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lost init

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This commit is contained in:
gfuse
2021-10-06 15:35:50 +02:00
parent 3a9bdaf77b
commit a1478b53d1
6 changed files with 35 additions and 946 deletions
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GPU_version/vio/depth_filter_log.txt
-122
View File
@@ -1,122 +0,0 @@
[13:47:32.811] New key frame
[13:47:32.811] BA loop run
[13:47:32.814] init error: 9.234706
[13:47:32.820] end error: 0.008980
[13:47:32.946] New key frame
[13:47:32.946] BA loop run
[13:47:32.948] init error: 27.389863
[13:47:32.954] end error: 2.236662
[13:47:33.781] New key frame
[13:47:33.781] BA loop run
[13:47:33.783] init error: 94.643184
[13:47:33.789] end error: 3.372762
[13:47:33.984] New key frame
[13:47:33.984] BA loop run
[13:47:33.987] init error: 625.435993
[13:47:33.994] end error: 5.147586
[13:47:34.284] New key frame
[13:47:34.284] BA loop run
[13:47:34.287] init error: 107.819050
[13:47:34.295] end error: 10.211351
[13:47:34.480] New key frame
[13:47:34.480] BA loop run
[13:47:34.483] init error: 748.273313
[13:47:34.496] end error: 191.560372
[13:47:34.712] New key frame
[13:47:34.712] BA loop run
[13:47:34.716] init error: 23103.095029
[13:47:34.728] end error: 30.581954
[13:47:34.998] New key frame
[13:47:34.998] BA loop run
[13:47:35.003] init error: 1685.467973
[13:47:35.027] end error: 29.128400
[13:47:35.379] New key frame
[13:47:35.379] BA loop run
[13:47:35.385] init error: 450.889359
[13:47:35.409] end error: 75.097102
[13:47:35.820] New key frame
[13:47:35.820] BA loop run
[13:47:35.829] init error: 673.634333
[13:47:36.205] end error: 72.631437
[13:47:36.434] New key frame
[13:47:36.434] BA loop run
[13:47:36.443] init error: 364.392224
[13:47:36.814] end error: 930.000115
[13:47:37.109] New key frame
[13:47:37.109] BA loop run
[13:47:37.121] init error: 6323.348385
[13:47:37.405] end error: 102.211472
[13:47:37.644] New key frame
[13:47:37.644] BA loop run
[13:47:37.655] init error: 1095.200795
[13:47:38.210] end error: 96.963625
[13:47:38.393] New key frame
[13:47:38.393] BA loop run
[13:47:38.406] init error: 148174.041099
[13:47:38.653] end error: 622.209864
[13:47:38.925] New key frame
[13:47:38.925] BA loop run
[13:47:38.937] init error: 2647.081480
[13:47:39.260] end error: 116.262759
[13:47:39.532] New key frame
[13:47:39.532] BA loop run
[13:47:39.545] init error: 9444.067840
[13:47:40.300] end error: 772.068988
[13:47:40.348] New key frame
[13:47:40.348] BA loop run
[13:47:40.381] init error: 1961.781686
[13:47:41.300] end error: 504.437870
[13:47:41.315] New key frame
[13:47:41.315] BA loop run
[13:47:41.331] init error: 55097.105814
[13:47:42.081] end error: 885.378834
[13:47:42.241] New key frame
[13:47:42.241] BA loop run
[13:47:42.254] init error: 1434.417662
[13:47:43.180] end error: 149.152293
[13:47:43.188] New key frame
[13:47:43.189] BA loop run
[13:47:43.213] init error: 14500.734445
[13:47:43.549] end error: 1186.435667
[13:47:43.875] New key frame
[13:47:43.875] BA loop run
[13:47:43.888] init error: 53845.436036
[13:47:44.139] end error: 504.437132
[13:47:44.462] New key frame
[13:47:44.462] BA loop run
[13:47:44.477] init error: 44036.338866
[13:47:44.837] end error: 292.357080
[13:47:45.095] New key frame
[13:47:45.095] BA loop run
[13:47:45.109] init error: 883.006827
[13:47:45.410] end error: 156.079028
[13:47:45.636] New key frame
[13:47:45.637] BA loop run
[13:47:45.656] init error: 2310.251462
[13:47:45.821] end error: 177.760928
[13:47:46.218] New key frame
[13:47:46.218] BA loop run
[13:47:46.231] init error: 46169.589454
[13:47:46.279] end error: 160.495468
[13:47:46.701] New key frame
[13:47:46.701] BA loop run
[13:47:46.723] init error: 133197.234069
[13:47:46.768] end error: 261.644316
[13:47:47.175] New key frame
[13:47:47.176] BA loop run
[13:47:47.193] init error: 1843.110346
[13:47:47.257] end error: 217.782825
[13:47:47.619] New key frame
[13:47:47.619] BA loop run
[13:47:47.641] init error: 3208.125969
[13:47:48.349] end error: 203.439628
[13:47:48.588] New key frame
[13:47:48.588] BA loop run
[13:47:48.609] init error: 738.226202
[13:47:49.264] end error: 218.201207
[13:47:49.406] New key frame
[13:47:49.406] BA loop run
[13:47:49.423] init error: 130088.351726
[13:47:49.477] end error: 168.185621
[13:47:49.836] New key frame
[1
GPU_version/vio/frame_handler_log.txt
-767
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@@ -1,767 +0,0 @@
[13:47:23.911] Init: frame zero: 0.000000, 0.000000 0.000000
[13:47:23.912] Init: Selected first frame.
[13:47:23.912] frame process finished the id is: 0 the obs is:0
[13:47:23.940] Init: px average disparity is:0.096920 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:23.940] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:23.940] frame process finished the id is: 1 the obs is:0
[13:47:24.026] Init: px average disparity is:0.120159 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:24.026] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:24.026] frame process finished the id is: 2 the obs is:0
[13:47:24.122] Init: px average disparity is:0.166353 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:24.122] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:24.122] frame process finished the id is: 3 the obs is:0
[13:47:24.229] Init: px average disparity is:0.191240 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:24.229] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:24.229] frame process finished the id is: 4 the obs is:0
[13:47:24.323] Init: px average disparity is:0.207745 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:24.323] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:24.323] frame process finished the id is: 5 the obs is:0
[13:47:24.432] Init: px average disparity is:0.227178 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:24.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:24.432] frame process finished the id is: 6 the obs is:0
[13:47:24.529] Init: px average disparity is:0.236689 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:24.529] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:24.529] frame process finished the id is: 7 the obs is:0
[13:47:24.629] Init: px average disparity is:0.269724 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:24.629] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:24.629] frame process finished the id is: 8 the obs is:0
[13:47:24.723] Init: px average disparity is:0.279740 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:24.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:24.723] frame process finished the id is: 9 the obs is:0
[13:47:24.843] Init: px average disparity is:0.324433 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:24.843] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:24.843] frame process finished the id is: 10 the obs is:0
[13:47:24.942] Init: px average disparity is:0.332425 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:24.942] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:24.942] frame process finished the id is: 11 the obs is:0
[13:47:25.055] Init: px average disparity is:0.360695 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:25.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:25.056] frame process finished the id is: 12 the obs is:0
[13:47:25.139] Init: px average disparity is:0.331429 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:25.139] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:25.139] frame process finished the id is: 13 the obs is:0
[13:47:25.232] Init: px average disparity is:0.364890 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:25.232] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:25.232] frame process finished the id is: 14 the obs is:0
[13:47:25.356] Init: px average disparity is:0.336525 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:25.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:25.356] frame process finished the id is: 15 the obs is:0
[13:47:25.441] Init: px average disparity is:0.393741 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:25.441] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:25.441] frame process finished the id is: 16 the obs is:0
[13:47:25.524] Init: px average disparity is:0.365818 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:25.524] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:25.524] frame process finished the id is: 17 the obs is:0
[13:47:25.656] Init: px average disparity is:0.362293 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:25.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:25.656] frame process finished the id is: 18 the obs is:0
[13:47:25.744] Init: px average disparity is:0.361204 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:25.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:25.744] frame process finished the id is: 19 the obs is:0
[13:47:25.841] Init: px average disparity is:0.348439 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:25.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:25.841] frame process finished the id is: 20 the obs is:0
[13:47:25.930] Init: px average disparity is:0.350235 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:25.930] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:25.930] frame process finished the id is: 21 the obs is:0
[13:47:26.040] Init: px average disparity is:0.355781 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:26.040] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:26.040] frame process finished the id is: 22 the obs is:0
[13:47:26.134] Init: px average disparity is:0.350137 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:26.134] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:26.134] frame process finished the id is: 23 the obs is:0
[13:47:26.237] Init: px average disparity is:0.351329 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:26.237] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:26.237] frame process finished the id is: 24 the obs is:0
[13:47:26.332] Init: px average disparity is:0.309508 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:26.332] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:26.332] frame process finished the id is: 25 the obs is:0
[13:47:26.442] Init: px average disparity is:0.347856 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:26.442] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:26.442] frame process finished the id is: 26 the obs is:0
[13:47:26.529] Init: px average disparity is:0.323454 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:26.529] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:26.529] frame process finished the id is: 27 the obs is:0
[13:47:26.629] Init: px average disparity is:0.334123 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:26.629] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:26.629] frame process finished the id is: 28 the obs is:0
[13:47:26.727] Init: px average disparity is:0.373803 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:26.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:26.727] frame process finished the id is: 29 the obs is:0
[13:47:26.830] Init: px average disparity is:0.323537 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:26.830] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:26.830] frame process finished the id is: 30 the obs is:0
[13:47:26.926] Init: px average disparity is:0.339853 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:26.926] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:26.926] frame process finished the id is: 31 the obs is:0
[13:47:27.027] Init: px average disparity is:0.355549 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:27.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:27.027] frame process finished the id is: 32 the obs is:0
[13:47:27.140] Init: px average disparity is:0.327988 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:27.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:27.140] frame process finished the id is: 33 the obs is:0
[13:47:27.242] Init: px average disparity is:0.334005 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:27.242] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:27.242] frame process finished the id is: 34 the obs is:0
[13:47:27.342] Init: px average disparity is:0.329450 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:27.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:27.343] frame process finished the id is: 35 the obs is:0
[13:47:27.444] Init: px average disparity is:0.353743 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:27.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:27.444] frame process finished the id is: 36 the obs is:0
[13:47:27.540] Init: px average disparity is:0.325713 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:27.540] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:27.540] frame process finished the id is: 37 the obs is:0
[13:47:27.641] Init: px average disparity is:0.336127 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:27.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:27.641] frame process finished the id is: 38 the obs is:0
[13:47:27.741] Init: px average disparity is:0.339370 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:27.741] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:27.741] frame process finished the id is: 39 the obs is:0
[13:47:27.841] Init: px average disparity is:0.341702 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:27.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:27.841] frame process finished the id is: 40 the obs is:0
[13:47:27.944] Init: px average disparity is:0.322163 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:27.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:27.944] frame process finished the id is: 41 the obs is:0
[13:47:28.042] Init: px average disparity is:0.327227 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:28.042] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:28.042] frame process finished the id is: 42 the obs is:0
[13:47:28.140] Init: px average disparity is:0.337917 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:28.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:28.140] frame process finished the id is: 43 the obs is:0
[13:47:28.250] Init: px average disparity is:0.347184 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:28.250] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:28.250] frame process finished the id is: 44 the obs is:0
[13:47:28.342] Init: px average disparity is:0.345335 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:28.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:28.342] frame process finished the id is: 45 the obs is:0
[13:47:28.450] Init: px average disparity is:0.349314 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:28.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:28.450] frame process finished the id is: 46 the obs is:0
[13:47:28.540] Init: px average disparity is:0.325428 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:28.540] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:28.540] frame process finished the id is: 47 the obs is:0
[13:47:28.642] Init: px average disparity is:0.333423 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:28.642] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:28.642] frame process finished the id is: 48 the obs is:0
[13:47:28.745] Init: px average disparity is:0.322207 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:28.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:28.745] frame process finished the id is: 49 the obs is:0
[13:47:28.843] Init: px average disparity is:0.332989 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:28.843] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:28.843] frame process finished the id is: 50 the obs is:0
[13:47:28.942] Init: px average disparity is:0.326103 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:28.942] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:28.942] frame process finished the id is: 51 the obs is:0
[13:47:29.042] Init: px average disparity is:0.338467 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:29.042] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:29.042] frame process finished the id is: 52 the obs is:0
[13:47:29.143] Init: px average disparity is:0.351026 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:29.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:29.144] frame process finished the id is: 53 the obs is:0
[13:47:29.249] Init: px average disparity is:0.344845 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:29.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:29.249] frame process finished the id is: 54 the obs is:0
[13:47:29.342] Init: px average disparity is:0.332508 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:29.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:29.342] frame process finished the id is: 55 the obs is:0
[13:47:29.443] Init: px average disparity is:0.340312 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:29.443] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:29.444] frame process finished the id is: 56 the obs is:0
[13:47:29.543] Init: px average disparity is:0.359988 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:29.543] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:29.543] frame process finished the id is: 57 the obs is:0
[13:47:29.644] Init: px average disparity is:0.342481 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:29.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:29.644] frame process finished the id is: 58 the obs is:0
[13:47:29.743] Init: px average disparity is:0.336252 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:29.743] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:29.743] frame process finished the id is: 59 the obs is:0
[13:47:29.842] Init: px average disparity is:0.332147 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:29.842] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:29.842] frame process finished the id is: 60 the obs is:0
[13:47:29.941] Init: px average disparity is:0.330074 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:29.941] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:29.941] frame process finished the id is: 61 the obs is:0
[13:47:30.045] Init: px average disparity is:0.344951 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:30.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:30.045] frame process finished the id is: 62 the obs is:0
[13:47:30.143] Init: px average disparity is:0.336023 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:30.143] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:30.143] frame process finished the id is: 63 the obs is:0
[13:47:30.243] Init: px average disparity is:0.336179 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:30.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:30.243] frame process finished the id is: 64 the obs is:0
[13:47:30.340] Init: px average disparity is:0.331562 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:30.340] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:30.340] frame process finished the id is: 65 the obs is:0
[13:47:30.442] Init: px average disparity is:0.343314 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:30.442] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:30.442] frame process finished the id is: 66 the obs is:0
[13:47:30.542] Init: px average disparity is:0.344914 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:30.542] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:30.542] frame process finished the id is: 67 the obs is:0
[13:47:30.648] Init: px average disparity is:0.343931 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:30.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:30.648] frame process finished the id is: 68 the obs is:0
[13:47:30.738] Init: px average disparity is:0.342843 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:30.739] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:30.739] frame process finished the id is: 69 the obs is:0
[13:47:30.843] Init: px average disparity is:0.319272 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:30.843] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:30.843] frame process finished the id is: 70 the obs is:0
[13:47:30.941] Init: px average disparity is:0.332929 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:30.942] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:30.942] frame process finished the id is: 71 the obs is:0
[13:47:31.043] Init: px average disparity is:0.335166 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:31.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:31.043] frame process finished the id is: 72 the obs is:0
[13:47:31.141] Init: px average disparity is:0.322458 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:31.141] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:31.141] frame process finished the id is: 73 the obs is:0
[13:47:31.245] Init: px average disparity is:0.333361 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:31.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:31.246] frame process finished the id is: 74 the obs is:0
[13:47:31.342] Init: px average disparity is:0.364620 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:31.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:31.342] frame process finished the id is: 75 the obs is:0
[13:47:31.448] Init: px average disparity is:0.361013 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:31.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:31.449] frame process finished the id is: 76 the obs is:0
[13:47:31.544] Init: px average disparity is:0.352700 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:31.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:31.545] frame process finished the id is: 77 the obs is:0
[13:47:31.630] Init: px average disparity is:0.342237 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:31.630] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:31.630] frame process finished the id is: 78 the obs is:0
[13:47:31.669] Odometry x=0.000000, y=0.000000, theta=-0.000000
[13:47:31.751] Init: px average disparity is:0.338066 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:31.751] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:31.751] frame process finished the id is: 79 the obs is:0
[13:47:31.770] Odometry x=0.000001, y=0.031996, theta=-0.000009
[13:47:31.848] Init: px average disparity is:0.342626 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:31.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:31.848] frame process finished the id is: 80 the obs is:0
[13:47:31.870] Odometry x=0.000006, y=0.059582, theta=0.000463
[13:47:31.961] Init: px average disparity is:6.551406 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:31.961] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:31.961] frame process finished the id is: 81 the obs is:0
[13:47:31.971] Odometry x=-0.000019, y=0.085225, theta=-0.000062
[13:47:32.034] Init: px average disparity is:3.524687 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:32.034] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:32.034] frame process finished the id is: 82 the obs is:0
[13:47:32.072] Odometry x=-0.000019, y=0.110088, theta=0.002562
[13:47:32.145] Init: px average disparity is:5.077399 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:32.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:32.145] frame process finished the id is: 83 the obs is:0
[13:47:32.166] Odometry x=-0.000088, y=0.134663, theta=0.007494
[13:47:32.249] Init: px average disparity is:4.551499 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:32.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:32.249] frame process finished the id is: 84 the obs is:0
[13:47:32.261] Odometry x=-0.000247, y=0.159084, theta=0.011284
[13:47:32.348] Init: px average disparity is:6.954029 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:32.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:32.348] frame process finished the id is: 85 the obs is:0
[13:47:32.366] Odometry x=-0.000540, y=0.183520, theta=0.008246
[13:47:32.449] Init: px average disparity is:8.102174 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:32.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:32.449] frame process finished the id is: 86 the obs is:0
[13:47:32.468] Odometry x=-0.000707, y=0.207913, theta=0.012489
[13:47:32.571] Odometry x=-0.000988, y=0.232296, theta=0.017467
[13:47:32.646] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:12.099699 ,While minimum is: 10.000000 KLT tracked: 1212
[13:47:32.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:32.646] frame process finished the id is: 87 the obs is:0
[13:47:32.668] Odometry x=-0.001433, y=0.256687, theta=0.013994
[13:47:32.674] Init: px average disparity is:9.941098 ,While minimum is: 10.000000 KLT tracked : 1212
[13:47:32.674] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[13:47:32.674] frame process finished the id is: 88 the obs is:0
[13:47:32.765] Odometry x=-0.001764, y=0.281063, theta=0.013765
[13:47:32.811] Init finished: Homography RANSAC (inlier) is:198 ,While 50 inliers minimum required. px average disparity is:11.320633 ,While minimum is: 10.000000 KLT tracked: 1212
[13:47:32.811] Init: distance between the first and current frame is x:-0.002072 ,z=0.305442,angle between two frames: 0.019250
[13:47:32.811] Init: Selected Second frame. The number of features: 198 depth mean:-0.277677 min:-1.071510
[13:47:32.811] frame process finished the id is: 89 the obs is:198
[13:47:32.865] Odometry x=-0.002072, y=0.305442, theta=0.019250
[13:47:32.945] After Reprojection Map nMatches:172 ,distance between ekf and vo x:0.000052 ,z=-0.000103,angle between two frames:0.000215
[13:47:32.945] n deleted obs = 31 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =141 error init =0.016296 error end=0.016296
[13:47:32.945] After pose optimization, distance between ekf and vo x:0.000052 ,z=-0.000103,angle between two frames:0.000215
[13:47:32.945] Update EKF and 3D points the number of feature in the new frame: 141 and number of obs: 141
[13:47:32.946] need key frame pitch dis: 0.019160 translation dif:0.311811
[13:47:32.946] Choose frame as a key frame Scene Depth mean:-0.175752 ,depth min:-1.060124
[13:47:32.946] frame process finished the id is: 90 the obs is:141
[13:47:32.962] Odometry x=-0.002154, y=0.311803, theta=0.019160
[13:47:33.064] Odometry x=-0.002615, y=0.336531, theta=0.020491
[13:47:33.102] After Reprojection Map nMatches:217 ,distance between ekf and vo x:0.000179 ,z=-0.000457,angle between two frames:0.000497
[13:47:33.103] n deleted obs = 44 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 error init =0.011985 error end=0.011956
[13:47:33.103] After pose optimization, distance between ekf and vo x:0.000579 ,z=-0.000769,angle between two frames:0.000309
[13:47:33.103] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173
[13:47:33.104] need key frame pitch dis: 0.004164 translation dif:0.075715
[13:47:33.104] frame process finished the id is: 91 the obs is:173
[13:47:33.166] Odometry x=-0.001966, y=0.324296, theta=0.020250
[13:47:33.268] Odometry x=-0.002417, y=0.349038, theta=0.025398
[13:47:33.275] After Reprojection Map nMatches:249 ,distance between ekf and vo x:0.000201 ,z=-0.000243,angle between two frames:0.000643
[13:47:33.277] n deleted obs = 54 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =195 error init =0.013984 error end=0.013959
[13:47:33.277] After pose optimization, distance between ekf and vo x:0.000745 ,z=-0.000256,angle between two frames:0.002301
[13:47:33.277] Update EKF and 3D points the number of feature in the new frame: 195 and number of obs: 195
[13:47:33.278] need key frame pitch dis: 0.003654 translation dif:0.065230
[13:47:33.278] frame process finished the id is: 92 the obs is:195
[13:47:33.366] Odometry x=-0.002875, y=0.374992, theta=0.024933
[13:47:33.443] After Reprojection Map nMatches:279 ,distance between ekf and vo x:0.000116 ,z=-0.000165,angle between two frames:0.000258
[13:47:33.444] n deleted obs = 51 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =228 error init =0.020683 error end=0.020683
[13:47:33.444] After pose optimization, distance between ekf and vo x:0.000116 ,z=-0.000165,angle between two frames:0.000258
[13:47:33.444] Update EKF and 3D points the number of feature in the new frame: 228 and number of obs: 228
[13:47:33.445] need key frame pitch dis: 0.003523 translation dif:0.077464
[13:47:33.445] frame process finished the id is: 93 the obs is:228
[13:47:33.466] Odometry x=-0.002395, y=0.364983, theta=0.020932
[13:47:33.568] Odometry x=-0.002833, y=0.389706, theta=0.029732
[13:47:33.612] After Reprojection Map nMatches:329 ,distance between ekf and vo x:0.000156 ,z=-0.000390,angle between two frames:0.000358
[13:47:33.613] n deleted obs = 57 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =272 error init =0.010974 error end=0.010974
[13:47:33.613] After pose optimization, distance between ekf and vo x:0.000156 ,z=-0.000390,angle between two frames:0.000358
[13:47:33.613] Update EKF and 3D points the number of feature in the new frame: 272 and number of obs: 272
[13:47:33.614] need key frame pitch dis: 0.006410 translation dif:0.090221
[13:47:33.614] frame process finished the id is: 94 the obs is:272
[13:47:33.667] Odometry x=-0.002574, y=0.377739, theta=0.023820
[13:47:33.765] Odometry x=-0.003157, y=0.402453, theta=0.025075
[13:47:33.779] After Reprojection Map nMatches:299 ,distance between ekf and vo x:0.000094 ,z=-0.000410,angle between two frames:0.000150
[13:47:33.779] n deleted obs = 60 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =239 error init =0.015657 error end=0.015657
[13:47:33.779] After pose optimization, distance between ekf and vo x:0.000094 ,z=-0.000410,angle between two frames:0.000150
[13:47:33.779] Update EKF and 3D points the number of feature in the new frame: 239 and number of obs: 239
[13:47:33.781] need key frame pitch dis: 0.008172 translation dif:0.157510
[13:47:33.781] Choose frame as a key frame Scene Depth mean:-0.024402 ,depth min:-89.105605
[13:47:33.781] frame process finished the id is: 95 the obs is:239
[13:47:33.878] Odometry x=-0.003771, y=0.428370, theta=0.031491
[13:47:33.972] Odometry x=-0.004540, y=0.452795, theta=0.028182
[13:47:33.980] After Reprojection Map nMatches:328 ,distance between ekf and vo x:0.000412 ,z=-0.001146,angle between two frames:0.000977
[13:47:33.981] n deleted obs = 59 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =269 error init =0.053290 error end=0.053290
[13:47:33.981] After pose optimization, distance between ekf and vo x:0.000412 ,z=-0.001146,angle between two frames:0.000977
[13:47:33.981] Update EKF and 3D points the number of feature in the new frame: 269 and number of obs: 269
[13:47:33.984] need key frame pitch dis: 2.991277 translation dif:0.102553
[13:47:33.984] Choose frame as a key frame Scene Depth mean:0.418518 ,depth min:-27.496346
[13:47:33.984] frame process finished the id is: 96 the obs is:269
[13:47:34.069] Odometry x=-0.005174, y=0.478425, theta=0.025254
[13:47:34.134] After Reprojection Map nMatches:297 ,distance between ekf and vo x:0.000045 ,z=-0.000027,angle between two frames:0.000000
[13:47:34.136] n deleted obs = 73 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =224 error init =0.029011 error end=0.028900
[13:47:34.136] After pose optimization, distance between ekf and vo x:-0.000979 ,z=0.001795,angle between two frames:0.000020
[13:47:34.136] Update EKF and 3D points the number of feature in the new frame: 224 and number of obs: 224
[13:47:34.139] need key frame pitch dis: 0.053527 translation dif:0.098524
[13:47:34.139] frame process finished the id is: 97 the obs is:224
[13:47:34.162] Odometry x=-0.006043, y=0.486212, theta=0.025128
[13:47:34.265] Odometry x=-0.006640, y=0.510938, theta=0.026364
[13:47:34.280] After Reprojection Map nMatches:295 ,distance between ekf and vo x:-0.000007 ,z=-0.000019,angle between two frames:0.000001
[13:47:34.281] n deleted obs = 51 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =244 error init =0.007590 error end=0.007588
[13:47:34.281] After pose optimization, distance between ekf and vo x:-0.000114 ,z=-0.000064,angle between two frames:0.000003
[13:47:34.281] Update EKF and 3D points the number of feature in the new frame: 244 and number of obs: 244
[13:47:34.284] need key frame pitch dis: 0.054425 translation dif:0.111269
[13:47:34.284] Choose frame as a key frame Scene Depth mean:-0.489860 ,depth min:-55.472294
[13:47:34.284] frame process finished the id is: 98 the obs is:244
[13:47:34.367] Odometry x=-0.006455, y=0.499202, theta=0.024230
[13:47:34.464] Odometry x=-0.006982, y=0.523944, theta=0.031365
[13:47:34.476] After Reprojection Map nMatches:318 ,distance between ekf and vo x:-0.000003 ,z=0.000139,angle between two frames:0.000019
[13:47:34.477] n deleted obs = 60 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =258 error init =0.021262 error end=0.021262
[13:47:34.477] After pose optimization, distance between ekf and vo x:-0.000003 ,z=0.000139,angle between two frames:0.000019
[13:47:34.477] Update EKF and 3D points the number of feature in the new frame: 258 and number of obs: 258
[13:47:34.480] need key frame pitch dis: 3.053110 translation dif:0.101210
[13:47:34.480] Choose frame as a key frame Scene Depth mean:0.675490 ,depth min:-27.545104
[13:47:34.480] frame process finished the id is: 99 the obs is:258
[13:47:34.567] Odometry x=-0.007788, y=0.549936, theta=0.019739
[13:47:34.663] Odometry x=-0.008253, y=0.574386, theta=0.011844
[13:47:34.706] After Reprojection Map nMatches:479 ,distance between ekf and vo x:0.000048 ,z=-0.000473,angle between two frames:0.000555
[13:47:34.709] n deleted obs = 115 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =364 error init =0.018014 error end=0.017999
[13:47:34.709] After pose optimization, distance between ekf and vo x:-0.000131 ,z=0.000410,angle between two frames:0.000561
[13:47:34.709] Update EKF and 3D points the number of feature in the new frame: 364 and number of obs: 364
[13:47:34.711] need key frame pitch dis: 3.078537 translation dif:0.106306
[13:47:34.711] Choose frame as a key frame Scene Depth mean:1.041358 ,depth min:-10.864702
[13:47:34.712] frame process finished the id is: 100 the obs is:364
[13:47:34.767] Odometry x=-0.007641, y=0.546960, theta=0.024400
[13:47:34.869] Odometry x=-0.008186, y=0.571681, theta=0.032984
[13:47:34.971] Odometry x=-0.008984, y=0.596199, theta=0.038547
[13:47:34.991] After Reprojection Map nMatches:561 ,distance between ekf and vo x:-0.000195 ,z=-0.000187,angle between two frames:0.000335
[13:47:34.993] n deleted obs = 92 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =469 error init =0.008319 error end=0.007906
[13:47:34.993] After pose optimization, distance between ekf and vo x:0.008541 ,z=0.012781,angle between two frames:0.001744
[13:47:34.993] Update EKF and 3D points the number of feature in the new frame: 469 and number of obs: 469
[13:47:34.997] need key frame pitch dis: 3.026775 translation dif:0.139155
[13:47:34.998] Choose frame as a key frame Scene Depth mean:1.034973 ,depth min:-50.344316
[13:47:34.998] frame process finished the id is: 101 the obs is:469
[13:47:35.073] Odometry x=-0.001929, y=0.575868, theta=0.032755
[13:47:35.168] Odometry x=-0.002673, y=0.600605, theta=0.040933
[13:47:35.265] Odometry x=-0.003683, y=0.625102, theta=0.037507
[13:47:35.371] Odometry x=-0.004581, y=0.649511, theta=0.034990
[13:47:35.372] After Reprojection Map nMatches:614 ,distance between ekf and vo x:0.000037 ,z=-0.001169,angle between two frames:0.000980
[13:47:35.375] n deleted obs = 137 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =477 error init =0.020441 error end=0.020421
[13:47:35.375] After pose optimization, distance between ekf and vo x:0.007806 ,z=0.000559,angle between two frames:0.001040
[13:47:35.375] Update EKF and 3D points the number of feature in the new frame: 477 and number of obs: 477
[13:47:35.379] need key frame pitch dis: 3.071891 translation dif:0.073845
[13:47:35.379] Choose frame as a key frame Scene Depth mean:-0.058013 ,depth min:-21.996557
[13:47:35.379] frame process finished the id is: 102 the obs is:477
[13:47:35.468] Odometry x=-0.003351, y=0.664763, theta=0.033046
[13:47:35.561] Odometry x=-0.004154, y=0.689168, theta=0.038930
[13:47:35.660] Odometry x=-0.005115, y=0.713531, theta=0.039391
[13:47:35.762] Odometry x=-0.006072, y=0.737893, theta=0.043550
[13:47:35.813] After Reprojection Map nMatches:717 ,distance between ekf and vo x:-0.000114 ,z=-0.000536,angle between two frames:0.000066
[13:47:35.816] n deleted obs = 160 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =557 error init =0.012949 error end=0.012930
[13:47:35.816] After pose optimization, distance between ekf and vo x:-0.001501 ,z=-0.000157,angle between two frames:0.000001
[13:47:35.816] Update EKF and 3D points the number of feature in the new frame: 557 and number of obs: 557
[13:47:35.820] need key frame pitch dis: 3.063542 translation dif:0.109826
[13:47:35.820] Choose frame as a key frame Scene Depth mean:1.120520 ,depth min:-272.910277
[13:47:35.820] frame process finished the id is: 103 the obs is:557
[13:47:35.866] Odometry x=-0.002466, y=0.661962, theta=0.036209
[13:47:35.979] Odometry x=-0.003414, y=0.686682, theta=0.031216
[13:47:36.064] Odometry x=-0.004160, y=0.711192, theta=0.036539
[13:47:36.178] Odometry x=-0.005052, y=0.735633, theta=0.040188
[13:47:36.265] Odometry x=-0.006041, y=0.760024, theta=0.036963
[13:47:36.363] Odometry x=-0.006942, y=0.784429, theta=0.038789
[13:47:36.426] After Reprojection Map nMatches:681 ,distance between ekf and vo x:-0.000168 ,z=-0.000138,angle between two frames:0.000035
[13:47:36.430] n deleted obs = 138 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =543 error init =0.017944 error end=0.017905
[13:47:36.430] After pose optimization, distance between ekf and vo x:-0.001787 ,z=0.000410,angle between two frames:0.000030
[13:47:36.430] Update EKF and 3D points the number of feature in the new frame: 543 and number of obs: 543
[13:47:36.434] need key frame pitch dis: 0.016171 translation dif:0.306705
[13:47:36.434] Choose frame as a key frame Scene Depth mean:2.916095 ,depth min:-41.710382
[13:47:36.434] frame process finished the id is: 104 the obs is:543
[13:47:36.462] Odometry x=-0.005208, y=0.701126, theta=0.037633
[13:47:36.563] Odometry x=-0.006189, y=0.725865, theta=0.032125
[13:47:36.660] Odometry x=-0.006964, y=0.750361, theta=0.033246
[13:47:36.766] Odometry x=-0.007793, y=0.774792, theta=0.029850
[13:47:36.867] Odometry x=-0.008525, y=0.799210, theta=0.029765
[13:47:36.960] Odometry x=-0.009248, y=0.823596, theta=0.026931
[13:47:37.063] Odometry x=-0.009888, y=0.847990, theta=0.025635
[13:47:37.103] After Reprojection Map nMatches:694 ,distance between ekf and vo x:-0.000017 ,z=-0.000267,angle between two frames:0.000082
[13:47:37.106] n deleted obs = 153 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =541 error init =0.015073 error end=0.015069
[13:47:37.106] After pose optimization, distance between ekf and vo x:-0.000677 ,z=-0.000268,angle between two frames:0.000081
[13:47:37.106] Update EKF and 3D points the number of feature in the new frame: 541 and number of obs: 541
[13:47:37.109] need key frame pitch dis: 0.017851 translation dif:0.781903
[13:47:37.109] Choose frame as a key frame Scene Depth mean:0.346140 ,depth min:-897.768818
[13:47:37.109] frame process finished the id is: 105 the obs is:541
[13:47:37.193] Odometry x=-0.007117, y=0.746219, theta=0.036426
[13:47:37.267] Odometry x=-0.008061, y=0.770923, theta=0.031986
[13:47:37.365] Odometry x=-0.008850, y=0.795432, theta=0.030040
[13:47:37.466] Odometry x=-0.009599, y=0.819850, theta=0.033129
[13:47:37.566] Odometry x=-0.010410, y=0.844232, theta=0.029710
[13:47:37.637] After Reprojection Map nMatches:757 ,distance between ekf and vo x:0.000106 ,z=0.000019,angle between two frames:0.000287
[13:47:37.641] n deleted obs = 260 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =497 error init =0.038161 error end=0.038152
[13:47:37.641] After pose optimization, distance between ekf and vo x:0.001556 ,z=0.001310,angle between two frames:0.000292
[13:47:37.641] Update EKF and 3D points the number of feature in the new frame: 497 and number of obs: 497
[13:47:37.644] need key frame pitch dis: 0.025086 translation dif:0.731298
[13:47:37.644] Choose frame as a key frame Scene Depth mean:-1.603310 ,depth min:-897.972734
[13:47:37.644] frame process finished the id is: 106 the obs is:497
[13:47:37.664] Odometry x=-0.007047, y=0.779567, theta=0.034307
[13:47:37.766] Odometry x=-0.007777, y=0.804281, theta=0.048554
[13:47:37.867] Odometry x=-0.008942, y=0.828779, theta=0.060388
[13:47:37.969] Odometry x=-0.010395, y=0.853172, theta=0.072434
[13:47:38.073] Odometry x=-0.012165, y=0.877524, theta=0.073269
[13:47:38.166] Odometry x=-0.013932, y=0.901863, theta=0.077353
[13:47:38.266] Odometry x=-0.015793, y=0.926177, theta=0.083454
[13:47:38.367] Odometry x=-0.017891, y=0.950480, theta=0.068748
[13:47:38.385] After Reprojection Map nMatches:804 ,distance between ekf and vo x:-0.000037 ,z=-0.000233,angle between two frames:0.000152
[13:47:38.389] n deleted obs = 173 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =631 error init =0.018253 error end=0.018236
[13:47:38.389] After pose optimization, distance between ekf and vo x:-0.004638 ,z=-0.000377,angle between two frames:0.000247
[13:47:38.389] Update EKF and 3D points the number of feature in the new frame: 631 and number of obs: 631
[13:47:38.393] need key frame pitch dis: 0.019261 translation dif:0.677702
[13:47:38.393] Choose frame as a key frame Scene Depth mean:0.460842 ,depth min:-897.266888
[13:47:38.393] frame process finished the id is: 107 the obs is:631
[13:47:38.467] Odometry x=-0.013731, y=0.830925, theta=0.043343
[13:47:38.566] Odometry x=-0.014773, y=0.855646, theta=0.049499
[13:47:38.662] Odometry x=-0.015977, y=0.880133, theta=0.051852
[13:47:38.766] Odometry x=-0.017229, y=0.904548, theta=0.053749
[13:47:38.866] Odometry x=-0.018540, y=0.928914, theta=0.052096
[13:47:38.915] After Reprojection Map nMatches:848 ,distance between ekf and vo x:-0.000059 ,z=0.000014,angle between two frames:0.000002
[13:47:38.919] n deleted obs = 183 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =665 error init =0.022299 error end=0.022298
[13:47:38.919] After pose optimization, distance between ekf and vo x:-0.000159 ,z=-0.000029,angle between two frames:0.000003
[13:47:38.919] Update EKF and 3D points the number of feature in the new frame: 665 and number of obs: 665
[13:47:38.924] need key frame pitch dis: 3.169951 translation dif:0.627693
[13:47:38.924] Choose frame as a key frame Scene Depth mean:-0.319144 ,depth min:-140.505132
[13:47:38.925] frame process finished the id is: 108 the obs is:665
[13:47:38.970] Odometry x=-0.015431, y=0.863256, theta=0.045161
[13:47:39.071] Odometry x=-0.016513, y=0.887983, theta=0.049985
[13:47:39.161] Odometry x=-0.017760, y=0.912476, theta=0.049385
[13:47:39.271] Odometry x=-0.018971, y=0.936899, theta=0.053939
[13:47:39.366] Odometry x=-0.020276, y=0.961259, theta=0.046335
[13:47:39.466] Odometry x=-0.021412, y=0.985612, theta=0.046813
[13:47:39.525] After Reprojection Map nMatches:908 ,distance between ekf and vo x:-0.000206 ,z=0.000063,angle between two frames:0.000120
[13:47:39.527] n deleted obs = 233 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =675 error init =0.070435 error end=0.070435
[13:47:39.527] After pose optimization, distance between ekf and vo x:-0.000206 ,z=0.000063,angle between two frames:0.000120
[13:47:39.527] Update EKF and 3D points the number of feature in the new frame: 675 and number of obs: 675
[13:47:39.532] need key frame pitch dis: 0.014976 translation dif:0.691921
[13:47:39.532] Choose frame as a key frame Scene Depth mean:-0.365943 ,depth min:-138.492070
[13:47:39.532] frame process finished the id is: 109 the obs is:675
[13:47:39.571] Odometry x=-0.017442, y=0.902103, theta=0.047007
[13:47:39.669] Odometry x=-0.018574, y=0.926804, theta=0.050426
[13:47:39.764] Odometry x=-0.019805, y=0.951283, theta=0.051654
[13:47:39.868] Odometry x=-0.021076, y=0.975695, theta=0.049699
[13:47:39.966] Odometry x=-0.022287, y=1.000066, theta=0.050401
[13:47:40.070] Odometry x=-0.023536, y=1.024456, theta=0.047096
[13:47:40.167] Odometry x=-0.024697, y=1.048826, theta=0.045313
[13:47:40.267] Odometry x=-0.025778, y=1.073207, theta=0.049037
[13:47:40.320] After Reprojection Map nMatches:900 ,distance between ekf and vo x:-0.000044 ,z=0.000011,angle between two frames:0.000001
[13:47:40.332] n deleted obs = 246 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =654 error init =0.014922 error end=0.014920
[13:47:40.332] After pose optimization, distance between ekf and vo x:-0.000200 ,z=-0.000001,angle between two frames:0.000003
[13:47:40.332] Update EKF and 3D points the number of feature in the new frame: 654 and number of obs: 654
[13:47:40.347] need key frame pitch dis: 3.165356 translation dif:0.951987
[13:47:40.347] Choose frame as a key frame Scene Depth mean:-0.786662 ,depth min:-138.538715
[13:47:40.348] frame process finished the id is: 110 the obs is:654
[13:47:40.365] Odometry x=-0.020092, y=0.953823, theta=0.048491
[13:47:40.460] Odometry x=-0.021205, y=0.978537, theta=0.058627
[13:47:40.566] Odometry x=-0.022635, y=1.003013, theta=0.063222
[13:47:40.666] Odometry x=-0.024170, y=1.027410, theta=0.060376
[13:47:40.768] Odometry x=-0.025645, y=1.051763, theta=0.052908
[13:47:40.875] Odometry x=-0.026922, y=1.076126, theta=0.053326
[13:47:40.969] Odometry x=-0.028229, y=1.100504, theta=0.050193
[13:47:41.067] After Reprojection Map nMatches:829 ,distance between ekf and vo x:-0.000263 ,z=0.000014,angle between two frames:0.000010
[13:47:41.080] Odometry x=-0.029455, y=1.124876, theta=0.053243
[13:47:41.168] Odometry x=-0.030750, y=1.149221, theta=0.051138
[13:47:41.266] Odometry x=-0.031981, y=1.173567, theta=0.057225
[13:47:41.306] n deleted obs = 235 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =594 error init =0.035849 error end=0.035849
[13:47:41.306] After pose optimization, distance between ekf and vo x:-0.000263 ,z=0.000014,angle between two frames:0.000010
[13:47:41.306] Update EKF and 3D points the number of feature in the new frame: 594 and number of obs: 594
[13:47:41.314] need key frame pitch dis: 0.010327 translation dif:1.112906
[13:47:41.315] Choose frame as a key frame Scene Depth mean:4.448541 ,depth min:-26.299795
[13:47:41.315] frame process finished the id is: 111 the obs is:594
[13:47:41.368] Odometry x=-0.023794, y=1.018421, theta=0.050310
[13:47:41.466] Odometry x=-0.025113, y=1.043093, theta=0.040341
[13:47:41.567] Odometry x=-0.026094, y=1.067583, theta=0.043046
[13:47:41.669] Odometry x=-0.027137, y=1.092019, theta=0.044632
[13:47:41.768] Odometry x=-0.028231, y=1.116403, theta=0.036891
[13:47:41.869] Odometry x=-0.029121, y=1.140759, theta=0.043406
[13:47:41.968] Odometry x=-0.029121, y=1.140759, theta=0.043406
[13:47:42.070] Odometry x=-0.029121, y=1.140759, theta=0.043406
[13:47:42.168] Odometry x=-0.030160, y=1.164987, theta=0.043544
[13:47:42.233] After Reprojection Map nMatches:792 ,distance between ekf and vo x:-0.000133 ,z=-0.000084,angle between two frames:0.000002
[13:47:42.237] n deleted obs = 180 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =612 error init =0.036331 error end=0.036325
[13:47:42.237] After pose optimization, distance between ekf and vo x:0.001727 ,z=0.000776,angle between two frames:0.000065
[13:47:42.237] Update EKF and 3D points the number of feature in the new frame: 612 and number of obs: 612
[13:47:42.240] need key frame pitch dis: 0.001537 translation dif:1.050747
[13:47:42.241] Choose frame as a key frame Scene Depth mean:-0.302071 ,depth min:-14.472274
[13:47:42.241] frame process finished the id is: 112 the obs is:612
[13:47:42.272] Odometry x=-0.024442, y=1.061823, theta=0.046612
[13:47:42.377] Odometry x=-0.025626, y=1.086460, theta=0.041343
[13:47:42.470] Odometry x=-0.026653, y=1.110887, theta=0.042316
[13:47:42.577] Odometry x=-0.027689, y=1.135299, theta=0.031650
[13:47:42.675] Odometry x=-0.028436, y=1.159665, theta=0.044156
[13:47:42.778] Odometry x=-0.029491, y=1.184023, theta=0.051578
[13:47:42.866] Odometry x=-0.030718, y=1.208381, theta=0.060703
[13:47:42.960] Odometry x=-0.032180, y=1.232745, theta=0.060902
[13:47:43.052] After Reprojection Map nMatches:593 ,distance between ekf and vo x:-0.000208 ,z=-0.000088,angle between two frames:0.000011
[13:47:43.068] Odometry x=-0.033673, y=1.257105, theta=0.056725
[13:47:43.166] Odometry x=-0.035075, y=1.281454, theta=0.050373
[13:47:43.183] n deleted obs = 104 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =489 error init =0.017228 error end=0.017228
[13:47:43.183] After pose optimization, distance between ekf and vo x:-0.000208 ,z=-0.000088,angle between two frames:0.000011
[13:47:43.183] Update EKF and 3D points the number of feature in the new frame: 489 and number of obs: 489
[13:47:43.187] need key frame pitch dis: 0.029184 translation dif:0.381937
[13:47:43.188] Choose frame as a key frame Scene Depth mean:-0.243035 ,depth min:-18.299772
[13:47:43.188] frame process finished the id is: 113 the obs is:489
[13:47:43.281] Odometry x=-0.034350, y=1.264484, theta=0.044300
[13:47:43.360] Odometry x=-0.035455, y=1.288850, theta=0.042554
[13:47:43.470] Odometry x=-0.036521, y=1.313201, theta=0.039165
[13:47:43.563] Odometry x=-0.037459, y=1.337582, theta=0.042403
[13:47:43.679] Odometry x=-0.038506, y=1.361907, theta=0.038319
[13:47:43.766] Odometry x=-0.039465, y=1.386292, theta=0.038814
[13:47:43.865] After Reprojection Map nMatches:912 ,distance between ekf and vo x:-0.000444 ,z=0.000120,angle between two frames:0.000060
[13:47:43.866] Odometry x=-0.040400, y=1.410635, theta=0.044016
[13:47:43.869] n deleted obs = 200 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =712 error init =0.018409 error end=0.018409
[13:47:43.869] After pose optimization, distance between ekf and vo x:-0.000454 ,z=0.000123,angle between two frames:0.000060
[13:47:43.869] Update EKF and 3D points the number of feature in the new frame: 712 and number of obs: 712
[13:47:43.875] need key frame pitch dis: 3.030240 translation dif:0.137479
[13:47:43.875] Choose frame as a key frame Scene Depth mean:-0.097453 ,depth min:-41.868738
[13:47:43.875] frame process finished the id is: 114 the obs is:712
[13:47:43.966] Odometry x=-0.039653, y=1.390350, theta=0.043016
[13:47:44.074] Odometry x=-0.040755, y=1.414708, theta=0.029823
[13:47:44.171] Odometry x=-0.041474, y=1.439117, theta=0.027758
[13:47:44.263] Odometry x=-0.042130, y=1.463483, theta=0.031345
[13:47:44.369] Odometry x=-0.042859, y=1.487829, theta=0.046409
[13:47:44.455] After Reprojection Map nMatches:958 ,distance between ekf and vo x:-0.000370 ,z=-0.000042,angle between two frames:0.000048
[13:47:44.457] n deleted obs = 244 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =714 error init =0.028392 error end=0.028392
[13:47:44.457] After pose optimization, distance between ekf and vo x:-0.000370 ,z=-0.000042,angle between two frames:0.000048
[13:47:44.457] Update EKF and 3D points the number of feature in the new frame: 714 and number of obs: 714
[13:47:44.462] need key frame pitch dis: 3.048705 translation dif:0.188382
[13:47:44.462] Choose frame as a key frame Scene Depth mean:-0.342962 ,depth min:-41.924844
[13:47:44.462] frame process finished the id is: 115 the obs is:714
[13:47:44.468] Odometry x=-0.038158, y=1.353308, theta=0.046492
[13:47:44.567] Odometry x=-0.039439, y=1.378000, theta=0.034804
[13:47:44.678] Odometry x=-0.040343, y=1.402462, theta=0.020008
[13:47:44.769] Odometry x=-0.040827, y=1.426880, theta=0.010240
[13:47:44.867] Odometry x=-0.041080, y=1.451282, theta=0.018604
[13:47:44.968] Odometry x=-0.041543, y=1.475671, theta=0.026926
[13:47:45.066] Odometry x=-0.042206, y=1.500046, theta=0.031889
[13:47:45.089] After Reprojection Map nMatches:874 ,distance between ekf and vo x:-0.000127 ,z=-0.000047,angle between two frames:0.000024
[13:47:45.091] n deleted obs = 223 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =651 error init =0.026626 error end=0.026626
[13:47:45.091] After pose optimization, distance between ekf and vo x:-0.000127 ,z=-0.000047,angle between two frames:0.000024
[13:47:45.091] Update EKF and 3D points the number of feature in the new frame: 651 and number of obs: 651
[13:47:45.095] need key frame pitch dis: 3.176602 translation dif:0.682236
[13:47:45.095] Choose frame as a key frame Scene Depth mean:1.243473 ,depth min:-42.024169
[13:47:45.095] frame process finished the id is: 116 the obs is:651
[13:47:45.162] Odometry x=-0.042515, y=1.499081, theta=0.024037
[13:47:45.271] Odometry x=-0.043157, y=1.523462, theta=0.007685
[13:47:45.365] Odometry x=-0.043282, y=1.547847, theta=0.018345
[13:47:45.469] Odometry x=-0.043720, y=1.572233, theta=0.023907
[13:47:45.566] Odometry x=-0.044292, y=1.596615, theta=0.021595
[13:47:45.629] After Reprojection Map nMatches:941 ,distance between ekf and vo x:-0.000166 ,z=-0.000234,angle between two frames:0.000017
[13:47:45.632] n deleted obs = 274 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =667 error init =0.025050 error end=0.025050
[13:47:45.632] After pose optimization, distance between ekf and vo x:-0.000166 ,z=-0.000234,angle between two frames:0.000017
[13:47:45.632] Update EKF and 3D points the number of feature in the new frame: 667 and number of obs: 667
[13:47:45.636] need key frame pitch dis: 3.088951 translation dif:1.077485
[13:47:45.636] Choose frame as a key frame Scene Depth mean:-0.016076 ,depth min:-42.043154
[13:47:45.637] frame process finished the id is: 117 the obs is:667
[13:47:45.666] Odometry x=-0.041924, y=1.484147, theta=0.037879
[13:47:45.767] Odometry x=-0.042829, y=1.508858, theta=0.043641
[13:47:45.872] Odometry x=-0.043830, y=1.533348, theta=0.057914
[13:47:45.975] Odometry x=-0.045293, y=1.557728, theta=0.047778
[13:47:46.060] Odometry x=-0.046457, y=1.582111, theta=0.040028
[13:47:46.163] Odometry x=-0.047445, y=1.606518, theta=0.043370
[13:47:46.209] After Reprojection Map nMatches:969 ,distance between ekf and vo x:-0.000265 ,z=-0.000166,angle between two frames:0.000002
[13:47:46.211] n deleted obs = 235 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =734 error init =0.017008 error end=0.017008
[13:47:46.211] After pose optimization, distance between ekf and vo x:-0.000265 ,z=-0.000166,angle between two frames:0.000002
[13:47:46.211] Update EKF and 3D points the number of feature in the new frame: 734 and number of obs: 734
[13:47:46.217] need key frame pitch dis: 3.107831 translation dif:1.279393
[13:47:46.217] Choose frame as a key frame Scene Depth mean:-1.719640 ,depth min:-146.675958
[13:47:46.218] frame process finished the id is: 118 the obs is:734
[13:47:46.266] Odometry x=-0.047584, y=1.610862, theta=0.044431
[13:47:46.365] Odometry x=-0.048665, y=1.635230, theta=0.039575
[13:47:46.464] Odometry x=-0.049637, y=1.659613, theta=0.046391
[13:47:46.566] Odometry x=-0.050717, y=1.683986, theta=0.062063
[13:47:46.663] Odometry x=-0.052253, y=1.708349, theta=0.061295
[13:47:46.694] After Reprojection Map nMatches:998 ,distance between ekf and vo x:-0.000159 ,z=-0.000132,angle between two frames:0.000005
[13:47:46.696] n deleted obs = 220 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =778 error init =0.035767 error end=0.035767
[13:47:46.696] After pose optimization, distance between ekf and vo x:-0.000159 ,z=-0.000132,angle between two frames:0.000005
[13:47:46.696] Update EKF and 3D points the number of feature in the new frame: 778 and number of obs: 778
[13:47:46.700] need key frame pitch dis: 0.058317 translation dif:1.283075
[13:47:46.700] Choose frame as a key frame Scene Depth mean:-0.756660 ,depth min:-91.486332
[13:47:46.701] frame process finished the id is: 119 the obs is:778
[13:47:46.765] Odometry x=-0.047588, y=1.602043, theta=0.045432
[13:47:46.864] Odometry x=-0.048646, y=1.626761, theta=0.053303
[13:47:46.966] Odometry x=-0.050001, y=1.651219, theta=0.050414
[13:47:47.064] Odometry x=-0.051203, y=1.675633, theta=0.056249
[13:47:47.163] After Reprojection Map nMatches:1139 ,distance between ekf and vo x:-0.000133 ,z=-0.000162,angle between two frames:0.000008
[13:47:47.166] Odometry x=-0.052579, y=1.699997, theta=0.059012
[13:47:47.168] n deleted obs = 251 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =888 error init =0.022385 error end=0.022385
[13:47:47.168] After pose optimization, distance between ekf and vo x:-0.000211 ,z=-0.000166,angle between two frames:0.000008
[13:47:47.168] Update EKF and 3D points the number of feature in the new frame: 888 and number of obs: 888
[13:47:47.175] need key frame pitch dis: 3.073008 translation dif:1.272166
[13:47:47.175] Choose frame as a key frame Scene Depth mean:-2.807168 ,depth min:-917.883523
[13:47:47.175] frame process finished the id is: 120 the obs is:888
[13:47:47.264] Odometry x=-0.053226, y=1.709719, theta=0.064572
[13:47:47.362] Odometry x=-0.054755, y=1.734067, theta=0.074071
[13:47:47.464] Odometry x=-0.056583, y=1.758401, theta=0.072916
[13:47:47.562] Odometry x=-0.058319, y=1.782730, theta=0.076426
[13:47:47.609] After Reprojection Map nMatches:1084 ,distance between ekf and vo x:-0.000102 ,z=-0.000196,angle between two frames:0.000003
[13:47:47.614] n deleted obs = 259 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =825 error init =0.026479 error end=0.026407
[13:47:47.614] After pose optimization, distance between ekf and vo x:0.018517 ,z=0.004482,angle between two frames:0.000115
[13:47:47.614] Update EKF and 3D points the number of feature in the new frame: 825 and number of obs: 825
[13:47:47.619] need key frame pitch dis: 3.045053 translation dif:0.456146
[13:47:47.619] Choose frame as a key frame Scene Depth mean:-1.748414 ,depth min:-70.336199
[13:47:47.619] frame process finished the id is: 121 the obs is:825
[13:47:47.684] Odometry x=-0.039616, y=1.703950, theta=0.057318
[13:47:47.764] Odometry x=-0.041065, y=1.728618, theta=0.052954
[13:47:47.863] Odometry x=-0.042353, y=1.753086, theta=0.051971
[13:47:47.963] Odometry x=-0.043629, y=1.777516, theta=0.059273
[13:47:48.061] Odometry x=-0.045111, y=1.801863, theta=0.064632
[13:47:48.168] Odometry x=-0.046703, y=1.826193, theta=0.061098
[13:47:48.266] Odometry x=-0.048182, y=1.850561, theta=0.067125
[13:47:48.363] Odometry x=-0.049826, y=1.874911, theta=0.076638
[13:47:48.467] Odometry x=-0.051700, y=1.899203, theta=0.076238
[13:47:48.571] Odometry x=-0.053572, y=1.923548, theta=0.073527
[13:47:48.575] After Reprojection Map nMatches:1100 ,distance between ekf and vo x:-0.000011 ,z=-0.000138,angle between two frames:0.000002
[13:47:48.581] n deleted obs = 256 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =844 error init =0.023623 error end=0.023594
[13:47:48.581] After pose optimization, distance between ekf and vo x:-0.010654 ,z=-0.000742,angle between two frames:0.000118
[13:47:48.581] Update EKF and 3D points the number of feature in the new frame: 844 and number of obs: 844
[13:47:48.588] need key frame pitch dis: 3.042348 translation dif:1.113879
[13:47:48.588] Choose frame as a key frame Scene Depth mean:-12.187374 ,depth min:-4447.297859
[13:47:48.588] frame process finished the id is: 122 the obs is:844
[13:47:48.670] Odometry x=-0.054962, y=1.906417, theta=0.079568
[13:47:49.395] After Reprojection Map nMatches:939 ,distance between ekf and vo x:0.000030 ,z=-0.000105,angle between two frames:0.000007
[13:47:49.400] n deleted obs = 218 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =721 error init =0.023611 error end=0.023609
[13:47:49.400] After pose optimization, distance between ekf and vo x:0.000872 ,z=-0.000116,angle between two frames:0.000105
[13:47:49.400] Update EKF and 3D points the number of feature in the new frame: 721 and number of obs: 721
[13:47:49.405] need key frame pitch dis: 3.041087 translation dif:1.336475
[13:47:49.405] Choose frame as a key frame Scene Depth mean:-1.097231 ,depth min:-72.032392
[13:47:49.406] frame process finished the id is: 123 the obs is:721
[13:47:49.829] After Reprojection Map nMatches:912 ,distance between ekf and vo x:-0.000062 ,z=-0.000111,angle between two frames:0.000005
[13:47:49.831] n deleted obs = 187 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =725 error init =0.047071 error end=0.047071
[13:47:49.831] After pose optimization, distance between ekf and vo x:-0.000062 ,z=-0.000111,angle between two frames:0.000005
[13:47:49.831] Update EKF and 3D points the number of feature in the new frame: 725 and number of obs: 725
[13:47:49.836] need key frame pitch dis: 3.061452 translation dif:1.426970
[13:47:49.836] Choose frame as a key frame Scene Depth mean:0.672809 ,depth min:-56.864567
[13:47:49.836] frame process finished the id is: 124 the obs is:725
[13:47:50.646] After Reprojection Map nMatches:995 ,distance between ekf and vo x:-0.000050 ,z=-0.000151,angle between two frames:0.000003
[13:47:50.652] n deleted obs = 196 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =799 error init =0.019128 error end=0.018128
[13:47:50.652] After pose optimization, distance between ekf and vo x:-0.000746 ,z=-0.005567,angle between two frames:0.000013
[13:47:50.652] Update EKF and 3D points the number of feature in the new frame: 799 and number of obs: 799
[13:47:50.658] need key frame pitch dis: 3.018220 translation dif:1.448412
[13:47:50.659] Choose frame as a key frame Scene Depth mean:-2.116686 ,depth min:-204.620287
[13:47:50.659] frame process finished the id is: 125 the obs is:799
[13:47:51.570] After Reprojection Map nMatches:1221 ,distance between ekf and vo x:-0.000088 ,z=-0.000114,angle between two frames:0.000004
[13:47:51.577] n deleted obs = 206 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1015 error init =0.024298 error end=0.024297
[13:47:51.577] After pose optimization, distance between ekf and vo x:-0.001223 ,z=-0.000480,angle between two frames:0.000002
[13:47:51.578] Update EKF and 3D points the number of feature in the new frame: 1015 and number of obs: 1015
[13:47:51.587] need key frame pitch dis: 3.056070 translation dif:1.494097
[13:47:51.587] Choose frame as a key frame Scene Depth mean:-1.168827 ,depth min:-204.753590
[13:47:51.588] frame process finished the id is: 126 the obs is:1015
[13:47:52.651] After Reprojection Map nMatches:1406 ,distance between ekf and vo x:-0.000143 ,z=-0.000229,angle between two frames:0.000006
[13:47:52.659] n deleted obs = 284 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1122 error init =0.044757 error end=0.044686
[13:47:52.659] After pose optimization, distance between ekf and vo x:-0.001480 ,z=-0.001526,angle between two frames:0.000006
[13:47:52.659] Update EKF and 3D points the number of feature in the new frame: 1122 and number of obs: 1122
[13:47:52.669] need key frame pitch dis: 3.197138 translation dif:0.647609
[13:47:52.669] Choose frame as a key frame Scene Depth mean:-1.052815 ,depth min:-204.832754
[13:47:52.670] frame process finished the id is: 127 the obs is:1122
[13:47:54.008] After Reprojection Map nMatches:1419 ,distance between ekf and vo x:-0.000143 ,z=-0.000248,angle between two frames:0.000006
[13:47:54.015] n deleted obs = 343 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1076 error init =0.024432 error end=0.024322
[13:47:54.015] After pose optimization, distance between ekf and vo x:-0.000326 ,z=-0.000483,angle between two frames:0.000006
[13:47:54.015] Update EKF and 3D points the number of feature in the new frame: 1076 and number of obs: 1076
[13:47:54.025] need key frame pitch dis: 3.201720 translation dif:0.787489
[13:47:54.025] Choose frame as a key frame Scene Depth mean:-2.741875 ,depth min:-251.267058
[13:47:54.026] frame process finished the id is: 128 the obs is:1076
[13:47:54.998] After Reprojection Map nMatches:1404 ,distance between ekf and vo x:-0.000190 ,z=-0.000276,angle between two frames:0.000008
[13:47:55.007] n deleted obs = 319 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1085 error init =0.067623 error end=0.067620
[13:47:55.007] After pose optimization, distance between ekf and vo x:-0.000271 ,z=-0.000328,angle between two frames:0.000005
[13:47:55.007] Update EKF and 3D points the number of feature in the new frame: 1085 and number of obs: 1085
[13:47:55.013] need key frame pitch dis: 3.195909 translation dif:1.329345
[13:47:55.014] Choose frame as a key frame Scene Depth mean:-2.988076 ,depth min:-251.339465
[13:47:55.014] frame process finished the id is: 129 the obs is:1085
[13:47:56.198] After Reprojection Map nMatches:1392 ,distance between ekf and vo x:-0.000318 ,z=-0.000599,angle between two frames:0.000016
[13:47:56.202] n deleted obs = 321 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1071 error init =0.035984 error end=0.035984
[13:47:56.202] After pose optimization, distance between ekf and vo x:-0.000318 ,z=-0.000599,angle between two frames:0.000016
[13:47:56.202] Update EKF and 3D points the number of feature in the new frame: 1071 and number of obs: 1071
[13:47:56.210] need key frame pitch dis: 3.204809 translation dif:1.464723
[13:47:56.211] Choose frame as a key frame Scene Depth mean:4.767964 ,depth min:-75.331660
[13:47:56.211] frame process finished the id is: 130 the obs is:1071
[13:47:57.384] After Reprojection Map nMatches:1487 ,distance between ekf and vo x:-0.000384 ,z=-0.000316,angle between two frames:0.000030
[13:47:57.395] n deleted obs = 276 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1211 error init =0.055256 error end=0.054860
[13:47:57.395] After pose optimization, distance between ekf and vo x:0.006272 ,z=0.000379,angle between two frames:0.000234
[13:47:57.395] Update EKF and 3D points the number of feature in the new frame: 1211 and number of obs: 1211
[13:47:57.407] need key frame pitch dis: 3.033249 translation dif:1.118617
[13:47:57.407] Choose frame as a key frame Scene Depth mean:1.628955 ,depth min:-361.270093
[13:47:57.408] frame process finished the id is: 131 the obs is:1211
[13:47:58.278] After Reprojection Map nMatches:1500 ,distance between ekf and vo x:-0.000443 ,z=-0.000229,angle between two frames:0.000020
[13:47:58.281] n deleted obs = 417 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1083 error init =0.055240 error end=0.055240
[13:47:58.281] After pose optimization, distance between ekf and vo x:-0.000443 ,z=-0.000229,angle between two frames:0.000020
[13:47:58.281] Update EKF and 3D points the number of feature in the new frame: 1083 and number of obs: 1083
[13:47:58.289] need key frame pitch dis: 3.034139 translation dif:1.160500
[13:47:58.290] Choose frame as a key frame Scene Depth mean:1.002246 ,depth min:-204.788663
[13:47:58.290] frame process finished the id is: 132 the obs is:1083
[13:47:59.525] After Reprojection Map nMatches:1537 ,distance between ekf and vo x:-0.000393 ,z=-0.000178,angle between two frames:0.000026
[13:47:59.528] n deleted obs = 323 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1214 error init =0.053318 error end=0.053318
[13:47:59.528] After pose optimization, distance between ekf and vo x:-0.000393 ,z=-0.000178,angle between two frames:0.000026
[13:47:59.528] Update EKF and 3D points the number of feature in the new frame: 1214 and number of obs: 1214
[13:47:59.539] need key frame pitch dis: 3.026973 translation dif:1.807622
[13:47:59.540] Choose frame as a key frame Scene Depth mean:1352736419113.896973 ,depth min:-228.472813
[13:47:59.541] frame process finished the id is: 133 the obs is:1214
[13:48:00.668] After Reprojection Map nMatches:1597 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000
[13:48:00.670] n deleted obs = 415 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1182 error init =-nan error end=-nan
[13:48:00.670] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000
[13:48:00.670] Update EKF and 3D points the number of feature in the new frame: 1182 and number of obs: 1182
[13:48:00.680] need key frame pitch dis: 3.014107 translation dif:1.755699
[13:48:00.680] Choose frame as a key frame Scene Depth mean:-nan ,depth min:-204.727032
[13:48:00.681] frame process finished the id is: 134 the obs is:1182
[13:48:01.758] After Reprojection Map nMatches:1543 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000
[13:48:01.760] n deleted obs = 355 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1188 error init =-nan error end=-nan
[13:48:01.760] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000
[13:48:01.760] Update EKF and 3D points the number of feature in the new frame: 1188 and number of obs: 1188
[13:48:01.770] need key frame pitch dis: 3.031565 translation dif:1.651917
[13:48:01.771] Choose frame as a key frame Scene Depth mean:-nan ,depth min:-2017.671193
[13:48:01.772] frame process finished the id is: 135 the obs is:1188
[13:48:03.009] After Reprojection Map nMatches:1614 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000
[13:48:03.011] n deleted obs = 390 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1224 error init =-nan error end=-nan
[13:48:03.011] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000
[13:48:03.011] Update EKF and 3D points the number of feature in the new frame: 1224 and number of obs: 1224
[13:48:03.021] need key frame pitch dis: 0.000092 translation dif:0.000807
[13:48:03.021] frame process finished the id is: 136 the obs is:1224
[13:48:03.765] After Reprojection Map nMatches:1664 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000
[13:48:03.769] n deleted obs = 411 n obs with
GPU_version/vio/include/vio/global.h
+6 -2
View File
@@ -104,12 +104,16 @@ namespace vio
assert(T2_!= nullptr);
return *T2_;
}
SE2 inverse() const{
/* SE2 inverse() const{
assert(T2_!= nullptr);
double pitch=atan2(T2_->so2().unit_complex().imag(),T2_->so2().unit_complex().real());
SE2 tem=SE2(pitch+M_PI,-1.0*T2_->translation());
return tem;
}
}*/
/* SE2_5 inverse_h() const{
assert(T2_!= nullptr);
return SE2_5(T2_->inverse());
}*/
// Rotation around y
double pitch()const{
assert(T2_!= nullptr);
GPU_version/vio/include/vio/initialization.h
+22 -8
View File
@@ -73,6 +73,8 @@ protected:
vector<Vector2d> uv_cur(features_ref.size());
vector<Vector3d> f_ref(features_ref.size());
vector<Vector3d> f_cur(features_ref.size());
vector<Vector3d> xyz_in_hom(features_ref.size());
vector<Vector3d> xyz_in_ekf(features_ref.size());
for(auto&& ftr:_for(features_ref)){
uv_ref.at(ftr.index) = ftr.item->px;
uv_cur.at(ftr.index) = Vector2d(px_cur_.at(ftr.index).x,px_cur_.at(ftr.index).y);
@@ -84,30 +86,42 @@ protected:
vector<int> outliers_hom, inlier_hom;
vector<int> outliers_ekf,inlier_ekf;
assert(ukf_!= nullptr);
/*#if VIO_DEBUG
for(int i=0;i<f_cur.size();++i)fprintf(log_,"[%s] cur: x=%f, y=%f, z=%f ref: x=%f y=%f z=%f\n",
vio::time_in_HH_MM_SS_MMM().c_str(),
f_cur.at(i).x(),f_cur.at(i).y(),f_cur.at(i).z(),
f_ref.at(i).x(),f_ref.at(i).y(),f_ref.at(i).z());
#endif*/
vk::computeInliers(f_cur, f_ref,
Homography.T_c2_from_c1.rotation_matrix(), Homography.T_c2_from_c1.translation(),
reprojection_threshold, focal_length,
xyz_in_cur, inlier_hom, outliers_hom);
xyz_in_hom, inlier_hom, outliers_hom);
/* std::cerr<<xyz_in_hom.size()<<'\n';*/
/*#if VIO_DEBUG
for(int i=0;i<f_cur.size();++i)fprintf(log_,"[%s] curhomog: x=%f, y=%f, z=%f ref: x=%f y=%f z=%f, inlier: %f, %f, %f\n",
vio::time_in_HH_MM_SS_MMM().c_str(),
f_cur.at(i).x(),f_cur.at(i).y(),f_cur.at(i).z(),
f_ref.at(i).x(),f_ref.at(i).y(),f_ref.at(i).z(),
xyz_in_hom.at(i).x(),xyz_in_hom.at(i).y(),xyz_in_hom.at(i).z());
#endif*/
auto res=ukf_->get_location();
vk::computeInliers(f_cur, f_ref,
res.second.se3().rotation_matrix(), res.second.se3().translation(),
reprojection_threshold, focal_length,
xyz_in_cur, inlier_ekf, outliers_ekf);
xyz_in_ekf, inlier_ekf, outliers_ekf);
/* std::cerr<<xyz_in_ekf.size()<<'\n';*/
/*#if VIO_DEBUG
for(int i=0;i<f_cur.size();++i)fprintf(log_,"[%s] cur ukf: x=%f, y=%f, z=%f ref: x=%f y=%f z=%f inlier: %f, %f, %f\n",
vio::time_in_HH_MM_SS_MMM().c_str(),
f_cur.at(i).x(),f_cur.at(i).y(),f_cur.at(i).z(),
f_ref.at(i).x(),f_ref.at(i).y(),f_ref.at(i).z(),
xyz_in_ekf.at(i).x(),xyz_in_ekf.at(i).y(),xyz_in_ekf.at(i).z());
#endif*/
if(inlier_ekf.size()>inlier_hom.size()){
T_cur_from_ref=res.second;
inliers=inlier_ekf;
xyz_in_cur=xyz_in_hom;
}else if((Homography.T_c2_from_c1.translation()-res.second.se3().translation()).norm()<0.1 && inlier_ekf.size()<inlier_hom.size()){
auto euler =Homography.T_c2_from_c1.unit_quaternion().normalized().toRotationMatrix().eulerAngles(0,1,2);
res=ukf_->UpdateSvo(Homography.T_c2_from_c1.translation().x(),Homography.T_c2_from_c1.translation().z(),euler(1));
T_cur_from_ref=res.second;
inliers=inlier_hom;
xyz_in_cur=xyz_in_ekf;
}
}
GPU_version/vio/src/frame.cpp
+3 -6
View File
@@ -145,7 +145,7 @@ bool Frame::isVisible(const Vector3d& xyz_w) const
{
if(!id_)return false;
assert(!xyz_w.hasNaN());
Vector3d xyz_f = this->se3().inverse()*xyz_w;
Vector3d xyz_f = this->T_f_w_.se3().inverse()*xyz_w;
if(xyz_f.z() < 0.0)
return false; // point is behind the camera
Vector2d px = f2c(xyz_f);
@@ -172,15 +172,12 @@ void createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& pyr)
bool getSceneDepth(const FramePtr frame, double& depth_mean, double& depth_min)
{
vector<double> depth_vec;
//depth_vec.reserve(frame.fts_.size());
depth_min = std::numeric_limits<double>::max();
for(auto it=frame->fts_.begin(), ite=frame->fts_.end(); it!=ite; ++it)
{
if((*it)->point != NULL)
{
double z = frame->w2f((*it)->point->pos_).z();
depth_vec.push_back(z);
depth_min = fmin(z, depth_min);
}
}
@@ -188,8 +185,8 @@ bool getSceneDepth(const FramePtr frame, double& depth_mean, double& depth_min)
{
return false;
}
double min,max;
depth_mean = vk::getMean(depth_vec,min,max);
double max;
depth_mean = vk::getMean(depth_vec,depth_min,max);
return true;
}
GPU_version/vio/src/math_utils.cpp
+4 -41
View File
@@ -20,44 +20,6 @@ Vector3d
triangulateFeatureNonLin(const Matrix3d& R, const Vector3d& t,
const Vector3d& feature1, const Vector3d& feature2 )
{
/* Vector3d R_F2 = R * feature2;//T*A=R*A+t
Vector2d b;
*//*
* b=cross(t,f1)
* corss(t,Rf2)
* *//*
b[0] = t.dot(feature1);
b[1] = t.dot(R_F2);//cross(t,R*f2)
Matrix2d A;
*//**
* A<< cross(f1,f1), -z
* z , -corss(R*f2,R*f2)
*
* det(A)= -corss(R*f2,R*f2)*cross(f1,f1) + pow(z,2)
*//*
A(0,0) = feature1.dot(feature1);
A(1,0) = feature1.dot(R_F2);//z
A(0,1) = -A(1,0);
A(1,1) = -R_F2.dot(R_F2);
*//*
* A_inv<< cross(f1,f1)/det(A) , z/det(A)
* -z/det(A) , -corss(R*f2,R*f2)/det(A)
*
* lambda[0]= cross(t,f1)*cross(f1,f1)/det(A) + corss(t,Rf2)*z/det(A)
* lambda[1]= -cross(t,f1)*z/det(A) - corss(t,Rf2) * corss(R*f2,R*f2)/det(A)
* *//*
Vector2d lambda = A.inverse() * b;
Vector3d xm = lambda[0] * feature1;
Vector3d xn = t + lambda[1] * R_F2;
return ( xm + xn )/2;*/
/* Vector3d R_F2 = R * feature2;//T*A=R*A+t
Vector3d z = feature1.cross(R_F2);
Vector3d b0 = t.cross(feature1);
Vector3d b1 = t.cross(R_F2);
Vector3d xm = ((z.dot(b1)/pow(z.norm(), 2))*(feature1));
Vector3d xn = t + ((z.dot(b0)/pow(z.norm(), 2))*R_F2);
return ( xm + xn )/2;*/
Vector3d m0_hat = R * feature2;//T*A=R*A+t
Vector3d m1_hat = feature1;
Eigen::Matrix<double,3,2> x;
@@ -76,6 +38,9 @@ triangulateFeatureNonLin(const Matrix3d& R, const Vector3d& t,
double lamda1 = z.dot(b1)/pow(z.norm(), 2);
Vector3d xm = lamda1 * f1_p;
Vector3d xn = t + lamda0 * R_F2_p;
if(xm.z()<0.f && xn.z()<0.f)return Vector3d(1e9,1e9,1e9);
if(xm.z()>0.f && xn.z()<0.f)return xm;
if(xm.z()<0.f && xn.z()>0.f)return xn;
return ( xm + xn )/2;
}
@@ -129,18 +94,16 @@ computeInliers(const vector<Vector3d>& features2, // c2
//triangulate all features and compute reprojection errors and inliers
for(size_t j=0; j<features1.size(); ++j)
{
if(t.z()>0.0){
xyz_vec.push_back(triangulateFeatureNonLin(R, t, features1[j]/*reference*/, features2[j]/*current*/ ));
double e1 = reprojError(features1[j], xyz_vec.back(), error_multiplier2);
double e2 = reprojError(features2[j], SE3(R,t).inverse()*xyz_vec.back(), error_multiplier2);
if(e1 > reproj_thresh || e2 > reproj_thresh)
if(e1 > reproj_thresh || e2 > reproj_thresh || xyz_vec.back().z()<0.f)
outliers.push_back(j);
else
{
inliers.push_back(j);
tot_error += e1+e2;
}
}
}
return tot_error;
}