, distance between ekf and vo x:0.000196 ,z=0.000061,angle between two frames:0.000051
-[19:49:48.637] frame process finished the id is: 72 the obs is:27 
-[19:49:48.657] Odometry x=-0.006333, y=0.542720, theta=0.014007
-[19:49:48.758] Odometry x=-0.006550, y=0.552487, theta=0.011133
-[19:49:48.788] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:3 ,distance between ekf and vo x:0.000072 ,z=0.000107,angle between two frames:0.000015
-[19:49:48.788] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.268585 	 error end=0.266460
-[19:49:48.788] After pose optimization, distance between ekf and vo x:-0.010191 ,z=-0.014556,angle between two frames:0.010395
-[19:49:48.788] frame process finished the id is: 72 the obs is:27 
-[19:49:48.856] Odometry x=-0.006525, y=0.557833, theta=0.009625
-[19:49:48.938] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:0.000060 ,z=0.000034,angle between two frames:0.000000
-[19:49:48.938] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.802952 	 error end=0.802952
-[19:49:48.938] After pose optimization, distance between ekf and vo x:0.000060 ,z=0.000034,angle between two frames:0.000000
-[19:49:48.938] frame process finished the id is: 72 the obs is:27 
-[19:49:48.958] Odometry x=-0.003940, y=0.573146, theta=0.026572
-[19:49:49.056] Odometry x=-0.004010, y=0.578529, theta=0.018747
-[19:49:49.091] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:2 ,distance between ekf and vo x:0.000022 ,z=0.000213,angle between two frames:0.000018
-[19:49:49.091] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.256116 	 error end=0.256116
-[19:49:49.091] After pose optimization, distance between ekf and vo x:0.000022 ,z=0.000213,angle between two frames:0.000018
-[19:49:49.091] frame process finished the id is: 72 the obs is:27 
-[19:49:49.153] Odometry x=-0.003778, y=0.584458, theta=0.015439
-[19:49:49.242] After Reprojection Map nPoint:17 ,nCell:16 ,nMatches:2 ,distance between ekf and vo x:0.000051 ,z=0.000136,angle between two frames:0.000016
-[19:49:49.242] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.455785 	 error end=0.364537
-[19:49:49.242] After pose optimization, distance between ekf and vo x:-0.121775 ,z=2.549329,angle between two frames:0.027435
-[19:49:49.242] frame process finished the id is: 72 the obs is:27 
-[19:49:49.254] Odometry x=-0.015327, y=0.594633, theta=0.015918
-[19:49:49.357] Odometry x=-0.015373, y=0.600339, theta=0.017161
-[19:49:49.393] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:0.000021 ,z=0.000099,angle between two frames:0.000000
-[19:49:49.393] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.724820 	 error end=0.249935
-[19:49:49.393] After pose optimization, distance between ekf and vo x:-1.042707 ,z=8.149840,angle between two frames:0.836243
-[19:49:49.393] frame process finished the id is: 72 the obs is:27 
-[19:49:49.455] Odometry x=-0.017667, y=0.605717, theta=0.003315
-[19:49:49.543] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:0.000033 ,z=-0.000032,angle between two frames:0.000017
-[19:49:49.543] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.339843 	 error end=0.128671
-[19:49:49.543] After pose optimization, distance between ekf and vo x:0.036549 ,z=-0.434091,angle between two frames:0.004374
-[19:49:49.543] frame process finished the id is: 72 the obs is:27 
-[19:49:49.552] Odometry x=-0.017548, y=0.611009, theta=0.008918
-[19:49:49.655] Odometry x=-0.017657, y=0.619476, theta=0.002669
-[19:49:49.695] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:2 ,distance between ekf and vo x:0.000018 ,z=0.000040,angle between two frames:0.000014
-[19:49:49.696] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.705111 	 error end=0.444439
-[19:49:49.696] After pose optimization, distance between ekf and vo x:-1.695322 ,z=2.057304,angle between two frames:0.473808
-[19:49:49.696] frame process finished the id is: 72 the obs is:27 
-[19:49:49.753] Odometry x=-0.017659, y=0.625040, theta=0.005140
-[19:49:49.847] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:3 ,distance between ekf and vo x:-0.000023 ,z=0.000171,angle between two frames:0.000003
-[19:49:49.847] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.476875 	 error end=0.431132
-[19:49:49.847] After pose optimization, distance between ekf and vo x:-0.022702 ,z=-0.274088,angle between two frames:0.069498
-[19:49:49.847] frame process finished the id is: 72 the obs is:27 
-[19:49:49.854] Odometry x=-0.017671, y=0.630268, theta=0.007802
-[19:49:49.956] Odometry x=-0.016914, y=0.640189, theta=0.003419
-[19:49:49.999] After Reprojection Map nPoint:20 ,nCell:19 ,nMatches:2 ,distance between ekf and vo x:-0.000061 ,z=0.000188,angle between two frames:0.000015
-[19:49:49.999] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.554193 	 error end=0.322778
-[19:49:49.999] After pose optimization, distance between ekf and vo x:-2.030066 ,z=4.739137,angle between two frames:0.074690
-[19:49:49.999] frame process finished the id is: 72 the obs is:27 
-[19:49:50.053] Odometry x=-0.017029, y=0.628146, theta=0.017469
-[19:49:50.149] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000110,angle between two frames:0.000028
-[19:49:50.149] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.408862 	 error end=0.408862
-[19:49:50.149] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000110,angle between two frames:0.000028
-[19:49:50.149] frame process finished the id is: 72 the obs is:27 
-[19:49:50.156] Odometry x=-0.016906, y=0.635434, theta=0.007804
-[19:49:50.253] Odometry x=-0.016997, y=0.633037, theta=0.028908
-[19:49:50.300] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:0.000073 ,z=0.000145,angle between two frames:0.000029
-[19:49:50.300] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.425589 	 error end=0.138752
-[19:49:50.300] After pose optimization, distance between ekf and vo x:-0.013553 ,z=-0.517543,angle between two frames:0.052930
-[19:49:50.300] frame process finished the id is: 72 the obs is:27 
-[19:49:50.356] Odometry x=-0.015466, y=0.639691, theta=0.022624
-[19:49:50.453] Odometry x=-0.015598, y=0.659318, theta=0.034846
-[19:49:50.453] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:3 ,distance between ekf and vo x:0.000221 ,z=-0.000003,angle between two frames:0.000037
-[19:49:50.453] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.382441 	 error end=0.220354
-[19:49:50.453] After pose optimization, distance between ekf and vo x:-0.428724 ,z=2.893013,angle between two frames:0.006661
-[19:49:50.453] frame process finished the id is: 72 the obs is:27 
-[19:49:50.555] Odometry x=-0.014616, y=0.665668, theta=0.026435
-[19:49:50.605] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:0.000225 ,z=0.000110,angle between two frames:0.000076
-[19:49:50.605] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.367576 	 error end=0.033998
-[19:49:50.605] After pose optimization, distance between ekf and vo x:-0.009605 ,z=-0.203432,angle between two frames:0.015899
-[19:49:50.605] frame process finished the id is: 72 the obs is:27 
-[19:49:50.653] Odometry x=-0.017594, y=0.668891, theta=0.014148
-[19:49:50.750] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000006 ,z=0.000001,angle between two frames:0.000010
-[19:49:50.750] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000001,angle between two frames:0.000010
-[19:49:50.750] frame process finished the id is: 72 the obs is:27 
-[19:49:50.756] Odometry x=-0.017037, y=0.674913, theta=0.027062
-[19:49:50.853] Odometry x=-0.017401, y=0.681834, theta=-0.000568
-[19:49:50.902] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:2 ,distance between ekf and vo x:0.000024 ,z=0.000198,angle between two frames:0.000016
-[19:49:50.902] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.382209 	 error end=0.382209
-[19:49:50.902] After pose optimization, distance between ekf and vo x:0.000024 ,z=0.000198,angle between two frames:0.000016
-[19:49:50.902] frame process finished the id is: 72 the obs is:27 
-[19:49:50.955] Odometry x=-0.017234, y=0.687468, theta=0.013077
-[19:49:51.052] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000049 ,z=0.000056,angle between two frames:0.000003
-[19:49:51.052] After pose optimization, distance between ekf and vo x:0.000049 ,z=0.000056,angle between two frames:0.000003
-[19:49:51.052] frame process finished the id is: 72 the obs is:27 
-[19:49:51.052] Odometry x=-0.017302, y=0.692822, theta=0.001265
-[19:49:51.155] Odometry x=-0.016943, y=0.698293, theta=0.010050
-[19:49:51.202] After Reprojection Map nPoint:17 ,nCell:16 ,nMatches:4 ,distance between ekf and vo x:-0.000179 ,z=0.000218,angle between two frames:0.000060
-[19:49:51.202] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.592939 	 error end=0.592939
-[19:49:51.202] After pose optimization, distance between ekf and vo x:-0.000179 ,z=0.000218,angle between two frames:0.000060
-[19:49:51.202] frame process finished the id is: 72 the obs is:27 
-[19:49:51.257] Odometry x=-0.021954, y=0.706712, theta=0.001911
-[19:49:51.344] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:-0.000077 ,z=0.000034,angle between two frames:0.000032
-[19:49:51.344] After pose optimization, distance between ekf and vo x:-0.000077 ,z=0.000034,angle between two frames:0.000032
-[19:49:51.344] frame process finished the id is: 72 the obs is:27 
-[19:49:51.355] Odometry x=-0.021832, y=0.712312, theta=0.002802
-[19:49:51.458] Odometry x=-0.021894, y=0.718579, theta=0.028073
-[19:49:51.486] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:1 ,distance between ekf and vo x:-0.000025 ,z=0.000021,angle between two frames:0.000010
-[19:49:51.486] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.409903 	 error end=0.409903
-[19:49:51.486] After pose optimization, distance between ekf and vo x:-0.000025 ,z=0.000021,angle between two frames:0.000010
-[19:49:51.486] frame process finished the id is: 72 the obs is:27 
-[19:49:51.555] Odometry x=-0.021670, y=0.724132, theta=0.009229
-[19:49:51.636] After Reprojection Map nPoint:13 ,nCell:13 ,nMatches:0 ,distance between ekf and vo x:0.000053 ,z=0.000004,angle between two frames:0.000000
-[19:49:51.636] After pose optimization, distance between ekf and vo x:0.000053 ,z=0.000004,angle between two frames:0.000000
-[19:49:51.636] frame process finished the id is: 72 the obs is:27 
-[19:49:51.652] Odometry x=-0.021683, y=0.729547, theta=0.032153
-[19:49:51.750] Odometry x=-0.021711, y=0.734648, theta=0.016412
-[19:49:51.782] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:2 ,distance between ekf and vo x:0.000071 ,z=-0.000014,angle between two frames:0.000004
-[19:49:51.782] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =7.174252 	 error end=1.003096
-[19:49:51.782] After pose optimization, distance between ekf and vo x:545.544249 ,z=-139.357909,angle between two frames:2.396184
-[19:49:51.782] frame process finished the id is: 72 the obs is:27 
-[19:49:51.852] Odometry x=-0.018375, y=0.740400, theta=0.030802
-[19:49:51.932] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000166 ,z=0.000010,angle between two frames:0.000039
-[19:49:51.932] After pose optimization, distance between ekf and vo x:0.000166 ,z=0.000010,angle between two frames:0.000039
-[19:49:51.932] frame process finished the id is: 72 the obs is:27 
-[19:49:51.959] Odometry x=-0.018486, y=0.745792, theta=0.026245
-[19:49:52.056] Odometry x=-0.017777, y=0.752216, theta=0.023784
-[19:49:52.082] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:0.000204 ,z=0.000026,angle between two frames:0.000055
-[19:49:52.082] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =2.536590 	 error end=0.381538
-[19:49:52.082] After pose optimization, distance between ekf and vo x:-0.001416 ,z=0.091031,angle between two frames:0.001186
-[19:49:52.082] frame process finished the id is: 72 the obs is:27 
-[19:49:52.157] Odometry x=-0.017845, y=0.757246, theta=0.033524
-[19:49:52.232] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:0.000205 ,z=0.000029,angle between two frames:0.000056
-[19:49:52.232] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.362567 	 error end=0.347962
-[19:49:52.232] After pose optimization, distance between ekf and vo x:-0.014421 ,z=0.386461,angle between two frames:0.016739
-[19:49:52.232] frame process finished the id is: 72 the obs is:27 
-[19:49:52.255] Odometry x=-0.017179, y=0.763191, theta=0.030602
-[19:49:52.354] Odometry x=-0.025140, y=0.768270, theta=0.016118
-[19:49:52.382] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:0.000261 ,z=0.000010,angle between two frames:0.000073
-[19:49:52.382] After pose optimization, distance between ekf and vo x:0.000261 ,z=0.000010,angle between two frames:0.000073
-[19:49:52.382] frame process finished the id is: 72 the obs is:27 
-[19:49:52.453] Odometry x=-0.024370, y=0.773562, theta=0.028232
-[19:49:52.532] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:0.000245 ,z=-0.000028,angle between two frames:0.000059
-[19:49:52.532] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.154957 	 error end=0.070931
-[19:49:52.532] After pose optimization, distance between ekf and vo x:0.015338 ,z=0.499102,angle between two frames:0.041146
-[19:49:52.532] frame process finished the id is: 72 the obs is:27 
-[19:49:52.553] Odometry x=-0.023847, y=0.782810, theta=0.017769
-[19:49:52.655] Odometry x=-0.023470, y=0.788279, theta=0.019453
-[19:49:52.682] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:0.000216 ,z=-0.000078,angle between two frames:0.000049
-[19:49:52.682] After pose optimization, distance between ekf and vo x:0.000216 ,z=-0.000078,angle between two frames:0.000049
-[19:49:52.682] frame process finished the id is: 72 the obs is:27 
-[19:49:52.753] Odometry x=-0.025280, y=0.795196, theta=0.011800
-[19:49:52.841] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:0.000258 ,z=-0.000307,angle between two frames:0.000023
-[19:49:52.841] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.177436 	 error end=0.177436
-[19:49:52.841] After pose optimization, distance between ekf and vo x:0.000258 ,z=-0.000307,angle between two frames:0.000023
-[19:49:52.841] frame process finished the id is: 72 the obs is:27 
-[19:49:52.856] Odometry x=-0.023985, y=0.800621, theta=0.022844
-[19:49:52.954] Odometry x=-0.023927, y=0.806007, theta=0.019700
-[19:49:53.004] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:0.000365 ,z=-0.000169,angle between two frames:0.000001
-[19:49:53.004] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.493802 	 error end=0.104257
-[19:49:53.004] After pose optimization, distance between ekf and vo x:0.021024 ,z=0.271454,angle between two frames:0.000896
-[19:49:53.004] frame process finished the id is: 72 the obs is:27 
-[19:49:53.056] Odometry x=-0.023799, y=0.811445, theta=0.010710
-[19:49:53.153] Odometry x=-0.025994, y=0.816823, theta=0.021560
-[19:49:53.169] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:0.000614 ,z=-0.000391,angle between two frames:0.000036
-[19:49:53.169] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.206024 	 error end=0.198080
-[19:49:53.169] After pose optimization, distance between ekf and vo x:0.006588 ,z=0.105802,angle between two frames:0.015776
-[19:49:53.169] frame process finished the id is: 72 the obs is:27 
-[19:49:53.251] Odometry x=-0.025976, y=0.822030, theta=0.011961
-[19:49:53.334] After Reprojection Map nPoint:19 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:0.000449 ,z=-0.000510,angle between two frames:0.000063
-[19:49:53.334] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.300817 	 error end=0.300817
-[19:49:53.334] After pose optimization, distance between ekf and vo x:0.000449 ,z=-0.000510,angle between two frames:0.000063
-[19:49:53.334] frame process finished the id is: 72 the obs is:27 
-[19:49:53.353] Odometry x=-0.025623, y=0.827513, theta=0.038765
-[19:49:53.456] Odometry x=-0.025693, y=0.832731, theta=0.019658
-[19:49:53.492] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000476 ,z=-0.000229,angle between two frames:0.000039
-[19:49:53.492] After pose optimization, distance between ekf and vo x:0.000476 ,z=-0.000229,angle between two frames:0.000039
-[19:49:53.492] frame process finished the id is: 72 the obs is:27 
-[19:49:53.554] Odometry x=-0.025760, y=0.838274, theta=0.037208
-[19:49:53.650] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:0.000449 ,z=-0.000258,angle between two frames:0.000025
-[19:49:53.650] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.479446 	 error end=0.276925
-[19:49:53.650] After pose optimization, distance between ekf and vo x:0.443190 ,z=3.521574,angle between two frames:0.342846
-[19:49:53.650] frame process finished the id is: 72 the obs is:27 
-[19:49:53.656] Odometry x=-0.026035, y=0.843986, theta=0.032994
-[19:49:53.753] Odometry x=-0.026116, y=0.849411, theta=0.030473
-[19:49:53.800] After Reprojection Map nPoint:18 ,nCell:16 ,nMatches:2 ,distance between ekf and vo x:0.000292 ,z=-0.000084,angle between two frames:0.000075
-[19:49:53.800] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.103435 	 error end=0.103435
-[19:49:53.800] After pose optimization, distance between ekf and vo x:0.000292 ,z=-0.000084,angle between two frames:0.000075
-[19:49:53.800] frame process finished the id is: 72 the obs is:27 
-[19:49:53.856] Odometry x=-0.026195, y=0.855026, theta=0.042028
-[19:49:53.953] Odometry x=-0.026301, y=0.860377, theta=0.034976
-[19:49:53.957] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:0.000391 ,z=-0.000243,angle between two frames:0.000011
-[19:49:53.957] After pose optimization, distance between ekf and vo x:0.000391 ,z=-0.000243,angle between two frames:0.000011
-[19:49:53.957] frame process finished the id is: 72 the obs is:27 
-[19:49:54.057] Odometry x=-0.026877, y=0.866151, theta=0.042783
-[19:49:54.114] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:0.000550 ,z=-0.000308,angle between two frames:0.000054
-[19:49:54.114] After pose optimization, distance between ekf and vo x:0.000550 ,z=-0.000308,angle between two frames:0.000054
-[19:49:54.114] frame process finished the id is: 72 the obs is:27 
-[19:49:54.154] Odometry x=-0.026985, y=0.871635, theta=0.032726
-[19:49:54.252] Odometry x=-0.027039, y=0.876782, theta=0.040437
-[19:49:54.270] After Reprojection Map nPoint:19 ,nCell:16 ,nMatches:2 ,distance between ekf and vo x:0.000544 ,z=-0.000248,angle between two frames:0.000078
-[19:49:54.270] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.227352 	 error end=0.225803
-[19:49:54.270] After pose optimization, distance between ekf and vo x:0.007806 ,z=0.028925,angle between two frames:0.004722
-[19:49:54.270] frame process finished the id is: 72 the obs is:27 
-[19:49:54.359] Odometry x=-0.027150, y=0.882405, theta=0.033584
-[19:49:54.428] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:0.000354 ,z=-0.000204,angle between two frames:0.000003
-[19:49:54.428] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.326664 	 error end=0.212022
-[19:49:54.428] After pose optimization, distance between ekf and vo x:-0.004205 ,z=0.136352,angle between two frames:0.001780
-[19:49:54.428] frame process finished the id is: 72 the obs is:27 
-[19:49:54.453] Odometry x=-0.027438, y=0.889744, theta=0.037068
-[19:49:54.560] Odometry x=-0.027530, y=0.895103, theta=0.031829
-[19:49:54.578] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000358 ,z=0.000063,angle between two frames:0.000197
-[19:49:54.578] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.683736 	 error end=0.683736
-[19:49:54.578] After pose optimization, distance between ekf and vo x:-0.000358 ,z=0.000063,angle between two frames:0.000197
-[19:49:54.578] frame process finished the id is: 72 the obs is:27 
-[19:49:54.670] Odometry x=-0.027648, y=0.901687, theta=0.040126
-[19:49:54.722] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:2 ,distance between ekf and vo x:-0.000046 ,z=-0.000019,angle between two frames:0.000052
-[19:49:54.723] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.215134 	 error end=0.191315
-[19:49:54.723] After pose optimization, distance between ekf and vo x:-0.166685 ,z=0.222599,angle between two frames:0.022067
-[19:49:54.723] frame process finished the id is: 72 the obs is:27 
-[19:49:54.753] Odometry x=-0.027757, y=0.907628, theta=0.031832
-[19:49:54.866] Odometry x=-0.027831, y=0.912615, theta=0.033196
-[19:49:54.875] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:-0.000368 ,z=-0.000012,angle between two frames:0.000228
-[19:49:54.875] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.295084 	 error end=0.118679
-[19:49:54.875] After pose optimization, distance between ekf and vo x:1.109631 ,z=-0.413076,angle between two frames:0.181029
-[19:49:54.875] frame process finished the id is: 72 the obs is:27 
-[19:49:54.959] Odometry x=-0.027922, y=0.918397, theta=0.031922
-[19:49:55.030] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000323 ,z=-0.000081,angle between two frames:0.000253
-[19:49:55.030] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.242437 	 error end=0.242437
-[19:49:55.030] After pose optimization, distance between ekf and vo x:-0.000323 ,z=-0.000081,angle between two frames:0.000253
-[19:49:55.030] frame process finished the id is: 72 the obs is:27 
-[19:49:55.063] Odometry x=-0.027995, y=0.923740, theta=0.034504
-[19:49:55.155] Odometry x=-0.028085, y=0.929215, theta=0.032299
-[19:49:55.180] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000391 ,z=0.000007,angle between two frames:0.000346
-[19:49:55.180] After pose optimization, distance between ekf and vo x:-0.000391 ,z=0.000007,angle between two frames:0.000346
-[19:49:55.180] frame process finished the id is: 72 the obs is:27 
-[19:49:55.254] Odometry x=-0.028158, y=0.934343, theta=0.027934
-[19:49:55.338] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.000914 ,z=0.000077,angle between two frames:0.000667
-[19:49:55.338] After pose optimization, distance between ekf and vo x:-0.000914 ,z=0.000077,angle between two frames:0.000667
-[19:49:55.338] frame process finished the id is: 72 the obs is:27 
-[19:49:55.352] Odometry x=-0.028200, y=0.941419, theta=0.030823
-[19:49:55.455] Odometry x=-0.028160, y=0.946726, theta=0.031311
-[19:49:55.488] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.000313 ,z=-0.000020,angle between two frames:0.000218
-[19:49:55.488] After pose optimization, distance between ekf and vo x:-0.000313 ,z=-0.000020,angle between two frames:0.000218
-[19:49:55.488] frame process finished the id is: 72 the obs is:27 
-[19:49:55.554] Odometry x=-0.028227, y=0.955052, theta=0.039345
-[19:49:55.647] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000892 ,z=0.000073,angle between two frames:0.001116
-[19:49:55.647] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.228860 	 error end=0.228860
-[19:49:55.647] After pose optimization, distance between ekf and vo x:-0.000892 ,z=0.000073,angle between two frames:0.001116
-[19:49:55.647] frame process finished the id is: 72 the obs is:27 
-[19:49:55.657] Odometry x=-0.028357, y=0.961652, theta=0.038743
-[19:49:55.756] Odometry x=-0.028353, y=0.966898, theta=0.034665
-[19:49:55.805] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.000980 ,z=0.000224,angle between two frames:0.000332
-[19:49:55.805] After pose optimization, distance between ekf and vo x:-0.000980 ,z=0.000224,angle between two frames:0.000332
-[19:49:55.805] frame process finished the id is: 72 the obs is:27 
-[19:49:55.855] Odometry x=-0.028467, y=0.972692, theta=0.045289
-[19:49:55.957] Odometry x=-0.028594, y=0.978974, theta=0.042719
-[19:49:55.962] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000859 ,z=0.000180,angle between two frames:0.000538
-[19:49:55.962] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.194999 	 error end=0.151839
-[19:49:55.962] After pose optimization, distance between ekf and vo x:-0.015306 ,z=0.281845,angle between two frames:0.024710
-[19:49:55.962] frame process finished the id is: 72 the obs is:27 
-[19:49:56.055] Odometry x=-0.028709, y=0.984515, theta=0.038439
-[19:49:56.111] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000246 ,z=0.000001,angle between two frames:0.000186
-[19:49:56.111] After pose optimization, distance between ekf and vo x:-0.000246 ,z=0.000001,angle between two frames:0.000186
-[19:49:56.111] frame process finished the id is: 72 the obs is:27 
-[19:49:56.154] Odometry x=-0.028823, y=0.990116, theta=0.043144
-[19:49:56.254] Odometry x=-0.028966, y=0.995533, theta=0.043307
-[19:49:56.266] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:2 ,distance between ekf and vo x:-0.000611 ,z=0.000076,angle between two frames:0.000599
-[19:49:56.266] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.596028 	 error end=0.596028
-[19:49:56.266] After pose optimization, distance between ekf and vo x:-0.000611 ,z=0.000076,angle between two frames:0.000599
-[19:49:56.266] frame process finished the id is: 72 the obs is:27 
-[19:49:56.353] Odometry x=-0.029085, y=1.000968, theta=0.042820
-[19:49:56.408] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000083 ,z=0.000016,angle between two frames:0.000036
-[19:49:56.408] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.117353 	 error end=0.116168
-[19:49:56.408] After pose optimization, distance between ekf and vo x:0.002689 ,z=-0.002901,angle between two frames:0.000950
-[19:49:56.408] frame process finished the id is: 72 the obs is:27 
-[19:49:56.454] Odometry x=-0.029196, y=1.006446, theta=0.039610
-[19:49:56.556] Odometry x=-0.029317, y=1.012971, theta=0.037791
-[19:49:56.559] After Reprojection Map nPoint:17 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000125 ,z=-0.000103,angle between two frames:0.000159
-[19:49:56.559] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.220308 	 error end=0.161254
-[19:49:56.559] After pose optimization, distance between ekf and vo x:-0.005464 ,z=0.225716,angle between two frames:0.044733
-[19:49:56.559] frame process finished the id is: 72 the obs is:27 
-[19:49:56.654] Odometry x=-0.029404, y=1.018298, theta=0.031420
-[19:49:56.704] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:-0.000118 ,z=-0.000008,angle between two frames:0.000125
-[19:49:56.704] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.578240 	 error end=0.575966
-[19:49:56.704] After pose optimization, distance between ekf and vo x:-0.002877 ,z=0.002596,angle between two frames:0.040455
-[19:49:56.704] frame process finished the id is: 72 the obs is:27 
-[19:49:56.754] Odometry x=-0.029463, y=1.023694, theta=0.033264
-[19:49:56.856] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000360 ,z=-0.000017,angle between two frames:0.000253
-[19:49:56.856] After pose optimization, distance between ekf and vo x:-0.000360 ,z=-0.000017,angle between two frames:0.000253
-[19:49:56.856] frame process finished the id is: 72 the obs is:27 
-[19:49:56.857] Odometry x=-0.029539, y=1.028986, theta=0.028633
-[19:49:56.955] Odometry x=-0.029606, y=1.034592, theta=0.032868
-[19:49:57.008] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000269 ,z=-0.000074,angle between two frames:0.000291
-[19:49:57.008] After pose optimization, distance between ekf and vo x:-0.000269 ,z=-0.000074,angle between two frames:0.000291
-[19:49:57.008] frame process finished the id is: 72 the obs is:27 
-[19:49:57.052] Odometry x=-0.029684, y=1.039914, theta=0.032190
-[19:49:57.155] Odometry x=-0.029772, y=1.045261, theta=0.037499
-[19:49:57.161] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000465 ,z=-0.000038,angle between two frames:0.000382
-[19:49:57.161] After pose optimization, distance between ekf and vo x:-0.000465 ,z=-0.000038,angle between two frames:0.000382
-[19:49:57.161] frame process finished the id is: 72 the obs is:27 
-[19:49:57.257] Odometry x=-0.029885, y=1.051262, theta=0.046090
-[19:49:57.317] After Reprojection Map nPoint:20 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000976 ,z=0.000211,angle between two frames:0.000482
-[19:49:57.317] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.076447 	 error end=0.076447
-[19:49:57.317] After pose optimization, distance between ekf and vo x:-0.000976 ,z=0.000211,angle between two frames:0.000482
-[19:49:57.317] frame process finished the id is: 72 the obs is:27 
-[19:49:57.355] Odometry x=-0.029982, y=1.057117, theta=0.035162
-[19:49:57.455] Odometry x=-0.030066, y=1.062342, theta=0.038939
-[19:49:57.462] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:-0.000228 ,z=0.000056,angle between two frames:0.000151
-[19:49:57.462] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.296675 	 error end=0.290055
-[19:49:57.462] After pose optimization, distance between ekf and vo x:-0.037882 ,z=0.064008,angle between two frames:0.006545
-[19:49:57.462] frame process finished the id is: 72 the obs is:27 
-[19:49:57.554] Odometry x=-0.030175, y=1.067301, theta=0.037985
-[19:49:57.618] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.000689 ,z=0.000086,angle between two frames:0.000394
-[19:49:57.619] After pose optimization, distance between ekf and vo x:-0.000689 ,z=0.000086,angle between two frames:0.000394
-[19:49:57.619] frame process finished the id is: 72 the obs is:27 
-[19:49:57.653] Odometry x=-0.030301, y=1.073477, theta=0.042212
-[19:49:57.755] Odometry x=-0.030408, y=1.078812, theta=0.038287
-[19:49:57.776] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000800 ,z=0.000143,angle between two frames:0.000405
-[19:49:57.776] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.406245 	 error end=0.406245
-[19:49:57.776] After pose optimization, distance between ekf and vo x:-0.000800 ,z=0.000143,angle between two frames:0.000405
-[19:49:57.776] frame process finished the id is: 72 the obs is:27 
-[19:49:57.859] Odometry x=-0.030529, y=1.084833, theta=0.041255
-[19:49:57.928] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:1 ,distance between ekf and vo x:-0.000361 ,z=0.000001,angle between two frames:0.000254
-[19:49:57.928] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.134802 	 error end=0.094273
-[19:49:57.928] After pose optimization, distance between ekf and vo x:0.005906 ,z=0.261380,angle between two frames:0.026893
-[19:49:57.928] frame process finished the id is: 72 the obs is:27 
-[19:49:57.953] Odometry x=-0.030660, y=1.091149, theta=0.040199
-[19:49:58.049] Odometry x=-0.030757, y=1.096279, theta=0.039136
-[19:49:58.090] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:-0.000539 ,z=0.000025,angle between two frames:0.000433
-[19:49:58.090] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.137704 	 error end=0.137704
-[19:49:58.090] After pose optimization, distance between ekf and vo x:-0.000539 ,z=0.000025,angle between two frames:0.000433
-[19:49:58.090] frame process finished the id is: 72 the obs is:27 
-[19:49:58.157] Odometry x=-0.030861, y=1.101413, theta=0.040279
-[19:49:58.243] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:2 ,distance between ekf and vo x:-0.000448 ,z=0.000037,angle between two frames:0.000329
-[19:49:58.243] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.174544 	 error end=0.163641
-[19:49:58.243] After pose optimization, distance between ekf and vo x:-0.049553 ,z=0.034648,angle between two frames:0.030527
-[19:49:58.243] frame process finished the id is: 72 the obs is:27 
-[19:49:58.251] Odometry x=-0.030976, y=1.107266, theta=0.039167
-[19:49:58.354] Odometry x=-0.031067, y=1.112803, theta=0.039488
-[19:49:58.387] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:3 ,distance between ekf and vo x:-0.000071 ,z=-0.000015,angle between two frames:0.000110
-[19:49:58.387] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.342321 	 error end=0.309535
-[19:49:58.387] After pose optimization, distance between ekf and vo x:0.014153 ,z=0.239469,angle between two frames:0.037967
-[19:49:58.387] frame process finished the id is: 72 the obs is:27 
-[19:49:58.456] Odometry x=-0.031169, y=1.118218, theta=0.036400
-[19:49:58.536] After Reprojection Map nPoint:19 ,nCell:18 ,nMatches:3 ,distance between ekf and vo x:-0.000637 ,z=0.000158,angle between two frames:0.000315
-[19:49:58.536] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.157451 	 error end=0.152788
-[19:49:58.536] After pose optimization, distance between ekf and vo x:-0.069713 ,z=0.087825,angle between two frames:0.006628
-[19:49:58.536] frame process finished the id is: 72 the obs is:27 
-[19:49:58.553] Odometry x=-0.031254, y=1.123254, theta=0.034564
-[19:49:58.656] Odometry x=-0.031357, y=1.128684, theta=0.040908
-[19:49:58.683] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:-0.000231 ,z=0.000017,angle between two frames:0.000159
-[19:49:58.683] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.233015 	 error end=0.233015
-[19:49:58.683] After pose optimization, distance between ekf and vo x:-0.000231 ,z=0.000017,angle between two frames:0.000159
-[19:49:58.683] frame process finished the id is: 72 the obs is:27 
-[19:49:58.753] Odometry x=-0.031447, y=1.134037, theta=0.027306
-[19:49:58.836] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:2 ,distance between ekf and vo x:-0.000406 ,z=-0.000014,angle between two frames:0.000317
-[19:49:58.836] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.167105 	 error end=0.167105
-[19:49:58.836] After pose optimization, distance between ekf and vo x:-0.000406 ,z=-0.000014,angle between two frames:0.000317
-[19:49:58.836] frame process finished the id is: 72 the obs is:27 
-[19:49:58.855] Odometry x=-0.031520, y=1.139615, theta=0.031476
-[19:49:58.952] Odometry x=-0.031584, y=1.144979, theta=0.032154
-[19:49:58.986] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000209 ,z=-0.000071,angle between two frames:0.000223
-[19:49:58.986] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.064553 	 error end=0.064553
-[19:49:58.986] After pose optimization, distance between ekf and vo x:-0.000209 ,z=-0.000071,angle between two frames:0.000223
-[19:49:58.986] frame process finished the id is: 72 the obs is:27 
-[19:49:59.053] Odometry x=-0.031670, y=1.151075, theta=0.034065
-[19:49:59.143] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000568 ,z=0.000023,angle between two frames:0.000341
-[19:49:59.143] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.130658 	 error end=0.130658
-[19:49:59.143] After pose optimization, distance between ekf and vo x:-0.000568 ,z=0.000023,angle between two frames:0.000341
-[19:49:59.143] frame process finished the id is: 72 the obs is:27 
-[19:49:59.151] Odometry x=-0.031739, y=1.156464, theta=0.039604
-[19:49:59.253] Odometry x=-0.031794, y=1.161733, theta=0.036169
-[19:49:59.301] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:2 ,distance between ekf and vo x:-0.000664 ,z=0.000072,angle between two frames:0.000428
-[19:49:59.301] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.217515 	 error end=0.217515
-[19:49:59.301] After pose optimization, distance between ekf and vo x:-0.000664 ,z=0.000072,angle between two frames:0.000428
-[19:49:59.301] frame process finished the id is: 72 the obs is:27 
-[19:49:59.352] Odometry x=-0.031898, y=1.167209, theta=0.040845
-[19:49:59.455] Odometry x=-0.032018, y=1.173063, theta=0.040641
-[19:49:59.455] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:0 ,distance between ekf and vo x:-0.000463 ,z=0.000014,angle between two frames:0.000316
-[19:49:59.455] After pose optimization, distance between ekf and vo x:-0.000463 ,z=0.000014,angle between two frames:0.000316
-[19:49:59.455] frame process finished the id is: 72 the obs is:27 
-[19:49:59.552] Odometry x=-0.032137, y=1.178807, theta=0.041711
-[19:49:59.605] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:-0.000264 ,z=0.000014,angle between two frames:0.000221
-[19:49:59.605] After pose optimization, distance between ekf and vo x:-0.000264 ,z=0.000014,angle between two frames:0.000221
-[19:49:59.605] frame process finished the id is: 72 the obs is:27 
-[19:49:59.654] Odometry x=-0.032244, y=1.184720, theta=0.039199
-[19:49:59.751] Odometry x=-0.032360, y=1.190092, theta=0.037825
-[19:49:59.762] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:-0.000676 ,z=0.000103,angle between two frames:0.000342
-[19:49:59.762] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =4.988971 	 error end=0.853456
-[19:49:59.762] After pose optimization, distance between ekf and vo x:9.142666 ,z=15.080118,angle between two frames:0.504727
-[19:49:59.762] frame process finished the id is: 72 the obs is:27 
-[19:49:59.854] Odometry x=-0.032478, y=1.196530, theta=0.041789
-[19:49:59.912] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000336 ,z=0.000074,angle between two frames:0.000180
-[19:49:59.913] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.296536 	 error end=0.265287
-[19:49:59.913] After pose optimization, distance between ekf and vo x:-0.041317 ,z=0.578579,angle between two frames:0.056088
-[19:49:59.913] frame process finished the id is: 72 the obs is:27 
-[19:49:59.956] Odometry x=-0.032608, y=1.203096, theta=0.040675
-[19:50:00.055] Odometry x=-0.032657, y=1.208461, theta=0.044262
-[19:50:00.065] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000415 ,z=0.000043,angle between two frames:0.000290
-[19:50:00.065] After pose optimization, distance between ekf and vo x:-0.000415 ,z=0.000043,angle between two frames:0.000290
-[19:50:00.065] frame process finished the id is: 72 the obs is:27 
-[19:50:00.151] Odometry x=-0.032774, y=1.213945, theta=0.039258
-[19:50:00.207] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000010 ,z=-0.000004,angle between two frames:0.000015
-[19:50:00.208] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.108016 	 error end=0.108016
-[19:50:00.208] After pose optimization, distance between ekf and vo x:-0.000010 ,z=-0.000004,angle between two frames:0.000015
-[19:50:00.208] frame process finished the id is: 72 the obs is:27 
-[19:50:00.250] Odometry x=-0.032847, y=1.219313, theta=0.034594
-[19:50:00.352] Odometry x=-0.032955, y=1.225174, theta=0.035797
-[19:50:00.358] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:3 ,distance between ekf and vo x:-0.000682 ,z=0.000230,angle between two frames:0.000287
-[19:50:00.358] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.208047 	 error end=0.199207
-[19:50:00.358] After pose optimization, distance between ekf and vo x:-0.053092 ,z=0.085058,angle between two frames:0.023368
-[19:50:00.358] frame process finished the id is: 72 the obs is:27 
-[19:50:00.455] Odometry x=-0.033013, y=1.231033, theta=0.037877
-[19:50:00.509] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000695 ,z=0.000252,angle between two frames:0.000267
-[19:50:00.509] After pose optimization, distance between ekf and vo x:-0.000695 ,z=0.000252,angle between two frames:0.000267
-[19:50:00.509] frame process finished the id is: 72 the obs is:27 
-[19:50:00.553] Odometry x=-0.033112, y=1.236660, theta=0.034893
-[19:50:00.654] Odometry x=-0.032981, y=1.241758, theta=0.040549
-[19:50:00.659] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000105 ,z=-0.000087,angle between two frames:0.000156
-[19:50:00.659] After pose optimization, distance between ekf and vo x:-0.000105 ,z=-0.000087,angle between two frames:0.000156
-[19:50:00.659] frame process finished the id is: 72 the obs is:27 
-[19:50:00.763] Odometry x=-0.033094, y=1.247199, theta=0.033086
-[19:50:00.813] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000435 ,z=0.000100,angle between two frames:0.000331
-[19:50:00.814] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.305315 	 error end=0.304918
-[19:50:00.814] After pose optimization, distance between ekf and vo x:0.000739 ,z=0.001017,angle between two frames:0.001351
-[19:50:00.814] frame process finished the id is: 72 the obs is:27 
-[19:50:00.854] Odometry x=-0.033184, y=1.252952, theta=0.034263
-[19:50:00.957] Odometry x=-0.033257, y=1.258364, theta=0.029686
-[19:50:00.971] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000746 ,z=0.000108,angle between two frames:0.000470
-[19:50:00.972] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.379817 	 error end=0.379377
-[19:50:00.972] After pose optimization, distance between ekf and vo x:-0.000920 ,z=0.002645,angle between two frames:0.001658
-[19:50:00.972] frame process finished the id is: 72 the obs is:27 
-[19:50:01.057] Odometry x=-0.033329, y=1.263834, theta=0.035800
-[19:50:01.122] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000387 ,z=0.000100,angle between two frames:0.000218
-[19:50:01.122] After pose optimization, distance between ekf and vo x:-0.000387 ,z=0.000100,angle between two frames:0.000218
-[19:50:01.122] frame process finished the id is: 72 the obs is:27 
-[19:50:01.155] Odometry x=-0.033432, y=1.269675, theta=0.034763
-[19:50:01.253] Odometry x=-0.033321, y=1.275008, theta=0.033882
-[19:50:01.273] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000664 ,z=0.000259,angle between two frames:0.000344
-[19:50:01.273] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.638792 	 error end=0.638792
-[19:50:01.273] After pose optimization, distance between ekf and vo x:-0.000664 ,z=0.000259,angle between two frames:0.000344
-[19:50:01.273] frame process finished the id is: 72 the obs is:27 
-[19:50:01.351] Odometry x=-0.033423, y=1.280195, theta=0.044265
-[19:50:01.426] After Reprojection Map nPoint:18 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000727 ,z=0.000271,angle between two frames:0.000227
-[19:50:01.426] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =55.262415 	 error end=1.134420
-[19:50:01.426] After pose optimization, distance between ekf and vo x:9009.778185 ,z=-9834.373191,angle between two frames:2.139673
-[19:50:01.426] frame process finished the id is: 72 the obs is:27 
-[19:50:01.453] Odometry x=-0.033541, y=1.286197, theta=0.045420
-[19:50:01.555] Odometry x=-0.033685, y=1.291690, theta=0.045286
-[19:50:01.579] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:-0.000208 ,z=0.000031,angle between two frames:0.000208
-[19:50:01.579] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.471873 	 error end=0.471873
-[19:50:01.579] After pose optimization, distance between ekf and vo x:-0.000208 ,z=0.000031,angle between two frames:0.000208
-[19:50:01.579] frame process finished the id is: 72 the obs is:27 
-[19:50:01.655] Odometry x=-0.033843, y=1.298625, theta=0.045299
-[19:50:01.729] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.000110 ,z=0.000029,angle between two frames:0.000050
-[19:50:01.729] After pose optimization, distance between ekf and vo x:-0.000110 ,z=0.000029,angle between two frames:0.000050
-[19:50:01.729] frame process finished the id is: 72 the obs is:27 
-[19:50:01.758] Odometry x=-0.034010, y=1.305766, theta=0.050501
-[19:50:01.855] Odometry x=-0.034085, y=1.311879, theta=0.048218
-[19:50:01.883] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.000141 ,z=-0.000044,angle between two frames:0.000194
-[19:50:01.883] After pose optimization, distance between ekf and vo x:-0.000141 ,z=-0.000044,angle between two frames:0.000194
-[19:50:01.883] frame process finished the id is: 72 the obs is:27 
-[19:50:01.953] Odometry x=-0.034174, y=1.317213, theta=0.043469
-[19:50:02.040] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000681 ,z=0.000098,angle between two frames:0.000421
-[19:50:02.040] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.890531 	 error end=0.796496
-[19:50:02.040] After pose optimization, distance between ekf and vo x:0.066187 ,z=0.067521,angle between two frames:0.056162
-[19:50:02.040] frame process finished the id is: 72 the obs is:27 
-[19:50:02.055] Odometry x=-0.034313, y=1.322574, theta=0.040874
-[19:50:02.155] Odometry x=-0.034411, y=1.328053, theta=0.042341
-[19:50:02.191] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000231 ,z=0.000004,angle between two frames:0.000193
-[19:50:02.191] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.558727 	 error end=0.534721
-[19:50:02.191] After pose optimization, distance between ekf and vo x:0.038705 ,z=0.114673,angle between two frames:0.032173
-[19:50:02.191] frame process finished the id is: 72 the obs is:27 
-[19:50:02.254] Odometry x=-0.034423, y=1.333420, theta=0.048050
-[19:50:02.351] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.000631 ,z=0.000180,angle between two frames:0.000353
-[19:50:02.351] After pose optimization, distance between ekf and vo x:-0.000631 ,z=0.000180,angle between two frames:0.000353
-[19:50:02.351] frame process finished the id is: 72 the obs is:27 
-[19:50:02.352] Odometry x=-0.034534, y=1.339104, theta=0.035728
-[19:50:02.454] Odometry x=-0.034624, y=1.344455, theta=0.034780
-[19:50:02.509] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.000614 ,z=0.000185,angle between two frames:0.000392
-[19:50:02.509] After pose optimization, distance between ekf and vo x:-0.000614 ,z=0.000185,angle between two frames:0.000392
-[19:50:02.509] frame process finished the id is: 72 the obs is:27 
-[19:50:02.556] Odometry x=-0.034681, y=1.350416, theta=0.035068
-[19:50:02.653] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000125 ,z=0.000045,angle between two frames:0.000051
-[19:50:02.653] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.010127 	 error end=1.010127
-[19:50:02.653] After pose optimization, distance between ekf and vo x:-0.000125 ,z=0.000045,angle between two frames:0.000051
-[19:50:02.653] frame process finished the id is: 72 the obs is:27 
-[19:50:02.658] Odometry x=-0.034763, y=1.356082, theta=0.042348
-[19:50:02.756] Odometry x=-0.034890, y=1.362443, theta=0.036023
-[19:50:02.806] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.000623 ,z=0.000248,angle between two frames:0.000265
-[19:50:02.806] After pose optimization, distance between ekf and vo x:-0.000623 ,z=0.000248,angle between two frames:0.000265
-[19:50:02.806] frame process finished the id is: 72 the obs is:27 
-[19:50:02.850] Odometry x=-0.034949, y=1.368131, theta=0.036226
-[19:50:02.953] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.000322 ,z=0.000115,angle between two frames:0.000126
-[19:50:02.953] After pose optimization, distance between ekf and vo x:-0.000322 ,z=0.000115,angle between two frames:0.000126
-[19:50:02.953] frame process finished the id is: 72 the obs is:27 
-[19:50:02.954] Odometry x=-0.035007, y=1.373649, theta=0.042140
-[19:50:03.054] Odometry x=-0.034727, y=1.379135, theta=0.033412
-[19:50:03.103] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000566 ,z=0.000190,angle between two frames:0.000229
-[19:50:03.103] After pose optimization, distance between ekf and vo x:-0.000566 ,z=0.000190,angle between two frames:0.000229
-[19:50:03.103] frame process finished the id is: 72 the obs is:27 
-[19:50:03.157] Odometry x=-0.034813, y=1.384846, theta=0.032024
-[19:50:03.253] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:-0.000485 ,z=0.000179,angle between two frames:0.000164
-[19:50:03.253] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =1.978685 	 error end=0.438928
-[19:50:03.253] After pose optimization, distance between ekf and vo x:-0.264309 ,z=0.103082,angle between two frames:0.083708
-[19:50:03.253] frame process finished the id is: 72 the obs is:27 
-[19:50:03.256] Odometry x=-0.034856, y=1.391341, theta=0.038342
-[19:50:03.353] Odometry x=-0.034984, y=1.397062, theta=0.044098
-[19:50:03.404] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.000501 ,z=0.000195,angle between two frames:0.000158
-[19:50:03.404] After pose optimization, distance between ekf and vo x:-0.000501 ,z=0.000195,angle between two frames:0.000158
-[19:50:03.404] frame process finished the id is: 72 the obs is:27 
-[19:50:03.461] Odometry x=-0.035049, y=1.402337, theta=0.044724
-[19:50:03.551] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000352 ,z=0.000124,angle between two frames:0.000114
-[19:50:03.551] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.330551 	 error end=0.324872
-[19:50:03.551] After pose optimization, distance between ekf and vo x:-0.013408 ,z=0.056108,angle between two frames:0.003269
-[19:50:03.551] frame process finished the id is: 72 the obs is:27 
-[19:50:03.551] Odometry x=-0.035179, y=1.408259, theta=0.039883
-[19:50:03.655] Odometry x=-0.035258, y=1.413271, theta=0.044666
-[19:50:03.694] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.000004 ,z=-0.000006,angle between two frames:0.000009
-[19:50:03.694] After pose optimization, distance between ekf and vo x:-0.000004 ,z=-0.000006,angle between two frames:0.000009
-[19:50:03.694] frame process finished the id is: 72 the obs is:27 
-[19:50:03.754] Odometry x=-0.035387, y=1.418815, theta=0.045456
-[19:50:03.837] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000008,angle between two frames:0.000008
-[19:50:03.837] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000008,angle between two frames:0.000008
-[19:50:03.837] frame process finished the id is: 72 the obs is:27 
-[19:50:03.857] Odometry x=-0.035505, y=1.424195, theta=0.041928
-[19:50:03.955] Odometry x=-0.035692, y=1.432621, theta=0.029947
-[19:50:03.988] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000176 ,z=-0.000056,angle between two frames:0.000204
-[19:50:03.988] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.279339 	 error end=0.235376
-[19:50:03.988] After pose optimization, distance between ekf and vo x:-0.007188 ,z=0.510196,angle between two frames:0.048603
-[19:50:03.988] frame process finished the id is: 72 the obs is:27 
-[19:50:04.056] Odometry x=-0.035778, y=1.437685, theta=0.037699
-[19:50:04.134] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:2 ,distance between ekf and vo x:-0.000166 ,z=0.000025,angle between two frames:0.000090
-[19:50:04.134] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.298895 	 error end=0.288470
-[19:50:04.134] After pose optimization, distance between ekf and vo x:0.071057 ,z=0.008091,angle between two frames:0.042316
-[19:50:04.134] frame process finished the id is: 72 the obs is:27 
-[19:50:04.153] Odometry x=-0.035864, y=1.443333, theta=0.039036
-[19:50:04.255] Odometry x=-0.035991, y=1.448680, theta=0.034644
-[19:50:04.283] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000541 ,z=0.000160,angle between two frames:0.000202
-[19:50:04.283] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.593834 	 error end=0.593834
-[19:50:04.283] After pose optimization, distance between ekf and vo x:-0.000541 ,z=0.000160,angle between two frames:0.000202
-[19:50:04.283] frame process finished the id is: 72 the obs is:27 
-[19:50:04.435] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:-0.000550 ,z=-0.000004,angle between two frames:0.000223
-[19:50:04.435] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.223196 	 error end=0.200372
-[19:50:04.435] After pose optimization, distance between ekf and vo x:-0.017869 ,z=-0.006708,angle between two frames:0.010574
-[19:50:04.435] frame process finished the id is: 72 the obs is:27 
-[19:50:04.585] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.000335 ,z=0.000006,angle between two frames:0.000053
-[19:50:04.585] After pose optimization, distance between ekf and vo x:-0.000335 ,z=0.000006,angle between two frames:0.000053
-[19:50:04.585] frame process finished the id is: 72 the obs is:27 
-[19:50:04.735] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:-0.000343 ,z=0.000012,angle between two frames:0.000059
-[19:50:04.735] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.308505 	 error end=0.299888
-[19:50:04.735] After pose optimization, distance between ekf and vo x:0.108199 ,z=0.009746,angle between two frames:0.049810
-[19:50:04.735] frame process finished the id is: 72 the obs is:27 
-[19:50:04.886] After Reprojection Map nPoint:15 ,nCell:14 ,nMatches:2 ,distance between ekf and vo x:-0.000510 ,z=0.000120,angle between two frames:0.000135
-[19:50:04.887] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.848270 	 error end=0.518373
-[19:50:04.887] After pose optimization, distance between ekf and vo x:1.065310 ,z=0.330016,angle between two frames:0.635501
-[19:50:04.887] frame process finished the id is: 72 the obs is:27 
-[19:50:05.040] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:-0.000519 ,z=0.000129,angle between two frames:0.000136
-[19:50:05.040] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.476908 	 error end=0.451530
-[19:50:05.040] After pose optimization, distance between ekf and vo x:0.048383 ,z=0.027742,angle between two frames:0.035309
-[19:50:05.040] frame process finished the id is: 72 the obs is:27 
-[19:50:05.195] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:2 ,distance between ekf and vo x:-0.000505 ,z=0.000120,angle between two frames:0.000124
-[19:50:05.195] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.555841 	 error end=0.555841
-[19:50:05.195] After pose optimization, distance between ekf and vo x:-0.000505 ,z=0.000120,angle between two frames:0.000124
-[19:50:05.195] frame process finished the id is: 72 the obs is:27 
-[19:50:05.350] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:3 ,distance between ekf and vo x:-0.000513 ,z=0.000112,angle between two frames:0.000132
-[19:50:05.350] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.887812 	 error end=0.810213
-[19:50:05.350] After pose optimization, distance between ekf and vo x:0.106770 ,z=0.009232,angle between two frames:0.052111
-[19:50:05.350] frame process finished the id is: 72 the obs is:27 
-[19:50:05.502] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:3 ,distance between ekf and vo x:-0.000518 ,z=0.000112,angle between two frames:0.000125
-[19:50:05.502] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.809005 	 error end=0.720113
-[19:50:05.502] After pose optimization, distance between ekf and vo x:0.085137 ,z=0.100349,angle between two frames:0.127872
-[19:50:05.502] frame process finished the id is: 72 the obs is:27 
-[19:50:05.653] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:-0.000504 ,z=0.000106,angle between two frames:0.000129
-[19:50:05.653] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.470726 	 error end=0.421434
-[19:50:05.653] After pose optimization, distance between ekf and vo x:0.071081 ,z=0.127511,angle between two frames:0.126286
-[19:50:05.653] frame process finished the id is: 72 the obs is:27 
-[19:50:05.804] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:-0.000499 ,z=0.000107,angle between two frames:0.000132
-[19:50:05.804] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.860138 	 error end=0.747021
-[19:50:05.804] After pose optimization, distance between ekf and vo x:0.122280 ,z=0.225086,angle between two frames:0.216609
-[19:50:05.804] frame process finished the id is: 72 the obs is:27 
-[19:50:05.954] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:3 ,distance between ekf and vo x:-0.000495 ,z=0.000110,angle between two frames:0.000157
-[19:50:05.954] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.824866 	 error end=0.595128
-[19:50:05.954] After pose optimization, distance between ekf and vo x:0.332314 ,z=0.346719,angle between two frames:0.391559
-[19:50:05.954] frame process finished the id is: 72 the obs is:27 
-[19:50:06.105] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000483 ,z=0.000104,angle between two frames:0.000177
-[19:50:06.105] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.704680 	 error end=0.704680
-[19:50:06.105] After pose optimization, distance between ekf and vo x:-0.000483 ,z=0.000104,angle between two frames:0.000177
-[19:50:06.105] frame process finished the id is: 72 the obs is:27 
-[19:50:06.255] After Reprojection Map nPoint:17 ,nCell:16 ,nMatches:3 ,distance between ekf and vo x:-0.000446 ,z=0.000095,angle between two frames:0.000250
-[19:50:06.255] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.853260 	 error end=0.802842
-[19:50:06.255] After pose optimization, distance between ekf and vo x:0.062259 ,z=0.019683,angle between two frames:0.039026
-[19:50:06.255] frame process finished the id is: 72 the obs is:27 
-[19:50:06.406] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000436 ,z=0.000096,angle between two frames:0.000299
-[19:50:06.406] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.705795 	 error end=0.705795
-[19:50:06.406] After pose optimization, distance between ekf and vo x:-0.000436 ,z=0.000096,angle between two frames:0.000299
-[19:50:06.406] frame process finished the id is: 72 the obs is:27 
-[19:50:06.557] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:3 ,distance between ekf and vo x:-0.000419 ,z=0.000091,angle between two frames:0.000305
-[19:50:06.557] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.808731 	 error end=0.649853
-[19:50:06.557] After pose optimization, distance between ekf and vo x:0.180683 ,z=0.328956,angle between two frames:0.313619
-[19:50:06.557] frame process finished the id is: 72 the obs is:27 
-[19:50:06.707] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:2 ,distance between ekf and vo x:-0.000432 ,z=0.000094,angle between two frames:0.000306
-[19:50:06.707] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =1.470143 	 error end=0.350278
-[19:50:06.707] After pose optimization, distance between ekf and vo x:1.863879 ,z=0.442569,angle between two frames:1.188380
-[19:50:06.707] frame process finished the id is: 72 the obs is:27 
-[19:50:06.858] After Reprojection Map nPoint:15 ,nCell:14 ,nMatches:2 ,distance between ekf and vo x:-0.000429 ,z=0.000094,angle between two frames:0.000295
-[19:50:06.858] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =1.094619 	 error end=0.326542
-[19:50:06.858] After pose optimization, distance between ekf and vo x:0.954397 ,z=0.000667,angle between two frames:0.649213
-[19:50:06.858] frame process finished the id is: 72 the obs is:27 
-[19:50:07.008] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:5 ,distance between ekf and vo x:-0.000431 ,z=0.000092,angle between two frames:0.000306
-[19:50:07.008] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.659111 	 error end=0.659111
-[19:50:07.008] After pose optimization, distance between ekf and vo x:-0.000431 ,z=0.000092,angle between two frames:0.000306
-[19:50:07.008] frame process finished the id is: 72 the obs is:27 
-[19:50:07.158] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:2 ,distance between ekf and vo x:-0.000419 ,z=0.000090,angle between two frames:0.000314
-[19:50:07.159] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.559892 	 error end=0.342748
-[19:50:07.159] After pose optimization, distance between ekf and vo x:0.566433 ,z=0.122553,angle between two frames:0.366084
-[19:50:07.159] frame process finished the id is: 72 the obs is:27 
-[19:50:07.309] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:3 ,distance between ekf and vo x:-0.000423 ,z=0.000093,angle between two frames:0.000317
-[19:50:07.309] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.519462 	 error end=0.519462
-[19:50:07.309] After pose optimization, distance between ekf and vo x:-0.000423 ,z=0.000093,angle between two frames:0.000317
-[19:50:07.309] frame process finished the id is: 72 the obs is:27 
-[19:50:07.459] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:3 ,distance between ekf and vo x:-0.000415 ,z=0.000089,angle between two frames:0.000330
-[19:50:07.459] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.808245 	 error end=0.724207
-[19:50:07.459] After pose optimization, distance between ekf and vo x:0.081013 ,z=0.086652,angle between two frames:0.117001
-[19:50:07.459] frame process finished the id is: 72 the obs is:27 
-[19:50:07.610] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:2 ,distance between ekf and vo x:-0.000423 ,z=0.000094,angle between two frames:0.000320
-[19:50:07.610] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =1.095265 	 error end=0.325966
-[19:50:07.610] After pose optimization, distance between ekf and vo x:0.955738 ,z=0.005653,angle between two frames:0.651015
-[19:50:07.610] frame process finished the id is: 72 the obs is:27 
-[19:50:07.760] After Reprojection Map nPoint:17 ,nCell:16 ,nMatches:2 ,distance between ekf and vo x:-0.000438 ,z=0.000092,angle between two frames:0.000282
-[19:50:07.760] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =1.094546 	 error end=0.325556
-[19:50:07.760] After pose optimization, distance between ekf and vo x:0.955476 ,z=0.005089,angle between two frames:0.650386
-[19:50:07.760] frame process finished the id is: 72 the obs is:27 
-[19:50:07.910] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000465 ,z=0.000102,angle between two frames:0.000223
-[19:50:07.910] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.705726 	 error end=0.705726
-[19:50:07.910] After pose optimization, distance between ekf and vo x:-0.000465 ,z=0.000102,angle between two frames:0.000223
-[19:50:07.910] frame process finished the id is: 72 the obs is:27 
-[19:50:08.061] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:-0.000494 ,z=0.000106,angle between two frames:0.000160
-[19:50:08.062] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =1.095196 	 error end=0.327532
-[19:50:08.062] After pose optimization, distance between ekf and vo x:0.953864 ,z=-0.003770,angle between two frames:0.647763
-[19:50:08.062] frame process finished the id is: 72 the obs is:27 
-[19:50:08.212] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:-0.000493 ,z=0.000102,angle between two frames:0.000139
-[19:50:08.212] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.095994 	 error end=0.934173
-[19:50:08.213] After pose optimization, distance between ekf and vo x:0.124590 ,z=0.138845,angle between two frames:0.140876
-[19:50:08.213] frame process finished the id is: 72 the obs is:27 
-[19:50:08.363] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:-0.000518 ,z=0.000114,angle between two frames:0.000130
-[19:50:08.363] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =1.470512 	 error end=0.349245
-[19:50:08.363] After pose optimization, distance between ekf and vo x:1.887699 ,z=0.441087,angle between two frames:1.198658
-[19:50:08.363] frame process finished the id is: 72 the obs is:27 
-[19:50:08.515] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:2 ,distance between ekf and vo x:-0.000516 ,z=0.000114,angle between two frames:0.000130
-[19:50:08.515] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =1.095516 	 error end=0.386744
-[19:50:08.515] After pose optimization, distance between ekf and vo x:0.631280 ,z=-0.224338,angle between two frames:0.322889
-[19:50:08.515] frame process finished the id is: 72 the obs is:27 
-[19:50:08.670] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:2 ,distance between ekf and vo x:-0.000514 ,z=0.000112,angle between two frames:0.000114
-[19:50:08.670] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =1.094567 	 error end=0.326945
-[19:50:08.670] After pose optimization, distance between ekf and vo x:0.954784 ,z=-0.000654,angle between two frames:0.648372
-[19:50:08.670] frame process finished the id is: 72 the obs is:27 
-[19:50:08.822] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:-0.000510 ,z=0.000109,angle between two frames:0.000119
-[19:50:08.822] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =1.094610 	 error end=0.326843
-[19:50:08.822] After pose optimization, distance between ekf and vo x:0.954973 ,z=-0.003156,angle between two frames:0.648100
-[19:50:08.822] frame process finished the id is: 72 the obs is:27 
-[19:50:08.974] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:3 ,distance between ekf and vo x:-0.000509 ,z=0.000109,angle between two frames:0.000121
-[19:50:08.974] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.809100 	 error end=0.650534
-[19:50:08.974] After pose optimization, distance between ekf and vo x:0.179821 ,z=0.326609,angle between two frames:0.311912
-[19:50:08.974] frame process finished the id is: 72 the obs is:27 
-[19:50:09.126] After Reprojection Map nPoint:20 ,nCell:19 ,nMatches:5 ,distance between ekf and vo x:-0.000506 ,z=0.000108,angle between two frames:0.000119
-[19:50:09.126] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.622118 	 error end=0.622118
-[19:50:09.126] After pose optimization, distance between ekf and vo x:-0.000506 ,z=0.000108,angle between two frames:0.000119
-[19:50:09.126] frame process finished the id is: 72 the obs is:27 
-[19:50:09.277] After Reprojection Map nPoint:15 ,nCell:14 ,nMatches:2 ,distance between ekf and vo x:-0.000520 ,z=0.000114,angle between two frames:0.000126
-[19:50:09.277] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =1.470709 	 error end=0.351836
-[19:50:09.277] After pose optimization, distance between ekf and vo x:2.019957 ,z=0.447408,angle between two frames:1.264244
-[19:50:09.277] frame process finished the id is: 72 the obs is:27 
-[19:50:09.431] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000517 ,z=0.000114,angle between two frames:0.000121
-[19:50:09.431] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.484433 	 error end=1.484433
-[19:50:09.431] After pose optimization, distance between ekf and vo x:-0.000517 ,z=0.000114,angle between two frames:0.000121
-[19:50:09.431] frame process finished the id is: 72 the 
\ No newline at end of file
+[10:03:00.593] Init: frame zero: 0.000000, 0.000000 0.000000
+[10:03:00.593] Init: Selected first frame. 
+[10:03:00.593] frame process finished the id is: 0 the obs is:0 
+[10:03:00.695] Init: px average disparity is:0.186232 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:00.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:00.695] frame process finished the id is: 1 the obs is:0 
+[10:03:00.789] Init: px average disparity is:0.220179 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:00.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:00.789] frame process finished the id is: 2 the obs is:0 
+[10:03:00.889] Init: px average disparity is:0.235343 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:00.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:00.889] frame process finished the id is: 3 the obs is:0 
+[10:03:00.990] Init: px average disparity is:0.251765 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:00.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:00.990] frame process finished the id is: 4 the obs is:0 
+[10:03:01.090] Init: px average disparity is:0.230286 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:01.090] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:01.090] frame process finished the id is: 5 the obs is:0 
+[10:03:01.189] Init: px average disparity is:0.225315 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:01.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:01.189] frame process finished the id is: 6 the obs is:0 
+[10:03:01.296] Init: px average disparity is:0.235652 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:01.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:01.296] frame process finished the id is: 7 the obs is:0 
+[10:03:01.394] Init: px average disparity is:0.223910 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:01.394] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:01.394] frame process finished the id is: 8 the obs is:0 
+[10:03:01.491] Init: px average disparity is:0.249198 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:01.491] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:01.491] frame process finished the id is: 9 the obs is:0 
+[10:03:01.589] Init: px average disparity is:0.218573 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:01.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:01.589] frame process finished the id is: 10 the obs is:0 
+[10:03:01.689] Init: px average disparity is:0.231911 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:01.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:01.689] frame process finished the id is: 11 the obs is:0 
+[10:03:01.788] Init: px average disparity is:0.239650 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:01.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:01.788] frame process finished the id is: 12 the obs is:0 
+[10:03:01.889] Init: px average disparity is:0.225800 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:01.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:01.889] frame process finished the id is: 13 the obs is:0 
+[10:03:01.998] Init: px average disparity is:0.236743 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:01.998] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:01.998] frame process finished the id is: 14 the obs is:0 
+[10:03:02.097] Init: px average disparity is:0.219644 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:02.097] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:02.097] frame process finished the id is: 15 the obs is:0 
+[10:03:02.197] Init: px average disparity is:0.234644 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:02.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:02.197] frame process finished the id is: 16 the obs is:0 
+[10:03:02.297] Init: px average disparity is:0.256700 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:02.297] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:02.297] frame process finished the id is: 17 the obs is:0 
+[10:03:02.396] Init: px average disparity is:0.232758 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:02.396] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:02.396] frame process finished the id is: 18 the obs is:0 
+[10:03:02.490] Init: px average disparity is:0.220896 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:02.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:02.490] frame process finished the id is: 19 the obs is:0 
+[10:03:02.589] Init: px average disparity is:0.220596 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:02.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:02.589] frame process finished the id is: 20 the obs is:0 
+[10:03:02.692] Init: px average disparity is:0.247390 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:02.692] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:02.692] frame process finished the id is: 21 the obs is:0 
+[10:03:02.795] Init: px average disparity is:0.254424 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:02.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:02.795] frame process finished the id is: 22 the obs is:0 
+[10:03:02.897] Init: px average disparity is:0.232711 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:02.897] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:02.897] frame process finished the id is: 23 the obs is:0 
+[10:03:02.997] Init: px average disparity is:0.225939 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:02.997] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:02.997] frame process finished the id is: 24 the obs is:0 
+[10:03:03.096] Init: px average disparity is:0.248715 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:03.096] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:03.097] frame process finished the id is: 25 the obs is:0 
+[10:03:03.200] Init: px average disparity is:0.230650 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:03.200] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:03.200] frame process finished the id is: 26 the obs is:0 
+[10:03:03.297] Init: px average disparity is:0.218432 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:03.298] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:03.298] frame process finished the id is: 27 the obs is:0 
+[10:03:03.399] Init: px average disparity is:0.258282 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:03.399] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:03.399] frame process finished the id is: 28 the obs is:0 
+[10:03:03.498] Init: px average disparity is:0.218486 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:03.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:03.498] frame process finished the id is: 29 the obs is:0 
+[10:03:03.539] Odometry x=0.000000, y=0.000000, theta=-0.000000
+[10:03:03.598] Init: px average disparity is:0.221304 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:03.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:03.598] frame process finished the id is: 30 the obs is:0 
+[10:03:03.634] Odometry x=0.000000, y=0.000000, theta=-0.000000
+[10:03:03.697] Init: px average disparity is:0.203855 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:03.697] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:03.697] frame process finished the id is: 31 the obs is:0 
+[10:03:03.734] Odometry x=0.000082, y=0.006154, theta=-0.001789
+[10:03:03.798] Init: px average disparity is:1.682017 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:03.798] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:03.798] frame process finished the id is: 32 the obs is:0 
+[10:03:03.836] Odometry x=0.000292, y=0.014235, theta=-0.001762
+[10:03:03.898] Init: px average disparity is:5.909197 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:03.898] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:03.898] frame process finished the id is: 33 the obs is:0 
+[10:03:03.936] Odometry x=0.000414, y=0.019665, theta=-0.004598
+[10:03:03.999] Init: px average disparity is:7.636071 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:03.999] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:03.999] frame process finished the id is: 34 the obs is:0 
+[10:03:04.037] Odometry x=0.000436, y=0.027105, theta=0.000072
+[10:03:04.099] Init: px average disparity is:4.920073 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:04.099] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:04.099] frame process finished the id is: 35 the obs is:0 
+[10:03:04.136] Odometry x=0.000486, y=0.032515, theta=-0.001879
+[10:03:04.197] Init: px average disparity is:5.261390 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:04.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:04.197] frame process finished the id is: 36 the obs is:0 
+[10:03:04.235] Odometry x=0.002162, y=0.040283, theta=-0.000084
+[10:03:04.298] Init: px average disparity is:4.229678 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:04.299] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:04.299] frame process finished the id is: 37 the obs is:0 
+[10:03:04.335] Odometry x=0.002175, y=0.045674, theta=0.002027
+[10:03:04.399] Init: px average disparity is:5.634337 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:04.399] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:04.399] frame process finished the id is: 38 the obs is:0 
+[10:03:04.435] Odometry x=0.002180, y=0.058094, theta=0.009609
+[10:03:04.499] Init: px average disparity is:4.449606 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:04.499] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:04.499] frame process finished the id is: 39 the obs is:0 
+[10:03:04.535] Odometry x=0.002182, y=0.063436, theta=-0.004970
+[10:03:04.599] Init: px average disparity is:6.282731 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:04.599] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:04.599] frame process finished the id is: 40 the obs is:0 
+[10:03:04.635] Odometry x=0.002238, y=0.069510, theta=0.003230
+[10:03:04.692] Init: px average disparity is:7.756208 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:04.692] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:04.692] frame process finished the id is: 41 the obs is:0 
+[10:03:04.736] Odometry x=0.002261, y=0.073056, theta=0.003846
+[10:03:04.799] Init: px average disparity is:9.140116 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:04.799] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:04.799] frame process finished the id is: 42 the obs is:0 
+[10:03:04.836] Odometry x=0.002249, y=0.078274, theta=0.009246
+[10:03:04.900] Init: px average disparity is:12.426741 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:04.900] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:04.900] frame process finished the id is: 43 the obs is:0 
+[10:03:04.936] Odometry x=0.002309, y=0.083637, theta=-0.012829
+[10:03:04.999] Init: px average disparity is:15.110802 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:04.999] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:04.999] frame process finished the id is: 44 the obs is:0 
+[10:03:05.039] Odometry x=0.002605, y=0.090016, theta=-0.005465
+[10:03:05.099] Init: px average disparity is:13.365964 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:05.099] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:05.099] frame process finished the id is: 45 the obs is:0 
+[10:03:05.134] Odometry x=0.001383, y=0.094851, theta=-0.004278
+[10:03:05.199] Init: px average disparity is:12.572339 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:05.199] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:05.199] frame process finished the id is: 46 the obs is:0 
+[10:03:05.234] Odometry x=0.001474, y=0.102540, theta=-0.000008
+[10:03:05.293] Init: px average disparity is:10.994333 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:05.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:05.294] frame process finished the id is: 47 the obs is:0 
+[10:03:05.338] Odometry x=0.003215, y=0.107980, theta=0.004831
+[10:03:05.399] Init: px average disparity is:12.728684 ,While minimum is: 20.000000  KLT tracked : 136
+[10:03:05.399] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:05.399] frame process finished the id is: 48 the obs is:0 
+[10:03:05.439] Odometry x=0.003357, y=0.113597, theta=0.004317
+[10:03:05.499] Init: px average disparity is:12.906911 ,While minimum is: 20.000000  KLT tracked : 135
+[10:03:05.499] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:05.499] frame process finished the id is: 49 the obs is:0 
+[10:03:05.539] Odometry x=0.003524, y=0.119838, theta=0.000070
+[10:03:05.599] Init: px average disparity is:18.991914 ,While minimum is: 20.000000  KLT tracked : 135
+[10:03:05.599] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:05.599] frame process finished the id is: 50 the obs is:0 
+[10:03:05.649] Odometry x=0.004329, y=0.126974, theta=0.007583
+[10:03:05.698] Init: px average disparity is:13.837931 ,While minimum is: 20.000000  KLT tracked : 135
+[10:03:05.699] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:05.699] frame process finished the id is: 51 the obs is:0 
+[10:03:05.739] Odometry x=0.008181, y=0.133090, theta=-0.008328
+[10:03:05.799] Init: px average disparity is:13.668796 ,While minimum is: 20.000000  KLT tracked : 135
+[10:03:05.799] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:05.799] frame process finished the id is: 52 the obs is:0 
+[10:03:05.839] Odometry x=0.008237, y=0.150262, theta=-0.007762
+[10:03:05.900] Init: px average disparity is:9.212462 ,While minimum is: 20.000000  KLT tracked : 135
+[10:03:05.900] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:05.900] frame process finished the id is: 53 the obs is:0 
+[10:03:05.937] Odometry x=0.009741, y=0.155195, theta=0.000058
+[10:03:05.998] Init: px average disparity is:9.783475 ,While minimum is: 20.000000  KLT tracked : 135
+[10:03:05.998] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:05.998] frame process finished the id is: 54 the obs is:0 
+[10:03:06.033] Odometry x=0.010155, y=0.160794, theta=-0.010085
+[10:03:06.099] Init: px average disparity is:9.683608 ,While minimum is: 20.000000  KLT tracked : 134
+[10:03:06.099] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:06.099] frame process finished the id is: 55 the obs is:0 
+[10:03:06.136] Odometry x=0.011164, y=0.165917, theta=-0.007355
+[10:03:06.198] Init: px average disparity is:10.577059 ,While minimum is: 20.000000  KLT tracked : 134
+[10:03:06.199] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:06.199] frame process finished the id is: 56 the obs is:0 
+[10:03:06.240] Odometry x=0.011270, y=0.171413, theta=-0.007772
+[10:03:06.302] Init: px average disparity is:11.361489 ,While minimum is: 20.000000  KLT tracked : 134
+[10:03:06.302] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:06.302] frame process finished the id is: 57 the obs is:0 
+[10:03:06.342] Odometry x=0.021239, y=0.176681, theta=-0.002759
+[10:03:06.404] Init: px average disparity is:9.367119 ,While minimum is: 20.000000  KLT tracked : 134
+[10:03:06.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:06.404] frame process finished the id is: 58 the obs is:0 
+[10:03:06.441] Odometry x=0.021230, y=0.182423, theta=0.008304
+[10:03:06.492] Init: px average disparity is:11.387668 ,While minimum is: 20.000000  KLT tracked : 134
+[10:03:06.492] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:06.492] frame process finished the id is: 59 the obs is:0 
+[10:03:06.543] Odometry x=0.021690, y=0.189253, theta=-0.003949
+[10:03:06.598] Init: px average disparity is:13.439891 ,While minimum is: 20.000000  KLT tracked : 134
+[10:03:06.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:06.598] frame process finished the id is: 60 the obs is:0 
+[10:03:06.638] Odometry x=0.021706, y=0.194830, theta=-0.007552
+[10:03:06.700] Init: px average disparity is:14.666093 ,While minimum is: 20.000000  KLT tracked : 134
+[10:03:06.700] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:06.700] frame process finished the id is: 61 the obs is:0 
+[10:03:06.737] Odometry x=0.023083, y=0.200106, theta=-0.008000
+[10:03:06.800] Init: px average disparity is:15.413366 ,While minimum is: 20.000000  KLT tracked : 134
+[10:03:06.800] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:06.801] frame process finished the id is: 62 the obs is:0 
+[10:03:06.837] Odometry x=0.023107, y=0.206204, theta=-0.003158
+[10:03:06.899] Init: px average disparity is:15.941994 ,While minimum is: 20.000000  KLT tracked : 134
+[10:03:06.900] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:06.900] frame process finished the id is: 63 the obs is:0 
+[10:03:06.938] Odometry x=0.023946, y=0.212123, theta=-0.009663
+[10:03:07.000] Init: px average disparity is:16.365819 ,While minimum is: 20.000000  KLT tracked : 134
+[10:03:07.000] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:07.000] frame process finished the id is: 64 the obs is:0 
+[10:03:07.033] Odometry x=0.024029, y=0.219506, theta=-0.004062
+[10:03:07.101] Init: px average disparity is:18.758144 ,While minimum is: 20.000000  KLT tracked : 134
+[10:03:07.101] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[10:03:07.101] frame process finished the id is: 65 the obs is:0 
+[10:03:07.138] Odometry x=0.024279, y=0.225077, theta=-0.011031
+[10:03:07.237] Odometry x=0.024328, y=0.230566, theta=-0.005766
+[10:03:07.270] cur: x=-0.466419, y=-0.476442, z=0.745289 ref: x=-0.403867 y=-0.484616 z=0.775911
+[10:03:07.270] cur: x=0.147257, y=-0.534141, z=0.832472 ref: x=0.156052 y=-0.478265 z=0.864240
+[10:03:07.270] cur: x=0.147190, y=-0.532144, z=0.833762 ref: x=0.156084 y=-0.476225 z=0.865360
+[10:03:07.270] cur: x=0.081535, y=-0.520356, z=0.850048 ref: x=0.096787 y=-0.464643 z=0.880193
+[10:03:07.270] cur: x=0.064522, y=-0.509227, z=0.858210 ref: x=0.039918 y=-0.471158 z=0.881145
+[10:03:07.270] cur: x=0.068497, y=-0.509223, z=0.857904 ref: x=0.042762 y=-0.471147 z=0.881017
+[10:03:07.270] cur: x=0.075181, y=-0.513342, z=0.854884 ref: x=0.091179 y=-0.456459 z=0.885060
+[10:03:07.270] cur: x=-0.014099, y=-0.438449, z=0.898645 ref: x=0.008683 y=-0.402739 z=0.915274
+[10:03:07.270] cur: x=-0.039832, y=-0.414701, z=0.909085 ref: x=-0.017095 y=-0.379612 z=0.924988
+[10:03:07.270] cur: x=-0.037089, y=-0.414605, z=0.909245 ref: x=-0.014229 y=-0.379615 z=0.925035
+[10:03:07.270] cur: x=-0.056928, y=-0.398299, z=0.915487 ref: x=-0.028577 y=-0.369045 z=0.928972
+[10:03:07.270] cur: x=-0.076566, y=-0.378015, z=0.922628 ref: x=-0.045826 y=-0.352076 z=0.934849
+[10:03:07.270] cur: x=-0.076402, y=-0.380436, z=0.921646 ref: x=-0.045820 y=-0.354195 z=0.934048
+[10:03:07.270] cur: x=-0.048134, y=-0.341461, z=0.938663 ref: x=-0.022916 y=-0.313819 z=0.949206
+[10:03:07.270] cur: x=-0.111832, y=-0.345688, z=0.931661 ref: x=-0.083259 y=-0.320054 z=0.943734
+[10:03:07.270] cur: x=-0.250194, y=-0.247765, z=0.935957 ref: x=-0.218433 y=-0.239915 z=0.945901
+[10:03:07.270] cur: x=-0.247135, y=-0.247689, z=0.936789 ref: x=-0.215580 y=-0.239939 z=0.946549
+[10:03:07.270] cur: x=-0.238449, y=-0.243350, z=0.940171 ref: x=-0.207049 y=-0.235711 z=0.949511
+[10:03:07.270] cur: x=-0.229973, y=-0.234674, z=0.944479 ref: x=-0.198538 y=-0.227168 z=0.953403
+[10:03:07.270] cur: x=-0.226999, y=-0.234602, z=0.945216 ref: x=-0.195677 y=-0.227188 z=0.953990
+[10:03:07.270] cur: x=-0.229923, y=-0.236817, z=0.943956 ref: x=-0.198522 y=-0.229321 z=0.952891
+[10:03:07.270] cur: x=-0.235644, y=-0.241194, z=0.941434 ref: x=-0.204208 y=-0.233582 z=0.950652
+[10:03:07.270] cur: x=-0.229842, y=-0.238947, z=0.943439 ref: x=-0.198506 y=-0.231473 z=0.952374
+[10:03:07.270] cur: x=-0.215632, y=-0.227211, z=0.949673 ref: x=-0.181415 y=-0.218663 z=0.958788
+[10:03:07.270] cur: x=-0.338281, y=-0.203740, z=0.918725 ref: x=-0.289722 y=-0.213448 z=0.933006
+[10:03:07.270] cur: x=-0.187562, y=-0.212238, z=0.959049 ref: x=-0.152794 y=-0.203705 z=0.967036
+[10:03:07.270] cur: x=-0.187654, y=-0.210157, z=0.959489 ref: x=-0.152805 y=-0.201543 z=0.967487
+[10:03:07.270] cur: x=-0.394710, y=-0.138186, z=0.908355 ref: x=-0.346836 y=-0.135421 z=0.928098
+[10:03:07.270] cur: x=-0.214485, y=-0.058523, z=0.974972 ref: x=-0.182030 y=-0.060221 z=0.981447
+[10:03:07.270] cur: x=-0.211704, y=-0.058533, z=0.975580 ref: x=-0.179153 y=-0.060226 z=0.981976
+[10:03:07.270] cur: x=-0.208852, y=-0.058542, z=0.976193 ref: x=-0.176275 y=-0.060230 z=0.982497
+[10:03:07.270] cur: x=-0.426643, y=0.042973, z=0.903398 ref: x=-0.369771 y=-0.044588 z=0.928053
+[10:03:07.270] cur: x=-0.424188, y=0.041598, z=0.904618 ref: x=-0.366970 y=-0.044596 z=0.929163
+[10:03:07.270] cur: x=-0.418078, y=0.033844, z=0.907780 ref: x=-0.361364 y=-0.044612 z=0.931357
+[10:03:07.270] cur: x=-0.194553, y=-0.056354, z=0.979272 ref: x=-0.161879 y=-0.058071 z=0.985101
+[10:03:07.270] cur: x=-0.102048, y=-0.059323, z=0.993009 ref: x=-0.072326 y=-0.047237 z=0.996262
+[10:03:07.270] cur: x=-0.194591, y=-0.054141, z=0.979389 ref: x=-0.161882 y=-0.055891 z=0.985226
+[10:03:07.270] cur: x=-0.411707, y=0.036789, z=0.910573 ref: x=-0.355762 y=-0.040299 z=0.933707
+[10:03:07.270] cur: x=-0.102354, y=-0.053189, z=0.993325 ref: x=-0.072327 y=-0.045053 z=0.996363
+[10:03:07.270] cur: x=-0.203653, y=-0.038837, z=0.978272 ref: x=-0.170542 y=-0.040614 z=0.984513
+[10:03:07.270] cur: x=-0.203788, y=-0.034476, z=0.978408 ref: x=-0.170546 y=-0.036252 z=0.984683
+[10:03:07.270] cur: x=-0.206709, y=-0.032287, z=0.977870 ref: x=-0.173427 y=-0.034068 z=0.984257
+[10:03:07.270] cur: x=-0.406686, y=0.010931, z=0.913503 ref: x=-0.355802 y=-0.016490 z=0.934416
+[10:03:07.270] cur: x=-0.425681, y=0.011983, z=0.904794 ref: x=-0.375420 y=-0.018631 z=0.926667
+[10:03:07.270] cur: x=-0.418423, y=0.018191, z=0.908070 ref: x=-0.367026 y=-0.014315 z=0.930100
+[10:03:07.270] cur: x=-0.435665, y=0.138178, z=0.889440 ref: x=-0.378227 y=0.005152 z=0.925699
+[10:03:07.270] cur: x=-0.415685, y=0.006210, z=0.909487 ref: x=-0.367032 y=0.002992 z=0.930203
+[10:03:07.270] cur: x=-0.431876, y=0.073998, z=0.898892 ref: x=-0.378226 y=0.007314 z=0.925685
+[10:03:07.270] cur: x=-0.305918, y=0.012434, z=0.951977 ref: x=-0.262329 y=0.018235 z=0.964806
+[10:03:07.270] cur: x=-0.353328, y=0.122272, z=0.927474 ref: x=-0.369687 y=0.067856 z=0.926675
+[10:03:07.270] cur: x=-0.436407, y=0.144030, z=0.888147 ref: x=-0.383670 y=0.065634 z=0.921135
+[10:03:07.270] cur: x=-0.357155, y=0.165104, z=0.919337 ref: x=-0.372445 y=0.076482 z=0.924897
+[10:03:07.270] cur: x=-0.208121, y=0.074190, z=0.975285 ref: x=-0.170492 y=0.074987 z=0.982502
+[10:03:07.270] cur: x=-0.205278, y=0.074178, z=0.975889 ref: x=-0.167613 y=0.074992 z=0.982997
+[10:03:07.270] cur: x=-0.208272, y=0.076675, z=0.975061 ref: x=-0.170488 y=0.077166 z=0.982334
+[10:03:07.270] cur: x=-0.205423, y=0.076649, z=0.975667 ref: x=-0.167609 y=0.077171 z=0.982829
+[10:03:07.270] cur: x=-0.288229, y=0.080796, z=0.954147 ref: x=-0.259356 y=0.079114 z=0.962536
+[10:03:07.270] cur: x=-0.285384, y=0.080599, z=0.955018 ref: x=-0.256503 y=0.079123 z=0.963300
+[10:03:07.270] cur: x=-0.575582, y=-0.042539, z=0.816637 ref: x=-0.520196 y=0.088264 z=0.849474
+[10:03:07.270] cur: x=-0.578038, y=-0.022114, z=0.815710 ref: x=-0.520063 y=0.101036 z=0.848131
+[10:03:07.270] cur: x=-0.522890, y=-0.031622, z=0.851813 ref: x=-0.490642 y=0.092823 z=0.866403
+[10:03:07.270] cur: x=-0.356062, y=0.088661, z=0.930247 ref: x=-0.377719 y=0.123887 z=0.917595
+[10:03:07.270] cur: x=-0.367346, y=0.079160, z=0.926710 ref: x=-0.372153 y=0.121780 z=0.920148
+[10:03:07.270] cur: x=-0.082310, y=0.164882, z=0.982873 ref: x=-0.051982 y=0.149244 z=0.987433
+[10:03:07.270] cur: x=-0.085177, y=0.166554, z=0.982347 ref: x=-0.054871 y=0.151416 z=0.986946
+[10:03:07.270] cur: x=-0.099838, y=0.168475, z=0.980637 ref: x=-0.069325 y=0.153571 z=0.985703
+[10:03:07.270] cur: x=-0.088008, y=0.172411, z=0.981086 ref: x=-0.057755 y=0.157936 z=0.985759
+[10:03:07.270] cur: x=-0.105403, y=0.194502, z=0.975223 ref: x=-0.075058 y=0.179628 z=0.980867
+[10:03:07.270] cur: x=-0.102487, y=0.194671, z=0.975500 ref: x=-0.072170 y=0.179634 z=0.981083
+[10:03:07.270] cur: x=-0.081929, y=0.192322, z=0.977906 ref: x=-0.051947 y=0.177496 z=0.982750
+[10:03:07.270] cur: x=-0.096496, y=0.192356, z=0.976569 ref: x=-0.066396 y=0.177474 z=0.981883
+[10:03:07.270] cur: x=-0.017798, y=0.200640, z=0.979503 ref: x=0.005883 y=0.186213 z=0.982492
+[10:03:07.270] cur: x=-0.017777, y=0.202803, z=0.979058 ref: x=0.005883 y=0.188383 z=0.982078
+[10:03:07.270] cur: x=-0.026426, y=0.205102, z=0.978384 ref: x=-0.002791 y=0.190552 z=0.981673
+[10:03:07.270] cur: x=-0.105292, y=0.207998, z=0.972446 ref: x=-0.075031 y=0.192641 z=0.978397
+[10:03:07.270] cur: x=-0.023524, y=0.207232, z=0.978009 ref: x=0.000100 y=0.192721 z=0.981254
+[10:03:07.270] cur: x=-0.588966, y=0.269835, z=0.761779 ref: x=-0.514089 y=0.261491 z=0.816906
+[10:03:07.270] cur: x=0.153621, y=0.290359, z=0.944506 ref: x=0.158330 y=0.272080 z=0.949160
+[10:03:07.271] cur: x=0.156534, y=0.290540, z=0.943972 ref: x=0.161195 y=0.272059 z=0.948683
+[10:03:07.271] cur: x=0.056889, y=0.357477, z=0.932188 ref: x=0.074811 y=0.328112 z=0.941672
+[10:03:07.271] cur: x=0.059844, y=0.357595, z=0.931957 ref: x=0.077682 y=0.328100 z=0.941444
+[10:03:07.271] cur: x=0.059285, y=0.359296, z=0.931339 ref: x=0.077673 y=0.330228 z=0.940700
+[10:03:07.271] cur: x=-0.279474, y=0.359953, z=0.890128 ref: x=-0.256887 y=0.343274 z=0.903423
+[10:03:07.271] cur: x=0.104762, y=0.409007, z=0.906498 ref: x=0.160034 y=0.395045 z=0.904615
+[10:03:07.271] cur: x=0.075193, y=-0.515334, z=0.853684 ref: x=0.091161 y=-0.458519 z=0.883996
+[10:03:07.271] cur: x=0.075367, y=-0.521908, z=0.849666 ref: x=0.091091 y=-0.466745 z=0.879688
+[10:03:07.271] cur: x=0.075075, y=-0.519062, z=0.851433 ref: x=0.091127 y=-0.462635 z=0.881853
+[10:03:07.271] cur: x=-0.016959, y=-0.440546, z=0.897570 ref: x=0.005821 y=-0.404835 z=0.914371
+[10:03:07.271] cur: x=-0.028420, y=-0.431941, z=0.901454 ref: x=-0.005626 y=-0.396448 z=0.918040
+[10:03:07.271] cur: x=-0.016956, y=-0.436303, z=0.899640 ref: x=0.005823 y=-0.400644 z=0.916215
+[10:03:07.271] cur: x=-0.057100, y=-0.404697, z=0.912666 ref: x=-0.028565 y=-0.375378 z=0.926432
+[10:03:07.271] cur: x=-0.062395, y=-0.400602, z=0.914125 ref: x=-0.034306 y=-0.371145 z=0.927941
+[10:03:07.271] cur: x=-0.238684, y=-0.236956, z=0.941744 ref: x=-0.207099 y=-0.229256 z=0.951079
+[10:03:07.271] cur: x=-0.544186, y=-0.300186, z=0.783422 ref: x=-0.484343 y=-0.279612 z=0.828993
+[10:03:07.271] cur: x=-0.244328, y=-0.241223, z=0.939210 ref: x=-0.212779 y=-0.233514 z=0.948787
+[10:03:07.271] cur: x=-0.238517, y=-0.241216, z=0.940704 ref: x=-0.207066 y=-0.233560 z=0.950039
+[10:03:07.271] cur: x=-0.201721, y=-0.216626, z=0.955187 ref: x=-0.167136 y=-0.207954 z=0.963753
+[10:03:07.271] cur: x=-0.402219, y=-0.096106, z=0.910485 ref: x=-0.282264 y=0.026912 z=0.958959
+[10:03:07.271] cur: x=-0.205278, y=0.074178, z=0.975889 ref: x=-0.167613 y=0.074992 z=0.982997
+[10:03:07.271] cur: x=-0.413582, y=-0.050812, z=0.909048 ref: x=-0.471585 y=0.103697 z=0.875702
+[10:03:07.271] cur: x=-0.645734, y=0.221534, z=0.730719 ref: x=-0.570122 y=0.220076 z=0.791535
+[10:03:07.271] cur: x=-0.099594, y=0.285171, z=0.953288 ref: x=-0.069077 y=0.266075 z=0.961474
+[10:03:07.271] cur: x=-0.610034, y=0.260052, z=0.748486 ref: x=-0.532699 y=0.254627 z=0.807092
+[10:03:07.271] cur: x=0.156626, y=0.284199, z=0.945885 ref: x=0.161240 y=0.265625 z=0.950497
+[10:03:07.271] cur: x=-0.625817, y=0.254240, z=0.737370 ref: x=-0.548490 y=0.249926 z=0.797932
+[10:03:07.271] cur: x=0.072344, y=0.292768, z=0.953443 ref: x=0.086521 y=0.274611 z=0.957655
+[10:03:07.271] cur: x=0.156558, y=0.288441, z=0.944612 ref: x=0.161210 y=0.269915 z=0.949293
+[10:03:07.271] cur: x=-0.112051, y=0.325606, z=0.938843 ref: x=-0.080452 y=0.304625 z=0.949068
+[10:03:07.271] cur: x=-0.123673, y=0.321370, z=0.938843 ref: x=-0.091965 y=0.300301 z=0.949401
+[10:03:07.271] cur: x=0.057214, y=0.355446, z=0.932944 ref: x=0.074820 y=0.325983 z=0.942410
+[10:03:07.271] cur: x=-0.717914, y=0.302680, z=0.626885 ref: x=-0.571748 y=0.310689 z=0.759326
+[10:03:07.271] cur: x=-0.274427, y=0.362194, z=0.890789 ref: x=-0.251209 y=0.345473 z=0.904181
+[10:03:07.271] cur: x=-0.291224, y=0.384011, z=0.876198 ref: x=-0.267739 y=0.366186 z=0.891192
+[10:03:07.271] cur: x=-0.275595, y=0.394324, z=0.876673 ref: x=-0.383200 y=0.400471 z=0.832335
+[10:03:07.271] cur: x=-0.324752, y=-0.241754, z=0.914380 ref: x=-0.281023 y=-0.232853 z=0.931024
+[10:03:07.271] cur: x=-0.313059, y=-0.242435, z=0.918270 ref: x=-0.269694 y=-0.232978 z=0.934337
+[10:03:07.271] cur: x=-0.301622, y=-0.242909, z=0.921965 ref: x=-0.258345 y=-0.233097 z=0.937509
+[10:03:07.271] cur: x=-0.301341, y=-0.251438, z=0.919768 ref: x=-0.258255 y=-0.241678 z=0.935359
+[10:03:07.271] cur: x=0.117368, y=-0.525216, z=0.842836 ref: x=0.130735 y=-0.470439 z=0.872694
+[10:03:07.271] cur: x=-0.213062, y=-0.216515, z=0.952747 ref: x=-0.178614 y=-0.207890 z=0.961706
+[10:03:07.271] cur: x=-0.407317, y=-0.157563, z=0.899593 ref: x=-0.360677 y=-0.154673 z=0.919776
+[10:03:07.271] cur: x=-0.233742, y=-0.075448, z=0.969367 ref: x=-0.202114 y=-0.077607 z=0.976282
+[10:03:07.271] cur: x=-0.223230, y=-0.075774, z=0.971816 ref: x=-0.190623 y=-0.077633 z=0.978589
+[10:03:07.271] cur: x=-0.399499, y=-0.103178, z=0.910909 ref: x=-0.282273 y=0.018219 z=0.959161
+[10:03:07.271] cur: x=-0.217262, y=0.088395, z=0.972103 ref: x=-0.179098 y=0.088039 z=0.979884
+[10:03:07.271] cur: x=-0.533625, y=-0.026091, z=0.845319 ref: x=-0.504080 y=0.094823 z=0.858436
+[10:03:07.271] cur: x=-0.212703, y=0.266599, z=0.940044 ref: x=-0.178319 y=0.252622 z=0.950991
+[10:03:07.271] cur: x=0.151002, y=0.270971, z=0.950670 ref: x=0.155592 y=0.252776 z=0.954932
+[10:03:07.271] cur: x=-0.348377, y=0.007365, z=0.937326 ref: x=-0.394516 y=0.112984 z=0.911916
+[10:03:07.271] cur: x=-0.333106, y=0.005802, z=0.942871 ref: x=-0.383383 y=0.113074 z=0.916642
+[10:03:07.271] cur: x=-0.053504, y=0.189892, z=0.980346 ref: x=-0.028820 y=0.175349 z=0.984084
+[10:03:07.271] cur: x=-0.648972, y=0.295058, z=0.701268 ref: x=-0.642545 y=0.282517 z=0.712264
+[10:03:07.271] cur: x=-0.212603, y=0.257800, z=0.942517 ref: x=-0.178381 y=0.244024 z=0.953222
+[10:03:07.271] cur: x=0.025240, y=0.391129, z=0.919990 ref: x=0.119921 y=0.422593 z=0.898351
+[10:03:07.271] Init finished: Homography RANSAC (inlier) is:38 ,While 25 inliers minimum required.  px average disparity is:21.245006 ,While minimum is: 20.000000  KLT tracked: 134
+[10:03:07.271] Init: distance between the first and current frame is x:0.024503 ,z=0.239518,angle between two frames: 0.003943 
+[10:03:07.271] Init: Selected Second frame. 	 The number of features: 30 depth mean:0.155484 min:-2.403842
+[10:03:07.271] frame process finished the id is: 66 the obs is:30 
+[10:03:07.335] Odometry x=0.024503, y=0.239518, theta=0.003943
+[10:03:07.424] After Reprojection Map nPoint:24 ,nCell:24 ,nMatches:4 ,distance between ekf and vo x:-0.000165 ,z=0.000049,angle between two frames:0.000090
+[10:03:07.424] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.079112 	 error end=0.074894
+[10:03:07.424] After pose optimization, distance between ekf and vo x:0.010318 ,z=-0.000954,angle between two frames:0.012837
+[10:03:07.424] frame process finished the id is: 66 the obs is:30 
+[10:03:07.437] Odometry x=0.023674, y=0.246490, theta=-0.011823
+[10:03:07.535] Odometry x=0.023952, y=0.253357, theta=0.011799
+[10:03:07.578] After Reprojection Map nPoint:23 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000099 ,z=0.000071,angle between two frames:0.000038
+[10:03:07.578] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.030461 	 error end=0.030309
+[10:03:07.578] After pose optimization, distance between ekf and vo x:-0.000099 ,z=0.000209,angle between two frames:0.000101
+[10:03:07.578] frame process finished the id is: 66 the obs is:30 
+[10:03:07.637] Odometry x=0.024463, y=0.259532, theta=0.000394
+[10:03:07.721] After Reprojection Map nPoint:22 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000116 ,z=0.000071,angle between two frames:0.000034
+[10:03:07.721] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.244716 	 error end=0.244716
+[10:03:07.721] After pose optimization, distance between ekf and vo x:-0.000116 ,z=0.000071,angle between two frames:0.000034
+[10:03:07.721] frame process finished the id is: 66 the obs is:30 
+[10:03:07.739] Odometry x=0.024510, y=0.282812, theta=0.005347
+[10:03:07.837] Odometry x=0.024521, y=0.289238, theta=0.002936
+[10:03:07.864] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:3 ,distance between ekf and vo x:-0.000131 ,z=0.000097,angle between two frames:0.000040
+[10:03:07.864] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.049070 	 error end=0.031941
+[10:03:07.864] After pose optimization, distance between ekf and vo x:-0.048669 ,z=-0.006924,angle between two frames:0.007792
+[10:03:07.864] frame process finished the id is: 66 the obs is:30 
+[10:03:07.934] Odometry x=0.024517, y=0.294633, theta=-0.006229
+[10:03:08.007] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:3 ,distance between ekf and vo x:-0.000011 ,z=0.000034,angle between two frames:0.000000
+[10:03:08.007] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.075948 	 error end=0.075948
+[10:03:08.007] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000034,angle between two frames:0.000000
+[10:03:08.007] frame process finished the id is: 66 the obs is:30 
+[10:03:08.037] Odometry x=0.024631, y=0.300122, theta=-0.006065
+[10:03:08.134] Odometry x=0.025235, y=0.305485, theta=-0.016526
+[10:03:08.149] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:0.000111 ,z=0.000009,angle between two frames:0.000000
+[10:03:08.149] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.045462 	 error end=0.045383
+[10:03:08.149] After pose optimization, distance between ekf and vo x:-0.000804 ,z=-0.000133,angle between two frames:0.002485
+[10:03:08.149] frame process finished the id is: 66 the obs is:30 
+[10:03:08.236] Odometry x=0.025289, y=0.310975, theta=-0.012057
+[10:03:08.292] After Reprojection Map nPoint:20 ,nCell:19 ,nMatches:3 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
+[10:03:08.292] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.110354 	 error end=0.107934
+[10:03:08.292] After pose optimization, distance between ekf and vo x:-0.004730 ,z=-0.003904,angle between two frames:0.000016
+[10:03:08.292] frame process finished the id is: 66 the obs is:30 
+[10:03:08.307] Image Alignment failed 0
+[10:03:08.307] frame process finished the id is: 66 the obs is:30 
+[10:03:08.335] Odometry x=0.024594, y=0.326334, theta=0.006276
+[10:03:08.408] Image Alignment failed 0
+[10:03:08.408] frame process finished the id is: 66 the obs is:30 
+[10:03:08.434] Odometry x=0.024638, y=0.331561, theta=-0.006663
+[10:03:08.499] Image Alignment failed 0
+[10:03:08.499] frame process finished the id is: 66 the obs is:30 
+[10:03:08.539] Odometry x=0.024658, y=0.336990, theta=-0.000654
+[10:03:08.607] Image Alignment failed 0
+[10:03:08.608] frame process finished the id is: 66 the obs is:30 
+[10:03:08.638] Odometry x=0.024763, y=0.342539, theta=-0.004655
+[10:03:08.707] Image Alignment failed 0
+[10:03:08.707] frame process finished the id is: 66 the obs is:30 
+[10:03:08.737] Odometry x=0.024772, y=0.348588, theta=-0.001000
+[10:03:08.807] Image Alignment failed 0
+[10:03:08.807] frame process finished the id is: 66 the obs is:30 
+[10:03:08.836] Odometry x=0.024788, y=0.353976, theta=-0.013339
+[10:03:08.908] Image Alignment failed 0
+[10:03:08.908] frame process finished the id is: 66 the obs is:30 
+[10:03:08.939] Odometry x=0.025154, y=0.378387, theta=0.010578
+[10:03:09.009] Image Alignment failed 0
+[10:03:09.009] frame process finished the id is: 66 the obs is:30 
+[10:03:09.036] Odometry x=0.025246, y=0.383952, theta=-0.018710
+[10:03:09.109] Image Alignment failed 0
+[10:03:09.109] frame process finished the id is: 66 the obs is:30 
+[10:03:09.137] Odometry x=0.025279, y=0.389035, theta=0.005000
+[10:03:09.207] Image Alignment failed 0
+[10:03:09.207] frame process finished the id is: 66 the obs is:30 
+[10:03:09.238] Odometry x=0.027789, y=0.394569, theta=-0.010816
+[10:03:09.307] Image Alignment failed 0
+[10:03:09.307] frame process finished the id is: 66 the obs is:30 
+[10:03:09.339] Odometry x=0.026282, y=0.406120, theta=-0.015591
+[10:03:09.410] Image Alignment failed 0
+[10:03:09.410] frame process finished the id is: 66 the obs is:30 
+[10:03:09.439] Odometry x=0.026321, y=0.411413, theta=-0.002993
+[10:03:09.514] Image Alignment failed 0
+[10:03:09.514] frame process finished the id is: 66 the obs is:30 
+[10:03:09.542] Odometry x=0.028032, y=0.422385, theta=-0.014822
+[10:03:09.611] Image Alignment failed 0
+[10:03:09.611] frame process finished the id is: 66 the obs is:30 
+[10:03:09.636] Odometry x=0.024729, y=0.427859, theta=-0.028237
+[10:03:09.702] Image Alignment failed 0
+[10:03:09.702] frame process finished the id is: 66 the obs is:30 
+[10:03:09.736] Odometry x=0.025101, y=0.433289, theta=-0.016303
+[10:03:09.798] Image Alignment failed 0
+[10:03:09.798] frame process finished the id is: 66 the obs is:30 
+[10:03:09.840] Odometry x=0.025211, y=0.426844, theta=-0.036273
+[10:03:09.897] Image Alignment failed 0
+[10:03:09.897] frame process finished the id is: 66 the obs is:30 
+[10:03:09.940] Odometry x=0.025987, y=0.432366, theta=-0.008359
+[10:03:10.011] Image Alignment failed 0
+[10:03:10.011] frame process finished the id is: 66 the obs is:30 
+[10:03:10.041] Odometry x=0.025743, y=0.437748, theta=-0.009271
+[10:03:10.103] Image Alignment failed 0
+[10:03:10.103] frame process finished the id is: 66 the obs is:30 
+[10:03:10.136] Odometry x=0.025771, y=0.443049, theta=-0.007155
+[10:03:10.208] Image Alignment failed 0
+[10:03:10.208] frame process finished the id is: 66 the obs is:30 
+[10:03:10.235] Odometry x=0.025780, y=0.448969, theta=0.007035
+[10:03:10.309] Image Alignment failed 0
+[10:03:10.309] frame process finished the id is: 66 the obs is:30 
+[10:03:10.342] Odometry x=0.025898, y=0.454413, theta=-0.005378
+[10:03:10.411] Image Alignment failed 0
+[10:03:10.411] frame process finished the id is: 66 the obs is:30 
+[10:03:10.442] Odometry x=0.025713, y=0.473857, theta=0.004074
+[10:03:10.509] Image Alignment failed 0
+[10:03:10.509] frame process finished the id is: 66 the obs is:30 
+[10:03:10.536] Odometry x=0.025704, y=0.479238, theta=-0.004864
+[10:03:10.608] Image Alignment failed 0
+[10:03:10.608] frame process finished the id is: 66 the obs is:30 
+[10:03:10.642] Odometry x=0.019922, y=0.495048, theta=-0.010884
+[10:03:10.708] Image Alignment failed 0
+[10:03:10.708] frame process finished the id is: 66 the obs is:30 
+[10:03:10.742] Odometry x=0.020120, y=0.500637, theta=-0.008482
+[10:03:10.811] Image Alignment failed 0
+[10:03:10.811] frame process finished the id is: 66 the obs is:30 
+[10:03:10.842] Odometry x=0.020035, y=0.509108, theta=-0.008898
+[10:03:10.909] Image Alignment failed 0
+[10:03:10.909] frame process finished the id is: 66 the obs is:30 
+[10:03:10.936] Odometry x=0.020161, y=0.514483, theta=-0.010277
+[10:03:11.010] Image Alignment failed 0
+[10:03:11.010] frame process finished the id is: 66 the obs is:30 
+[10:03:11.041] Odometry x=0.021068, y=0.521573, theta=0.002875
+[10:03:11.108] Image Alignment failed 0
+[10:03:11.108] frame process finished the id is: 66 the obs is:30 
+[10:03:11.141] Odometry x=0.021044, y=0.526961, theta=-0.002661
+[10:03:11.208] Image Alignment failed 0
+[10:03:11.208] frame process finished the id is: 66 the obs is:30 
+[10:03:11.235] Odometry x=0.021258, y=0.532713, theta=-0.004109
+[10:03:11.310] Image Alignment failed 0
+[10:03:11.310] frame process finished the id is: 66 the obs is:30 
+[10:03:11.336] Odometry x=0.021253, y=0.549734, theta=-0.004557
+[10:03:11.408] Image Alignment failed 0
+[10:03:11.408] frame process finished the id is: 66 the obs is:30 
+[10:03:11.442] Odometry x=0.021260, y=0.555074, theta=-0.005552
+[10:03:11.509] Image Alignment failed 0
+[10:03:11.509] frame process finished the id is: 66 the obs is:30 
+[10:03:11.537] Odometry x=0.021240, y=0.560461, theta=-0.014608
+[10:03:11.607] Image Alignment failed 0
+[10:03:11.607] frame process finished the id is: 66 the obs is:30 
+[10:03:11.639] Odometry x=0.021857, y=0.565636, theta=-0.008296
+[10:03:11.708] Image Alignment failed 0
+[10:03:11.708] frame process finished the id is: 66 the obs is:30 
+[10:03:11.737] Odometry x=0.020988, y=0.571245, theta=-0.013330
+[10:03:11.808] Image Alignment failed 0
+[10:03:11.808] frame process finished the id is: 66 the obs is:30 
+[10:03:11.836] Odometry x=0.021049, y=0.576953, theta=-0.013109
+[10:03:11.908] Image Alignment failed 0
+[10:03:11.908] frame process finished the id is: 66 the obs is:30 
+[10:03:11.936] Odometry x=0.020371, y=0.582292, theta=-0.013935
+[10:03:11.997] Image Alignment failed 0
+[10:03:11.997] frame process finished the id is: 66 the obs is:30 
+[10:03:12.034] Odometry x=0.020830, y=0.589928, theta=-0.015281
+[10:03:12.111] Image Alignment failed 0
+[10:03:12.111] frame process finished the id is: 66 the obs is:30 
+[10:03:12.139] Odometry x=0.020971, y=0.595512, theta=-0.003652
+[10:03:12.210] Image Alignment failed 0
+[10:03:12.210] frame process finished the id is: 66 the obs is:30 
+[10:03:12.237] Odometry x=0.021628, y=0.603950, theta=-0.021620
+[10:03:12.313] Image Alignment failed 0
+[10:03:12.313] frame process finished the id is: 66 the obs is:30 
+[10:03:12.336] Odometry x=0.022055, y=0.609296, theta=-0.009890
+[10:03:12.410] Image Alignment failed 0
+[10:03:12.411] frame process finished the id is: 66 the obs is:30 
+[10:03:12.439] Odometry x=0.022495, y=0.620953, theta=-0.020559
+[10:03:12.504] Image Alignment failed 0
+[10:03:12.504] frame process finished the id is: 66 the obs is:30 
+[10:03:12.537] Odometry x=0.022948, y=0.625718, theta=-0.001603
+[10:03:12.610] Image Alignment failed 0
+[10:03:12.610] frame process finished the id is: 66 the obs is:30 
+[10:03:12.636] Odometry x=0.023855, y=0.631334, theta=-0.019313
+[10:03:12.711] Image Alignment failed 0
+[10:03:12.711] frame process finished the id is: 66 the obs is:30 
+[10:03:12.736] Odometry x=0.023898, y=0.636664, theta=-0.014798
+[10:03:12.811] Image Alignment failed 0
+[10:03:12.811] frame process finished the id is: 66 the obs is:30 
+[10:03:12.836] Odometry x=0.023977, y=0.642045, theta=-0.009866
+[10:03:12.910] Image Alignment failed 0
+[10:03:12.910] frame process finished the id is: 66 the obs is:30 
+[10:03:12.936] Odometry x=0.023239, y=0.647383, theta=-0.031196
+[10:03:13.010] Image Alignment failed 0
+[10:03:13.010] frame process finished the id is: 66 the obs is:30 
+[10:03:13.035] Odometry x=0.023906, y=0.652320, theta=-0.009931
+[10:03:13.111] Image Alignment failed 0
+[10:03:13.111] frame process finished the id is: 66 the obs is:30 
+[10:03:13.135] Odometry x=0.023922, y=0.657678, theta=-0.021474
+[10:03:13.210] Image Alignment failed 0
+[10:03:13.210] frame process finished the id is: 66 the obs is:30 
+[10:03:13.235] Odometry x=0.024001, y=0.663154, theta=-0.011383
+[10:03:13.309] Image Alignment failed 0
+[10:03:13.309] frame process finished the id is: 66 the obs is:30 
+[10:03:13.336] Odometry x=0.017560, y=0.670111, theta=-0.021011
+[10:03:13.411] Image Alignment failed 0
+[10:03:13.411] frame process finished the id is: 66 the obs is:30 
+[10:03:13.436] Odometry x=0.017787, y=0.675892, theta=-0.026323
+[10:03:13.513] Image Alignment failed 0
+[10:03:13.513] frame process finished the id is: 66 the obs is:30 
+[10:03:13.541] Odometry x=0.018281, y=0.681206, theta=-0.003656
+[10:03:13.613] Image Alignment failed 0
+[10:03:13.613] frame process finished the id is: 66 the obs is:30 
+[10:03:13.641] Odometry x=0.018627, y=0.686751, theta=-0.021675
+[10:03:13.712] Image Alignment failed 0
+[10:03:13.712] frame process finished the id is: 66 the obs is:30 
+[10:03:13.740] Odometry x=0.018697, y=0.692164, theta=0.001282
+[10:03:13.814] Image Alignment failed 0
+[10:03:13.814] frame process finished the id is: 66 the obs is:30 
+[10:03:13.839] Odometry x=0.018748, y=0.697531, theta=-0.014424
+[10:03:13.910] Image Alignment failed 0
+[10:03:13.910] frame process finished the id is: 66 the obs is:30 
+[10:03:13.938] Odometry x=0.022172, y=0.703074, theta=-0.000037
+[10:03:14.011] Image Alignment failed 0
+[10:03:14.011] frame process finished the id is: 66 the obs is:30 
+[10:03:14.043] Odometry x=0.022178, y=0.708411, theta=-0.006323
+[10:03:14.110] Image Alignment failed 0
+[10:03:14.110] frame process finished the id is: 66 the obs is:30 
+[10:03:14.139] Odometry x=0.025513, y=0.715266, theta=-0.001546
+[10:03:14.208] Image Alignment failed 0
+[10:03:14.208] frame process finished the id is: 66 the obs is:30 
+[10:03:14.241] Odometry x=0.023873, y=0.720199, theta=0.001699
+[10:03:14.308] Image Alignment failed 0
+[10:03:14.308] frame process finished the id is: 66 the obs is:30 
+[10:03:14.338] Odometry x=0.023952, y=0.725755, theta=0.002068
+[10:03:14.408] Image Alignment failed 0
+[10:03:14.408] frame process finished the id is: 66 the obs is:30 
+[10:03:14.436] Odometry x=0.021806, y=0.732272, theta=0.005156
+[10:03:14.508] Image Alignment failed 0
+[10:03:14.508] frame process finished the id is: 66 the obs is:30 
+[10:03:14.536] Odometry x=0.023763, y=0.738740, theta=0.010287
+[10:03:14.608] Image Alignment failed 0
+[10:03:14.608] frame process finished the id is: 66 the obs is:30 
+[10:03:14.636] Odometry x=0.018857, y=0.743557, theta=-0.010479
+[10:03:14.708] Image Alignment failed 0
+[10:03:14.708] frame process finished the id is: 66 the obs is:30 
+[10:03:14.736] Odometry x=0.019189, y=0.749350, theta=-0.000254
+[10:03:14.809] Image Alignment failed 0
+[10:03:14.809] frame process finished the id is: 66 the obs is:30 
+[10:03:14.836] Odometry x=0.019230, y=0.754858, theta=-0.012446
+[10:03:14.902] Image Alignment failed 0
+[10:03:14.902] frame process finished the id is: 66 the obs is:30 
+[10:03:14.940] Odometry x=0.019746, y=0.760278, theta=-0.003861
+[10:03:15.008] Image Alignment failed 0
+[10:03:15.008] frame process finished the id is: 66 the obs is:30 
+[10:03:15.039] Odometry x=0.020019, y=0.765721, theta=-0.006515
+[10:03:15.108] Image Alignment failed 0
+[10:03:15.108] frame process finished the id is: 66 the obs is:30 
+[10:03:15.140] Odometry x=0.020165, y=0.771145, theta=-0.013982
+[10:03:15.209] Image Alignment failed 0
+[10:03:15.209] frame process finished the id is: 66 the obs is:30 
+[10:03:15.234] Odometry x=0.017399, y=0.776066, theta=-0.007251
+[10:03:15.309] Image Alignment failed 0
+[10:03:15.309] frame process finished the id is: 66 the obs is:30 
+[10:03:15.340] Odometry x=0.017510, y=0.781284, theta=-0.012500
+[10:03:15.410] Image Alignment failed 0
+[10:03:15.410] frame process finished the id is: 66 the obs is:30 
+[10:03:15.439] Odometry x=0.017531, y=0.787031, theta=0.013641
+[10:03:15.509] Image Alignment failed 0
+[10:03:15.509] frame process finished the id is: 66 the obs is:30 
+[10:03:15.535] Odometry x=0.017956, y=0.792435, theta=-0.002139
+[10:03:15.609] Image Alignment failed 0
+[10:03:15.609] frame process finished the id is: 66 the obs is:30 
+[10:03:15.639] Odometry x=0.018068, y=0.797674, theta=0.009118
+[10:03:15.710] Image Alignment failed 0
+[10:03:15.710] frame process finished the id is: 66 the obs is:30 
+[10:03:15.739] Odometry x=0.018075, y=0.803125, theta=0.000047
+[10:03:15.808] Image Alignment failed 0
+[10:03:15.808] frame process finished the id is: 66 the obs is:30 
+[10:03:15.839] Odometry x=0.018098, y=0.808515, theta=-0.000254
+[10:03:15.912] Image Alignment failed 0
+[10:03:15.912] frame process finished the id is: 66 the obs is:30 
+[10:03:15.939] Odometry x=0.016604, y=0.820306, theta=0.009076
+[10:03:16.011] Image Alignment failed 0
+[10:03:16.011] frame process finished the id is: 66 the obs is:30 
+[10:03:16.039] Odometry x=0.016594, y=0.825670, theta=0.003024
+[10:03:16.109] Image Alignment failed 0
+[10:03:16.109] frame process finished the id is: 66 the obs is:30 
+[10:03:16.137] Odometry x=0.015971, y=0.831760, theta=0.016812
+[10:03:16.208] Image Alignment failed 0
+[10:03:16.208] frame process finished the id is: 66 the obs is:30 
+[10:03:16.236] Odometry x=0.015972, y=0.837183, theta=0.009621
+[10:03:16.309] Image Alignment failed 0
+[10:03:16.309] frame process finished the id is: 66 the obs is:30 
+[10:03:16.337] Odometry x=0.011297, y=0.865368, theta=0.017104
+[10:03:16.410] Image Alignment failed 0
+[10:03:16.410] frame process finished the id is: 66 the obs is:30 
+[10:03:16.441] Odometry x=0.011241, y=0.871663, theta=0.013591
+[10:03:16.509] Image Alignment failed 0
+[10:03:16.509] frame process finished the id is: 66 the obs is:30 
+[10:03:16.533] Odometry x=0.010801, y=0.878617, theta=0.019358
+[10:03:16.610] Image Alignment failed 0
+[10:03:16.611] frame process finished the id is: 66 the obs is:30 
+[10:03:16.643] Odometry x=0.010755, y=0.883947, theta=0.015390
+[10:03:16.709] Image Alignment failed 0
+[10:03:16.709] frame process finished the id is: 66 the obs is:30 
+[10:03:16.753] Odometry x=0.010692, y=0.890535, theta=0.023674
+[10:03:16.809] Image Alignment failed 0
+[10:03:16.809] frame process finished the id is: 66 the obs is:30 
+[10:03:16.835] Odometry x=0.010654, y=0.896887, theta=0.012049
+[10:03:16.909] Image Alignment failed 0
+[10:03:16.909] frame process finished the id is: 66 the obs is:30 
+[10:03:16.948] Odometry x=0.010626, y=0.901631, theta=0.013209
+[10:03:17.009] Image Alignment failed 0
+[10:03:17.009] frame process finished the id is: 66 the obs is:30 
+[10:03:17.038] Odometry x=0.010591, y=0.907490, theta=0.011604
+[10:03:17.109] Image Alignment failed 0
+[10:03:17.109] frame process finished the id is: 66 the obs is:30 
+[10:03:17.145] Odometry x=0.010613, y=0.912781, theta=0.015451
+[10:03:17.208] Image Alignment failed 0
+[10:03:17.208] frame process finished the id is: 66 the obs is:30 
+[10:03:17.237] Odometry x=0.010576, y=0.918418, theta=0.010279
+[10:03:17.307] Image Alignment failed 0
+[10:03:17.307] frame process finished the id is: 66 the obs is:30 
+[10:03:17.337] Odometry x=0.010582, y=0.924710, theta=0.001743
+[10:03:17.408] Image Alignment failed 0
+[10:03:17.408] frame process finished the id is: 66 the obs is:30 
+[10:03:17.433] Odometry x=0.010648, y=0.930593, theta=0.006986
+[10:03:17.508] Image Alignment failed 0
+[10:03:17.508] frame process finished the id is: 66 the obs is:30 
+[10:03:17.538] Odometry x=0.010635, y=0.935589, theta=0.005431
+[10:03:17.609] Image Alignment failed 0
+[10:03:17.609] frame process finished the id is: 66 the obs is:30 
+[10:03:17.637] Odometry x=0.010623, y=0.943102, theta=0.014053
+[10:03:17.709] Image Alignment failed 0
+[10:03:17.709] frame process finished the id is: 66 the obs is:30 
+[10:03:17.739] Odometry x=0.010649, y=0.948338, theta=0.004931
+[10:03:17.808] Image Alignment failed 0
+[10:03:17.808] frame process finished the id is: 66 the obs is:30 
+[10:03:17.839] Odometry x=0.010636, y=0.953488, theta=0.010643
+[10:03:17.908] Image Alignment failed 0
+[10:03:17.908] frame process finished the id is: 66 the obs is:30 
+[10:03:17.937] Odometry x=0.010589, y=0.959248, theta=0.016014
+[10:03:18.008] Image Alignment failed 0
+[10:03:18.008] frame process finished the id is: 66 the obs is:30 
+[10:03:18.037] Odometry x=0.010545, y=0.965177, theta=0.015058
+[10:03:18.110] Image Alignment failed 0
+[10:03:18.110] frame process finished the id is: 66 the obs is:30 
+[10:03:18.139] Odometry x=0.010502, y=0.971062, theta=0.011930
+[10:03:18.208] Image Alignment failed 0
+[10:03:18.208] frame process finished the id is: 66 the obs is:30 
+[10:03:18.237] Odometry x=0.010553, y=0.977558, theta=0.013456
+[10:03:18.313] Image Alignment failed 0
+[10:03:18.313] frame process finished the id is: 66 the obs is:30 
+[10:03:18.337] Odometry x=0.010510, y=0.982987, theta=0.016359
+[10:03:18.410] Image Alignment failed 0
+[10:03:18.410] frame process finished the id is: 66 the obs is:30 
+[10:03:18.437] Odometry x=0.010459, y=0.988938, theta=0.015017
+[10:03:18.510] Image Alignment failed 0
+[10:03:18.510] frame process finished the id is: 66 the obs is:30 
+[10:03:18.536] Odometry x=0.010426, y=0.994176, theta=0.010955
+[10:03:18.610] Image Alignment failed 0
+[10:03:18.610] frame process finished the id is: 66 the obs is:30 
+[10:03:18.636] Odometry x=0.010405, y=0.999785, theta=0.011945
+[10:03:18.709] Image Alignment failed 0
+[10:03:18.709] frame process finished the id is: 66 the obs is:30 
+[10:03:18.736] Odometry x=0.010385, y=1.005200, theta=0.006550
+[10:03:18.809] Image Alignment failed 0
+[10:03:18.809] frame process finished the id is: 66 the obs is:30 
+[10:03:18.837] Odometry x=0.010370, y=1.010739, theta=0.009018
+[10:03:18.911] Image Alignment failed 0
+[10:03:18.911] frame process finished the id is: 66 the obs is:30 
+[10:03:18.937] Odometry x=0.010356, y=1.016056, theta=0.007829
+[10:03:19.011] Image Alignment failed 0
+[10:03:19.011] frame process finished the id is: 66 the obs is:30 
+[10:03:19.038] Odometry x=0.010378, y=1.021826, theta=0.010349
+[10:03:19.109] Image Alignment failed 0
+[10:03:19.109] frame process finished the id is: 66 the obs is:30 
+[10:03:19.134] Odometry x=0.010375, y=1.027064, theta=0.009955
+[10:03:19.209] Image Alignment failed 0
+[10:03:19.209] frame process finished the id is: 66 the obs is:30 
+[10:03:19.236] Odometry x=0.010346, y=1.032362, theta=0.014558
+[10:03:19.309] Image Alignment failed 0
+[10:03:19.309] frame process finished the id is: 66 the obs is:30 
+[10:03:19.340] Odometry x=0.010303, y=1.038416, theta=0.023631
+[10:03:19.408] Image Alignment failed 0
+[10:03:19.409] frame process finished the id is: 66 the obs is:30 
+[10:03:19.436] Odometry x=0.010272, y=1.044275, theta=0.012686
+[10:03:19.508] Image Alignment failed 0
+[10:03:19.508] frame process finished the id is: 66 the obs is:30 
+[10:03:19.537] Odometry x=0.010238, y=1.049511, theta=0.017568
+[10:03:19.611] Image Alignment failed 0
+[10:03:19.611] frame process finished the id is: 66 the obs is:30 
+[10:03:19.636] Odometry x=0.010181, y=1.055855, theta=0.017652
+[10:03:19.709] Image Alignment failed 0
+[10:03:19.709] frame process finished the id is: 66 the obs is:30 
+[10:03:19.732] Odometry x=0.010129, y=1.061589, theta=0.017795
+[10:03:19.810] Image Alignment failed 0
+[10:03:19.810] frame process finished the id is: 66 the obs is:30 
+[10:03:19.838] Odometry x=0.010081, y=1.067082, theta=0.015842
+[10:03:19.909] Image Alignment failed 0
+[10:03:19.909] frame process finished the id is: 66 the obs is:30 
+[10:03:19.943] Odometry x=0.010030, y=1.073145, theta=0.017945
+[10:03:20.009] Image Alignment failed 0
+[10:03:20.009] frame process finished the id is: 66 the obs is:30 
+[10:03:20.036] Odometry x=0.009975, y=1.078842, theta=0.018530
+[10:03:20.110] Image Alignment failed 0
+[10:03:20.110] frame process finished the id is: 66 the obs is:30 
+[10:03:20.131] Odometry x=0.009928, y=1.083975, theta=0.017243
+[10:03:20.209] Image Alignment failed 0
+[10:03:20.209] frame process finished the id is: 66 the obs is:30 
+[10:03:20.239] Odometry x=0.009880, y=1.089324, theta=0.017755
+[10:03:20.311] Image Alignment failed 0
+[10:03:20.311] frame process finished the id is: 66 the obs is:30 
+[10:03:20.337] Odometry x=0.009825, y=1.095523, theta=0.016101
+[10:03:20.410] Image Alignment failed 0
+[10:03:20.410] frame process finished the id is: 66 the obs is:30 
+[10:03:20.436] Odometry x=0.009778, y=1.101799, theta=0.017181
+[10:03:20.510] Image Alignment failed 0
+[10:03:20.510] frame process finished the id is: 66 the obs is:30 
+[10:03:20.536] Odometry x=0.009775, y=1.107634, theta=0.011828
+[10:03:20.609] Image Alignment failed 0
+[10:03:20.609] frame process finished the id is: 66 the obs is:30 
+[10:03:20.636] Odometry x=0.009756, y=1.113101, theta=0.011341
+[10:03:20.710] Image Alignment failed 0
+[10:03:20.710] frame process finished the id is: 66 the obs is:30 
+[10:03:20.736] Odometry x=0.009723, y=1.118470, theta=0.013988
+[10:03:20.811] Image Alignment failed 0
+[10:03:20.811] frame process finished the id is: 66 the obs is:30 
+[10:03:20.835] Odometry x=0.009700, y=1.123854, theta=0.004502
+[10:03:20.909] Image Alignment failed 0
+[10:03:20.909] frame process finished the id is: 66 the obs is:30 
+[10:03:20.939] Odometry x=0.009691, y=1.129379, theta=0.008209
+[10:03:21.010] Image Alignment failed 0
+[10:03:21.010] frame process finished the id is: 66 the obs is:30 
+[10:03:21.038] Odometry x=0.009692, y=1.134747, theta=0.008423
+[10:03:21.111] Image Alignment failed 0
+[10:03:21.111] frame process finished the id is: 66 the obs is:30 
+[10:03:21.136] Odometry x=0.009678, y=1.140845, theta=0.010316
+[10:03:21.212] Image Alignment failed 0
+[10:03:21.212] frame process finished the id is: 66 the obs is:30 
+[10:03:21.231] Odometry x=0.009673, y=1.146236, theta=0.015855
+[10:03:21.310] Image Alignment failed 0
+[10:03:21.310] frame process finished the id is: 66 the obs is:30 
+[10:03:21.336] Odometry x=0.009680, y=1.151505, theta=0.012420
+[10:03:21.409] Image Alignment failed 0
+[10:03:21.409] frame process finished the id is: 66 the obs is:30 
+[10:03:21.435] Odometry x=0.009646, y=1.157045, theta=0.017701
+[10:03:21.510] Image Alignment failed 0
+[10:03:21.510] frame process finished the id is: 66 the obs is:30 
+[10:03:21.535] Odometry x=0.009580, y=1.164304, theta=0.015359
+[10:03:21.609] Image Alignment failed 0
+[10:03:21.609] frame process finished the id is: 66 the obs is:30 
+[10:03:21.634] Odometry x=0.009613, y=1.170439, theta=0.018390
+[10:03:21.710] Image Alignment failed 0
+[10:03:21.710] frame process finished the id is: 66 the obs is:30 
+[10:03:21.739] Odometry x=0.009568, y=1.177375, theta=0.014297
+[10:03:21.810] Image Alignment failed 0
+[10:03:21.810] frame process finished the id is: 66 the obs is:30 
+[10:03:21.839] Odometry x=0.009532, y=1.183136, theta=0.013624
+[10:03:21.911] Image Alignment failed 0
+[10:03:21.911] frame process finished the id is: 66 the obs is:30 
+[10:03:21.935] Odometry x=0.010217, y=1.193352, theta=0.012948
+[10:03:22.009] Image Alignment failed 0
+[10:03:22.009] frame process finished the id is: 66 the obs is:30 
+[10:03:22.035] Odometry x=0.010178, y=1.199129, theta=0.015323
+[10:03:22.101] Image Alignment failed 0
+[10:03:22.101] frame process finished the id is: 66 the obs is:30 
+[10:03:22.139] Odometry x=0.010172, y=1.204495, theta=0.016837
+[10:03:22.210] Image Alignment failed 0
+[10:03:22.210] frame process finished the id is: 66 the obs is:30 
+[10:03:22.239] Odometry x=0.010120, y=1.210848, theta=0.014676
+[10:03:22.309] Image Alignment failed 0
+[10:03:22.309] frame process finished the id is: 66 the obs is:30 
+[10:03:22.338] Odometry x=0.010096, y=1.216098, theta=0.005929
+[10:03:22.410] Image Alignment failed 0
+[10:03:22.410] frame process finished the id is: 66 the obs is:30 
+[10:03:22.436] Odometry x=0.010095, y=1.221777, theta=0.007145
+[10:03:22.513] Image Alignment failed 0
+[10:03:22.513] frame process finished the id is: 66 the obs is:30 
+[10:03:22.536] Odometry x=0.010138, y=1.228163, theta=0.008203
+[10:03:22.608] Image Alignment failed 0
+[10:03:22.608] frame process finished the id is: 66 the obs is:30 
+[10:03:22.636] Odometry x=0.010125, y=1.233763, theta=0.003359
+[10:03:22.709] Image Alignment failed 0
+[10:03:22.709] frame process finished the id is: 66 the obs is:30 
+[10:03:22.742] Odometry x=0.011006, y=1.239153, theta=0.015111
+[10:03:22.810] Image Alignment failed 0
+[10:03:22.810] frame process finished the id is: 66 the obs is:30 
+[10:03:22.841] Odometry x=0.010960, y=1.244738, theta=0.010236
+[10:03:22.907] Image Alignment failed 0
+[10:03:22.907] frame process finished the id is: 66 the obs is:30 
+[10:03:22.936] Odometry x=0.010945, y=1.250679, theta=0.010801
+[10:03:23.007] Image Alignment failed 0
+[10:03:23.007] frame process finished the id is: 66 the obs is:30 
+[10:03:23.035] Odometry x=0.010935, y=1.256703, theta=0.004614
+[10:03:23.109] Image Alignment failed 0
+[10:03:23.109] frame process finished the id is: 66 the obs is:30 
+[10:03:23.139] Odometry x=0.010929, y=1.262230, theta=0.011503
+[10:03:23.208] Image Alignment failed 0
+[10:03:23.208] frame process finished the id is: 66 the obs is:30 
+[10:03:23.239] Odometry x=0.010876, y=1.267793, theta=0.010166
+[10:03:23.308] Image Alignment failed 0
+[10:03:23.308] frame process finished the id is: 66 the obs is:30 
+[10:03:23.334] Odometry x=0.011005, y=1.273495, theta=0.009474
+[10:03:23.411] Image Alignment failed 0
+[10:03:23.411] frame process finished the id is: 66 the obs is:30 
+[10:03:23.435] Odometry x=0.010984, y=1.278671, theta=0.012989
+[10:03:23.508] Image Alignment failed 0
+[10:03:23.508] frame process finished the id is: 66 the obs is:30 
+[10:03:23.536] Odometry x=0.011040, y=1.284399, theta=0.018972
+[10:03:23.613] Image Alignment failed 0
+[10:03:23.613] frame process finished the id is: 66 the obs is:30 
+[10:03:23.636] Odometry x=0.010985, y=1.290273, theta=0.017543
+[10:03:23.709] Image Alignment failed 0
+[10:03:23.709] frame process finished the id is: 66 the obs is:30 
+[10:03:23.739] Odometry x=0.010945, y=1.295786, theta=0.018036
+[10:03:23.808] Image Alignment failed 0
+[10:03:23.809] frame process finished the id is: 66 the obs is:30 
+[10:03:23.838] Odometry x=0.010863, y=1.302141, theta=0.023915
+[10:03:23.910] Image Alignment failed 0
+[10:03:23.910] frame process finished the id is: 66 the obs is:30 
+[10:03:23.937] Odometry x=0.010781, y=1.308735, theta=0.020740
+[10:03:24.011] Image Alignment failed 0
+[10:03:24.011] frame process finished the id is: 66 the obs is:30 
+[10:03:24.035] Odometry x=0.010733, y=1.314068, theta=0.016677
+[10:03:24.109] Image Alignment failed 0
+[10:03:24.109] frame process finished the id is: 66 the obs is:30 
+[10:03:24.136] Odometry x=0.010688, y=1.319468, theta=0.015012
+[10:03:24.210] Image Alignment failed 0
+[10:03:24.210] frame process finished the id is: 66 the obs is:30 
+[10:03:24.236] Odometry x=0.010684, y=1.324899, theta=0.012619
+[10:03:24.309] Image Alignment failed 0
+[10:03:24.309] frame process finished the id is: 66 the obs is:30 
+[10:03:24.336] Odometry x=0.010777, y=1.330264, theta=0.021121
+[10:03:24.409] Image Alignment failed 0
+[10:03:24.409] frame process finished the id is: 66 the obs is:30 
+[10:03:24.434] Odometry x=0.010744, y=1.335951, theta=0.008784
+[10:03:24.501] Image Alignment failed 0
+[10:03:24.501] frame process finished the id is: 66 the obs is:30 
+[10:03:24.537] Odometry x=0.010723, y=1.341305, theta=0.009149
+[10:03:24.609] Image Alignment failed 0
+[10:03:24.609] frame process finished the id is: 66 the obs is:30 
+[10:03:24.637] Odometry x=0.010842, y=1.347376, theta=0.012948
+[10:03:24.710] Image Alignment failed 0
+[10:03:24.710] frame process finished the id is: 66 the obs is:30 
+[10:03:24.741] Odometry x=0.010812, y=1.352705, theta=0.014873
+[10:03:24.809] Image Alignment failed 0
+[10:03:24.809] frame process finished the id is: 66 the obs is:30 
+[10:03:24.836] Odometry x=0.010755, y=1.360785, theta=0.004618
+[10:03:24.909] Image Alignment failed 0
+[10:03:24.909] frame process finished the id is: 66 the obs is:30 
+[10:03:24.933] Odometry x=0.010758, y=1.366106, theta=0.002037
+[10:03:25.009] Image Alignment failed 0
+[10:03:25.009] frame process finished the id is: 66 the obs is:30 
+[10:03:25.036] Odometry x=0.010910, y=1.371598, theta=0.010202
+[10:03:25.110] Image Alignment failed 0
+[10:03:25.111] frame process finished the id is: 66 the obs is:30 
+[10:03:25.137] Odometry x=0.010887, y=1.378088, theta=0.001969
+[10:03:25.216] Image Alignment failed 0
+[10:03:25.216] frame process finished the id is: 66 the obs is:30 
+[10:03:25.240] Odometry x=0.010889, y=1.384115, theta=0.000143
+[10:03:25.310] Image Alignment failed 0
+[10:03:25.310] frame process finished the id is: 66 the obs is:30 
+[10:03:25.339] Odometry x=0.010960, y=1.390787, theta=0.005740
+[10:03:25.410] Image Alignment failed 0
+[10:03:25.410] frame process finished the id is: 66 the obs is:30 
+[10:03:25.435] Odometry x=0.010934, y=1.396256, theta=0.012821
+[10:03:25.509] Image Alignment failed 0
+[10:03:25.509] frame process finished the id is: 66 the obs is:30 
+[10:03:25.544] Odometry x=0.010893, y=1.401441, theta=0.012847
+[10:03:25.608] Image Alignment failed 0
+[10:03:25.608] frame process finished the id is: 66 the obs is:30 
+[10:03:25.634] Odometry x=0.010881, y=1.407679, theta=0.005817
+[10:03:25.708] Image Alignment failed 0
+[10:03:25.708] frame process finished the id is: 66 the obs is:30 
+[10:03:25.740] Odometry x=0.010896, y=1.412592, theta=0.009105
+[10:03:25.811] Image Alignment failed 0
+[10:03:25.811] frame process finished the id is: 66 the obs is:30 
+[10:03:25.839] Odometry x=0.010862, y=1.418391, theta=0.011758
+[10:03:25.909] Image Alignment failed 0
+[10:03:25.909] frame process finished the id is: 66 the obs is:30 
+[10:03:25.938] Odometry x=0.010835, y=1.423490, theta=0.009037
+[10:03:26.009] Image Alignment failed 0
+[10:03:26.009] frame process finished the id is: 66 the obs is:30 
+[10:03:26.038] Odometry x=0.010792, y=1.432013, theta=-0.006837
+[10:03:26.109] Image Alignment failed 0
+[10:03:26.109] frame process finished the id is: 66 the obs is:30 
+[10:03:26.139] Odometry x=0.010813, y=1.437302, theta=-0.002850
+[10:03:26.210] Image Alignment failed 0
+[10:03:26.211] frame process finished the id is: 66 the obs is:30 
+[10:03:26.235] Odometry x=0.010876, y=1.443120, theta=0.000483
+[10:03:26.310] Image Alignment failed 0
+[10:03:26.310] frame process finished the id is: 66 the obs is:30 
+[10:03:26.337] Odometry x=0.010879, y=1.448372, theta=-0.002034
+[10:03:26.409] Image Alignment failed 0
+[10:03:26.409] frame process finished the id is: 66 the obs is:30 
+[10:03:26.508] Image Alignment failed 0
+[10:03:26.508] frame process finished the id is: 66 the obs is:30 
+[10:03:26.609] Image Alignment failed 0
+[10:03:26.609] frame process finished the id is: 66 the obs is:30 
+[10:03:26.710] Image Alignment failed 0
+[10:03:26.710] frame process finished the id is: 66 the obs is:30 
+[10:03:26.810] Image Alignment failed 0
+[10:03:26.810] frame process finished the id is: 66 the obs is:30 
+[10:03:26.910] Image Alignment failed 0
+[10:03:26.910] frame process finished the id is: 66 the obs is:30 
+[10:03:27.006] Image Alignment failed 0
+[10:03:27.006] frame process finished the id is: 66 the obs is:30 
+[10:03:27.109] Image Alignment failed 0
+[10:03:27.110] frame process finished the id is: 66 the obs is:30 
+[10:03:27.208] Image Alignment failed 0
+[10:03:27.208] frame process finished the id is: 66 the obs is:30 
+[10:03:27.307] Image Alignment failed 0
+[10:03:27.307] frame process finished the id is: 66 the obs is:30 
+[10:03:27.410] Image Alignment failed 0
+[10:03:27.410] frame process finished the id is: 66 the obs is:30 
+[10:03:27.510] Image Alignment failed 0
+[10:03:27.510] frame process finished the id is: 66 the obs is:30 
+[10:03:27.610] Image Alignment failed 0
+[10:03:27.610] frame process finished the id is: 66 the obs is:30 
+[10:03:27.710] Image Alignment failed 0
+[10:03:27.710] frame process finished the id is: 66 the obs is:30 
+[10:03:27.809] Image Alignment failed 0
+[10:03:27.809] frame process finished the id is: 66 the obs is:30 
+[10:03:27.910] Image Alignment failed 0
+[10:03:27.910] frame process finished the id is: 66 the obs is:30 
+[10:03:28.009] Image Alignment failed 0
+[10:03:28.009] frame process finished the id is: 66 the obs is:30 
+[10:03:28.110] Image Alignment failed 0
+[10:03:28.110] frame process finished the id is: 66 the obs is:30 
+[10:03:28.209] Image Alignment failed 0
+[10:03:28.209] frame process finished the id is: 66 the obs is:30 
+[10:03:28.308] Image Alignment failed 0
+[10:03:28.308] frame process finished the id is: 66 the obs is:30 
+[10:03:28.409] Image Alignment failed 0
+[10:03:28.409] frame process finished the id is: 66 the obs is:30 
+[10:03:28.519] Image Alignment failed 0
+[10:03:28.519] frame process finished the id is: 66 the obs is:30 
+[10:03:28.610] Image Alignment failed 0
+[10:03:28.610] frame process finished the id is: 66 the obs is:30 
+[10:03:28.709] Image Alignment failed 0
+[10:03:28.709] frame process finished the id is: 66 the obs is:30 
+[10:03:28.810] Image Alignment failed 0
+[10:03:28.810] frame process finished the id is: 66 the obs is:30 
+[10:03:28.909] Image Alignment failed 0
+[10:03:28.909] frame process finished the id is: 66 the obs is:30 
+[10:03:29.010] Image Alignment failed 0
+[10:03:29.010] frame process finished the id is: 66 the obs is:30 
+[10:03:29.110] Image Alignment failed 0
+[10:03:29.110] frame process finished the id is: 66 the obs is:30 
+[10:03:29.209] Image Alignment failed 0
+[10:03:29.209] frame process finished the id is: 66 the obs is:30 
+[10:03:29.309] Image Alignment failed 0
+[10:03:29.309] frame process finished the id is: 66 the obs is:30 
+[10:03:29.410] Image Alignment failed 0
+[10:03:29.410] frame process finished the id is: 66 the obs is:30 
+[10:03:29.510] Image Alignment failed 0
+[10:03:29.510] frame process finished the id is: 66 the obs is:30 
+[10:03:29.609] Image Alignment failed 0
+[10:03:29.609] frame process finished the id is: 66 the obs is:30 
+[10:03:29.709] Image Alignment failed 0
+[10:03:29.709] frame process finished the id is: 66 the obs is:30 
+[10:03:29.810] Image Alignment failed 0
+[10:03:29.810] frame process finished the id is: 66 the obs is:30 
+[10:03:29.911] Image
\ No newline at end of file
diff --git a/GPU_version/vio/include/vio/global.h b/GPU_version/vio/include/vio/global.h
index 2710129..01ed8c2 100644
--- a/GPU_version/vio/include/vio/global.h
+++ b/GPU_version/vio/include/vio/global.h
@@ -49,7 +49,6 @@ namespace vio
     const double EPS = 0.0000000001;
     const double PI = 3.14159265;
 
-    static boost::mutex feature_detection_mut_;
     static std::string time_in_HH_MM_SS_MMM()
     {
         using namespace std::chrono;
diff --git a/GPU_version/vio/include/vio/global_optimizer.h b/GPU_version/vio/include/vio/global_optimizer.h
index 5dd20b9..c046c20 100644
--- a/GPU_version/vio/include/vio/global_optimizer.h
+++ b/GPU_version/vio/include/vio/global_optimizer.h
@@ -45,10 +45,6 @@ public:
   void stopThread();
 
 
-  /// If the map is reset, call this function such that we don't have pointers
-  /// to old frames.
-  void reset();
-
 protected:
   bool seeds_updating_halt_;            //!< Set this value to true when seeds updating should be interrupted.
   boost::thread* thread_;
diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp
index c349a65..12fafec 100644
--- a/GPU_version/vio/src/frame_handler_mono.cpp
+++ b/GPU_version/vio/src/frame_handler_mono.cpp
@@ -179,9 +179,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
   new_frame_->Cov_ = init_f.first;
   // sparse image align
   SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_);
-  feature_detection_mut_.lock();
   size_t err=img_align.run(last_frame_, new_frame_, log_);
-  feature_detection_mut_.unlock();
   if(err==-1){
 #if VIO_DEBUG
       fprintf(log_,"[%s] Image Alignment failed -1\n",vio::time_in_HH_MM_SS_MMM().c_str());
@@ -211,6 +209,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
   pose_optimizer::optimizeGaussNewton(
             Config::poseOptimThresh(), 70, false,
             new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final,log_);
+  optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter());
 #if VIO_DEBUG
     fprintf(log_,"[%s] After pose optimization, distance between ekf and vo x:%f ,z=%f,angle between two frames:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(),
             new_frame_->T_f_w_.se2().translation().x()-init_f.second.se2().translation().x(),
@@ -218,7 +217,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
             fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch()));
 #endif
     if((init_f.second.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.5 ||
-       fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())>0.25*M_PI_2 || sfba_n_edges_final<5){
+       fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())>0.25*M_PI_2 || sfba_n_edges_final<10){
         new_frame_=last_frame_;
         return RESULT_FAILURE;
     }
@@ -236,7 +235,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
         return RESULT_NO_KEYFRAME;
   }
 
-  optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter());
   double depth_mean=0.0, depth_min=0.0;
   frame_utils::getSceneDepth(new_frame_, depth_mean, depth_min);
   new_frame_->setKeyframe();
@@ -268,7 +266,6 @@ void FrameHandlerMono::resetAll()
   last_frame_.reset();
   new_frame_.reset();
   overlap_kfs_.clear();
-  ba_glob_->reset();
 }
 bool FrameHandlerMono::needNewKf()
 {
diff --git a/GPU_version/vio/src/global_optimizer.cpp b/GPU_version/vio/src/global_optimizer.cpp
index fe1e904..441f146 100644
--- a/GPU_version/vio/src/global_optimizer.cpp
+++ b/GPU_version/vio/src/global_optimizer.cpp
@@ -66,19 +66,6 @@ namespace vio {
 #endif
     }
 
-
-    void BA_Glob::reset()
-    {
-        seeds_updating_halt_ = true;
-        {
-        }
-        seeds_updating_halt_ = false;
-
-#if VIO_DEBUG
-        fprintf(log_,"[%s] DepthFilter: RESET.\n",vio::time_in_HH_MM_SS_MMM().c_str());
-#endif
-    }
-
     void BA_Glob::updateLoop()
     {
         while(!boost::this_thread::interruption_requested())
diff --git a/GPU_version/vio/src/initialization.cpp b/GPU_version/vio/src/initialization.cpp
index 9bb9b57..7896f7c 100644
--- a/GPU_version/vio/src/initialization.cpp
+++ b/GPU_version/vio/src/initialization.cpp
@@ -132,11 +132,11 @@ void detectFeatures(
     Features& new_features,
     opencl* gpu_fast)
 {
-  feature_detection_mut_.lock();
+
   feature_detection::FastDetector detector(
       frame->img().cols, frame->img().rows, Config::gridSize(), gpu_fast,Config::nPyrLevels());
   detector.detect(frame, frame->img_pyr_, Config::triangMinCornerScore(), new_features);
-  feature_detection_mut_.unlock();
+
   // now for all maximum corners, initialize a new seed
   px_vec.clear();
   for(auto&& ftr:new_features){
diff --git a/GPU_version/vio/src/point.cpp b/GPU_version/vio/src/point.cpp
index 2175789..d60b38f 100644
--- a/GPU_version/vio/src/point.cpp
+++ b/GPU_version/vio/src/point.cpp
@@ -59,7 +59,7 @@ Point::~Point()
 
 void Point::addFrameRef(std::shared_ptr<Feature> ftr)
 {
-
+    boost::unique_lock<boost::mutex> lock(point_mut_);
   obs_.push_front(ftr);
   ++n_obs_;
 }
@@ -138,6 +138,7 @@ bool Point::getCloseViewObs(const Vector2d& framepos, std::shared_ptr<Feature>&
 
 void Point::optimize(const size_t n_iter)
 {
+  boost::unique_lock<boost::mutex> lock(point_mut_);
   Vector3d old_point = pos_;
   double chi2 = 0.0;
   Matrix3d A;
@@ -167,33 +168,21 @@ void Point::optimize(const size_t n_iter)
     // check if error increased
     if((i > 0 && new_chi2 > chi2) || (bool) std::isnan((double)dp[0]))
     {
-#ifdef POINT_OPTIMIZER_DEBUG
-      cout << "it " << i
-           << "\t FAILURE \t new_chi2 = " << new_chi2 << endl;
-#endif
+
       pos_ = old_point; // roll-back
       break;
     }
-
     // update the model
     Vector3d new_point = pos_ + dp;
     old_point = pos_;
     pos_ = new_point;
     chi2 = new_chi2;
-#ifdef POINT_OPTIMIZER_DEBUG
-    cout << "it " << i
-         << "\t Success \t new_chi2 = " << new_chi2
-         << "\t norm(b) = " << vk::norm_max(b)
-         << endl;
-#endif
 
     // stop when converged
     if(vk::norm_max(dp) <= EPS)
       break;
   }
-#ifdef POINT_OPTIMIZER_DEBUG
-  cout << endl;
-#endif
+
 }
 
 } // namespace vio
diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp
index 0f3dd6c..df53ce3 100644
--- a/GPU_version/vio/src/reprojector.cpp
+++ b/GPU_version/vio/src/reprojector.cpp
@@ -76,11 +76,9 @@ namespace vio {
         Features keypoints_cur;
         cv::Ptr<cv::xfeatures2d::FREAK> extractor = cv::xfeatures2d::FREAK::create(true, true, 22.0f, 4);
         cv::Ptr<cv::BFMatcher> matcher = cv::BFMatcher::create(cv::NORM_HAMMING, true);
-        feature_detection_mut_.lock();
         feature_detection::FastDetector detector(
                 frame->img().cols, frame->img().rows, Config::gridSize(), gpu_fast_,Config::nPyrLevels());
         detector.detect(frame, frame->img_pyr_, Config::triangMinCornerScore(), keypoints_cur,&descriptors_cur);
-        feature_detection_mut_.unlock();
         list<pair<FramePtr, double> > close_kfs;
         map_.getCloseKeyframes(frame, close_kfs);
         if (!last_frame->fts_.empty())