diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index 46d54b2..57cad92 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,368 +1,2465 @@ -[20:59:41.200] Init: frame zero: 0.000000, 0.000000 0.000000 -[20:59:41.200] Init: Selected first frame. -[20:59:41.200] frame process finished the id is: 0 the obs is:0 -[20:59:41.220] Init: px average disparity is:0.032512 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:41.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:41.221] frame process finished the id is: 1 the obs is:0 -[20:59:41.316] Init: px average disparity is:0.031284 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:41.316] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:41.316] frame process finished the id is: 2 the obs is:0 -[20:59:41.419] Init: px average disparity is:0.036556 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:41.419] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:41.419] frame process finished the id is: 3 the obs is:0 -[20:59:41.523] Init: px average disparity is:0.032202 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:41.523] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:41.523] frame process finished the id is: 4 the obs is:0 -[20:59:41.622] Init: px average disparity is:0.041515 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:41.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:41.623] frame process finished the id is: 5 the obs is:0 -[20:59:41.723] Init: px average disparity is:0.030973 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:41.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:41.723] frame process finished the id is: 6 the obs is:0 -[20:59:41.815] Init: px average disparity is:0.031908 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:41.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:41.815] frame process finished the id is: 7 the obs is:0 -[20:59:41.921] Init: px average disparity is:0.035828 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:41.921] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:41.921] frame process finished the id is: 8 the obs is:0 -[20:59:42.023] Init: px average disparity is:0.031084 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:42.023] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:42.023] frame process finished the id is: 9 the obs is:0 -[20:59:42.124] Init: px average disparity is:0.040163 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:42.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:42.124] frame process finished the id is: 10 the obs is:0 -[20:59:42.219] Init: px average disparity is:0.036231 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:42.219] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:42.219] frame process finished the id is: 11 the obs is:0 -[20:59:42.323] Init: px average disparity is:0.032094 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:42.323] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:42.323] frame process finished the id is: 12 the obs is:0 -[20:59:42.423] Init: px average disparity is:0.039061 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:42.423] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:42.423] frame process finished the id is: 13 the obs is:0 -[20:59:42.480] Odometry x=0.000000, y=0.000000, theta=-0.000000 -[20:59:42.536] Init: px average disparity is:0.039995 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:42.536] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:42.536] frame process finished the id is: 14 the obs is:0 -[20:59:42.623] Init: px average disparity is:0.032783 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:42.623] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:42.623] frame process finished the id is: 15 the obs is:0 -[20:59:42.709] Odometry x=0.000000, y=0.019164, theta=0.000001 -[20:59:42.729] Init: px average disparity is:0.152070 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:42.729] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:42.729] frame process finished the id is: 16 the obs is:0 -[20:59:42.827] Init: px average disparity is:6.438189 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:42.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:42.827] frame process finished the id is: 17 the obs is:0 -[20:59:42.932] Init: px average disparity is:4.621185 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:42.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:42.932] frame process finished the id is: 18 the obs is:0 -[20:59:42.968] Odometry x=-0.000049, y=0.050897, theta=0.000596 -[20:59:43.035] Init: px average disparity is:4.962524 ,While minimum is: 10.000000 KLT tracked : 896 -[20:59:43.035] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:43.035] frame process finished the id is: 19 the obs is:0 -[20:59:43.134] Init: px average disparity is:9.757717 ,While minimum is: 10.000000 KLT tracked : 895 -[20:59:43.134] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:43.134] frame process finished the id is: 20 the obs is:0 -[20:59:43.248] Odometry x=-0.000045, y=0.081683, theta=-0.000248 -[20:59:43.335] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:12.627500 ,While minimum is: 10.000000 KLT tracked: 895 -[20:59:43.335] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:43.335] frame process finished the id is: 21 the obs is:0 -[20:59:43.432] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:15.604936 ,While minimum is: 10.000000 KLT tracked: 888 -[20:59:43.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:43.432] frame process finished the id is: 22 the obs is:0 -[20:59:43.456] Odometry x=0.000369, y=0.111522, theta=0.001108 -[20:59:43.528] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:19.846154 ,While minimum is: 10.000000 KLT tracked: 888 -[20:59:43.528] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:43.528] frame process finished the id is: 23 the obs is:0 -[20:59:43.626] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:29.051805 ,While minimum is: 10.000000 KLT tracked: 888 -[20:59:43.626] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:43.626] frame process finished the id is: 24 the obs is:0 -[20:59:43.725] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:27.308837 ,While minimum is: 10.000000 KLT tracked: 888 -[20:59:43.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:43.725] frame process finished the id is: 25 the obs is:0 -[20:59:43.761] Odometry x=-0.000053, y=0.140555, theta=0.004094 -[20:59:43.826] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:28.646685 ,While minimum is: 10.000000 KLT tracked: 887 -[20:59:43.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:43.826] frame process finished the id is: 26 the obs is:0 -[20:59:43.928] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:34.191057 ,While minimum is: 10.000000 KLT tracked: 887 -[20:59:43.928] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:43.928] frame process finished the id is: 27 the obs is:0 -[20:59:43.988] Odometry x=-0.000307, y=0.169644, theta=0.007380 -[20:59:44.032] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:41.345493 ,While minimum is: 10.000000 KLT tracked: 883 -[20:59:44.032] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:44.032] frame process finished the id is: 28 the obs is:0 -[20:59:44.138] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:46.447236 ,While minimum is: 10.000000 KLT tracked: 881 -[20:59:44.138] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:44.138] frame process finished the id is: 29 the obs is:0 -[20:59:44.224] Odometry x=-0.000596, y=0.198681, theta=0.010682 -[20:59:44.247] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required. px average disparity is:45.750816 ,While minimum is: 10.000000 KLT tracked: 831 -[20:59:44.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:44.247] frame process finished the id is: 30 the obs is:0 -[20:59:44.353] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required. px average disparity is:43.552221 ,While minimum is: 10.000000 KLT tracked: 786 -[20:59:44.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:44.353] frame process finished the id is: 31 the obs is:0 -[20:59:44.457] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required. px average disparity is:47.016770 ,While minimum is: 10.000000 KLT tracked: 760 -[20:59:44.457] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:44.457] frame process finished the id is: 32 the obs is:0 -[20:59:44.483] Odometry x=-0.001484, y=0.250616, theta=0.023782 -[20:59:44.562] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required. px average disparity is:44.933862 ,While minimum is: 10.000000 KLT tracked: 753 -[20:59:44.562] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:44.562] frame process finished the id is: 33 the obs is:0 -[20:59:44.666] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required. px average disparity is:49.476380 ,While minimum is: 10.000000 KLT tracked: 751 -[20:59:44.666] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:44.666] frame process finished the id is: 34 the obs is:0 -[20:59:44.709] Odometry x=-0.001328, y=0.278609, theta=0.023926 -[20:59:44.771] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required. px average disparity is:54.306628 ,While minimum is: 10.000000 KLT tracked: 746 -[20:59:44.771] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:44.771] frame process finished the id is: 35 the obs is:0 -[20:59:44.878] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required. px average disparity is:50.945457 ,While minimum is: 10.000000 KLT tracked: 737 -[20:59:44.878] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:44.878] frame process finished the id is: 36 the obs is:0 -[20:59:44.944] Odometry x=-0.001213, y=0.308548, theta=0.011258 -[20:59:44.986] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required. px average disparity is:45.043536 ,While minimum is: 10.000000 KLT tracked: 737 -[20:59:44.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:44.986] frame process finished the id is: 37 the obs is:0 -[20:59:45.095] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required. px average disparity is:42.854775 ,While minimum is: 10.000000 KLT tracked: 734 -[20:59:45.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:45.095] frame process finished the id is: 38 the obs is:0 -[20:59:45.198] Odometry x=-0.002072, y=0.333820, theta=0.024360 -[20:59:45.213] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required. px average disparity is:84.759293 ,While minimum is: 10.000000 KLT tracked: 718 -[20:59:45.213] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:45.213] frame process finished the id is: 39 the obs is:0 -[20:59:45.326] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required. px average disparity is:41.534768 ,While minimum is: 10.000000 KLT tracked: 698 -[20:59:45.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:45.326] frame process finished the id is: 40 the obs is:0 -[20:59:45.433] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required. px average disparity is:41.889906 ,While minimum is: 10.000000 KLT tracked: 694 -[20:59:45.433] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:45.433] frame process finished the id is: 41 the obs is:0 -[20:59:45.453] Odometry x=-0.002253, y=0.360101, theta=0.011172 -[20:59:45.542] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required. px average disparity is:50.036638 ,While minimum is: 10.000000 KLT tracked: 694 -[20:59:45.542] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:45.542] frame process finished the id is: 42 the obs is:0 -[20:59:45.649] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:50.460985 ,While minimum is: 10.000000 KLT tracked: 694 -[20:59:45.649] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:45.649] frame process finished the id is: 43 the obs is:0 -[20:59:45.758] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.866772 ,While minimum is: 10.000000 KLT tracked: 694 -[20:59:45.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:45.758] frame process finished the id is: 44 the obs is:0 -[20:59:45.785] Odometry x=-0.001042, y=0.386127, theta=0.011214 -[20:59:45.864] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.873501 ,While minimum is: 10.000000 KLT tracked: 694 -[20:59:45.864] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:45.864] frame process finished the id is: 45 the obs is:0 -[20:59:45.956] Odometry x=-0.000287, y=0.410124, theta=0.006623 -[20:59:45.968] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:54.897315 ,While minimum is: 10.000000 KLT tracked: 692 -[20:59:45.968] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:45.968] frame process finished the id is: 46 the obs is:0 -[20:59:46.073] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:59.465025 ,While minimum is: 10.000000 KLT tracked: 687 -[20:59:46.073] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:46.073] frame process finished the id is: 47 the obs is:0 -[20:59:46.179] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:59.022030 ,While minimum is: 10.000000 KLT tracked: 686 -[20:59:46.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:46.179] frame process finished the id is: 48 the obs is:0 -[20:59:46.205] Odometry x=-0.000386, y=0.435204, theta=0.004388 -[20:59:46.286] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:63.374556 ,While minimum is: 10.000000 KLT tracked: 683 -[20:59:46.286] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:46.286] frame process finished the id is: 49 the obs is:0 -[20:59:46.391] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:64.334451 ,While minimum is: 10.000000 KLT tracked: 682 -[20:59:46.391] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:46.391] frame process finished the id is: 50 the obs is:0 -[20:59:46.447] Odometry x=0.000878, y=0.459736, theta=-0.001481 -[20:59:46.498] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:61.895825 ,While minimum is: 10.000000 KLT tracked: 681 -[20:59:46.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:46.498] frame process finished the id is: 51 the obs is:0 -[20:59:46.609] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:63.964495 ,While minimum is: 10.000000 KLT tracked: 681 -[20:59:46.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:46.609] frame process finished the id is: 52 the obs is:0 -[20:59:46.717] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:64.060496 ,While minimum is: 10.000000 KLT tracked: 678 -[20:59:46.717] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:46.717] frame process finished the id is: 53 the obs is:0 -[20:59:46.724] Odometry x=0.000522, y=0.483958, theta=0.005361 -[20:59:46.828] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:61.026794 ,While minimum is: 10.000000 KLT tracked: 567 -[20:59:46.828] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:46.828] frame process finished the id is: 54 the obs is:0 -[20:59:46.929] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:62.652202 ,While minimum is: 10.000000 KLT tracked: 552 -[20:59:46.929] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:46.929] frame process finished the id is: 55 the obs is:0 -[20:59:46.950] Odometry x=0.001158, y=0.500506, theta=0.014885 -[20:59:47.029] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:66.216808 ,While minimum is: 10.000000 KLT tracked: 540 -[20:59:47.029] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:47.030] frame process finished the id is: 56 the obs is:0 -[20:59:47.133] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:67.095333 ,While minimum is: 10.000000 KLT tracked: 540 -[20:59:47.133] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:47.133] frame process finished the id is: 57 the obs is:0 -[20:59:47.211] Odometry x=0.000828, y=0.517343, theta=0.020606 -[20:59:47.234] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:62.105342 ,While minimum is: 10.000000 KLT tracked: 540 -[20:59:47.234] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:47.234] frame process finished the id is: 58 the obs is:0 -[20:59:47.334] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:59.361358 ,While minimum is: 10.000000 KLT tracked: 540 -[20:59:47.334] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:47.334] frame process finished the id is: 59 the obs is:0 -[20:59:47.440] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:57.242799 ,While minimum is: 10.000000 KLT tracked: 540 -[20:59:47.440] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:47.440] frame process finished the id is: 60 the obs is:0 -[20:59:47.463] Odometry x=0.000523, y=0.535071, theta=0.016437 -[20:59:47.542] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:56.919300 ,While minimum is: 10.000000 KLT tracked: 540 -[20:59:47.542] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:47.542] frame process finished the id is: 61 the obs is:0 -[20:59:47.643] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:57.749513 ,While minimum is: 10.000000 KLT tracked: 540 -[20:59:47.643] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:47.643] frame process finished the id is: 62 the obs is:0 -[20:59:47.762] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:59.171288 ,While minimum is: 10.000000 KLT tracked: 540 -[20:59:47.762] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:47.762] frame process finished the id is: 63 the obs is:0 -[20:59:47.767] Odometry x=-0.000452, y=0.555249, theta=0.033309 -[20:59:47.877] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:60.963264 ,While minimum is: 10.000000 KLT tracked: 540 -[20:59:47.877] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:47.877] frame process finished the id is: 64 the obs is:0 -[20:59:47.941] Odometry x=-0.001558, y=0.576194, theta=0.052975 -[20:59:47.994] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:66.259249 ,While minimum is: 10.000000 KLT tracked: 538 -[20:59:47.994] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:47.994] frame process finished the id is: 65 the obs is:0 -[20:59:48.108] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:59.705313 ,While minimum is: 10.000000 KLT tracked: 538 -[20:59:48.108] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:48.108] frame process finished the id is: 66 the obs is:0 -[20:59:48.228] Odometry x=-0.002029, y=0.596025, theta=0.027023 -[20:59:48.228] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:57.804091 ,While minimum is: 10.000000 KLT tracked: 538 -[20:59:48.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:48.228] frame process finished the id is: 67 the obs is:0 -[20:59:48.345] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:56.110385 ,While minimum is: 10.000000 KLT tracked: 538 -[20:59:48.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:48.345] frame process finished the id is: 68 the obs is:0 -[20:59:48.438] Odometry x=-0.002441, y=0.614741, theta=0.023518 -[20:59:48.473] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:57.525923 ,While minimum is: 10.000000 KLT tracked: 537 -[20:59:48.473] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:48.473] frame process finished the id is: 69 the obs is:0 -[20:59:48.578] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:60.403320 ,While minimum is: 10.000000 KLT tracked: 537 -[20:59:48.578] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:48.578] frame process finished the id is: 70 the obs is:0 -[20:59:48.680] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:61.333775 ,While minimum is: 10.000000 KLT tracked: 537 -[20:59:48.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:48.680] frame process finished the id is: 71 the obs is:0 -[20:59:48.698] Odometry x=-0.002885, y=0.632989, theta=0.024849 -[20:59:48.786] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:63.285518 ,While minimum is: 10.000000 KLT tracked: 537 -[20:59:48.786] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:48.786] frame process finished the id is: 72 the obs is:0 -[20:59:48.888] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:66.753727 ,While minimum is: 10.000000 KLT tracked: 534 -[20:59:48.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:48.888] frame process finished the id is: 73 the obs is:0 -[20:59:48.962] Odometry x=-0.003600, y=0.651097, theta=0.033926 -[20:59:48.993] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:68.826489 ,While minimum is: 10.000000 KLT tracked: 534 -[20:59:48.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:48.993] frame process finished the id is: 74 the obs is:0 -[20:59:49.095] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:67.023881 ,While minimum is: 10.000000 KLT tracked: 534 -[20:59:49.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:49.095] frame process finished the id is: 75 the obs is:0 -[20:59:49.193] Odometry x=-0.004135, y=0.669519, theta=0.029026 -[20:59:49.196] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:68.416211 ,While minimum is: 10.000000 KLT tracked: 533 -[20:59:49.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:49.196] frame process finished the id is: 76 the obs is:0 -[20:59:49.296] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:68.593343 ,While minimum is: 10.000000 KLT tracked: 533 -[20:59:49.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:49.296] frame process finished the id is: 77 the obs is:0 -[20:59:49.404] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:69.750114 ,While minimum is: 10.000000 KLT tracked: 533 -[20:59:49.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:49.404] frame process finished the id is: 78 the obs is:0 -[20:59:49.444] Odometry x=-0.004375, y=0.689199, theta=0.040049 -[20:59:49.504] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:69.363790 ,While minimum is: 10.000000 KLT tracked: 533 -[20:59:49.504] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:49.504] frame process finished the id is: 79 the obs is:0 -[20:59:49.604] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:74.502749 ,While minimum is: 10.000000 KLT tracked: 533 -[20:59:49.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:49.604] frame process finished the id is: 80 the obs is:0 -[20:59:49.707] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:71.887872 ,While minimum is: 10.000000 KLT tracked: 533 -[20:59:49.707] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:49.707] frame process finished the id is: 81 the obs is:0 -[20:59:49.775] Odometry x=-0.004919, y=0.707863, theta=0.041984 -[20:59:49.807] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:72.958960 ,While minimum is: 10.000000 KLT tracked: 533 -[20:59:49.807] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:49.807] frame process finished the id is: 82 the obs is:0 -[20:59:49.907] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:70.288384 ,While minimum is: 10.000000 KLT tracked: 533 -[20:59:49.907] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:49.907] frame process finished the id is: 83 the obs is:0 -[20:59:49.939] Odometry x=-0.005825, y=0.726924, theta=0.041088 -[20:59:50.022] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:73.831372 ,While minimum is: 10.000000 KLT tracked: 532 -[20:59:50.022] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:50.022] frame process finished the id is: 84 the obs is:0 -[20:59:50.143] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:78.138672 ,While minimum is: 10.000000 KLT tracked: 531 -[20:59:50.143] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:50.143] frame process finished the id is: 85 the obs is:0 -[20:59:50.244] Odometry x=-0.006640, y=0.745641, theta=0.049084 -[20:59:50.255] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:79.292985 ,While minimum is: 10.000000 KLT tracked: 529 -[20:59:50.255] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:50.255] frame process finished the id is: 86 the obs is:0 -[20:59:50.368] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:87.951645 ,While minimum is: 10.000000 KLT tracked: 508 -[20:59:50.368] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:50.368] frame process finished the id is: 87 the obs is:0 -[20:59:50.444] Odometry x=-0.007909, y=0.764565, theta=0.056387 -[20:59:50.489] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:89.482305 ,While minimum is: 10.000000 KLT tracked: 503 -[20:59:50.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:50.489] frame process finished the id is: 88 the obs is:0 -[20:59:50.603] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:92.195888 ,While minimum is: 10.000000 KLT tracked: 501 -[20:59:50.603] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:50.603] frame process finished the id is: 89 the obs is:0 -[20:59:50.696] Odometry x=-0.007940, y=0.783335, theta=0.065751 -[20:59:50.705] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:85.512781 ,While minimum is: 10.000000 KLT tracked: 493 -[20:59:50.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:50.706] frame process finished the id is: 90 the obs is:0 -[20:59:50.803] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:83.916612 ,While minimum is: 10.000000 KLT tracked: 493 -[20:59:50.803] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:50.803] frame process finished the id is: 91 the obs is:0 -[20:59:50.901] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:85.663762 ,While minimum is: 10.000000 KLT tracked: 493 -[20:59:50.901] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:50.901] frame process finished the id is: 92 the obs is:0 -[20:59:50.948] Odometry x=-0.009113, y=0.802385, theta=0.058102 -[20:59:51.002] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:83.625409 ,While minimum is: 10.000000 KLT tracked: 493 -[20:59:51.002] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:51.002] frame process finished the id is: 93 the obs is:0 -[20:59:51.101] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:81.878540 ,While minimum is: 10.000000 KLT tracked: 493 -[20:59:51.101] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:51.101] frame process finished the id is: 94 the obs is:0 -[20:59:51.183] Odometry x=-0.010188, y=0.821675, theta=0.060139 -[20:59:51.205] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:83.492903 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:51.205] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:51.205] frame process finished the id is: 95 the obs is:0 -[20:59:51.314] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:83.222369 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:51.314] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:51.314] frame process finished the id is: 96 the obs is:0 -[20:59:51.413] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:84.077374 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:51.413] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:51.413] frame process finished the id is: 97 the obs is:0 -[20:59:51.434] Odometry x=-0.011003, y=0.840321, theta=0.055294 -[20:59:51.538] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:78.813112 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:51.538] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:51.538] frame process finished the id is: 98 the obs is:0 -[20:59:51.660] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:77.476877 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:51.660] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:51.660] frame process finished the id is: 99 the obs is:0 -[20:59:51.771] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:83.159398 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:51.771] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:51.771] frame process finished the id is: 100 the obs is:0 -[20:59:51.882] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:83.494992 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:51.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:51.882] frame process finished the id is: 101 the obs is:0 -[20:59:51.992] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:83.349696 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:51.992] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:51.992] frame process finished the id is: 102 the obs is:0 -[20:59:52.110] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:82.904192 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:52.110] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:52.110] frame process finished the id is: 103 the obs is:0 -[20:59:52.218] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:82.951187 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:52.218] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:52.218] frame process finished the id is: 104 the obs is:0 -[20:59:52.322] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:82.967818 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:52.322] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:52.322] frame process finished the id is: 105 the obs is:0 -[20:59:52.423] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:82.936799 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:52.423] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:52.423] frame process finished the id is: 106 the obs is:0 -[20:59:52.522] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:82.877396 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:52.522] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:52.522] frame process finished the id is: 107 the obs is:0 -[20:59:52.621] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:82.960521 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:52.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:52.621] frame process finished the id is: 108 the obs is:0 -[20:59:52.720] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required. px average disparity is:82.921847 ,While minimum is: 10.000000 KLT tracked: 492 -[20:59:52.720] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[20:59:52.720] frame process finished the id is: 109 the obs is:0 -[20:59:5 \ No newline at end of file +[21:00:22.439] Init: frame zero: 0.000000, 0.000000 0.000000 +[21:00:22.439] Init: Selected first frame. +[21:00:22.439] frame process finished the id is: 0 the obs is:0 +[21:00:22.457] Init: px average disparity is:0.032512 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:22.457] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:22.457] frame process finished the id is: 1 the obs is:0 +[21:00:22.564] Init: px average disparity is:0.031284 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:22.564] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:22.564] frame process finished the id is: 2 the obs is:0 +[21:00:22.664] Init: px average disparity is:0.036556 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:22.664] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:22.664] frame process finished the id is: 3 the obs is:0 +[21:00:22.764] Init: px average disparity is:0.032202 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:22.764] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:22.764] frame process finished the id is: 4 the obs is:0 +[21:00:22.863] Init: px average disparity is:0.041515 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:22.863] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:22.863] frame process finished the id is: 5 the obs is:0 +[21:00:22.964] Init: px average disparity is:0.030973 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:22.964] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:22.964] frame process finished the id is: 6 the obs is:0 +[21:00:23.060] Init: px average disparity is:0.031908 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:23.060] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:23.060] frame process finished the id is: 7 the obs is:0 +[21:00:23.161] Init: px average disparity is:0.035828 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:23.161] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:23.161] frame process finished the id is: 8 the obs is:0 +[21:00:23.262] Init: px average disparity is:0.031084 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:23.262] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:23.262] frame process finished the id is: 9 the obs is:0 +[21:00:23.363] Init: px average disparity is:0.040163 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:23.363] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:23.363] frame process finished the id is: 10 the obs is:0 +[21:00:23.456] Init: px average disparity is:0.036231 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:23.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:23.456] frame process finished the id is: 11 the obs is:0 +[21:00:23.563] Init: px average disparity is:0.032094 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:23.563] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:23.563] frame process finished the id is: 12 the obs is:0 +[21:00:23.661] Init: px average disparity is:0.039061 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:23.661] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:23.661] frame process finished the id is: 13 the obs is:0 +[21:00:23.718] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[21:00:23.773] Init: px average disparity is:0.039995 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:23.773] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:23.773] frame process finished the id is: 14 the obs is:0 +[21:00:23.860] Init: px average disparity is:0.032783 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:23.860] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:23.860] frame process finished the id is: 15 the obs is:0 +[21:00:23.945] Odometry x=0.000002, y=0.019188, theta=0.000001 +[21:00:23.968] Init: px average disparity is:0.152070 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:23.968] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:23.968] frame process finished the id is: 16 the obs is:0 +[21:00:24.064] Init: px average disparity is:6.438189 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:24.064] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:24.065] frame process finished the id is: 17 the obs is:0 +[21:00:24.170] Init: px average disparity is:4.621185 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:24.170] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:24.170] frame process finished the id is: 18 the obs is:0 +[21:00:24.210] Odometry x=-0.000065, y=0.051343, theta=0.000772 +[21:00:24.273] Init: px average disparity is:4.962524 ,While minimum is: 10.000000 KLT tracked : 896 +[21:00:24.273] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:24.273] frame process finished the id is: 19 the obs is:0 +[21:00:24.372] Init: px average disparity is:9.757717 ,While minimum is: 10.000000 KLT tracked : 895 +[21:00:24.372] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:24.372] frame process finished the id is: 20 the obs is:0 +[21:00:24.487] Odometry x=-0.000073, y=0.082094, theta=-0.000073 +[21:00:24.584] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:12.627500 ,While minimum is: 10.000000 KLT tracked: 895 +[21:00:24.584] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:24.584] frame process finished the id is: 21 the obs is:0 +[21:00:24.678] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:15.604936 ,While minimum is: 10.000000 KLT tracked: 888 +[21:00:24.678] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:24.678] frame process finished the id is: 22 the obs is:0 +[21:00:24.693] Odometry x=0.000285, y=0.111883, theta=0.001286 +[21:00:24.772] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:19.846154 ,While minimum is: 10.000000 KLT tracked: 888 +[21:00:24.772] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:24.772] frame process finished the id is: 23 the obs is:0 +[21:00:24.869] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:29.051805 ,While minimum is: 10.000000 KLT tracked: 888 +[21:00:24.869] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:24.869] frame process finished the id is: 24 the obs is:0 +[21:00:24.967] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:27.308837 ,While minimum is: 10.000000 KLT tracked: 888 +[21:00:24.967] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:24.967] frame process finished the id is: 25 the obs is:0 +[21:00:24.998] Odometry x=-0.000146, y=0.140919, theta=0.004274 +[21:00:25.067] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:28.646685 ,While minimum is: 10.000000 KLT tracked: 887 +[21:00:25.067] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:25.067] frame process finished the id is: 26 the obs is:0 +[21:00:25.167] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:34.191057 ,While minimum is: 10.000000 KLT tracked: 887 +[21:00:25.167] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:25.167] frame process finished the id is: 27 the obs is:0 +[21:00:25.225] Odometry x=-0.000407, y=0.170009, theta=0.007560 +[21:00:25.269] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:41.345493 ,While minimum is: 10.000000 KLT tracked: 883 +[21:00:25.269] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:25.269] frame process finished the id is: 28 the obs is:0 +[21:00:25.375] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:46.447236 ,While minimum is: 10.000000 KLT tracked: 881 +[21:00:25.375] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:25.375] frame process finished the id is: 29 the obs is:0 +[21:00:25.461] Odometry x=-0.000702, y=0.199046, theta=0.010863 +[21:00:25.482] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:45.750816 ,While minimum is: 10.000000 KLT tracked: 831 +[21:00:25.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:25.482] frame process finished the id is: 30 the obs is:0 +[21:00:25.587] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:43.552221 ,While minimum is: 10.000000 KLT tracked: 786 +[21:00:25.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:25.587] frame process finished the id is: 31 the obs is:0 +[21:00:25.690] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:47.016770 ,While minimum is: 10.000000 KLT tracked: 760 +[21:00:25.690] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:25.690] frame process finished the id is: 32 the obs is:0 +[21:00:25.720] Odometry x=-0.001426, y=0.227932, theta=0.024094 +[21:00:25.798] Init: Homography RANSAC (inlier) is:30 ,While 40 inliers minimum required. px average disparity is:44.933862 ,While minimum is: 10.000000 KLT tracked: 753 +[21:00:25.798] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:25.798] frame process finished the id is: 33 the obs is:0 +[21:00:25.903] Init: Homography RANSAC (inlier) is:24 ,While 40 inliers minimum required. px average disparity is:49.476380 ,While minimum is: 10.000000 KLT tracked: 751 +[21:00:25.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:25.903] frame process finished the id is: 34 the obs is:0 +[21:00:25.946] Odometry x=0.000526, y=0.247943, theta=0.015202 +[21:00:26.007] Init: Homography RANSAC (inlier) is:24 ,While 40 inliers minimum required. px average disparity is:54.306628 ,While minimum is: 10.000000 KLT tracked: 746 +[21:00:26.007] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:26.007] frame process finished the id is: 35 the obs is:0 +[21:00:26.114] Init: Homography RANSAC (inlier) is:24 ,While 40 inliers minimum required. px average disparity is:50.945457 ,While minimum is: 10.000000 KLT tracked: 737 +[21:00:26.114] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:26.114] frame process finished the id is: 36 the obs is:0 +[21:00:26.181] Odometry x=0.000566, y=0.271579, theta=0.001492 +[21:00:26.222] Init: Homography RANSAC (inlier) is:24 ,While 40 inliers minimum required. px average disparity is:45.043536 ,While minimum is: 10.000000 KLT tracked: 737 +[21:00:26.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:26.222] frame process finished the id is: 37 the obs is:0 +[21:00:26.331] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:42.854775 ,While minimum is: 10.000000 KLT tracked: 734 +[21:00:26.331] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:26.331] frame process finished the id is: 38 the obs is:0 +[21:00:26.435] Odometry x=0.000439, y=0.295440, theta=0.016455 +[21:00:26.449] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:84.759293 ,While minimum is: 10.000000 KLT tracked: 718 +[21:00:26.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:26.449] frame process finished the id is: 39 the obs is:0 +[21:00:26.562] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:41.534768 ,While minimum is: 10.000000 KLT tracked: 698 +[21:00:26.562] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:26.562] frame process finished the id is: 40 the obs is:0 +[21:00:26.671] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:41.889906 ,While minimum is: 10.000000 KLT tracked: 694 +[21:00:26.671] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:26.671] frame process finished the id is: 41 the obs is:0 +[21:00:26.689] Odometry x=0.000152, y=0.321343, theta=-0.000468 +[21:00:26.781] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:50.036638 ,While minimum is: 10.000000 KLT tracked: 694 +[21:00:26.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:26.781] frame process finished the id is: 42 the obs is:0 +[21:00:26.889] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:50.460985 ,While minimum is: 10.000000 KLT tracked: 694 +[21:00:26.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:26.890] frame process finished the id is: 43 the obs is:0 +[21:00:26.995] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.866772 ,While minimum is: 10.000000 KLT tracked: 694 +[21:00:26.995] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:26.995] frame process finished the id is: 44 the obs is:0 +[21:00:27.027] Odometry x=0.000144, y=0.345626, theta=-0.004008 +[21:00:27.102] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.873501 ,While minimum is: 10.000000 KLT tracked: 694 +[21:00:27.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:27.103] frame process finished the id is: 45 the obs is:0 +[21:00:27.192] Odometry x=0.000164, y=0.369223, theta=-0.009315 +[21:00:27.207] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:54.897315 ,While minimum is: 10.000000 KLT tracked: 692 +[21:00:27.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:27.207] frame process finished the id is: 46 the obs is:0 +[21:00:27.313] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:59.465025 ,While minimum is: 10.000000 KLT tracked: 687 +[21:00:27.313] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:27.313] frame process finished the id is: 47 the obs is:0 +[21:00:27.417] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:59.022030 ,While minimum is: 10.000000 KLT tracked: 686 +[21:00:27.417] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:00:27.417] frame process finished the id is: 48 the obs is:0 +[21:00:27.441] Odometry x=0.000455, y=0.394322, theta=-0.012095 +[21:00:27.522] Init finished: Homography RANSAC (inlier) is:117 ,While 40 inliers minimum required. px average disparity is:63.374556 ,While minimum is: 10.000000 KLT tracked: 683 +[21:00:27.522] Init: distance between the first and current frame is x:-0.000249 ,z=0.421442,angle between two frames: -0.007567 +[21:00:27.522] Init: Selected Second frame. The number of features: 117 depth mean:0.663455 min:0.559758 +[21:00:27.522] frame process finished the id is: 49 the obs is:117 +[21:00:27.654] After Reprojection Map nMatches:74 ,distance between ekf and vo x:0.003199 ,z=-0.001520,angle between two frames:0.000848 +[21:00:27.654] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =69 error init =0.007276 error end=0.011249 +[21:00:27.654] After pose optimization, distance between ekf and vo x:0.003199 ,z=-0.001520,angle between two frames:0.000848 +[21:00:27.654] Update EKF and 3D points the number of feature in the new frame: 69 and number of obs: 69 +[21:00:27.654] frame Scene Depth mean:0.668804 ,depth min:0.563014 +[21:00:27.654] need key frame pitch dis: 0.010169 translation dif:0.419856 +[21:00:27.654] Choose frame as a key frame Scene Depth mean:0.668804 ,depth min:0.563014 +[21:00:27.654] frame process finished the id is: 50 the obs is:69 +[21:00:27.684] Odometry x=0.000431, y=0.419855, theta=-0.010169 +[21:00:27.796] After Reprojection Map nMatches:88 ,distance between ekf and vo x:0.001049 ,z=0.001389,angle between two frames:0.000837 +[21:00:27.797] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =71 error init =0.037046 error end=0.020149 +[21:00:27.797] After pose optimization, distance between ekf and vo x:0.001049 ,z=0.001389,angle between two frames:0.000837 +[21:00:27.797] Update EKF and 3D points the number of feature in the new frame: 71 and number of obs: 71 +[21:00:27.797] frame Scene Depth mean:0.663743 ,depth min:0.545198 +[21:00:27.797] need key frame pitch dis: 0.003384 translation dif:0.012537 +[21:00:27.797] frame process finished the id is: 51 the obs is:71 +[21:00:27.960] Odometry x=0.001001, y=0.433916, theta=-0.004184 +[21:00:27.967] After Reprojection Map nMatches:84 ,distance between ekf and vo x:-0.002030 ,z=0.006241,angle between two frames:0.000447 +[21:00:27.967] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =71 error init =0.018279 error end=0.033686 +[21:00:27.967] After pose optimization, distance between ekf and vo x:-0.002030 ,z=0.006241,angle between two frames:0.000447 +[21:00:27.967] Update EKF and 3D points the number of feature in the new frame: 71 and number of obs: 71 +[21:00:27.967] frame Scene Depth mean:0.644675 ,depth min:0.470864 +[21:00:27.967] need key frame pitch dis: 0.003543 translation dif:0.038826 +[21:00:27.967] frame process finished the id is: 52 the obs is:71 +[21:00:28.109] After Reprojection Map nMatches:80 ,distance between ekf and vo x:-0.000516 ,z=0.002891,angle between two frames:0.000470 +[21:00:28.109] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =76 error init =0.000274 error end=0.000680 +[21:00:28.109] After pose optimization, distance between ekf and vo x:-0.000516 ,z=0.002891,angle between two frames:0.000470 +[21:00:28.109] Update EKF and 3D points the number of feature in the new frame: 76 and number of obs: 76 +[21:00:28.109] frame Scene Depth mean:0.783194 ,depth min:0.052091 +[21:00:28.110] need key frame pitch dis: 0.009901 translation dif:0.042184 +[21:00:28.110] frame process finished the id is: 53 the obs is:76 +[21:00:28.192] Odometry x=0.000241, y=0.463623, theta=0.002333 +[21:00:28.251] After Reprojection Map nMatches:85 ,distance between ekf and vo x:0.001330 ,z=0.001811,angle between two frames:0.000996 +[21:00:28.251] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =78 error init =0.032473 error end=0.013551 +[21:00:28.251] After pose optimization, distance between ekf and vo x:0.001330 ,z=0.001811,angle between two frames:0.000996 +[21:00:28.251] Update EKF and 3D points the number of feature in the new frame: 78 and number of obs: 78 +[21:00:28.251] frame Scene Depth mean:0.770037 ,depth min:0.050708 +[21:00:28.252] need key frame pitch dis: 0.014864 translation dif:0.051986 +[21:00:28.252] frame process finished the id is: 54 the obs is:77 +[21:00:28.385] After Reprojection Map nMatches:77 ,distance between ekf and vo x:-0.001235 ,z=0.002962,angle between two frames:0.000096 +[21:00:28.385] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =70 error init =0.011194 error end=0.017687 +[21:00:28.385] After pose optimization, distance between ekf and vo x:-0.001235 ,z=0.002962,angle between two frames:0.000096 +[21:00:28.385] Update EKF and 3D points the number of feature in the new frame: 70 and number of obs: 70 +[21:00:28.385] frame Scene Depth mean:0.745019 ,depth min:0.050637 +[21:00:28.385] need key frame pitch dis: 0.019192 translation dif:0.056261 +[21:00:28.385] frame process finished the id is: 55 the obs is:70 +[21:00:28.448] Odometry x=0.000143, y=0.476116, theta=0.009023 +[21:00:28.522] After Reprojection Map nMatches:86 ,distance between ekf and vo x:-0.000684 ,z=0.003240,angle between two frames:0.000572 +[21:00:28.522] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =77 error init =0.020721 error end=0.057241 +[21:00:28.522] After pose optimization, distance between ekf and vo x:-0.000684 ,z=0.003240,angle between two frames:0.000572 +[21:00:28.522] Update EKF and 3D points the number of feature in the new frame: 77 and number of obs: 77 +[21:00:28.522] frame Scene Depth mean:0.909819 ,depth min:0.082028 +[21:00:28.522] need key frame pitch dis: 0.015270 translation dif:0.065731 +[21:00:28.522] frame process finished the id is: 56 the obs is:77 +[21:00:28.673] After Reprojection Map nMatches:75 ,distance between ekf and vo x:0.002771 ,z=0.003213,angle between two frames:0.002423 +[21:00:28.673] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =56 error init =0.034340 error end=0.112090 +[21:00:28.673] After pose optimization, distance between ekf and vo x:0.002771 ,z=0.003213,angle between two frames:0.002423 +[21:00:28.673] Update EKF and 3D points the number of feature in the new frame: 56 and number of obs: 56 +[21:00:28.673] frame Scene Depth mean:1.026586 ,depth min:0.079310 +[21:00:28.673] need key frame pitch dis: 0.015485 translation dif:0.068493 +[21:00:28.673] frame process finished the id is: 57 the obs is:56 +[21:00:28.700] Odometry x=0.003368, y=0.489839, theta=0.007918 +[21:00:28.809] After Reprojection Map nMatches:62 ,distance between ekf and vo x:-0.001409 ,z=0.003516,angle between two frames:0.000157 +[21:00:28.809] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =54 error init =0.035377 error end=0.012776 +[21:00:28.809] After pose optimization, distance between ekf and vo x:-0.001409 ,z=0.003516,angle between two frames:0.000157 +[21:00:28.809] Update EKF and 3D points the number of feature in the new frame: 54 and number of obs: 54 +[21:00:28.809] frame Scene Depth mean:1.339878 ,depth min:0.066555 +[21:00:28.810] need key frame pitch dis: 0.026358 translation dif:0.080207 +[21:00:28.810] frame process finished the id is: 58 the obs is:54 +[21:00:28.924] After Reprojection Map nMatches:59 ,distance between ekf and vo x:-0.001035 ,z=0.001767,angle between two frames:0.000119 +[21:00:28.924] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =45 error init =0.065050 error end=0.008173 +[21:00:28.924] After pose optimization, distance between ekf and vo x:0.110258 ,z=-0.114810,angle between two frames:0.000185 +[21:00:28.924] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45 +[21:00:28.924] frame Scene Depth mean:0.725491 ,depth min:0.100798 +[21:00:28.924] need key frame pitch dis: 0.033265 translation dif:0.063034 +[21:00:28.924] frame process finished the id is: 59 the obs is:45 +[21:00:29.004] Odometry x=0.030353, y=0.475335, theta=0.023096 +[21:00:29.031] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.000791 ,z=0.001330,angle between two frames:0.000169 +[21:00:29.031] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =33 error init =0.036426 error end=0.069951 +[21:00:29.031] After pose optimization, distance between ekf and vo x:-0.000791 ,z=0.001330,angle between two frames:0.000169 +[21:00:29.031] Update EKF and 3D points the number of feature in the new frame: 33 and number of obs: 33 +[21:00:29.031] frame Scene Depth mean:0.680287 ,depth min:0.069525 +[21:00:29.031] need key frame pitch dis: 0.033326 translation dif:0.091713 +[21:00:29.031] frame process finished the id is: 60 the obs is:33 +[21:00:29.123] After Reprojection Map nMatches:33 ,distance between ekf and vo x:-0.000451 ,z=0.000774,angle between two frames:0.000007 +[21:00:29.123] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =31 error init =0.008585 error end=0.008853 +[21:00:29.123] After pose optimization, distance between ekf and vo x:-0.000451 ,z=0.000774,angle between two frames:0.000007 +[21:00:29.123] Update EKF and 3D points the number of feature in the new frame: 31 and number of obs: 31 +[21:00:29.123] frame Scene Depth mean:0.664454 ,depth min:0.065120 +[21:00:29.123] need key frame pitch dis: 0.031860 translation dif:0.510967 +[21:00:29.123] Choose frame as a key frame Scene Depth mean:0.664454 ,depth min:0.065120 +[21:00:29.123] frame process finished the id is: 61 the obs is:31 +[21:00:29.178] Odometry x=0.029331, y=0.510124, theta=0.031860 +[21:00:29.235] After Reprojection Map nMatches:31 ,distance between ekf and vo x:-0.001023 ,z=0.001842,angle between two frames:0.000036 +[21:00:29.235] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =31 error init =0.000040 error end=0.000086 +[21:00:29.236] After pose optimization, distance between ekf and vo x:-0.001023 ,z=0.001842,angle between two frames:0.000036 +[21:00:29.236] Update EKF and 3D points the number of feature in the new frame: 31 and number of obs: 31 +[21:00:29.236] frame Scene Depth mean:0.763463 ,depth min:0.057788 +[21:00:29.236] need key frame pitch dis: 0.008005 translation dif:0.521543 +[21:00:29.236] Choose frame as a key frame Scene Depth mean:0.763463 ,depth min:0.057788 +[21:00:29.236] frame process finished the id is: 62 the obs is:31 +[21:00:29.366] After Reprojection Map nMatches:30 ,distance between ekf and vo x:-0.001522 ,z=0.002851,angle between two frames:0.000022 +[21:00:29.366] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =11 error init =0.187353 error end=0.362774 +[21:00:29.366] After pose optimization, distance between ekf and vo x:0.497821 ,z=-0.579475,angle between two frames:0.003139 +[21:00:29.366] frame process finished the id is: 62 the obs is:31 +[21:00:29.464] Odometry x=0.028925, y=0.520741, theta=0.008005 +[21:00:29.504] After Reprojection Map nMatches:33 ,distance between ekf and vo x:-0.003123 ,z=0.006476,angle between two frames:0.000133 +[21:00:29.504] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =13 error init =0.082853 error end=0.121171 +[21:00:29.504] After pose optimization, distance between ekf and vo x:-0.003123 ,z=0.006476,angle between two frames:0.000133 +[21:00:29.504] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13 +[21:00:29.504] frame Scene Depth mean:1.204929 ,depth min:0.422010 +[21:00:29.504] need key frame pitch dis: 0.023783 translation dif:0.040157 +[21:00:29.504] frame process finished the id is: 64 the obs is:13 +[21:00:29.662] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.007104 ,z=0.013744,angle between two frames:0.000038 +[21:00:29.662] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =21 error init =0.017148 error end=0.027087 +[21:00:29.662] After pose optimization, distance between ekf and vo x:1.148499 ,z=-1.803061,angle between two frames:0.042557 +[21:00:29.662] frame process finished the id is: 64 the obs is:13 +[21:00:29.675] Odometry x=0.028183, y=0.553176, theta=0.009940 +[21:00:29.820] After Reprojection Map nMatches:36 ,distance between ekf and vo x:-0.006720 ,z=0.014402,angle between two frames:0.000531 +[21:00:29.820] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =26 error init =0.166526 error end=0.045231 +[21:00:29.820] After pose optimization, distance between ekf and vo x:-0.006720 ,z=0.014402,angle between two frames:0.000531 +[21:00:29.820] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26 +[21:00:29.820] frame Scene Depth mean:1.686702 ,depth min:0.269102 +[21:00:29.820] need key frame pitch dis: 0.019637 translation dif:0.150753 +[21:00:29.820] Choose frame as a key frame Scene Depth mean:1.686702 ,depth min:0.269102 +[21:00:29.820] frame process finished the id is: 66 the obs is:26 +[21:00:29.935] Odometry x=0.026602, y=0.569785, theta=0.012069 +[21:00:29.985] After Reprojection Map nMatches:31 ,distance between ekf and vo x:-0.018171 ,z=0.037160,angle between two frames:0.001498 +[21:00:29.985] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =26 error init =0.005273 error end=0.011485 +[21:00:29.985] After pose optimization, distance between ekf and vo x:-0.018171 ,z=0.037160,angle between two frames:0.001498 +[21:00:29.985] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26 +[21:00:29.985] frame Scene Depth mean:2.223842 ,depth min:0.232446 +[21:00:29.985] need key frame pitch dis: 0.019174 translation dif:0.096771 +[21:00:29.985] frame process finished the id is: 67 the obs is:26 +[21:00:30.106] After Reprojection Map nMatches:23 ,distance between ekf and vo x:-1.015436 ,z=-0.426872,angle between two frames:0.800180 +[21:00:30.106] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =14 error init =0.079913 error end=0.065910 +[21:00:30.106] After pose optimization, distance between ekf and vo x:-0.940036 ,z=-0.469647,angle between two frames:0.822238 +[21:00:30.106] frame process finished the id is: 67 the obs is:26 +[21:00:30.199] Odometry x=0.023389, y=0.606548, theta=0.015247 +[21:00:30.231] After Reprojection Map nMatches:23 ,distance between ekf and vo x:-1.015194 ,z=-0.428250,angle between two frames:0.800286 +[21:00:30.231] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =22 error init =0.000520 error end=0.000212 +[21:00:30.231] After pose optimization, distance between ekf and vo x:-1.011599 ,z=-0.432230,angle between two frames:0.799855 +[21:00:30.231] frame process finished the id is: 67 the obs is:26 +[21:00:30.365] After Reprojection Map nMatches:44 ,distance between ekf and vo x:-0.587065 ,z=-0.380945,angle between two frames:0.499673 +[21:00:30.365] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =38 error init =0.020597 error end=0.010017 +[21:00:30.365] After pose optimization, distance between ekf and vo x:-0.559848 ,z=-0.306820,angle between two frames:0.494947 +[21:00:30.365] frame process finished the id is: 67 the obs is:26 +[21:00:30.429] Odometry x=0.023245, y=0.623898, theta=0.041458 +[21:00:30.485] After Reprojection Map nMatches:20 ,distance between ekf and vo x:-0.001241 ,z=0.001314,angle between two frames:0.000468 +[21:00:30.485] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =12 error init =0.079118 error end=0.232369 +[21:00:30.485] After pose optimization, distance between ekf and vo x:-0.001241 ,z=0.001314,angle between two frames:0.000468 +[21:00:30.485] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[21:00:30.485] frame Scene Depth mean:2.113534 ,depth min:0.192944 +[21:00:30.485] need key frame pitch dis: 0.051567 translation dif:0.216697 +[21:00:30.485] Choose frame as a key frame Scene Depth mean:2.113534 ,depth min:0.192944 +[21:00:30.485] frame process finished the id is: 71 the obs is:12 +[21:00:30.577] After Reprojection Map nMatches:12 ,distance between ekf and vo x:-0.000520 ,z=0.000468,angle between two frames:0.000068 +[21:00:30.577] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[21:00:30.577] After pose optimization, distance between ekf and vo x:-0.000520 ,z=0.000468,angle between two frames:0.000068 +[21:00:30.577] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[21:00:30.577] frame Scene Depth mean:2.095568 ,depth min:0.189802 +[21:00:30.577] need key frame pitch dis: 0.045146 translation dif:0.640114 +[21:00:30.577] Choose frame as a key frame Scene Depth mean:2.095568 ,depth min:0.189802 +[21:00:30.577] frame process finished the id is: 72 the obs is:12 +[21:00:30.681] Odometry x=0.023160, y=0.639695, theta=0.045146 +[21:00:30.688] After Reprojection Map nMatches:15 ,distance between ekf and vo x:-0.001127 ,z=0.001370,angle between two frames:0.000090 +[21:00:30.688] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =15 error init =0.000000 error end=0.000000 +[21:00:30.688] After pose optimization, distance between ekf and vo x:-0.001127 ,z=0.001370,angle between two frames:0.000090 +[21:00:30.688] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 +[21:00:30.688] frame Scene Depth mean:2.014671 ,depth min:0.076233 +[21:00:30.688] need key frame pitch dis: 0.001129 translation dif:0.031695 +[21:00:30.688] frame process finished the id is: 73 the obs is:15 +[21:00:30.801] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.001486 ,z=0.001700,angle between two frames:0.000097 +[21:00:30.801] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =16 error init =0.000238 error end=0.000142 +[21:00:30.801] After pose optimization, distance between ekf and vo x:-0.001486 ,z=0.001700,angle between two frames:0.000097 +[21:00:30.801] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[21:00:30.801] frame Scene Depth mean:2.401765 ,depth min:0.071745 +[21:00:30.802] need key frame pitch dis: 0.003220 translation dif:0.031943 +[21:00:30.802] frame process finished the id is: 74 the obs is:16 +[21:00:30.919] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.001124 ,z=0.001514,angle between two frames:0.000030 +[21:00:30.919] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =16 error init =0.021196 error end=0.001405 +[21:00:30.919] After pose optimization, distance between ekf and vo x:-0.001124 ,z=0.001514,angle between two frames:0.000030 +[21:00:30.919] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[21:00:30.919] frame Scene Depth mean:2.392904 ,depth min:0.070411 +[21:00:30.919] need key frame pitch dis: 0.004611 translation dif:0.032640 +[21:00:30.919] frame process finished the id is: 75 the obs is:16 +[21:00:31.010] Odometry x=0.021233, y=0.672278, theta=0.049758 +[21:00:31.053] After Reprojection Map nMatches:19 ,distance between ekf and vo x:-0.001127 ,z=0.003688,angle between two frames:0.000562 +[21:00:31.053] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =19 error init =0.000004 error end=0.000002 +[21:00:31.053] After pose optimization, distance between ekf and vo x:-0.001127 ,z=0.003688,angle between two frames:0.000562 +[21:00:31.053] Update EKF and 3D points the number of feature in the new frame: 19 and number of obs: 19 +[21:00:31.053] frame Scene Depth mean:2.572452 ,depth min:0.058104 +[21:00:31.053] need key frame pitch dis: 0.005946 translation dif:0.064652 +[21:00:31.053] frame process finished the id is: 76 the obs is:18 +[21:00:31.168] After Reprojection Map nMatches:17 ,distance between ekf and vo x:-0.000641 ,z=0.000854,angle between two frames:0.000022 +[21:00:31.168] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =17 error init =0.000065 error end=0.000245 +[21:00:31.168] After pose optimization, distance between ekf and vo x:-0.000641 ,z=0.000854,angle between two frames:0.000022 +[21:00:31.168] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17 +[21:00:31.168] frame Scene Depth mean:2.551490 ,depth min:0.052043 +[21:00:31.168] need key frame pitch dis: 0.057410 translation dif:0.704354 +[21:00:31.168] Choose frame as a key frame Scene Depth mean:2.551490 ,depth min:0.052043 +[21:00:31.168] frame process finished the id is: 77 the obs is:17 +[21:00:31.176] Odometry x=0.019445, y=0.704085, theta=0.057410 +[21:00:31.326] After Reprojection Map nMatches:18 ,distance between ekf and vo x:-0.001954 ,z=-0.000883,angle between two frames:0.000854 +[21:00:31.326] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =18 error init =0.002086 error end=0.001588 +[21:00:31.326] After pose optimization, distance between ekf and vo x:-0.001954 ,z=-0.000883,angle between two frames:0.000854 +[21:00:31.326] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18 +[21:00:31.326] frame Scene Depth mean:2.698144 ,depth min:2.540520 +[21:00:31.327] need key frame pitch dis: 0.066161 translation dif:0.714574 +[21:00:31.327] Choose frame as a key frame Scene Depth mean:2.698144 ,depth min:2.540520 +[21:00:31.327] frame process finished the id is: 78 the obs is:17 +[21:00:31.465] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.000503 ,z=0.010324,angle between two frames:0.002941 +[21:00:31.465] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =24 error init =0.007113 error end=0.001078 +[21:00:31.465] After pose optimization, distance between ekf and vo x:0.000503 ,z=0.010324,angle between two frames:0.002941 +[21:00:31.465] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[21:00:31.465] frame Scene Depth mean:2.704561 ,depth min:0.315637 +[21:00:31.465] need key frame pitch dis: 0.014069 translation dif:0.015542 +[21:00:31.465] frame process finished the id is: 79 the obs is:24 +[21:00:31.481] Odometry x=0.018885, y=0.719617, theta=0.071479 +[21:00:31.603] After Reprojection Map nMatches:22 ,distance between ekf and vo x:-0.000682 ,z=0.015772,angle between two frames:0.004030 +[21:00:31.603] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =21 error init =0.004107 error end=0.001460 +[21:00:31.603] After pose optimization, distance between ekf and vo x:-0.000806 ,z=0.021240,angle between two frames:0.006461 +[21:00:31.603] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 +[21:00:31.603] frame Scene Depth mean:2.198409 ,depth min:0.199157 +[21:00:31.603] need key frame pitch dis: 0.011547 translation dif:0.031228 +[21:00:31.603] frame process finished the id is: 80 the obs is:21 +[21:00:31.681] Odometry x=0.018334, y=0.735293, theta=0.068957 +[21:00:31.729] After Reprojection Map nMatches:20 ,distance between ekf and vo x:-0.026851 ,z=0.043721,angle between two frames:0.001072 +[21:00:31.729] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =20 error init =0.000068 error end=0.000020 +[21:00:31.729] After pose optimization, distance between ekf and vo x:-0.026851 ,z=0.043721,angle between two frames:0.001072 +[21:00:31.729] Update EKF and 3D points the number of feature in the new frame: 20 and number of obs: 20 +[21:00:31.729] frame Scene Depth mean:1.645619 ,depth min:0.165813 +[21:00:31.730] need key frame pitch dis: 0.069514 translation dif:0.774756 +[21:00:31.730] Choose frame as a key frame Scene Depth mean:1.645619 ,depth min:0.165813 +[21:00:31.730] frame process finished the id is: 81 the obs is:20 +[21:00:31.868] After Reprojection Map nMatches:23 ,distance between ekf and vo x:-0.128170 ,z=-0.015304,angle between two frames:0.057776 +[21:00:31.868] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =21 error init =0.011411 error end=0.015010 +[21:00:31.869] After pose optimization, distance between ekf and vo x:-0.128170 ,z=-0.015304,angle between two frames:0.057776 +[21:00:31.869] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 +[21:00:31.869] frame Scene Depth mean:1.420748 ,depth min:0.173548 +[21:00:31.869] need key frame pitch dis: 0.003200 translation dif:0.137360 +[21:00:31.869] Choose frame as a key frame Scene Depth mean:1.420748 ,depth min:0.173548 +[21:00:31.869] frame process finished the id is: 82 the obs is:17 +[21:00:31.932] Odometry x=-0.020699, y=0.769865, theta=0.041947 +[21:00:32.001] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.052606 ,z=0.014855,angle between two frames:0.018812 +[21:00:32.001] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =18 error init =0.105064 error end=0.132061 +[21:00:32.001] After pose optimization, distance between ekf and vo x:-0.052606 ,z=0.014855,angle between two frames:0.018812 +[21:00:32.001] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18 +[21:00:32.001] frame Scene Depth mean:1.334643 ,depth min:0.155472 +[21:00:32.001] need key frame pitch dis: 0.022786 translation dif:0.044901 +[21:00:32.001] frame process finished the id is: 83 the obs is:18 +[21:00:32.132] After Reprojection Map nMatches:21 ,distance between ekf and vo x:0.087075 ,z=0.092711,angle between two frames:0.062936 +[21:00:32.132] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =20 error init =0.001374 error end=0.001616 +[21:00:32.132] After pose optimization, distance between ekf and vo x:0.092242 ,z=0.084737,angle between two frames:0.063095 +[21:00:32.132] Update EKF and 3D points the number of feature in the new frame: 20 and number of obs: 20 +[21:00:32.132] frame Scene Depth mean:1.589307 ,depth min:0.130517 +[21:00:32.132] need key frame pitch dis: 0.013819 translation dif:0.037098 +[21:00:32.132] frame process finished the id is: 84 the obs is:20 +[21:00:32.185] Odometry x=-0.000795, y=0.810349, theta=0.083333 +[21:00:32.262] After Reprojection Map nMatches:27 ,distance between ekf and vo x:-0.007316 ,z=0.014955,angle between two frames:0.001347 +[21:00:32.262] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =27 error init =0.000080 error end=0.000008 +[21:00:32.262] After pose optimization, distance between ekf and vo x:-0.007316 ,z=0.014955,angle between two frames:0.001347 +[21:00:32.262] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 +[21:00:32.262] frame Scene Depth mean:1.260920 ,depth min:0.104018 +[21:00:32.262] need key frame pitch dis: 0.007439 translation dif:0.051402 +[21:00:32.262] frame process finished the id is: 85 the obs is:27 +[21:00:32.400] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.064440 ,z=-0.016505,angle between two frames:0.031964 +[21:00:32.400] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =24 error init =0.003436 error end=0.000832 +[21:00:32.400] After pose optimization, distance between ekf and vo x:-0.066968 ,z=-0.005008,angle between two frames:0.031561 +[21:00:32.400] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[21:00:32.400] frame Scene Depth mean:1.392430 ,depth min:0.107223 +[21:00:32.401] need key frame pitch dis: 0.060365 translation dif:0.823223 +[21:00:32.401] Choose frame as a key frame Scene Depth mean:1.392430 ,depth min:0.107223 +[21:00:32.401] frame process finished the id is: 86 the obs is:24 +[21:00:32.419] Odometry x=-0.018755, y=0.823009, theta=0.060365 +[21:00:32.555] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.006190 ,z=0.027192,angle between two frames:0.010445 +[21:00:32.555] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =22 error init =0.119093 error end=0.011125 +[21:00:32.555] After pose optimization, distance between ekf and vo x:0.006190 ,z=0.027192,angle between two frames:0.010445 +[21:00:32.555] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 +[21:00:32.555] frame Scene Depth mean:1.009962 ,depth min:0.089667 +[21:00:32.555] need key frame pitch dis: 0.024417 translation dif:0.070651 +[21:00:32.555] frame process finished the id is: 87 the obs is:22 +[21:00:32.671] Odometry x=-0.017881, y=0.840459, theta=0.066364 +[21:00:32.690] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.010697 ,z=0.019222,angle between two frames:0.000796 +[21:00:32.690] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =21 error init =0.038128 error end=0.014520 +[21:00:32.690] After pose optimization, distance between ekf and vo x:-0.010697 ,z=0.019222,angle between two frames:0.000796 +[21:00:32.690] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 +[21:00:32.690] frame Scene Depth mean:2.362273 ,depth min:0.084945 +[21:00:32.690] need key frame pitch dis: 0.006262 translation dif:0.022473 +[21:00:32.690] frame process finished the id is: 88 the obs is:21 +[21:00:32.827] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.000072 ,z=0.026525,angle between two frames:0.007638 +[21:00:32.827] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =30 error init =0.068072 error end=0.004876 +[21:00:32.827] After pose optimization, distance between ekf and vo x:0.000072 ,z=0.026525,angle between two frames:0.007638 +[21:00:32.827] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 +[21:00:32.827] frame Scene Depth mean:2.852942 ,depth min:0.078985 +[21:00:32.828] need key frame pitch dis: 0.019950 translation dif:0.081715 +[21:00:32.828] frame process finished the id is: 89 the obs is:30 +[21:00:32.988] After Reprojection Map nMatches:25 ,distance between ekf and vo x:-0.019115 ,z=0.024035,angle between two frames:0.001219 +[21:00:32.988] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =25 error init =0.000265 error end=0.000257 +[21:00:32.988] After pose optimization, distance between ekf and vo x:-0.019115 ,z=0.024035,angle between two frames:0.001219 +[21:00:32.988] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 +[21:00:32.988] frame Scene Depth mean:2.184657 ,depth min:0.078536 +[21:00:32.989] need key frame pitch dis: 0.004235 translation dif:0.030223 +[21:00:32.989] frame process finished the id is: 90 the obs is:25 +[21:00:33.132] After Reprojection Map nMatches:27 ,distance between ekf and vo x:-0.024743 ,z=0.026332,angle between two frames:0.003135 +[21:00:33.132] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =23 error init =0.019407 error end=0.002209 +[21:00:33.132] After pose optimization, distance between ekf and vo x:-0.024743 ,z=0.026332,angle between two frames:0.003135 +[21:00:33.132] Update EKF and 3D points the number of feature in the new frame: 23 and number of obs: 23 +[21:00:33.132] frame Scene Depth mean:2.319817 ,depth min:0.077976 +[21:00:33.132] need key frame pitch dis: 0.007495 translation dif:0.031640 +[21:00:33.132] frame process finished the id is: 91 the obs is:23 +[21:00:33.274] After Reprojection Map nMatches:33 ,distance between ekf and vo x:-0.007006 ,z=0.034089,angle between two frames:0.006614 +[21:00:33.274] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =32 error init =0.000884 error end=0.000082 +[21:00:33.274] After pose optimization, distance between ekf and vo x:-0.007006 ,z=0.034089,angle between two frames:0.006614 +[21:00:33.274] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 +[21:00:33.274] frame Scene Depth mean:2.316816 ,depth min:0.467482 +[21:00:33.275] need key frame pitch dis: 0.013891 translation dif:0.087439 +[21:00:33.275] frame process finished the id is: 92 the obs is:32 +[21:00:33.419] After Reprojection Map nMatches:34 ,distance between ekf and vo x:-0.004232 ,z=0.034902,angle between two frames:0.008449 +[21:00:33.419] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =34 error init =0.000003 error end=0.000000 +[21:00:33.419] After pose optimization, distance between ekf and vo x:-0.004232 ,z=0.034902,angle between two frames:0.008449 +[21:00:33.419] Update EKF and 3D points the number of feature in the new frame: 34 and number of obs: 34 +[21:00:33.419] frame Scene Depth mean:2.240818 ,depth min:0.466408 +[21:00:33.420] need key frame pitch dis: 0.011943 translation dif:0.087502 +[21:00:33.420] frame process finished the id is: 93 the obs is:34 +[21:00:33.569] After Reprojection Map nMatches:36 ,distance between ekf and vo x:-0.013052 ,z=0.031369,angle between two frames:0.003580 +[21:00:33.569] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =35 error init =0.018027 error end=0.001920 +[21:00:33.569] After pose optimization, distance between ekf and vo x:-0.013052 ,z=0.031369,angle between two frames:0.003580 +[21:00:33.569] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 +[21:00:33.569] frame Scene Depth mean:2.210527 ,depth min:0.467368 +[21:00:33.569] need key frame pitch dis: 0.013183 translation dif:0.087530 +[21:00:33.569] frame process finished the id is: 94 the obs is:35 +[21:00:33.717] After Reprojection Map nMatches:39 ,distance between ekf and vo x:-0.015201 ,z=0.033832,angle between two frames:0.003681 +[21:00:33.717] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =39 error init =0.000754 error end=0.000075 +[21:00:33.717] After pose optimization, distance between ekf and vo x:-0.015201 ,z=0.033832,angle between two frames:0.003681 +[21:00:33.717] Update EKF and 3D points the number of feature in the new frame: 39 and number of obs: 39 +[21:00:33.717] frame Scene Depth mean:2.601043 ,depth min:0.467057 +[21:00:33.718] need key frame pitch dis: 0.004516 translation dif:0.033494 +[21:00:33.718] frame process finished the id is: 95 the obs is:39 +[21:00:33.856] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.012862 ,z=0.032555,angle between two frames:0.003823 +[21:00:33.857] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =40 error init =0.009660 error end=0.000320 +[21:00:33.857] After pose optimization, distance between ekf and vo x:-0.012858 ,z=0.032476,angle between two frames:0.003811 +[21:00:33.857] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 +[21:00:33.857] frame Scene Depth mean:2.555463 ,depth min:0.467283 +[21:00:33.857] need key frame pitch dis: 0.013815 translation dif:0.087967 +[21:00:33.857] frame process finished the id is: 96 the obs is:40 +[21:00:33.989] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.004927 ,z=0.045273,angle between two frames:0.015264 +[21:00:33.989] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =47 error init =0.002292 error end=0.001342 +[21:00:33.989] After pose optimization, distance between ekf and vo x:0.004927 ,z=0.045273,angle between two frames:0.015264 +[21:00:33.989] Update EKF and 3D points the number of feature in the new frame: 47 and number of obs: 47 +[21:00:33.990] frame Scene Depth mean:3.316795 ,depth min:0.098188 +[21:00:33.990] need key frame pitch dis: 0.005664 translation dif:0.149580 +[21:00:33.990] Choose frame as a key frame Scene Depth mean:3.316795 ,depth min:0.098188 +[21:00:33.990] frame process finished the id is: 97 the obs is:47 +[21:00:34.148] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.036919 ,z=0.094570,angle between two frames:0.013031 +[21:00:34.149] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =37 error init =0.064986 error end=0.007782 +[21:00:34.149] After pose optimization, distance between ekf and vo x:-0.036919 ,z=0.094570,angle between two frames:0.013031 +[21:00:34.149] Update EKF and 3D points the number of feature in the new frame: 37 and number of obs: 37 +[21:00:34.149] frame Scene Depth mean:4.051130 ,depth min:0.489152 +[21:00:34.149] need key frame pitch dis: 0.007917 translation dif:0.104565 +[21:00:34.149] Choose frame as a key frame Scene Depth mean:4.051130 ,depth min:0.489152 +[21:00:34.149] frame process finished the id is: 98 the obs is:37 +[21:00:34.313] After Reprojection Map nMatches:47 ,distance between ekf and vo x:-0.015310 ,z=0.075082,angle between two frames:0.016605 +[21:00:34.313] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =47 error init =0.000288 error end=0.000128 +[21:00:34.313] After pose optimization, distance between ekf and vo x:-0.015310 ,z=0.075082,angle between two frames:0.016605 +[21:00:34.313] Update EKF and 3D points the number of feature in the new frame: 47 and number of obs: 47 +[21:00:34.313] frame Scene Depth mean:4.476673 ,depth min:0.490265 +[21:00:34.313] need key frame pitch dis: 0.003082 translation dif:0.012853 +[21:00:34.313] frame process finished the id is: 99 the obs is:47 +[21:00:34.445] Odometry x=-0.026732, y=0.869996, theta=0.063579 +[21:00:34.471] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.045917 ,z=0.033967,angle between two frames:0.010642 +[21:00:34.471] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =45 error init =0.008598 error end=0.001269 +[21:00:34.471] After pose optimization, distance between ekf and vo x:-0.045917 ,z=0.033967,angle between two frames:0.010642 +[21:00:34.471] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45 +[21:00:34.471] frame Scene Depth mean:4.642498 ,depth min:0.484945 +[21:00:34.472] need key frame pitch dis: 0.002802 translation dif:0.110322 +[21:00:34.472] Choose frame as a key frame Scene Depth mean:4.642498 ,depth min:0.484945 +[21:00:34.472] frame process finished the id is: 100 the obs is:45 +[21:00:34.636] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.009941 ,z=0.075649,angle between two frames:0.027123 +[21:00:34.636] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =39 error init =0.038288 error end=0.007981 +[21:00:34.636] After pose optimization, distance between ekf and vo x:0.009941 ,z=0.075649,angle between two frames:0.027123 +[21:00:34.636] Update EKF and 3D points the number of feature in the new frame: 39 and number of obs: 39 +[21:00:34.636] frame Scene Depth mean:5.384620 ,depth min:0.466353 +[21:00:34.636] need key frame pitch dis: 0.060628 translation dif:0.895564 +[21:00:34.636] Choose frame as a key frame Scene Depth mean:5.384620 ,depth min:0.466353 +[21:00:34.636] frame process finished the id is: 101 the obs is:39 +[21:00:34.702] Odometry x=-0.032831, y=0.894962, theta=0.060628 +[21:00:34.735] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000187 ,z=0.000207,angle between two frames:0.000001 +[21:00:34.735] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =40 error init =0.000294 error end=0.000043 +[21:00:34.735] After pose optimization, distance between ekf and vo x:-0.000187 ,z=0.000207,angle between two frames:0.000001 +[21:00:34.735] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 +[21:00:34.735] frame Scene Depth mean:5.560511 ,depth min:0.460640 +[21:00:34.735] need key frame pitch dis: 0.012415 translation dif:0.895619 +[21:00:34.735] Choose frame as a key frame Scene Depth mean:5.560511 ,depth min:0.460640 +[21:00:34.735] frame process finished the id is: 102 the obs is:40 +[21:00:34.869] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.001176 ,z=0.001599,angle between two frames:0.000010 +[21:00:34.869] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =32 error init =0.007692 error end=0.002925 +[21:00:34.869] After pose optimization, distance between ekf and vo x:-0.001176 ,z=0.001599,angle between two frames:0.000010 +[21:00:34.869] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 +[21:00:34.869] frame Scene Depth mean:6.338502 ,depth min:0.459752 +[21:00:34.869] need key frame pitch dis: 0.003846 translation dif:0.896033 +[21:00:34.869] Choose frame as a key frame Scene Depth mean:6.338502 ,depth min:0.459752 +[21:00:34.869] frame process finished the id is: 103 the obs is:32 +[21:00:35.007] Odometry x=-0.033143, y=0.895420, theta=-0.003846 +[21:00:35.020] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.001933 ,z=0.002896,angle between two frames:0.000008 +[21:00:35.020] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =24 error init =0.000770 error end=0.000304 +[21:00:35.020] After pose optimization, distance between ekf and vo x:-0.001933 ,z=0.002896,angle between two frames:0.000008 +[21:00:35.020] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[21:00:35.020] frame Scene Depth mean:2.548651 ,depth min:0.439807 +[21:00:35.021] need key frame pitch dis: 0.121420 translation dif:0.001378 +[21:00:35.021] Choose frame as a key frame Scene Depth mean:2.548651 ,depth min:0.439807 +[21:00:35.021] frame process finished the id is: 104 the obs is:20 +[21:00:35.158] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.001087 ,z=0.001818,angle between two frames:0.000063 +[21:00:35.158] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =16 error init =0.000546 error end=0.000435 +[21:00:35.158] After pose optimization, distance between ekf and vo x:-0.000956 ,z=0.000639,angle between two frames:0.000072 +[21:00:35.158] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[21:00:35.158] frame Scene Depth mean:2.941558 ,depth min:0.412092 +[21:00:35.159] need key frame pitch dis: 0.171533 translation dif:0.897287 +[21:00:35.159] Choose frame as a key frame Scene Depth mean:2.941558 ,depth min:0.412092 +[21:00:35.159] frame process finished the id is: 105 the obs is:16 +[21:00:35.194] Odometry x=-0.032784, y=0.896688, theta=-0.171533 +[21:00:35.317] After Reprojection Map nMatches:33 ,distance between ekf and vo x:-0.001865 ,z=0.002909,angle between two frames:0.000165 +[21:00:35.317] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =17 error init =0.116941 error end=0.031478 +[21:00:35.317] After pose optimization, distance between ekf and vo x:-0.001865 ,z=0.002909,angle between two frames:0.000165 +[21:00:35.317] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17 +[21:00:35.317] frame Scene Depth mean:4.371235 ,depth min:0.060560 +[21:00:35.317] need key frame pitch dis: 0.233899 translation dif:0.002212 +[21:00:35.317] Choose frame as a key frame Scene Depth mean:4.371235 ,depth min:0.060560 +[21:00:35.317] frame process finished the id is: 106 the obs is:17 +[21:00:35.440] Odometry x=-0.033254, y=0.897629, theta=-0.237746 +[21:00:35.522] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.000764 ,z=0.002321,angle between two frames:0.000055 +[21:00:35.522] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =24 error init =0.000002 error end=0.000323 +[21:00:35.522] After pose optimization, distance between ekf and vo x:-0.000764 ,z=0.002321,angle between two frames:0.000055 +[21:00:35.522] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[21:00:35.522] frame Scene Depth mean:2.726363 ,depth min:0.052064 +[21:00:35.522] need key frame pitch dis: 0.264686 translation dif:0.003382 +[21:00:35.522] Choose frame as a key frame Scene Depth mean:2.726363 ,depth min:0.052064 +[21:00:35.522] frame process finished the id is: 107 the obs is:24 +[21:00:35.735] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000007 ,z=0.003373,angle between two frames:0.000036 +[21:00:35.735] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =26 error init =0.042161 error end=0.007930 +[21:00:35.735] After pose optimization, distance between ekf and vo x:-0.003899 ,z=-0.014056,angle between two frames:0.000562 +[21:00:35.735] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26 +[21:00:35.735] frame Scene Depth mean:3.796960 ,depth min:0.063567 +[21:00:35.736] need key frame pitch dis: 0.056275 translation dif:0.003302 +[21:00:35.736] frame process finished the id is: 108 the obs is:26 +[21:00:35.917] After Reprojection Map nMatches:44 ,distance between ekf and vo x:-0.000058 ,z=-0.000002,angle between two frames:0.000001 +[21:00:35.917] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =36 error init =0.000185 error end=0.000117 +[21:00:35.917] After pose optimization, distance between ekf and vo x:-0.000078 ,z=-0.000028,angle between two frames:0.000001 +[21:00:35.917] Update EKF and 3D points the number of feature in the new frame: 36 and number of obs: 36 +[21:00:35.917] frame Scene Depth mean:4.064773 ,depth min:0.057488 +[21:00:35.918] need key frame pitch dis: 0.297118 translation dif:0.001626 +[21:00:35.918] Choose frame as a key frame Scene Depth mean:4.064773 ,depth min:0.057488 +[21:00:35.918] frame process finished the id is: 109 the obs is:36 +[21:00:36.125] After Reprojection Map nMatches:44 ,distance between ekf and vo x:-0.000107 ,z=0.001579,angle between two frames:0.000014 +[21:00:36.125] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =42 error init =0.000639 error end=0.000097 +[21:00:36.125] After pose optimization, distance between ekf and vo x:-0.000148 ,z=0.001427,angle between two frames:0.000019 +[21:00:36.125] Update EKF and 3D points the number of feature in the new frame: 42 and number of obs: 42 +[21:00:36.125] frame Scene Depth mean:4.339487 ,depth min:0.056616 +[21:00:36.126] need key frame pitch dis: 0.066174 translation dif:0.000365 +[21:00:36.126] frame process finished the id is: 110 the obs is:42 +[21:00:36.346] After Reprojection Map nMatches:54 ,distance between ekf and vo x:-0.000358 ,z=0.002600,angle between two frames:0.000065 +[21:00:36.346] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =52 error init =0.000128 error end=0.000047 +[21:00:36.346] After pose optimization, distance between ekf and vo x:-0.000370 ,z=0.002590,angle between two frames:0.000067 +[21:00:36.346] Update EKF and 3D points the number of feature in the new frame: 52 and number of obs: 52 +[21:00:36.346] frame Scene Depth mean:3.945151 ,depth min:0.056115 +[21:00:36.347] need key frame pitch dis: 0.292779 translation dif:0.003520 +[21:00:36.347] Choose frame as a key frame Scene Depth mean:3.945151 ,depth min:0.056115 +[21:00:36.347] frame process finished the id is: 111 the obs is:52 +[21:00:36.564] After Reprojection Map nMatches:57 ,distance between ekf and vo x:-0.000032 ,z=0.001375,angle between two frames:0.000005 +[21:00:36.564] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =55 error init =0.005771 error end=0.001911 +[21:00:36.564] After pose optimization, distance between ekf and vo x:-0.000032 ,z=0.001375,angle between two frames:0.000005 +[21:00:36.564] Update EKF and 3D points the number of feature in the new frame: 55 and number of obs: 55 +[21:00:36.564] frame Scene Depth mean:3.595937 ,depth min:0.056300 +[21:00:36.566] need key frame pitch dis: 0.004744 translation dif:0.001352 +[21:00:36.566] frame process finished the id is: 112 the obs is:55 +[21:00:36.686] Odometry x=-0.033313, y=0.898329, theta=-0.305709 +[21:00:36.784] After Reprojection Map nMatches:60 ,distance between ekf and vo x:-0.000032 ,z=0.001325,angle between two frames:0.000005 +[21:00:36.784] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =43 error init =0.121783 error end=0.034388 +[21:00:36.784] After pose optimization, distance between ekf and vo x:0.003719 ,z=0.008754,angle between two frames:0.000510 +[21:00:36.784] Update EKF and 3D points the number of feature in the new frame: 43 and number of obs: 43 +[21:00:36.784] frame Scene Depth mean:2.363279 ,depth min:0.053738 +[21:00:36.785] need key frame pitch dis: 0.074787 translation dif:0.004074 +[21:00:36.785] frame process finished the id is: 113 the obs is:43 +[21:00:37.001] Odometry x=-0.031958, y=0.901492, theta=-0.312532 +[21:00:37.007] After Reprojection Map nMatches:81 ,distance between ekf and vo x:0.001753 ,z=0.002239,angle between two frames:0.000261 +[21:00:37.007] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =66 error init =0.002109 error end=0.000692 +[21:00:37.007] After pose optimization, distance between ekf and vo x:0.001753 ,z=0.002239,angle between two frames:0.000261 +[21:00:37.007] Update EKF and 3D points the number of feature in the new frame: 66 and number of obs: 66 +[21:00:37.007] frame Scene Depth mean:1.322464 ,depth min:0.053352 +[21:00:37.008] need key frame pitch dis: 0.007257 translation dif:0.016513 +[21:00:37.008] frame process finished the id is: 114 the obs is:62 +[21:00:37.212] After Reprojection Map nMatches:69 ,distance between ekf and vo x:0.001286 ,z=0.001019,angle between two frames:0.000196 +[21:00:37.212] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =66 error init =0.005525 error end=0.004814 +[21:00:37.212] After pose optimization, distance between ekf and vo x:0.000609 ,z=0.000617,angle between two frames:0.000738 +[21:00:37.212] Update EKF and 3D points the number of feature in the new frame: 66 and number of obs: 66 +[21:00:37.212] frame Scene Depth mean:1.479726 ,depth min:0.057655 +[21:00:37.213] need key frame pitch dis: 0.302299 translation dif:0.020414 +[21:00:37.213] Choose frame as a key frame Scene Depth mean:1.479726 ,depth min:0.057655 +[21:00:37.213] frame process finished the id is: 115 the obs is:66 +[21:00:37.220] Odometry x=-0.027454, y=0.915026, theta=-0.306145 +[21:00:37.424] After Reprojection Map nMatches:62 ,distance between ekf and vo x:0.000956 ,z=0.001456,angle between two frames:0.000148 +[21:00:37.424] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =52 error init =0.042933 error end=0.011202 +[21:00:37.424] After pose optimization, distance between ekf and vo x:-0.010674 ,z=-0.012030,angle between two frames:0.000989 +[21:00:37.424] Update EKF and 3D points the number of feature in the new frame: 52 and number of obs: 52 +[21:00:37.424] frame Scene Depth mean:1.873315 ,depth min:0.053558 +[21:00:37.425] need key frame pitch dis: 0.301995 translation dif:0.919575 +[21:00:37.425] Choose frame as a key frame Scene Depth mean:1.873315 ,depth min:0.053558 +[21:00:37.425] frame process finished the id is: 116 the obs is:52 +[21:00:37.439] Odometry x=-0.027889, y=0.919152, theta=-0.301995 +[21:00:37.669] After Reprojection Map nMatches:85 ,distance between ekf and vo x:0.000952 ,z=0.001582,angle between two frames:0.000143 +[21:00:37.669] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =58 error init =0.045766 error end=0.066091 +[21:00:37.669] After pose optimization, distance between ekf and vo x:0.025215 ,z=0.050097,angle between two frames:0.002329 +[21:00:37.669] Update EKF and 3D points the number of feature in the new frame: 58 and number of obs: 58 +[21:00:37.669] frame Scene Depth mean:2.017961 ,depth min:0.068612 +[21:00:37.670] need key frame pitch dis: 0.008874 translation dif:0.027393 +[21:00:37.670] frame process finished the id is: 117 the obs is:52 +[21:00:37.684] Odometry x=-0.017234, y=0.940441, theta=-0.297271 +[21:00:37.922] After Reprojection Map nMatches:102 ,distance between ekf and vo x:0.001377 ,z=0.001891,angle between two frames:0.000250 +[21:00:37.923] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =94 error init =0.021202 error end=0.001293 +[21:00:37.923] After pose optimization, distance between ekf and vo x:0.001369 ,z=0.001861,angle between two frames:0.000249 +[21:00:37.923] Update EKF and 3D points the number of feature in the new frame: 94 and number of obs: 94 +[21:00:37.923] frame Scene Depth mean:1.535962 ,depth min:0.061391 +[21:00:37.924] need key frame pitch dis: 0.013296 translation dif:0.032203 +[21:00:37.924] frame process finished the id is: 118 the obs is:94 +[21:00:37.976] Odometry x=-0.014592, y=0.948481, theta=-0.288699 +[21:00:38.193] Odometry x=-0.011050, y=0.958289, theta=-0.282217 +[21:00:38.205] After Reprojection Map nMatches:97 ,distance between ekf and vo x:0.001872 ,z=0.001663,angle between two frames:0.000321 +[21:00:38.205] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =88 error init =0.004490 error end=0.001570 +[21:00:38.205] After pose optimization, distance between ekf and vo x:0.001872 ,z=0.001663,angle between two frames:0.000321 +[21:00:38.205] Update EKF and 3D points the number of feature in the new frame: 88 and number of obs: 88 +[21:00:38.205] frame Scene Depth mean:2.049339 ,depth min:0.055821 +[21:00:38.206] need key frame pitch dis: 0.022618 translation dif:0.066793 +[21:00:38.206] frame process finished the id is: 119 the obs is:85 +[21:00:38.455] After Reprojection Map nMatches:112 ,distance between ekf and vo x:0.001505 ,z=0.001781,angle between two frames:0.000255 +[21:00:38.456] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =108 error init =0.050352 error end=0.002442 +[21:00:38.456] After pose optimization, distance between ekf and vo x:0.001510 ,z=0.000645,angle between two frames:0.000250 +[21:00:38.456] Update EKF and 3D points the number of feature in the new frame: 108 and number of obs: 108 +[21:00:38.456] frame Scene Depth mean:2.006231 ,depth min:0.053458 +[21:00:38.457] need key frame pitch dis: 0.019240 translation dif:0.065153 +[21:00:38.457] frame process finished the id is: 120 the obs is:108 +[21:00:38.479] Odometry x=-0.005494, y=0.980335, theta=-0.282755 +[21:00:38.708] After Reprojection Map nMatches:139 ,distance between ekf and vo x:0.000751 ,z=0.000816,angle between two frames:0.000139 +[21:00:38.708] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =138 error init =0.000747 error end=0.000478 +[21:00:38.708] After pose optimization, distance between ekf and vo x:0.000068 ,z=-0.001240,angle between two frames:0.000060 +[21:00:38.708] Update EKF and 3D points the number of feature in the new frame: 138 and number of obs: 138 +[21:00:38.709] frame Scene Depth mean:1.923949 ,depth min:0.092701 +[21:00:38.710] need key frame pitch dis: 0.009863 translation dif:0.076304 +[21:00:38.710] frame process finished the id is: 121 the obs is:136 +[21:00:38.712] Odometry x=-0.003705, y=0.991522, theta=-0.292132 +[21:00:38.956] After Reprojection Map nMatches:116 ,distance between ekf and vo x:0.000678 ,z=0.000917,angle between two frames:0.000126 +[21:00:38.957] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =116 error init =0.000605 error end=0.000194 +[21:00:38.957] After pose optimization, distance between ekf and vo x:0.000692 ,z=0.000659,angle between two frames:0.000130 +[21:00:38.957] Update EKF and 3D points the number of feature in the new frame: 116 and number of obs: 116 +[21:00:38.957] frame Scene Depth mean:1.962836 ,depth min:0.093469 +[21:00:38.958] need key frame pitch dis: 0.008680 translation dif:0.087957 +[21:00:38.958] frame process finished the id is: 122 the obs is:116 +[21:00:39.014] Odometry x=-0.001694, y=0.999126, theta=-0.297465 +[21:00:39.157] After Reprojection Map nMatches:121 ,distance between ekf and vo x:0.000517 ,z=0.000173,angle between two frames:0.000102 +[21:00:39.158] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =107 error init =0.052936 error end=0.002593 +[21:00:39.158] After pose optimization, distance between ekf and vo x:0.000452 ,z=0.000269,angle between two frames:0.000092 +[21:00:39.158] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107 +[21:00:39.158] frame Scene Depth mean:1.934967 ,depth min:0.088231 +[21:00:39.159] need key frame pitch dis: 0.009489 translation dif:0.091460 +[21:00:39.159] frame process finished the id is: 123 the obs is:107 +[21:00:39.176] Odometry x=0.000494, y=1.006097, theta=-0.311484 +[21:00:39.335] After Reprojection Map nMatches:130 ,distance between ekf and vo x:0.001642 ,z=0.002040,angle between two frames:0.000099 +[21:00:39.335] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =113 error init =0.018494 error end=0.011456 +[21:00:39.335] After pose optimization, distance between ekf and vo x:0.001642 ,z=0.002040,angle between two frames:0.000099 +[21:00:39.335] Update EKF and 3D points the number of feature in the new frame: 113 and number of obs: 113 +[21:00:39.335] frame Scene Depth mean:1.463046 ,depth min:0.081570 +[21:00:39.336] need key frame pitch dis: 0.004282 translation dif:0.099631 +[21:00:39.336] frame process finished the id is: 124 the obs is:113 +[21:00:39.432] Odometry x=0.003350, y=1.013759, theta=-0.306277 +[21:00:39.483] After Reprojection Map nMatches:128 ,distance between ekf and vo x:0.000177 ,z=0.000460,angle between two frames:0.000186 +[21:00:39.484] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =120 error init =0.012677 error end=0.020708 +[21:00:39.484] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000460,angle between two frames:0.000186 +[21:00:39.484] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120 +[21:00:39.484] frame Scene Depth mean:1.561805 ,depth min:0.108203 +[21:00:39.485] need key frame pitch dis: 0.004270 translation dif:0.128239 +[21:00:39.485] Choose frame as a key frame Scene Depth mean:1.561805 ,depth min:0.108203 +[21:00:39.485] frame process finished the id is: 125 the obs is:120 +[21:00:39.648] After Reprojection Map nMatches:112 ,distance between ekf and vo x:0.000490 ,z=0.000039,angle between two frames:0.000689 +[21:00:39.648] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =103 error init =0.012566 error end=0.002693 +[21:00:39.648] After pose optimization, distance between ekf and vo x:-0.005193 ,z=-0.022739,angle between two frames:0.001702 +[21:00:39.648] Update EKF and 3D points the number of feature in the new frame: 103 and number of obs: 103 +[21:00:39.648] frame Scene Depth mean:1.596131 ,depth min:0.111887 +[21:00:39.650] need key frame pitch dis: 0.006693 translation dif:0.106633 +[21:00:39.650] Choose frame as a key frame Scene Depth mean:1.596131 ,depth min:0.111887 +[21:00:39.650] frame process finished the id is: 126 the obs is:103 +[21:00:39.719] Odometry x=0.006400, y=1.016142, theta=-0.299452 +[21:00:39.811] After Reprojection Map nMatches:136 ,distance between ekf and vo x:0.000178 ,z=-0.000126,angle between two frames:0.000019 +[21:00:39.812] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =133 error init =0.002265 error end=0.000424 +[21:00:39.812] After pose optimization, distance between ekf and vo x:0.000162 ,z=0.000123,angle between two frames:0.000027 +[21:00:39.812] Update EKF and 3D points the number of feature in the new frame: 133 and number of obs: 133 +[21:00:39.812] frame Scene Depth mean:1.532159 ,depth min:0.105280 +[21:00:39.814] need key frame pitch dis: 0.014049 translation dif:0.003180 +[21:00:39.814] frame process finished the id is: 127 the obs is:133 +[21:00:39.945] Odometry x=0.008481, y=1.022993, theta=-0.286875 +[21:00:40.006] After Reprojection Map nMatches:149 ,distance between ekf and vo x:0.000218 ,z=-0.000190,angle between two frames:0.000030 +[21:00:40.007] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =149 error init =0.000860 error end=0.000666 +[21:00:40.007] After pose optimization, distance between ekf and vo x:0.000218 ,z=-0.000190,angle between two frames:0.000030 +[21:00:40.007] Update EKF and 3D points the number of feature in the new frame: 149 and number of obs: 149 +[21:00:40.007] frame Scene Depth mean:1.470875 ,depth min:0.060881 +[21:00:40.009] need key frame pitch dis: 0.009214 translation dif:0.010774 +[21:00:40.009] frame process finished the id is: 128 the obs is:149 +[21:00:40.194] After Reprojection Map nMatches:155 ,distance between ekf and vo x:0.000216 ,z=-0.000027,angle between two frames:0.000031 +[21:00:40.195] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =147 error init =0.000383 error end=0.000464 +[21:00:40.195] After pose optimization, distance between ekf and vo x:0.000221 ,z=-0.000230,angle between two frames:0.000028 +[21:00:40.195] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147 +[21:00:40.195] frame Scene Depth mean:1.344866 ,depth min:0.097845 +[21:00:40.196] need key frame pitch dis: 0.007160 translation dif:0.012648 +[21:00:40.196] frame process finished the id is: 129 the obs is:147 +[21:00:40.197] Odometry x=0.011301, y=1.032098, theta=-0.293763 +[21:00:40.393] After Reprojection Map nMatches:146 ,distance between ekf and vo x:0.000146 ,z=-0.000065,angle between two frames:0.000025 +[21:00:40.393] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =138 error init =0.006628 error end=0.004700 +[21:00:40.393] After pose optimization, distance between ekf and vo x:0.000146 ,z=-0.000065,angle between two frames:0.000025 +[21:00:40.393] Update EKF and 3D points the number of feature in the new frame: 138 and number of obs: 138 +[21:00:40.393] frame Scene Depth mean:1.332952 ,depth min:0.092740 +[21:00:40.395] need key frame pitch dis: 0.007191 translation dif:0.019927 +[21:00:40.395] frame process finished the id is: 130 the obs is:138 +[21:00:40.436] Odometry x=0.013351, y=1.039096, theta=-0.308114 +[21:00:40.589] After Reprojection Map nMatches:151 ,distance between ekf and vo x:0.000199 ,z=-0.000045,angle between two frames:0.000023 +[21:00:40.589] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =127 error init =0.045285 error end=0.004686 +[21:00:40.589] After pose optimization, distance between ekf and vo x:-0.000908 ,z=-0.004591,angle between two frames:0.000186 +[21:00:40.589] Update EKF and 3D points the number of feature in the new frame: 127 and number of obs: 127 +[21:00:40.590] frame Scene Depth mean:1.591065 ,depth min:0.170971 +[21:00:40.590] need key frame pitch dis: 0.023374 translation dif:0.026201 +[21:00:40.590] frame process finished the id is: 131 the obs is:127 +[21:00:40.691] Odometry x=0.014993, y=1.045162, theta=-0.324297 +[21:00:40.799] After Reprojection Map nMatches:143 ,distance between ekf and vo x:0.000506 ,z=-0.000088,angle between two frames:0.000069 +[21:00:40.800] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =142 error init =0.000929 error end=0.000248 +[21:00:40.800] After pose optimization, distance between ekf and vo x:0.000500 ,z=-0.000332,angle between two frames:0.000066 +[21:00:40.800] Update EKF and 3D points the number of feature in the new frame: 142 and number of obs: 142 +[21:00:40.800] frame Scene Depth mean:1.734654 ,depth min:0.071076 +[21:00:40.802] need key frame pitch dis: 0.030778 translation dif:0.033561 +[21:00:40.802] frame process finished the id is: 132 the obs is:142 +[21:00:40.981] Odometry x=0.017347, y=1.052136, theta=-0.331701 +[21:00:40.988] After Reprojection Map nMatches:164 ,distance between ekf and vo x:0.000114 ,z=-0.000167,angle between two frames:0.000012 +[21:00:40.989] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =148 error init =0.020818 error end=0.014401 +[21:00:40.989] After pose optimization, distance between ekf and vo x:0.000114 ,z=-0.000167,angle between two frames:0.000012 +[21:00:40.989] Update EKF and 3D points the number of feature in the new frame: 148 and number of obs: 148 +[21:00:40.989] frame Scene Depth mean:1.467095 ,depth min:0.055314 +[21:00:40.991] need key frame pitch dis: 0.030783 translation dif:0.053768 +[21:00:40.991] frame process finished the id is: 133 the obs is:148 +[21:00:41.181] After Reprojection Map nMatches:168 ,distance between ekf and vo x:0.000280 ,z=0.000022,angle between two frames:0.000016 +[21:00:41.182] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =136 error init =0.024556 error end=0.017981 +[21:00:41.182] After pose optimization, distance between ekf and vo x:-0.006788 ,z=-0.025239,angle between two frames:0.000725 +[21:00:41.182] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136 +[21:00:41.183] frame Scene Depth mean:1.296092 ,depth min:0.155418 +[21:00:41.184] need key frame pitch dis: 0.042412 translation dif:0.054064 +[21:00:41.184] frame process finished the id is: 134 the obs is:136 +[21:00:41.214] Odometry x=0.025153, y=1.066850, theta=-0.341865 +[21:00:41.358] After Reprojection Map nMatches:145 ,distance between ekf and vo x:-0.000157 ,z=-0.000437,angle between two frames:0.000011 +[21:00:41.359] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =127 error init =0.069318 error end=0.020447 +[21:00:41.359] After pose optimization, distance between ekf and vo x:0.029813 ,z=-0.047689,angle between two frames:0.008788 +[21:00:41.359] Update EKF and 3D points the number of feature in the new frame: 127 and number of obs: 127 +[21:00:41.359] frame Scene Depth mean:1.180306 ,depth min:0.197042 +[21:00:41.361] need key frame pitch dis: 0.039641 translation dif:0.050498 +[21:00:41.361] frame process finished the id is: 135 the obs is:127 +[21:00:41.443] Odometry x=0.034962, y=1.062213, theta=-0.340564 +[21:00:41.543] After Reprojection Map nMatches:152 ,distance between ekf and vo x:-0.000096 ,z=-0.000415,angle between two frames:0.000002 +[21:00:41.544] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =136 error init =0.043120 error end=0.005585 +[21:00:41.544] After pose optimization, distance between ekf and vo x:-0.010141 ,z=-0.033587,angle between two frames:0.002126 +[21:00:41.544] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136 +[21:00:41.544] frame Scene Depth mean:1.393918 ,depth min:0.190213 +[21:00:41.546] need key frame pitch dis: 0.045058 translation dif:0.049683 +[21:00:41.546] frame process finished the id is: 136 the obs is:136 +[21:00:41.675] Odometry x=0.034988, y=1.061210, theta=-0.345982 +[21:00:41.720] After Reprojection Map nMatches:165 ,distance between ekf and vo x:-0.000140 ,z=-0.000430,angle between two frames:0.000013 +[21:00:41.721] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =157 error init =0.013786 error end=0.008605 +[21:00:41.721] After pose optimization, distance between ekf and vo x:-0.000362 ,z=-0.052652,angle between two frames:0.000332 +[21:00:41.721] Update EKF and 3D points the number of feature in the new frame: 157 and number of obs: 157 +[21:00:41.721] frame Scene Depth mean:1.346953 ,depth min:0.196759 +[21:00:41.723] need key frame pitch dis: 0.050842 translation dif:0.046717 +[21:00:41.723] frame process finished the id is: 137 the obs is:157 +[21:00:41.900] After Reprojection Map nMatches:171 ,distance between ekf and vo x:-0.000190 ,z=-0.000455,angle between two frames:0.000018 +[21:00:41.901] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =159 error init =0.024127 error end=0.003502 +[21:00:41.901] After pose optimization, distance between ekf and vo x:-0.000740 ,z=-0.006514,angle between two frames:0.000156 +[21:00:41.901] Update EKF and 3D points the number of feature in the new frame: 159 and number of obs: 159 +[21:00:41.901] frame Scene Depth mean:1.251286 ,depth min:0.149324 +[21:00:41.903] need key frame pitch dis: 0.053491 translation dif:0.054919 +[21:00:41.903] frame process finished the id is: 138 the obs is:159 +[21:00:41.941] Odometry x=0.038101, y=1.065424, theta=-0.354415 +[21:00:42.053] After Reprojection Map nMatches:180 ,distance between ekf and vo x:-0.000151 ,z=-0.000368,angle between two frames:0.000013 +[21:00:42.054] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =180 error init =0.001256 error end=0.001005 +[21:00:42.054] After pose optimization, distance between ekf and vo x:0.000044 ,z=-0.006289,angle between two frames:0.000055 +[21:00:42.054] Update EKF and 3D points the number of feature in the new frame: 180 and number of obs: 180 +[21:00:42.055] frame Scene Depth mean:1.123871 ,depth min:0.181871 +[21:00:42.056] need key frame pitch dis: 0.054236 translation dif:0.061932 +[21:00:42.056] frame process finished the id is: 139 the obs is:180 +[21:00:42.196] Odometry x=0.039990, y=1.072582, theta=-0.355160 +[21:00:42.221] After Reprojection Map nMatches:176 ,distance between ekf and vo x:-0.000197 ,z=-0.000418,angle between two frames:0.000020 +[21:00:42.222] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =152 error init =0.032921 error end=0.016038 +[21:00:42.222] After pose optimization, distance between ekf and vo x:-0.000197 ,z=-0.000418,angle between two frames:0.000020 +[21:00:42.222] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152 +[21:00:42.222] frame Scene Depth mean:1.097602 ,depth min:0.176138 +[21:00:42.223] need key frame pitch dis: 0.057986 translation dif:0.069797 +[21:00:42.223] frame process finished the id is: 140 the obs is:152 +[21:00:42.404] After Reprojection Map nMatches:204 ,distance between ekf and vo x:-0.000240 ,z=-0.000559,angle between two frames:0.000014 +[21:00:42.405] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =188 error init =0.009590 error end=0.002795 +[21:00:42.405] After pose optimization, distance between ekf and vo x:0.001325 ,z=-0.001804,angle between two frames:0.000176 +[21:00:42.405] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188 +[21:00:42.405] frame Scene Depth mean:1.026540 ,depth min:0.101099 +[21:00:42.407] need key frame pitch dis: 0.059497 translation dif:0.071640 +[21:00:42.407] frame process finished the id is: 141 the obs is:188 +[21:00:42.448] Odometry x=0.043903, y=1.081576, theta=-0.360420 +[21:00:42.565] After Reprojection Map nMatches:198 ,distance between ekf and vo x:-0.000398 ,z=-0.000976,angle between two frames:0.000011 +[21:00:42.566] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =186 error init =0.030536 error end=0.003568 +[21:00:42.566] After pose optimization, distance between ekf and vo x:-0.000431 ,z=-0.001961,angle between two frames:0.000059 +[21:00:42.566] Update EKF and 3D points the number of feature in the new frame: 186 and number of obs: 186 +[21:00:42.566] frame Scene Depth mean:0.857990 ,depth min:0.096558 +[21:00:42.568] need key frame pitch dis: 0.065444 translation dif:0.079105 +[21:00:42.568] frame process finished the id is: 142 the obs is:186 +[21:00:42.670] Odometry x=0.047471, y=1.088142, theta=-0.366367 +[21:00:42.750] After Reprojection Map nMatches:184 ,distance between ekf and vo x:-0.000690 ,z=-0.001610,angle between two frames:0.000015 +[21:00:42.752] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =176 error init =0.003825 error end=0.002261 +[21:00:42.752] After pose optimization, distance between ekf and vo x:-0.000700 ,z=-0.003615,angle between two frames:0.000028 +[21:00:42.752] Update EKF and 3D points the number of feature in the new frame: 176 and number of obs: 176 +[21:00:42.752] frame Scene Depth mean:0.745042 ,depth min:0.093900 +[21:00:42.753] need key frame pitch dis: 0.066300 translation dif:0.084644 +[21:00:42.753] frame process finished the id is: 143 the obs is:176 +[21:00:42.924] After Reprojection Map nMatches:196 ,distance between ekf and vo x:-0.000416 ,z=-0.000983,angle between two frames:0.000020 +[21:00:42.925] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =188 error init =0.014065 error end=0.002094 +[21:00:42.925] After pose optimization, distance between ekf and vo x:-0.037920 ,z=-0.061129,angle between two frames:0.014164 +[21:00:42.925] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188 +[21:00:42.925] frame Scene Depth mean:0.918443 ,depth min:0.250145 +[21:00:42.927] need key frame pitch dis: 0.072652 translation dif:0.069145 +[21:00:42.927] frame process finished the id is: 144 the obs is:188 +[21:00:43.034] Odometry x=0.042784, y=1.079337, theta=-0.373575 +[21:00:43.098] After Reprojection Map nMatches:175 ,distance between ekf and vo x:-0.000440 ,z=-0.000976,angle between two frames:0.000016 +[21:00:43.098] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =167 error init =0.012290 error end=0.000986 +[21:00:43.098] After pose optimization, distance between ekf and vo x:-0.000440 ,z=-0.000976,angle between two frames:0.000016 +[21:00:43.098] Update EKF and 3D points the number of feature in the new frame: 167 and number of obs: 167 +[21:00:43.098] frame Scene Depth mean:0.831773 ,depth min:0.104300 +[21:00:43.100] need key frame pitch dis: 0.068296 translation dif:0.080481 +[21:00:43.100] frame process finished the id is: 145 the obs is:167 +[21:00:43.208] Odometry x=0.045648, y=1.086405, theta=-0.367748 +[21:00:43.271] After Reprojection Map nMatches:176 ,distance between ekf and vo x:-0.000537 ,z=-0.001247,angle between two frames:0.000017 +[21:00:43.273] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =168 error init =0.003610 error end=0.001375 +[21:00:43.273] After pose optimization, distance between ekf and vo x:-0.001124 ,z=-0.000573,angle between two frames:0.001439 +[21:00:43.273] Update EKF and 3D points the number of feature in the new frame: 168 and number of obs: 168 +[21:00:43.273] frame Scene Depth mean:0.866374 ,depth min:0.098576 +[21:00:43.274] need key frame pitch dis: 0.065193 translation dif:0.084582 +[21:00:43.274] frame process finished the id is: 146 the obs is:168 +[21:00:43.440] After Reprojection Map nMatches:184 ,distance between ekf and vo x:-0.000406 ,z=-0.000973,angle between two frames:0.000020 +[21:00:43.441] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =174 error init =0.001486 error end=0.001002 +[21:00:43.441] After pose optimization, distance between ekf and vo x:-0.000347 ,z=-0.001045,angle between two frames:0.000004 +[21:00:43.441] Update EKF and 3D points the number of feature in the new frame: 174 and number of obs: 174 +[21:00:43.442] frame Scene Depth mean:0.799926 ,depth min:0.097286 +[21:00:43.443] need key frame pitch dis: 0.063889 translation dif:0.086522 +[21:00:43.443] frame process finished the id is: 147 the obs is:174 +[21:00:43.445] Odometry x=0.049761, y=1.095393, theta=-0.364812 +[21:00:43.607] After Reprojection Map nMatches:184 ,distance between ekf and vo x:-0.000443 ,z=-0.001054,angle between two frames:0.000018 +[21:00:43.608] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =173 error init =0.003605 error end=0.001267 +[21:00:43.608] After pose optimization, distance between ekf and vo x:-0.000796 ,z=-0.002335,angle between two frames:0.000222 +[21:00:43.608] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173 +[21:00:43.608] frame Scene Depth mean:0.755411 ,depth min:0.091943 +[21:00:43.610] need key frame pitch dis: 0.072097 translation dif:0.094060 +[21:00:43.610] frame process finished the id is: 148 the obs is:173 +[21:00:43.683] Odometry x=0.052226, y=1.102653, theta=-0.373020 +[21:00:43.779] After Reprojection Map nMatches:216 ,distance between ekf and vo x:-0.000353 ,z=-0.000854,angle between two frames:0.000008 +[21:00:43.780] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =176 error init =0.022161 error end=0.016480 +[21:00:43.780] After pose optimization, distance between ekf and vo x:-0.000575 ,z=-0.095589,angle between two frames:0.001554 +[21:00:43.780] Update EKF and 3D points the number of feature in the new frame: 176 and number of obs: 176 +[21:00:43.780] frame Scene Depth mean:0.833238 ,depth min:0.107687 +[21:00:43.782] need key frame pitch dis: 0.069578 translation dif:0.082030 +[21:00:43.782] frame process finished the id is: 149 the obs is:176 +[21:00:43.936] Odometry x=0.055110, y=1.086596, theta=-0.370501 +[21:00:43.969] After Reprojection Map nMatches:167 ,distance between ekf and vo x:0.000085 ,z=-0.000766,angle between two frames:0.000104 +[21:00:43.970] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =153 error init =0.019740 error end=0.010157 +[21:00:43.970] After pose optimization, distance between ekf and vo x:0.000085 ,z=-0.000766,angle between two frames:0.000104 +[21:00:43.970] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153 +[21:00:43.970] frame Scene Depth mean:0.728922 ,depth min:0.234869 +[21:00:43.971] need key frame pitch dis: 0.068546 translation dif:0.089824 +[21:00:43.971] frame process finished the id is: 150 the obs is:153 +[21:00:44.155] After Reprojection Map nMatches:144 ,distance between ekf and vo x:-0.000554 ,z=-0.001532,angle between two frames:0.000197 +[21:00:44.156] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =132 error init =0.007304 error end=0.004147 +[21:00:44.156] After pose optimization, distance between ekf and vo x:-0.000554 ,z=-0.001532,angle between two frames:0.000197 +[21:00:44.156] Update EKF and 3D points the number of feature in the new frame: 132 and number of obs: 132 +[21:00:44.156] frame Scene Depth mean:0.759615 ,depth min:0.259899 +[21:00:44.157] need key frame pitch dis: 0.068236 translation dif:0.091504 +[21:00:44.157] frame process finished the id is: 151 the obs is:132 +[21:00:44.191] Odometry x=0.058694, y=1.095664, theta=-0.369159 +[21:00:44.305] After Reprojection Map nMatches:161 ,distance between ekf and vo x:-0.000417 ,z=-0.000978,angle between two frames:0.000011 +[21:00:44.305] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =148 error init =0.011076 error end=0.013041 +[21:00:44.305] After pose optimization, distance between ekf and vo x:-0.000417 ,z=-0.000978,angle between two frames:0.000011 +[21:00:44.305] Update EKF and 3D points the number of feature in the new frame: 148 and number of obs: 148 +[21:00:44.305] frame Scene Depth mean:0.850439 ,depth min:0.253969 +[21:00:44.307] need key frame pitch dis: 0.067197 translation dif:0.099477 +[21:00:44.307] frame process finished the id is: 152 the obs is:148 +[21:00:44.446] Odometry x=0.061815, y=1.103176, theta=-0.368120 +[21:00:44.452] After Reprojection Map nMatches:139 ,distance between ekf and vo x:-0.000410 ,z=-0.000974,angle between two frames:0.000009 +[21:00:44.452] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =115 error init =0.021933 error end=0.012265 +[21:00:44.452] After pose optimization, distance between ekf and vo x:-0.000410 ,z=-0.000974,angle between two frames:0.000009 +[21:00:44.452] Update EKF and 3D points the number of feature in the new frame: 115 and number of obs: 115 +[21:00:44.452] frame Scene Depth mean:0.895268 ,depth min:0.238029 +[21:00:44.453] need key frame pitch dis: 0.068670 translation dif:0.124517 +[21:00:44.453] Choose frame as a key frame Scene Depth mean:0.895268 ,depth min:0.238029 +[21:00:44.453] frame process finished the id is: 153 the obs is:115 +[21:00:44.613] After Reprojection Map nMatches:165 ,distance between ekf and vo x:-0.000518 ,z=-0.001201,angle between two frames:0.000015 +[21:00:44.614] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =150 error init =0.042148 error end=0.010569 +[21:00:44.614] After pose optimization, distance between ekf and vo x:-0.011189 ,z=-0.016241,angle between two frames:0.007989 +[21:00:44.614] Update EKF and 3D points the number of feature in the new frame: 150 and number of obs: 150 +[21:00:44.614] frame Scene Depth mean:0.948950 ,depth min:0.239745 +[21:00:44.615] need key frame pitch dis: 0.078457 translation dif:0.118561 +[21:00:44.615] Choose frame as a key frame Scene Depth mean:0.948950 ,depth min:0.239745 +[21:00:44.615] frame process finished the id is: 154 the obs is:150 +[21:00:44.677] Odometry x=0.067568, y=1.122095, theta=-0.379381 +[21:00:44.797] After Reprojection Map nMatches:157 ,distance between ekf and vo x:-0.000526 ,z=-0.001196,angle between two frames:0.000019 +[21:00:44.798] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =149 error init =0.000803 error end=0.006765 +[21:00:44.798] After pose optimization, distance between ekf and vo x:-0.000575 ,z=-0.006133,angle between two frames:0.001491 +[21:00:44.798] Update EKF and 3D points the number of feature in the new frame: 149 and number of obs: 149 +[21:00:44.799] frame Scene Depth mean:0.844437 ,depth min:0.236513 +[21:00:44.801] need key frame pitch dis: 0.015051 translation dif:0.003429 +[21:00:44.801] frame process finished the id is: 155 the obs is:149 +[21:00:44.990] After Reprojection Map nMatches:164 ,distance between ekf and vo x:-0.000508 ,z=-0.001129,angle between two frames:0.000017 +[21:00:44.991] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =140 error init =0.004017 error end=0.005154 +[21:00:44.991] After pose optimization, distance between ekf and vo x:-0.001613 ,z=0.009614,angle between two frames:0.013146 +[21:00:44.991] Update EKF and 3D points the number of feature in the new frame: 140 and number of obs: 140 +[21:00:44.991] frame Scene Depth mean:0.829686 ,depth min:0.232695 +[21:00:44.993] need key frame pitch dis: 0.010347 translation dif:0.010041 +[21:00:44.993] frame process finished the id is: 156 the obs is:140 +[21:00:45.013] Odometry x=0.069784, y=1.131889, theta=-0.389728 +[21:00:45.188] After Reprojection Map nMatches:174 ,distance between ekf and vo x:-0.000476 ,z=-0.000981,angle between two frames:0.000019 +[21:00:45.189] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =165 error init =0.006660 error end=0.005085 +[21:00:45.189] After pose optimization, distance between ekf and vo x:-0.024805 ,z=-0.043596,angle between two frames:0.016294 +[21:00:45.189] Update EKF and 3D points the number of feature in the new frame: 165 and number of obs: 165 +[21:00:45.189] frame Scene Depth mean:1.006557 ,depth min:0.256170 +[21:00:45.189] Odometry x=0.066760, y=1.129498, theta=-0.394992 +[21:00:45.191] need key frame pitch dis: 0.015611 translation dif:0.007447 +[21:00:45.191] frame process finished the id is: 157 the obs is:165 +[21:00:45.384] After Reprojection Map nMatches:204 ,distance between ekf and vo x:-0.000521 ,z=-0.001086,angle between two frames:0.000013 +[21:00:45.384] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =188 error init =0.006363 error end=0.005015 +[21:00:45.384] After pose optimization, distance between ekf and vo x:-0.000521 ,z=-0.001086,angle between two frames:0.000013 +[21:00:45.384] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188 +[21:00:45.384] frame Scene Depth mean:1.092779 ,depth min:0.248935 +[21:00:45.387] need key frame pitch dis: 0.025497 translation dif:0.015438 +[21:00:45.387] frame process finished the id is: 158 the obs is:188 +[21:00:45.437] Odometry x=0.070579, y=1.138827, theta=-0.393619 +[21:00:45.576] After Reprojection Map nMatches:184 ,distance between ekf and vo x:-0.000607 ,z=-0.001229,angle between two frames:0.000011 +[21:00:45.578] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =148 error init =0.015785 error end=0.017897 +[21:00:45.578] After pose optimization, distance between ekf and vo x:0.032073 ,z=-0.124413,angle between two frames:0.026714 +[21:00:45.578] Update EKF and 3D points the number of feature in the new frame: 148 and number of obs: 148 +[21:00:45.578] frame Scene Depth mean:1.208383 ,depth min:0.266456 +[21:00:45.579] need key frame pitch dis: 0.030567 translation dif:0.017557 +[21:00:45.579] frame process finished the id is: 159 the obs is:148 +[21:00:45.712] Odometry x=0.086441, y=1.118407, theta=-0.337555 +[21:00:45.768] After Reprojection Map nMatches:161 ,distance between ekf and vo x:-0.000451 ,z=-0.001327,angle between two frames:0.000006 +[21:00:45.768] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =125 error init =0.014652 error end=0.022945 +[21:00:45.768] After pose optimization, distance between ekf and vo x:-0.000451 ,z=-0.001327,angle between two frames:0.000006 +[21:00:45.768] Update EKF and 3D points the number of feature in the new frame: 125 and number of obs: 125 +[21:00:45.768] frame Scene Depth mean:1.820094 ,depth min:0.260076 +[21:00:45.769] need key frame pitch dis: 0.034884 translation dif:0.133851 +[21:00:45.769] Choose frame as a key frame Scene Depth mean:1.820094 ,depth min:0.260076 +[21:00:45.769] frame process finished the id is: 160 the obs is:125 +[21:00:45.938] Odometry x=0.089072, y=1.125884, theta=-0.335807 +[21:00:45.975] After Reprojection Map nMatches:128 ,distance between ekf and vo x:-0.000340 ,z=-0.001077,angle between two frames:0.000001 +[21:00:45.976] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =114 error init =0.036372 error end=0.009495 +[21:00:45.976] After pose optimization, distance between ekf and vo x:-0.000340 ,z=-0.001077,angle between two frames:0.000001 +[21:00:45.976] Update EKF and 3D points the number of feature in the new frame: 114 and number of obs: 114 +[21:00:45.976] frame Scene Depth mean:1.810335 ,depth min:0.253130 +[21:00:45.977] need key frame pitch dis: 0.029594 translation dif:0.141491 +[21:00:45.977] Choose frame as a key frame Scene Depth mean:1.810335 ,depth min:0.253130 +[21:00:45.977] frame process finished the id is: 161 the obs is:114 +[21:00:46.187] Odometry x=0.091799, y=1.133416, theta=-0.330517 +[21:00:46.211] After Reprojection Map nMatches:136 ,distance between ekf and vo x:-0.000031 ,z=-0.001001,angle between two frames:0.000029 +[21:00:46.211] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =132 error init =0.010201 error end=0.001013 +[21:00:46.211] After pose optimization, distance between ekf and vo x:-0.000031 ,z=-0.001001,angle between two frames:0.000029 +[21:00:46.211] Update EKF and 3D points the number of feature in the new frame: 132 and number of obs: 132 +[21:00:46.211] frame Scene Depth mean:2.105158 ,depth min:0.059671 +[21:00:46.213] need key frame pitch dis: 0.005297 translation dif:0.030054 +[21:00:46.213] frame process finished the id is: 162 the obs is:132 +[21:00:46.447] Odometry x=0.100080, y=1.156963, theta=-0.314330 +[21:00:46.482] After Reprojection Map nMatches:105 ,distance between ekf and vo x:-0.683187 ,z=-0.142610,angle between two frames:0.496250 +[21:00:46.482] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =79 error init =0.100097 error end=0.006600 +[21:00:46.482] After pose optimization, distance between ekf and vo x:1.864901 ,z=-6.313891,angle between two frames:0.430551 +[21:00:46.482] frame process finished the id is: 162 the obs is:132 +[21:00:46.698] Odometry x=0.104644, y=1.170265, theta=-0.251307 +[21:00:46.742] After Reprojection Map nMatches:110 ,distance between ekf and vo x:-0.681676 ,z=-0.153645,angle between two frames:0.498089 +[21:00:46.742] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =91 error init =0.057686 error end=0.021576 +[21:00:46.742] After pose optimization, distance between ekf and vo x:-0.610251 ,z=-3.625255,angle between two frames:0.362719 +[21:00:46.742] frame process finished the id is: 162 the obs is:132 +[21:00:46.977] Odometry x=0.108242, y=1.184426, theta=-0.237434 +[21:00:47.014] After Reprojection Map nMatches:115 ,distance between ekf and vo x:-0.949440 ,z=-0.190992,angle between two frames:0.697593 +[21:00:47.015] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =84 error init =0.050325 error end=0.017833 +[21:00:47.015] After pose optimization, distance between ekf and vo x:-2.182798 ,z=-7.187255,angle between two frames:0.371605 +[21:00:47.015] frame process finished the id is: 162 the obs is:132 +[21:00:47.178] Odometry x=0.111933, y=1.199558, theta=-0.243704 +[21:00:47.278] After Reprojection Map nMatches:112 ,distance between ekf and vo x:-0.389306 ,z=-0.160340,angle between two frames:0.297021 +[21:00:47.278] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =112 error init =0.000162 error end=0.000347 +[21:00:47.278] After pose optimization, distance between ekf and vo x:-0.389306 ,z=-0.160340,angle between two frames:0.297021 +[21:00:47.278] frame process finished the id is: 162 the obs is:132 +[21:00:47.422] Odometry x=0.115509, y=1.214423, theta=-0.215854 +[21:00:47.536] After Reprojection Map nMatches:103 ,distance between ekf and vo x:-0.522636 ,z=-0.202397,angle between two frames:0.397714 +[21:00:47.537] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =92 error init =0.009802 error end=0.006492 +[21:00:47.537] After pose optimization, distance between ekf and vo x:-0.541090 ,z=-0.299523,angle between two frames:0.403254 +[21:00:47.537] frame process finished the id is: 162 the obs is:132 +[21:00:47.692] Odometry x=0.119094, y=1.228981, theta=-0.258634 +[21:00:47.788] After Reprojection Map nMatches:134 ,distance between ekf and vo x:0.000573 ,z=0.000307,angle between two frames:0.000370 +[21:00:47.788] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =120 error init =0.012423 error end=0.006601 +[21:00:47.788] After pose optimization, distance between ekf and vo x:0.000573 ,z=0.000307,angle between two frames:0.000370 +[21:00:47.788] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120 +[21:00:47.788] frame Scene Depth mean:2.462027 ,depth min:0.150879 +[21:00:47.790] need key frame pitch dis: 0.058266 translation dif:0.118878 +[21:00:47.790] Choose frame as a key frame Scene Depth mean:2.462027 ,depth min:0.150879 +[21:00:47.790] frame process finished the id is: 168 the obs is:120 +[21:00:47.919] Odometry x=0.121220, y=1.240332, theta=-0.277541 +[21:00:48.015] After Reprojection Map nMatches:148 ,distance between ekf and vo x:0.002463 ,z=0.002730,angle between two frames:0.000599 +[21:00:48.016] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =132 error init =0.007396 error end=0.012054 +[21:00:48.017] After pose optimization, distance between ekf and vo x:0.186430 ,z=-0.178523,angle between two frames:0.095685 +[21:00:48.017] frame process finished the id is: 168 the obs is:120 +[21:00:48.171] Odometry x=0.124258, y=1.251071, theta=-0.273083 +[21:00:48.256] After Reprojection Map nMatches:116 ,distance between ekf and vo x:0.004715 ,z=0.002785,angle between two frames:0.001301 +[21:00:48.256] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =100 error init =0.032294 error end=0.031948 +[21:00:48.256] After pose optimization, distance between ekf and vo x:0.006230 ,z=-0.095678,angle between two frames:0.003042 +[21:00:48.256] Update EKF and 3D points the number of feature in the new frame: 100 and number of obs: 100 +[21:00:48.256] frame Scene Depth mean:2.124810 ,depth min:0.190170 +[21:00:48.258] need key frame pitch dis: 0.082838 translation dif:0.119906 +[21:00:48.258] Choose frame as a key frame Scene Depth mean:2.124810 ,depth min:0.190170 +[21:00:48.258] frame process finished the id is: 170 the obs is:100 +[21:00:48.465] Odometry x=0.128788, y=1.239022, theta=-0.252970 +[21:00:48.495] After Reprojection Map nMatches:117 ,distance between ekf and vo x:0.004492 ,z=0.004504,angle between two frames:0.001183 +[21:00:48.496] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =96 error init =0.024603 error end=0.022396 +[21:00:48.496] After pose optimization, distance between ekf and vo x:0.004492 ,z=0.004504,angle between two frames:0.001183 +[21:00:48.496] Update EKF and 3D points the number of feature in the new frame: 96 and number of obs: 96 +[21:00:48.496] frame Scene Depth mean:2.773918 ,depth min:0.169812 +[21:00:48.497] need key frame pitch dis: 0.024913 translation dif:0.025910 +[21:00:48.497] frame process finished the id is: 171 the obs is:96 +[21:00:48.687] Odometry x=0.135221, y=1.264102, theta=-0.225996 +[21:00:48.749] After Reprojection Map nMatches:135 ,distance between ekf and vo x:0.003537 ,z=0.004219,angle between two frames:0.000958 +[21:00:48.750] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =112 error init =0.031174 error end=0.019312 +[21:00:48.750] After pose optimization, distance between ekf and vo x:0.034370 ,z=-0.036981,angle between two frames:0.001731 +[21:00:48.750] Update EKF and 3D points the number of feature in the new frame: 112 and number of obs: 112 +[21:00:48.750] frame Scene Depth mean:2.456423 ,depth min:0.433178 +[21:00:48.752] need key frame pitch dis: 0.008060 translation dif:0.034236 +[21:00:48.752] frame process finished the id is: 172 the obs is:112 +[21:00:48.997] Odometry x=0.145803, y=1.268730, theta=-0.244910 +[21:00:49.064] After Reprojection Map nMatches:157 ,distance between ekf and vo x:0.003176 ,z=0.004735,angle between two frames:0.001968 +[21:00:49.064] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =133 error init =0.042573 error end=0.014826 +[21:00:49.064] After pose optimization, distance between ekf and vo x:0.003176 ,z=0.004735,angle between two frames:0.001968 +[21:00:49.064] Update EKF and 3D points the number of feature in the new frame: 133 and number of obs: 133 +[21:00:49.064] frame Scene Depth mean:2.550801 ,depth min:0.428980 +[21:00:49.066] need key frame pitch dis: 0.070507 translation dif:0.152978 +[21:00:49.066] Choose frame as a key frame Scene Depth mean:2.550801 ,depth min:0.428980 +[21:00:49.066] frame process finished the id is: 173 the obs is:133 +[21:00:49.188] Odometry x=0.147558, y=1.275870, theta=-0.260010 +[21:00:49.385] After Reprojection Map nMatches:138 ,distance between ekf and vo x:0.005174 ,z=0.012546,angle between two frames:0.002575 +[21:00:49.385] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =114 error init =0.057434 error end=0.019719 +[21:00:49.385] After pose optimization, distance between ekf and vo x:0.005174 ,z=0.012546,angle between two frames:0.002575 +[21:00:49.385] Update EKF and 3D points the number of feature in the new frame: 114 and number of obs: 114 +[21:00:49.385] frame Scene Depth mean:2.152672 ,depth min:0.417206 +[21:00:49.386] need key frame pitch dis: 0.006141 translation dif:0.052134 +[21:00:49.386] frame process finished the id is: 174 the obs is:114 +[21:00:49.429] Odometry x=0.149940, y=1.286671, theta=-0.246829 +[21:00:49.690] After Reprojection Map nMatches:144 ,distance between ekf and vo x:-0.006783 ,z=0.005575,angle between two frames:0.002168 +[21:00:49.690] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =128 error init =0.014154 error end=0.004097 +[21:00:49.690] After pose optimization, distance between ekf and vo x:-0.006783 ,z=0.005575,angle between two frames:0.002168 +[21:00:49.690] Update EKF and 3D points the number of feature in the new frame: 128 and number of obs: 128 +[21:00:49.690] frame Scene Depth mean:2.119046 ,depth min:0.262691 +[21:00:49.692] need key frame pitch dis: 0.012011 translation dif:0.061034 +[21:00:49.692] frame process finished the id is: 175 the obs is:128 +[21:00:49.705] Odometry x=0.150369, y=1.296113, theta=-0.240959 +[21:00:49.941] Odometry x=0.152845, y=1.307796, theta=-0.259607 +[21:00:50.008] After Reprojection Map nMatches:147 ,distance between ekf and vo x:0.003844 ,z=0.004109,angle between two frames:0.002910 +[21:00:50.009] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =129 error init =0.009778 error end=0.006542 +[21:00:50.009] After pose optimization, distance between ekf and vo x:0.003844 ,z=0.004109,angle between two frames:0.002910 +[21:00:50.009] Update EKF and 3D points the number of feature in the new frame: 129 and number of obs: 129 +[21:00:50.009] frame Scene Depth mean:2.807408 ,depth min:0.392610 +[21:00:50.010] need key frame pitch dis: 0.063851 translation dif:0.193688 +[21:00:50.011] Choose frame as a key frame Scene Depth mean:2.807408 ,depth min:0.392610 +[21:00:50.011] frame process finished the id is: 176 the obs is:129 +[21:00:50.174] Odometry x=0.154344, y=1.316728, theta=-0.266667 +[21:00:50.268] After Reprojection Map nMatches:174 ,distance between ekf and vo x:0.000528 ,z=0.000358,angle between two frames:0.000030 +[21:00:50.268] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =138 error init =0.046077 error end=0.022437 +[21:00:50.268] After pose optimization, distance between ekf and vo x:0.000528 ,z=0.000358,angle between two frames:0.000030 +[21:00:50.268] Update EKF and 3D points the number of feature in the new frame: 138 and number of obs: 138 +[21:00:50.268] frame Scene Depth mean:2.262346 ,depth min:0.211070 +[21:00:50.270] need key frame pitch dis: 0.021401 translation dif:0.081961 +[21:00:50.270] frame process finished the id is: 177 the obs is:138 +[21:00:50.490] After Reprojection Map nMatches:167 ,distance between ekf and vo x:0.000569 ,z=0.011016,angle between two frames:0.000427 +[21:00:50.491] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =122 error init =0.052854 error end=0.034451 +[21:00:50.491] After pose optimization, distance between ekf and vo x:0.000569 ,z=0.011016,angle between two frames:0.000427 +[21:00:50.491] Update EKF and 3D points the number of feature in the new frame: 122 and number of obs: 122 +[21:00:50.491] frame Scene Depth mean:2.009831 ,depth min:0.068162 +[21:00:50.493] need key frame pitch dis: 0.011149 translation dif:0.002784 +[21:00:50.493] frame process finished the id is: 178 the obs is:122 +[21:00:50.750] After Reprojection Map nMatches:156 ,distance between ekf and vo x:0.003618 ,z=0.012946,angle between two frames:0.003581 +[21:00:50.751] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =112 error init =0.034481 error end=0.029226 +[21:00:50.751] After pose optimization, distance between ekf and vo x:0.016040 ,z=-0.008869,angle between two frames:0.003810 +[21:00:50.751] Update EKF and 3D points the number of feature in the new frame: 112 and number of obs: 112 +[21:00:50.751] frame Scene Depth mean:1.807819 ,depth min:0.067454 +[21:00:50.752] need key frame pitch dis: 0.017474 translation dif:0.040845 +[21:00:50.752] frame process finished the id is: 179 the obs is:112 +[21:00:51.012] After Reprojection Map nMatches:132 ,distance between ekf and vo x:0.002648 ,z=0.010488,angle between two frames:0.001913 +[21:00:51.013] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =112 error init =0.013110 error end=0.006220 +[21:00:51.013] After pose optimization, distance between ekf and vo x:0.002648 ,z=0.010488,angle between two frames:0.001913 +[21:00:51.013] Update EKF and 3D points the number of feature in the new frame: 112 and number of obs: 112 +[21:00:51.013] frame Scene Depth mean:2.066326 ,depth min:0.113997 +[21:00:51.014] need key frame pitch dis: 0.011476 translation dif:0.002769 +[21:00:51.014] frame process finished the id is: 180 the obs is:112 +[21:00:51.304] After Reprojection Map nMatches:128 ,distance between ekf and vo x:-0.008453 ,z=0.010748,angle between two frames:0.011500 +[21:00:51.305] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =120 error init =0.001465 error end=0.001016 +[21:00:51.305] After pose optimization, distance between ekf and vo x:-0.007347 ,z=0.010250,angle between two frames:0.011419 +[21:00:51.305] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120 +[21:00:51.305] frame Scene Depth mean:1.982925 ,depth min:0.103497 +[21:00:51.306] need key frame pitch dis: 0.017381 translation dif:0.003428 +[21:00:51.306] frame process finished the id is: 181 the obs is:120 +[21:00:51.440] Odometry x=0.152912, y=1.319842, theta=-0.284048 +[21:00:51.567] After Reprojection Map nMatches:128 ,distance between ekf and vo x:0.002077 ,z=0.015585,angle between two frames:0.001111 +[21:00:51.567] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =116 error init =0.003949 error end=0.003108 +[21:00:51.567] After pose optimization, distance between ekf and vo x:-0.000284 ,z=0.010815,angle between two frames:0.001417 +[21:00:51.567] Update EKF and 3D points the number of feature in the new frame: 116 and number of obs: 116 +[21:00:51.567] frame Scene Depth mean:2.213403 ,depth min:0.097677 +[21:00:51.568] need key frame pitch dis: 0.031570 translation dif:0.089356 +[21:00:51.568] frame process finished the id is: 182 the obs is:116 +[21:00:51.713] Odometry x=0.151176, y=1.325527, theta=-0.284539 +[21:00:51.813] After Reprojection Map nMatches:134 ,distance between ekf and vo x:0.002388 ,z=0.013915,angle between two frames:0.001793 +[21:00:51.814] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =110 error init =0.027104 error end=0.019486 +[21:00:51.814] After pose optimization, distance between ekf and vo x:0.002388 ,z=0.013915,angle between two frames:0.001793 +[21:00:51.814] Update EKF and 3D points the number of feature in the new frame: 110 and number of obs: 110 +[21:00:51.814] frame Scene Depth mean:2.258374 ,depth min:0.090573 +[21:00:51.815] need key frame pitch dis: 0.016533 translation dif:0.016608 +[21:00:51.815] frame process finished the id is: 183 the obs is:110 +[21:00:51.947] Odometry x=0.153006, y=1.333281, theta=-0.283200 +[21:00:52.035] After Reprojection Map nMatches:122 ,distance between ekf and vo x:0.000714 ,z=-0.001453,angle between two frames:0.000090 +[21:00:52.035] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =122 error init =0.000070 error end=0.000432 +[21:00:52.035] After pose optimization, distance between ekf and vo x:0.000714 ,z=-0.001453,angle between two frames:0.000090 +[21:00:52.035] Update EKF and 3D points the number of feature in the new frame: 122 and number of obs: 122 +[21:00:52.035] frame Scene Depth mean:2.017609 ,depth min:0.057037 +[21:00:52.036] need key frame pitch dis: 0.008461 translation dif:0.019673 +[21:00:52.036] frame process finished the id is: 184 the obs is:122 +[21:00:52.175] Odometry x=0.153553, y=1.336385, theta=-0.275128 +[21:00:52.276] After Reprojection Map nMatches:123 ,distance between ekf and vo x:0.000605 ,z=-0.000564,angle between two frames:0.000044 +[21:00:52.277] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =88 error init =0.038783 error end=0.047904 +[21:00:52.277] After pose optimization, distance between ekf and vo x:0.069888 ,z=-0.080703,angle between two frames:0.003304 +[21:00:52.277] Update EKF and 3D points the number of feature in the new frame: 88 and number of obs: 88 +[21:00:52.277] frame Scene Depth mean:2.485900 ,depth min:0.089751 +[21:00:52.278] need key frame pitch dis: 0.003188 translation dif:0.052541 +[21:00:52.278] frame process finished the id is: 185 the obs is:88 +[21:00:52.419] Odometry x=0.171122, y=1.322831, theta=-0.263198 +[21:00:52.492] After Reprojection Map nMatches:109 ,distance between ekf and vo x:0.000040 ,z=-0.001270,angle between two frames:0.000012 +[21:00:52.492] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =103 error init =0.006528 error end=0.004633 +[21:00:52.492] After pose optimization, distance between ekf and vo x:0.000040 ,z=-0.001270,angle between two frames:0.000012 +[21:00:52.492] Update EKF and 3D points the number of feature in the new frame: 103 and number of obs: 103 +[21:00:52.492] frame Scene Depth mean:2.265423 ,depth min:0.068382 +[21:00:52.493] need key frame pitch dis: 0.002570 translation dif:0.058217 +[21:00:52.493] frame process finished the id is: 186 the obs is:103 +[21:00:52.688] Odometry x=0.172702, y=1.328377, theta=-0.262580 +[21:00:52.719] After Reprojection Map nMatches:111 ,distance between ekf and vo x:-0.000047 ,z=-0.001316,angle between two frames:0.000002 +[21:00:52.720] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =84 error init =0.032183 error end=0.022476 +[21:00:52.720] After pose optimization, distance between ekf and vo x:-0.000047 ,z=-0.001316,angle between two frames:0.000002 +[21:00:52.720] Update EKF and 3D points the number of feature in the new frame: 84 and number of obs: 84 +[21:00:52.720] frame Scene Depth mean:2.332057 ,depth min:0.080009 +[21:00:52.720] need key frame pitch dis: 0.014277 translation dif:0.107475 +[21:00:52.720] Choose frame as a key frame Scene Depth mean:2.332057 ,depth min:0.080009 +[21:00:52.720] frame process finished the id is: 187 the obs is:84 +[21:00:52.904] After Reprojection Map nMatches:165 ,distance between ekf and vo x:-0.000247 ,z=0.026925,angle between two frames:0.000106 +[21:00:52.904] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =165 error init =0.006251 error end=0.000616 +[21:00:52.904] After pose optimization, distance between ekf and vo x:-0.000247 ,z=0.026925,angle between two frames:0.000106 +[21:00:52.904] Update EKF and 3D points the number of feature in the new frame: 165 and number of obs: 165 +[21:00:52.904] frame Scene Depth mean:2.230703 ,depth min:0.072144 +[21:00:52.906] need key frame pitch dis: 0.003164 translation dif:0.032452 +[21:00:52.906] frame process finished the id is: 188 the obs is:165 +[21:00:53.010] Odometry x=0.174533, y=1.342136, theta=-0.263503 +[21:00:53.100] After Reprojection Map nMatches:135 ,distance between ekf and vo x:-0.000188 ,z=0.018169,angle between two frames:0.000070 +[21:00:53.101] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =95 error init =0.033240 error end=0.032894 +[21:00:53.101] After pose optimization, distance between ekf and vo x:-0.000188 ,z=0.018169,angle between two frames:0.000070 +[21:00:53.101] Update EKF and 3D points the number of feature in the new frame: 95 and number of obs: 95 +[21:00:53.101] frame Scene Depth mean:2.290847 ,depth min:0.061623 +[21:00:53.102] need key frame pitch dis: 0.031414 translation dif:0.040363 +[21:00:53.102] frame process finished the id is: 189 the obs is:95 +[21:00:53.193] Odometry x=0.173744, y=1.352123, theta=-0.235253 +[21:00:53.261] After Reprojection Map nMatches:106 ,distance between ekf and vo x:-0.020502 ,z=0.019149,angle between two frames:0.005580 +[21:00:53.262] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =90 error init =0.046130 error end=0.025193 +[21:00:53.262] After pose optimization, distance between ekf and vo x:-0.020502 ,z=0.019149,angle between two frames:0.005580 +[21:00:53.262] Update EKF and 3D points the number of feature in the new frame: 90 and number of obs: 90 +[21:00:53.262] frame Scene Depth mean:1.618629 ,depth min:0.071868 +[21:00:53.263] need key frame pitch dis: 0.030886 translation dif:0.049057 +[21:00:53.263] frame process finished the id is: 190 the obs is:90 +[21:00:53.413] After Reprojection Map nMatches:107 ,distance between ekf and vo x:-0.040857 ,z=-0.001380,angle between two frames:0.012105 +[21:00:53.414] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =107 error init =0.000457 error end=0.000301 +[21:00:53.414] After pose optimization, distance between ekf and vo x:-0.040856 ,z=-0.001383,angle between two frames:0.012105 +[21:00:53.414] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107 +[21:00:53.414] frame Scene Depth mean:1.540188 ,depth min:0.066200 +[21:00:53.415] need key frame pitch dis: 0.021252 translation dif:0.086656 +[21:00:53.415] frame process finished the id is: 191 the obs is:107 +[21:00:53.442] Odometry x=0.163753, y=1.360999, theta=-0.238758 +[21:00:53.586] After Reprojection Map nMatches:150 ,distance between ekf and vo x:0.041207 ,z=0.046934,angle between two frames:0.013406 +[21:00:53.587] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =121 error init =0.001306 error end=0.005222 +[21:00:53.587] After pose optimization, distance between ekf and vo x:0.036771 ,z=0.041561,angle between two frames:0.012752 +[21:00:53.590] Update EKF and 3D points the number of feature in the new frame: 121 and number of obs: 121 +[21:00:53.590] frame Scene Depth mean:1.455692 ,depth min:0.091348 +[21:00:53.591] need key frame pitch dis: 0.034326 translation dif:0.043240 +[21:00:53.591] frame process finished the id is: 192 the obs is:121 +[21:00:53.707] Odometry x=0.174257, y=1.377075, theta=-0.228939 +[21:00:53.772] After Reprojection Map nMatches:196 ,distance between ekf and vo x:-0.004117 ,z=0.035645,angle between two frames:0.000168 +[21:00:53.773] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =180 error init =0.033504 error end=0.027007 +[21:00:53.773] After pose optimization, distance between ekf and vo x:-0.004117 ,z=0.035645,angle between two frames:0.000168 +[21:00:53.773] Update EKF and 3D points the number of feature in the new frame: 180 and number of obs: 180 +[21:00:53.773] frame Scene Depth mean:1.932762 ,depth min:0.071404 +[21:00:53.774] need key frame pitch dis: 0.039095 translation dif:0.063052 +[21:00:53.774] frame process finished the id is: 193 the obs is:180 +[21:00:53.949] Odometry x=0.173922, y=1.396887, theta=-0.224170 +[21:00:53.959] After Reprojection Map nMatches:182 ,distance between ekf and vo x:-0.004372 ,z=0.030563,angle between two frames:0.000348 +[21:00:53.961] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =164 error init =0.007233 error end=0.004523 +[21:00:53.961] After pose optimization, distance between ekf and vo x:-0.004440 ,z=0.026092,angle between two frames:0.000654 +[21:00:53.961] Update EKF and 3D points the number of feature in the new frame: 164 and number of obs: 164 +[21:00:53.961] frame Scene Depth mean:1.982485 ,depth min:0.087877 +[21:00:53.962] need key frame pitch dis: 0.056790 translation dif:0.094506 +[21:00:53.962] frame process finished the id is: 194 the obs is:164 +[21:00:54.129] After Reprojection Map nMatches:185 ,distance between ekf and vo x:-0.001922 ,z=0.034325,angle between two frames:0.000823 +[21:00:54.129] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =165 error init =0.044127 error end=0.002502 +[21:00:54.129] After pose optimization, distance between ekf and vo x:-0.001922 ,z=0.034325,angle between two frames:0.000823 +[21:00:54.129] Update EKF and 3D points the number of feature in the new frame: 165 and number of obs: 165 +[21:00:54.129] frame Scene Depth mean:2.477383 ,depth min:0.082846 +[21:00:54.131] need key frame pitch dis: 0.056828 translation dif:0.140970 +[21:00:54.131] Choose frame as a key frame Scene Depth mean:2.477383 ,depth min:0.082846 +[21:00:54.131] frame process finished the id is: 195 the obs is:165 +[21:00:54.204] Odometry x=0.174978, y=1.414147, theta=-0.203182 +[21:00:54.375] After Reprojection Map nMatches:147 ,distance between ekf and vo x:-0.004606 ,z=0.054712,angle between two frames:0.001056 +[21:00:54.376] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =119 error init =0.014556 error end=0.005340 +[21:00:54.376] After pose optimization, distance between ekf and vo x:-0.008351 ,z=0.067250,angle between two frames:0.001307 +[21:00:54.376] Update EKF and 3D points the number of feature in the new frame: 119 and number of obs: 119 +[21:00:54.376] frame Scene Depth mean:1.792753 ,depth min:0.086282 +[21:00:54.377] need key frame pitch dis: 0.095584 translation dif:0.120387 +[21:00:54.377] Choose frame as a key frame Scene Depth mean:1.792753 ,depth min:0.086282 +[21:00:54.377] frame process finished the id is: 196 the obs is:119 +[21:00:54.422] Odometry x=0.173637, y=1.435558, theta=-0.171083 +[21:00:54.625] After Reprojection Map nMatches:238 ,distance between ekf and vo x:-0.169731 ,z=-0.087258,angle between two frames:0.053572 +[21:00:54.627] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =202 error init =0.007418 error end=0.008641 +[21:00:54.627] After pose optimization, distance between ekf and vo x:-0.152420 ,z=-0.143471,angle between two frames:0.054576 +[21:00:54.627] frame process finished the id is: 196 the obs is:119 +[21:00:54.694] Odometry x=0.175005, y=1.443326, theta=-0.150497 +[21:00:54.848] After Reprojection Map nMatches:156 ,distance between ekf and vo x:-0.020466 ,z=0.002818,angle between two frames:0.005381 +[21:00:54.848] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =136 error init =0.001694 error end=0.001390 +[21:00:54.848] After pose optimization, distance between ekf and vo x:-0.020466 ,z=0.002818,angle between two frames:0.005381 +[21:00:54.848] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136 +[21:00:54.848] frame Scene Depth mean:1.668773 ,depth min:0.103227 +[21:00:54.850] need key frame pitch dis: 0.116871 translation dif:0.121610 +[21:00:54.850] Choose frame as a key frame Scene Depth mean:1.668773 ,depth min:0.103227 +[21:00:54.850] frame process finished the id is: 198 the obs is:128 +[21:00:54.965] Odometry x=0.171468, y=1.455415, theta=-0.146394 +[21:00:55.184] After Reprojection Map nMatches:218 ,distance between ekf and vo x:0.042443 ,z=0.058702,angle between two frames:0.016563 +[21:00:55.185] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =176 error init =0.036293 error end=0.015750 +[21:00:55.185] After pose optimization, distance between ekf and vo x:0.023806 ,z=0.018389,angle between two frames:0.009043 +[21:00:55.185] Update EKF and 3D points the number of feature in the new frame: 176 and number of obs: 176 +[21:00:55.185] frame Scene Depth mean:1.834053 ,depth min:0.092939 +[21:00:55.187] need key frame pitch dis: 0.067907 translation dif:0.052091 +[21:00:55.187] frame process finished the id is: 199 the obs is:176 +[21:00:55.196] Odometry x=0.178063, y=1.466147, theta=-0.135275 +[21:00:55.451] Odometry x=0.178694, y=1.473670, theta=-0.164508 +[21:00:55.521] After Reprojection Map nMatches:241 ,distance between ekf and vo x:-0.005887 ,z=0.021735,angle between two frames:0.000115 +[21:00:55.523] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =225 error init =0.030203 error end=0.010941 +[21:00:55.523] After pose optimization, distance between ekf and vo x:-0.004038 ,z=-0.000091,angle between two frames:0.000683 +[21:00:55.523] Update EKF and 3D points the number of feature in the new frame: 225 and number of obs: 225 +[21:00:55.523] frame Scene Depth mean:1.532892 ,depth min:0.081123 +[21:00:55.525] need key frame pitch dis: 0.011616 translation dif:0.025356 +[21:00:55.525] frame process finished the id is: 200 the obs is:225 +[21:00:55.669] Odometry x=0.178835, y=1.479677, theta=-0.158010 +[21:00:55.827] After Reprojection Map nMatches:338 ,distance between ekf and vo x:-0.004240 ,z=0.039237,angle between two frames:0.001576 +[21:00:55.828] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =304 error init =0.011660 error end=0.002916 +[21:00:55.828] After pose optimization, distance between ekf and vo x:-0.004240 ,z=0.039237,angle between two frames:0.001576 +[21:00:55.828] Update EKF and 3D points the number of feature in the new frame: 304 and number of obs: 304 +[21:00:55.828] frame Scene Depth mean:1.382309 ,depth min:0.083294 +[21:00:55.830] need key frame pitch dis: 0.078663 translation dif:0.081566 +[21:00:55.830] frame process finished the id is: 201 the obs is:304 +[21:00:55.939] Odometry x=0.178979, y=1.495615, theta=-0.124519 +[21:00:56.134] After Reprojection Map nMatches:260 ,distance between ekf and vo x:-0.011570 ,z=0.041321,angle between two frames:0.000380 +[21:00:56.136] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =218 error init =0.015374 error end=0.005408 +[21:00:56.136] After pose optimization, distance between ekf and vo x:-0.004763 ,z=0.009137,angle between two frames:0.000636 +[21:00:56.136] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218 +[21:00:56.136] frame Scene Depth mean:1.559476 ,depth min:0.121883 +[21:00:56.138] need key frame pitch dis: 0.081372 translation dif:0.091342 +[21:00:56.138] frame process finished the id is: 202 the obs is:218 +[21:00:56.169] Odometry x=0.177762, y=1.505447, theta=-0.121810 +[21:00:56.414] After Reprojection Map nMatches:278 ,distance between ekf and vo x:0.003448 ,z=0.081088,angle between two frames:0.008396 +[21:00:56.416] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =248 error init =0.017910 error end=0.007192 +[21:00:56.416] After pose optimization, distance between ekf and vo x:0.077925 ,z=-0.085668,angle between two frames:0.005582 +[21:00:56.416] Update EKF and 3D points the number of feature in the new frame: 248 and number of obs: 248 +[21:00:56.416] frame Scene Depth mean:2.122990 ,depth min:0.165132 +[21:00:56.419] need key frame pitch dis: 0.017002 translation dif:0.044479 +[21:00:56.419] frame process finished the id is: 203 the obs is:248 +[21:00:56.427] Odometry x=0.197550, y=1.491444, theta=-0.129392 +[21:00:56.739] After Reprojection Map nMatches:248 ,distance between ekf and vo x:-0.019794 ,z=-0.000437,angle between two frames:0.005529 +[21:00:56.739] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =193 error init =0.040386 error end=0.012091 +[21:00:56.739] After pose optimization, distance between ekf and vo x:-0.019794 ,z=-0.000437,angle between two frames:0.005529 +[21:00:56.739] Update EKF and 3D points the number of feature in the new frame: 193 and number of obs: 193 +[21:00:56.739] frame Scene Depth mean:2.752525 ,depth min:0.061042 +[21:00:56.742] need key frame pitch dis: 0.120643 translation dif:0.158702 +[21:00:56.742] Choose frame as a key frame Scene Depth mean:2.752525 ,depth min:0.061042 +[21:00:56.742] frame process finished the id is: 204 the obs is:193 +[21:00:57.141] After Reprojection Map nMatches:294 ,distance between ekf and vo x:0.033313 ,z=0.033467,angle between two frames:0.012123 +[21:00:57.141] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =242 error init =0.021554 error end=0.009129 +[21:00:57.141] After pose optimization, distance between ekf and vo x:0.033313 ,z=0.033467,angle between two frames:0.012123 +[21:00:57.141] Update EKF and 3D points the number of feature in the new frame: 242 and number of obs: 242 +[21:00:57.141] frame Scene Depth mean:2.773539 ,depth min:0.130679 +[21:00:57.144] need key frame pitch dis: 0.005647 translation dif:0.055364 +[21:00:57.144] frame process finished the id is: 205 the obs is:242 +[21:00:57.572] After Reprojection Map nMatches:294 ,distance between ekf and vo x:-0.008535 ,z=0.018653,angle between two frames:0.000902 +[21:00:57.573] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =262 error init =0.016999 error end=0.034142 +[21:00:57.573] After pose optimization, distance between ekf and vo x:-0.008535 ,z=0.018653,angle between two frames:0.000902 +[21:00:57.573] Update EKF and 3D points the number of feature in the new frame: 262 and number of obs: 262 +[21:00:57.573] frame Scene Depth mean:2.213672 ,depth min:0.082915 +[21:00:57.575] need key frame pitch dis: 0.002857 translation dif:0.008121 +[21:00:57.575] frame process finished the id is: 206 the obs is:262 +[21:00:57.706] Odometry x=0.197159, y=1.498225, theta=-0.145478 +[21:00:57.947] Odometry x=0.196713, y=1.498522, theta=-0.147856 +[21:00:58.017] After Reprojection Map nMatches:278 ,distance between ekf and vo x:0.092849 ,z=0.163551,angle between two frames:0.040372 +[21:00:58.017] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =222 error init =0.020798 error end=0.017462 +[21:00:58.017] After pose optimization, distance between ekf and vo x:0.092849 ,z=0.163551,angle between two frames:0.040372 +[21:00:58.017] Update EKF and 3D points the number of feature in the new frame: 222 and number of obs: 222 +[21:00:58.017] frame Scene Depth mean:2.655788 ,depth min:0.190101 +[21:00:58.019] need key frame pitch dis: 0.025583 translation dif:0.094116 +[21:00:58.019] frame process finished the id is: 207 the obs is:222 +[21:00:58.201] Odometry x=0.218278, y=1.537065, theta=-0.171977 +[21:00:58.425] After Reprojection Map nMatches:294 ,distance between ekf and vo x:-0.005004 ,z=0.004943,angle between two frames:0.000950 +[21:00:58.427] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =256 error init =0.049791 error end=0.009079 +[21:00:58.427] After pose optimization, distance between ekf and vo x:0.016461 ,z=-0.052136,angle between two frames:0.001818 +[21:00:58.427] Update EKF and 3D points the number of feature in the new frame: 256 and number of obs: 256 +[21:00:58.427] frame Scene Depth mean:2.338271 ,depth min:0.114367 +[21:00:58.428] need key frame pitch dis: 0.094353 translation dif:0.044561 +[21:00:58.428] frame process finished the id is: 208 the obs is:256 +[21:00:58.450] Odometry x=0.221597, y=1.525351, theta=-0.236974 +[21:00:58.698] Odometry x=0.221604, y=1.525630, theta=-0.333486 +[21:00:58.744] After Reprojection Map nMatches:283 ,distance between ekf and vo x:-0.001366 ,z=0.008153,angle between two frames:0.000212 +[21:00:58.745] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =260 error init =0.005186 error end=0.005102 +[21:00:58.745] After pose optimization, distance between ekf and vo x:-0.001366 ,z=0.008153,angle between two frames:0.000212 +[21:00:58.745] Update EKF and 3D points the number of feature in the new frame: 260 and number of obs: 260 +[21:00:58.745] frame Scene Depth mean:2.657714 ,depth min:0.168346 +[21:00:58.747] need key frame pitch dis: 0.100254 translation dif:0.221141 +[21:00:58.747] Choose frame as a key frame Scene Depth mean:2.657714 ,depth min:0.168346 +[21:00:58.747] frame process finished the id is: 209 the obs is:252 +[21:00:59.002] Odometry x=0.221287, y=1.527493, theta=-0.366920 +[21:00:59.050] After Reprojection Map nMatches:280 ,distance between ekf and vo x:0.003955 ,z=0.016725,angle between two frames:0.000297 +[21:00:59.051] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =229 error init =0.011404 error end=0.005219 +[21:00:59.051] After pose optimization, distance between ekf and vo x:0.003955 ,z=0.016725,angle between two frames:0.000297 +[21:00:59.051] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229 +[21:00:59.051] frame Scene Depth mean:2.717408 ,depth min:0.147217 +[21:00:59.054] need key frame pitch dis: 0.163646 translation dif:0.126698 +[21:00:59.054] Choose frame as a key frame Scene Depth mean:2.717408 ,depth min:0.147217 +[21:00:59.054] frame process finished the id is: 210 the obs is:229 +[21:00:59.341] After Reprojection Map nMatches:228 ,distance between ekf and vo x:0.005015 ,z=0.012463,angle between two frames:0.000342 +[21:00:59.342] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =169 error init =0.073714 error end=0.050093 +[21:00:59.342] After pose optimization, distance between ekf and vo x:0.005015 ,z=0.012463,angle between two frames:0.000342 +[21:00:59.342] Update EKF and 3D points the number of feature in the new frame: 169 and number of obs: 169 +[21:00:59.342] frame Scene Depth mean:1.975228 ,depth min:0.162536 +[21:00:59.344] need key frame pitch dis: 0.082591 translation dif:0.007364 +[21:00:59.344] frame process finished the id is: 211 the obs is:169 +[21:00:59.812] After Reprojection Map nMatches:213 ,distance between ekf and vo x:0.083954 ,z=0.044742,angle between two frames:0.023200 +[21:00:59.813] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =187 error init =0.036416 error end=0.061892 +[21:00:59.813] After pose optimization, distance between ekf and vo x:0.083954 ,z=0.044742,angle between two frames:0.023200 +[21:00:59.813] Update EKF and 3D points the number of feature in the new frame: 187 and number of obs: 187 +[21:00:59.813] frame Scene Depth mean:2.299556 ,depth min:0.149914 +[21:00:59.815] need key frame pitch dis: 0.080756 translation dif:0.022477 +[21:00:59.815] frame process finished the id is: 212 the obs is:187 +[21:01:00.227] After Reprojection Map nMatches:223 ,distance between ekf and vo x:0.006018 ,z=0.009633,angle between two frames:0.001396 +[21:01:00.228] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =188 error init =0.042065 error end=0.023904 +[21:01:00.228] After pose optimization, distance between ekf and vo x:0.006018 ,z=0.009633,angle between two frames:0.001396 +[21:01:00.228] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188 +[21:01:00.228] frame Scene Depth mean:2.115844 ,depth min:0.150000 +[21:01:00.229] need key frame pitch dis: 0.089161 translation dif:0.007289 +[21:01:00.229] frame process finished the id is: 213 the obs is:188 +[21:01:00.441] Odometry x=0.226905, y=1.537317, theta=-0.455989 +[21:01:00.626] After Reprojection Map nMatches:240 ,distance between ekf and vo x:0.000504 ,z=0.001005,angle between two frames:0.000048 +[21:01:00.626] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =204 error init =0.089944 error end=0.081960 +[21:01:00.626] After pose optimization, distance between ekf and vo x:0.000504 ,z=0.001005,angle between two frames:0.000048 +[21:01:00.626] Update EKF and 3D points the number of feature in the new frame: 204 and number of obs: 204 +[21:01:00.626] frame Scene Depth mean:1.971270 ,depth min:0.070415 +[21:01:00.628] need key frame pitch dis: 0.098363 translation dif:0.008276 +[21:01:00.628] frame process finished the id is: 214 the obs is:204 +[21:01:00.681] Odometry x=0.226078, y=1.539038, theta=-0.465191 +[21:01:01.017] Odometry x=0.224952, y=1.540011, theta=-0.491384 +[21:01:01.022] After Reprojection Map nMatches:224 ,distance between ekf and vo x:0.003222 ,z=0.006308,angle between two frames:0.000188 +[21:01:01.023] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =208 error init =0.005389 error end=0.003197 +[21:01:01.023] After pose optimization, distance between ekf and vo x:0.014525 ,z=0.026018,angle between two frames:0.001401 +[21:01:01.023] Update EKF and 3D points the number of feature in the new frame: 208 and number of obs: 208 +[21:01:01.023] frame Scene Depth mean:1.697524 ,depth min:0.066441 +[21:01:01.025] need key frame pitch dis: 0.233683 translation dif:0.014142 +[21:01:01.025] Choose frame as a key frame Scene Depth mean:1.697524 ,depth min:0.066441 +[21:01:01.025] frame process finished the id is: 215 the obs is:208 +[21:01:01.194] Odometry x=0.226482, y=1.542577, theta=-0.604710 +[21:01:01.399] After Reprojection Map nMatches:269 ,distance between ekf and vo x:0.005806 ,z=0.008013,angle between two frames:0.000155 +[21:01:01.400] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =224 error init =0.080501 error end=0.027289 +[21:01:01.400] After pose optimization, distance between ekf and vo x:0.005806 ,z=0.008013,angle between two frames:0.000155 +[21:01:01.400] Update EKF and 3D points the number of feature in the new frame: 224 and number of obs: 224 +[21:01:01.400] frame Scene Depth mean:2.419660 ,depth min:0.073425 +[21:01:01.403] need key frame pitch dis: 0.293350 translation dif:0.014627 +[21:01:01.403] Choose frame as a key frame Scene Depth mean:2.419660 ,depth min:0.073425 +[21:01:01.403] frame process finished the id is: 216 the obs is:224 +[21:01:01.469] Odometry x=0.228141, y=1.545086, theta=-0.660179 +[21:01:01.809] After Reprojection Map nMatches:240 ,distance between ekf and vo x:0.005026 ,z=0.006528,angle between two frames:0.000429 +[21:01:01.809] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =208 error init =0.062831 error end=0.057917 +[21:01:01.809] After pose optimization, distance between ekf and vo x:0.005026 ,z=0.006528,angle between two frames:0.000429 +[21:01:01.809] Update EKF and 3D points the number of feature in the new frame: 208 and number of obs: 208 +[21:01:01.810] frame Scene Depth mean:1.871860 ,depth min:0.053219 +[21:01:01.813] need key frame pitch dis: 0.092411 translation dif:0.004696 +[21:01:01.813] frame process finished the id is: 217 the obs is:208 +[21:01:02.333] After Reprojection Map nMatches:256 ,distance between ekf and vo x:0.002630 ,z=0.002262,angle between two frames:0.000224 +[21:01:02.334] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =174 error init =0.096480 error end=0.027850 +[21:01:02.334] After pose optimization, distance between ekf and vo x:0.002630 ,z=0.002262,angle between two frames:0.000224 +[21:01:02.334] Update EKF and 3D points the number of feature in the new frame: 174 and number of obs: 174 +[21:01:02.334] frame Scene Depth mean:1.565010 ,depth min:0.061123 +[21:01:02.336] need key frame pitch dis: 0.339824 translation dif:0.017953 +[21:01:02.336] Choose frame as a key frame Scene Depth mean:1.565010 ,depth min:0.061123 +[21:01:02.336] frame process finished the id is: 218 the obs is:174 +[21:01:02.884] After Reprojection Map nMatches:304 ,distance between ekf and vo x:0.016512 ,z=0.016102,angle between two frames:0.001337 +[21:01:02.885] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =200 error init =0.052828 error end=0.039014 +[21:01:02.885] After pose optimization, distance between ekf and vo x:-0.084645 ,z=-0.096088,angle between two frames:0.010960 +[21:01:02.885] Update EKF and 3D points the number of feature in the new frame: 200 and number of obs: 200 +[21:01:02.885] frame Scene Depth mean:1.994215 ,depth min:0.064882 +[21:01:02.889] need key frame pitch dis: 0.056820 translation dif:0.031012 +[21:01:02.889] frame process finished the id is: 219 the obs is:200 +[21:01:02.992] Odometry x=0.204413, y=1.525117, theta=-0.716999 +[21:01:03.182] Odometry x=0.204406, y=1.525865, theta=-0.743072 +[21:01:03.428] Odometry x=0.204432, y=1.525938, theta=-0.803883 +[21:01:03.457] After Reprojection Map nMatches:332 ,distance between ekf and vo x:-0.000009 ,z=0.002502,angle between two frames:0.000248 +[21:01:03.458] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =206 error init =0.050453 error end=0.016630 +[21:01:03.458] After pose optimization, distance between ekf and vo x:-0.000009 ,z=0.002502,angle between two frames:0.000248 +[21:01:03.458] Update EKF and 3D points the number of feature in the new frame: 206 and number of obs: 206 +[21:01:03.458] frame Scene Depth mean:1.159414 ,depth min:0.054653 +[21:01:03.461] need key frame pitch dis: 0.552731 translation dif:0.016897 +[21:01:03.461] Choose frame as a key frame Scene Depth mean:1.159414 ,depth min:0.054653 +[21:01:03.461] frame process finished the id is: 220 the obs is:206 +[21:01:03.694] Odometry x=0.204411, y=1.526149, theta=-0.942147 +[21:01:03.918] After Reprojection Map nMatches:312 ,distance between ekf and vo x:0.002325 ,z=0.000509,angle between two frames:0.000118 +[21:01:03.920] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =229 error init =0.147624 error end=0.029791 +[21:01:03.920] After pose optimization, distance between ekf and vo x:0.029272 ,z=0.017250,angle between two frames:0.011208 +[21:01:03.920] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229 +[21:01:03.920] frame Scene Depth mean:0.954749 ,depth min:0.050219 +[21:01:03.925] need key frame pitch dis: 0.616859 translation dif:0.010449 +[21:01:03.925] Choose frame as a key frame Scene Depth mean:0.954749 ,depth min:0.050219 +[21:01:03.925] frame process finished the id is: 221 the obs is:229 +[21:01:03.928] Odometry x=0.211178, y=1.530138, theta=-0.983779 +[21:01:04.206] Odometry x=0.211219, y=1.530226, theta=-1.035679 +[21:01:04.445] Odometry x=0.211158, y=1.530152, theta=-1.090970 +[21:01:04.599] After Reprojection Map nMatches:329 ,distance between ekf and vo x:-0.000409 ,z=0.000152,angle between two frames:0.000009 +[21:01:04.600] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =203 error init =0.130854 error end=0.040545 +[21:01:04.600] After pose optimization, distance between ekf and vo x:-0.000409 ,z=0.000152,angle between two frames:0.000009 +[21:01:04.600] Update EKF and 3D points the number of feature in the new frame: 203 and number of obs: 203 +[21:01:04.600] frame Scene Depth mean:0.903216 ,depth min:0.051284 +[21:01:04.604] need key frame pitch dis: 0.681465 translation dif:0.010562 +[21:01:04.604] Choose frame as a key frame Scene Depth mean:0.903216 ,depth min:0.051284 +[21:01:04.604] frame process finished the id is: 222 the obs is:203 +[21:01:05.366] After Reprojection Map nMatches:376 ,distance between ekf and vo x:-0.000220 ,z=0.000064,angle between two frames:0.000131 +[21:01:05.367] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =264 error init =0.087102 error end=0.040327 +[21:01:05.367] After pose optimization, distance between ekf and vo x:-0.000220 ,z=0.000064,angle between two frames:0.000131 +[21:01:05.367] Update EKF and 3D points the number of feature in the new frame: 264 and number of obs: 264 +[21:01:05.367] frame Scene Depth mean:1.000697 ,depth min:0.056760 +[21:01:05.372] need key frame pitch dis: 0.706645 translation dif:0.010541 +[21:01:05.373] Choose frame as a key frame Scene Depth mean:1.000697 ,depth min:0.056760 +[21:01:05.373] frame process finished the id is: 223 the obs is:262 +[21:01:05.435] Odometry x=0.211094, y=1.530178, theta=-1.073566 +[21:01:05.689] Odometry x=0.214784, y=1.532132, theta=-1.071645 +[21:01:05.918] Odometry x=0.230083, y=1.539537, theta=-1.066359 +[21:01:06.196] Odometry x=0.246193, y=1.548299, theta=-1.066138 +[21:01:06.204] After Reprojection Map nMatches:382 ,distance between ekf and vo x:-0.000848 ,z=0.000338,angle between two frames:0.000216 +[21:01:06.206] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =274 error init =0.022448 error end=0.012331 +[21:01:06.206] After pose optimization, distance between ekf and vo x:-0.000848 ,z=0.000338,angle between two frames:0.000216 +[21:01:06.206] Update EKF and 3D points the number of feature in the new frame: 274 and number of obs: 274 +[21:01:06.206] frame Scene Depth mean:1.133187 ,depth min:0.085787 +[21:01:06.211] need key frame pitch dis: 0.700287 translation dif:0.054675 +[21:01:06.211] Choose frame as a key frame Scene Depth mean:1.133187 ,depth min:0.085787 +[21:01:06.212] frame process finished the id is: 224 the obs is:274 +[21:01:06.438] Odometry x=0.272653, y=1.562720, theta=-1.070824 +[21:01:06.669] Odometry x=0.288053, y=1.570817, theta=-1.069708 +[21:01:06.886] After Reprojection Map nMatches:308 ,distance between ekf and vo x:-0.001278 ,z=0.000518,angle between two frames:0.000236 +[21:01:06.887] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =248 error init =0.145519 error end=0.035213 +[21:01:06.887] After pose optimization, distance between ekf and vo x:-0.001278 ,z=0.000518,angle between two frames:0.000236 +[21:01:06.887] Update EKF and 3D points the number of feature in the new frame: 248 and number of obs: 248 +[21:01:06.887] frame Scene Depth mean:0.817449 ,depth min:0.069970 +[21:01:06.894] need key frame pitch dis: 0.413390 translation dif:0.059401 +[21:01:06.894] Choose frame as a key frame Scene Depth mean:0.817449 ,depth min:0.069970 +[21:01:06.894] frame process finished the id is: 225 the obs is:248 +[21:01:07.874] After Reprojection Map nMatches:483 ,distance between ekf and vo x:-0.000249 ,z=0.000273,angle between two frames:0.000032 +[21:01:07.876] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =413 error init =0.128754 error end=0.025287 +[21:01:07.876] After pose optimization, distance between ekf and vo x:-0.000249 ,z=0.000273,angle between two frames:0.000032 +[21:01:07.876] Update EKF and 3D points the number of feature in the new frame: 413 and number of obs: 413 +[21:01:07.876] frame Scene Depth mean:1.396394 ,depth min:0.061951 +[21:01:07.885] need key frame pitch dis: 0.008663 translation dif:0.023957 +[21:01:07.885] frame process finished the id is: 226 the obs is:413 +[21:01:08.171] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000168 ,z=0.000200,angle between two frames:0.000009 +[21:01:08.171] After pose optimization, distance between ekf and vo x:-0.000168 ,z=0.000200,angle between two frames:0.000009 +[21:01:08.171] frame process finished the id is: 226 the obs is:413 +[21:01:08.438] Odometry x=0.286922, y=1.570499, theta=-1.075870 +[21:01:08.450] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000167 ,z=0.000199,angle between two frames:0.000009 +[21:01:08.450] After pose optimization, distance between ekf and vo x:-0.000167 ,z=0.000199,angle between two frames:0.000009 +[21:01:08.450] frame process finished the id is: 226 the obs is:413 +[21:01:08.685] Odometry x=0.289499, y=1.571869, theta=-1.073963 +[21:01:08.729] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000168 ,z=0.000199,angle between two frames:0.000009 +[21:01:08.729] After pose optimization, distance between ekf and vo x:-0.000168 ,z=0.000199,angle between two frames:0.000009 +[21:01:08.729] frame process finished the id is: 226 the obs is:413 +[21:01:09.021] Odometry x=0.295169, y=1.574866, theta=-1.069333 +[21:01:09.174] Odometry x=0.301929, y=1.578552, theta=-1.061628 +[21:01:09.443] Odometry x=0.309170, y=1.582600, theta=-1.058242 +[21:01:09.705] Odometry x=0.316473, y=1.586695, theta=-1.054490 +[21:01:09.884] After Reprojection Map nMatches:541 ,distance between ekf and vo x:-0.000600 ,z=0.000325,angle between two frames:0.000039 +[21:01:09.885] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =449 error init =0.137428 error end=0.035545 +[21:01:09.885] After pose optimization, distance between ekf and vo x:-0.000600 ,z=0.000325,angle between two frames:0.000039 +[21:01:09.885] Update EKF and 3D points the number of feature in the new frame: 449 and number of obs: 449 +[21:01:09.885] frame Scene Depth mean:1.414142 ,depth min:0.064291 +[21:01:09.893] need key frame pitch dis: 0.074151 translation dif:0.120854 +[21:01:09.893] Choose frame as a key frame Scene Depth mean:1.414142 ,depth min:0.064291 +[21:01:09.893] frame process finished the id is: 230 the obs is:449 +[21:01:09.955] Odometry x=0.317583, y=1.587440, theta=-1.057931 +[21:01:10.203] Odometry x=0.323980, y=1.591194, theta=-1.057204 +[21:01:10.223] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000981 ,z=0.000351,angle between two frames:0.000205 +[21:01:10.223] After pose optimization, distance between ekf and vo x:-0.000981 ,z=0.000351,angle between two frames:0.000205 +[21:01:10.223] frame process finished the id is: 230 the obs is:449 +[21:01:10.430] Odometry x=0.332177, y=1.595827, theta=-1.060340 +[21:01:10.680] Odometry x=0.340774, y=1.600645, theta=-1.055014 +[21:01:11.014] Odometry x=0.349550, y=1.605576, theta=-1.048146 +[21:01:11.220] Odometry x=0.358294, y=1.610720, theta=-1.044415 +[21:01:11.400] After Reprojection Map nMatches:577 ,distance between ekf and vo x:-0.000289 ,z=0.000191,angle between two frames:0.000007 +[21:01:11.401] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =509 error init =0.126905 error end=0.036273 +[21:01:11.401] After pose optimization, distance between ekf and vo x:-0.109902 ,z=0.006939,angle between two frames:0.042140 +[21:01:11.401] Update EKF and 3D points the number of feature in the new frame: 509 and number of obs: 509 +[21:01:11.402] frame Scene Depth mean:1.104829 ,depth min:0.068803 +[21:01:11.411] need key frame pitch dis: 0.002537 translation dif:0.086606 +[21:01:11.411] frame process finished the id is: 232 the obs is:509 +[21:01:11.436] Odometry x=0.333805, y=1.612881, theta=-1.064670 +[21:01:11.706] Odometry x=0.340523, y=1.616499, theta=-1.059259 +[21:01:11.951] Odometry x=0.348751, y=1.621091, theta=-1.056192 +[21:01:12.733] After Reprojection Map nMatches:613 ,distance between ekf and vo x:-0.000744 ,z=0.000386,angle between two frames:0.000098 +[21:01:12.735] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =477 error init =0.089869 error end=0.045114 +[21:01:12.735] After pose optimization, distance between ekf and vo x:-0.000744 ,z=0.000386,angle between two frames:0.000098 +[21:01:12.735] Update EKF and 3D points the number of feature in the new frame: 477 and number of obs: 477 +[21:01:12.735] frame Scene Depth mean:1.042004 ,depth min:0.078965 +[21:01:12.741] need key frame pitch dis: 0.007180 translation dif:0.041766 +[21:01:12.742] frame process finished the id is: 233 the obs is:477 +[21:01:13.079] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.002040 ,z=0.002033,angle between two frames:0.000702 +[21:01:13.079] After pose optimization, distance between ekf and vo x:-0.002040 ,z=0.002033,angle between two frames:0.000702 +[21:01:13.079] frame process finished the id is: 233 the obs is:477 +[21:01:13.211] Odometry x=0.345161, y=1.618807, theta=-1.065111 +[21:01:13.416] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.002042 ,z=0.002034,angle between two frames:0.000702 +[21:01:13.416] After pose optimization, distance between ekf and vo x:-0.002042 ,z=0.002034,angle between two frames:0.000702 +[21:01:13.416] frame process finished the id is: 233 the obs is:477 +[21:01:13.449] Odometry x=0.345178, y=1.618780, theta=-1.087868 +[21:01:13.674] Odometry x=0.345188, y=1.618772, theta=-1.159150 +[21:01:13.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.002389 ,z=0.001945,angle between two frames:0.000562 +[21:01:13.793] After pose optimization, distance between ekf and vo x:-0.002389 ,z=0.001945,angle between two frames:0.000562 +[21:01:13.793] frame process finished the id is: 233 the obs is:477 +[21:01:13.949] Odometry x=0.345228, y=1.618699, theta=-1.294006 +[21:01:14.195] Odometry x=0.345227, y=1.618708, theta=-1.428212 +[21:01:14.559] After Reprojection Map nMatches:596 ,distance between ekf and vo x:-0.001193 ,z=0.002296,angle between two frames:0.000546 +[21:01:14.560] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =517 error init =0.105540 error end=0.011114 +[21:01:14.560] After pose optimization, distance between ekf and vo x:-0.001193 ,z=0.002296,angle between two frames:0.000546 +[21:01:14.560] Update EKF and 3D points the number of feature in the new frame: 517 and number of obs: 517 +[21:01:14.561] frame Scene Depth mean:1.032603 ,depth min:0.077245 +[21:01:14.567] need key frame pitch dis: 0.352593 translation dif:0.041527 +[21:01:14.568] Choose frame as a key frame Scene Depth mean:1.032603 ,depth min:0.077245 +[21:01:14.568] frame process finished the id is: 237 the obs is:513 +[21:01:14.944] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000408 ,z=0.002619,angle between two frames:0.000980 +[21:01:14.944] After pose optimization, distance between ekf and vo x:-0.000408 ,z=0.002619,angle between two frames:0.000980 +[21:01:14.944] frame process finished the id is: 237 the obs is:513 +[21:01:15.177] Odometry x=0.344829, y=1.618779, theta=-1.410524 +[21:01:15.324] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000411 ,z=0.002618,angle between two frames:0.000980 +[21:01:15.324] After pose optimization, distance between ekf and vo x:-0.000411 ,z=0.002618,angle between two frames:0.000980 +[21:01:15.324] frame process finished the id is: 237 the obs is:513 +[21:01:15.437] Odometry x=0.344764, y=1.618527, theta=-1.444266 +[21:01:15.660] After Reprojection Map nMatches:0 ,distance between ekf and vo x:-0.000416 ,z=0.002291,angle between two frames:0.000727 +[21:01:15.660] After pose optimization, distance between ekf and vo x:-0.000416 ,z=0.002291,angle between two frames:0.000727 +[21:01:15.660] frame process finished the id is: 237 the obs is:513 +[21:01:15.682] Odometry x=0.344712, y=1.618472, theta=-1.511560 +[21:01:15.937] Odometry x=0.344736, y=1.618501, theta=-1.617666 +[21:01:16.180] Odometry x=0.344729, y=1.618480, theta=-1.732839 +[21:01:16.433] Odometry x=0.344766, y=1.618347, theta=-1.871629 +[21:01:16.604] After Reprojection Map nMatches:610 ,distance between ekf and vo x:0.000012 ,z=0.002016,angle between two frames:0.000767 +[21:01:16.606] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =499 error init =0.124092 error end=0.044125 +[21:01:16.606] After pose optimization, distance between ekf and vo x:0.000012 ,z=0.002016,angle between two frames:0.000767 +[21:01:16.606] Update EKF and 3D points the number of feature in the new frame: 499 and number of obs: 499 +[21:01:16.607] frame Scene Depth mean:0.485980 ,depth min:0.056798 +[21:01:16.612] need key frame pitch dis: 0.781370 translation dif:0.041539 +[21:01:16.612] Choose frame as a key frame Scene Depth mean:0.485980 ,depth min:0.056798 +[21:01:16.612] frame process finished the id is: 241 the obs is:461 +[21:01:16.720] Odometry x=0.344704, y=1.618904, theta=-1.839301 +[21:01:17.276] After Reprojection Map nMatches:627 ,distance between ekf and vo x:0.000017 ,z=0.000031,angle between two frames:0.000010 +[21:01:17.278] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =445 error init =0.086351 error end=0.053635 +[21:01:17.278] After pose optimization, distance between ekf and vo x:0.000017 ,z=0.000031,angle between two frames:0.000010 +[21:01:17.278] Update EKF and 3D points the number of feature in the new frame: 445 and number of obs: 445 +[21:01:17.278] frame Scene Depth mean:0.475537 ,depth min:0.053165 +[21:01:17.282] need key frame pitch dis: 0.461907 translation dif:0.000257 +[21:01:17.282] Choose frame as a key frame Scene Depth mean:0.475537 ,depth min:0.053165 +[21:01:17.282] frame process finished the id is: 242 the obs is:445 +[21:01:17.956] Odometry x=0.344589, y=1.618872, theta=-1.872430 +[21:01:18.176] Odometry x=0.344586, y=1.618869, theta=-1.890719 +[21:01:18.349] After Reprojection Map nMatches:762 ,distance between ekf and vo x:-0.000014 ,z=-0.000046,angle between two frames:0.000055 +[21:01:18.350] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =562 error init =0.101208 error end=0.020201 +[21:01:18.350] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000046,angle between two frames:0.000055 +[21:01:18.350] Update EKF and 3D points the number of feature in the new frame: 562 and number of obs: 562 +[21:01:18.351] frame Scene Depth mean:0.546569 ,depth min:0.052663 +[21:01:18.359] need key frame pitch dis: 0.864123 translation dif:0.041392 +[21:01:18.359] Choose frame as a key frame Scene Depth mean:0.546569 ,depth min:0.052663 +[21:01:18.359] frame process finished the id is: 243 the obs is:562 +[21:01:18.429] Odometry x=0.344552, y=1.618840, theta=-1.922054 +[21:01:18.693] Odometry x=0.344552, y=1.618839, theta=-1.992946 +[21:01:18.993] Odometry x=0.344547, y=1.618831, theta=-2.096578 +[21:01:19.182] Odometry x=0.344577, y=1.618780, theta=-2.216143 +[21:01:19.202] After Reprojection Map nMatches:689 ,distance between ekf and vo x:-0.000056 ,z=-0.000053,angle between two frames:0.000064 +[21:01:19.204] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =506 error init =0.081895 error end=0.059389 +[21:01:19.204] After pose optimization, distance between ekf and vo x:-0.000056 ,z=-0.000053,angle between two frames:0.000064 +[21:01:19.204] Update EKF and 3D points the number of feature in the new frame: 506 and number of obs: 506 +[21:01:19.204] frame Scene Depth mean:0.541424 ,depth min:0.067514 +[21:01:19.211] need key frame pitch dis: 1.115883 translation dif:0.041352 +[21:01:19.211] Choose frame as a key frame Scene Depth mean:0.541424 ,depth min:0.067514 +[21:01:19.211] frame process finished the id is: 244 the obs is:433 +[21:01:19.652] After Reprojection Map nMatches:529 ,distance between ekf and vo x:-0.000134 ,z=-0.000139,angle between two frames:0.000162 +[21:01:19.653] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =376 error init =0.080610 error end=0.075019 +[21:01:19.654] After pose optimization, distance between ekf and vo x:-0.000134 ,z=-0.000139,angle between two frames:0.000162 +[21:01:19.654] Update EKF and 3D points the number of feature in the new frame: 376 and number of obs: 376 +[21:01:19.654] frame Scene Depth mean:0.459267 ,depth min:0.050549 +[21:01:19.658] need key frame pitch dis: 1.164850 translation dif:0.041312 +[21:01:19.658] Choose frame as a key frame Scene Depth mean:0.459267 ,depth min:0.050549 +[21:01:19.658] frame process finished the id is: 245 the obs is:368 +[21:01:20.557] After Reprojection Map nMatches:541 ,distance between ekf and vo x:-0.000164 ,z=-0.000071,angle between two frames:0.000114 +[21:01:20.559] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =399 error init =0.293734 error end=0.147510 +[21:01:20.559] After pose optimization, distance between ekf and vo x:-0.000164 ,z=-0.000071,angle between two frames:0.000114 +[21:01:20.559] Update EKF and 3D points the number of feature in the new frame: 399 and number of obs: 399 +[21:01:20.559] frame Scene Depth mean:0.522559 ,depth min:0.050425 +[21:01:20.565] need key frame pitch dis: 0.067733 translation dif:0.000045 +[21:01:20.565] frame process finished the id is: 246 the obs is:395 +[21:01:21.518] After Reprojection Map nMatches:553 ,distance between ekf and vo x:0.000006 ,z=-0.000046,angle between two frames:0.000016 +[21:01:21.520] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =369 error init =0.146130 error end=0.130086 +[21:01:21.520] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000046,angle between two frames:0.000016 +[21:01:21.520] Update EKF and 3D points the number of feature in the new frame: 369 and number of obs: 369 +[21:01:21.520] frame Scene Depth mean:0.441333 ,depth min:0.050566 +[21:01:21.525] need key frame pitch dis: 1.190779 translation dif:0.041339 +[21:01:21.525] Choose frame as a key frame Scene Depth mean:0.441333 ,depth min:0.050566 +[21:01:21.525] frame process finished the id is: 247 the obs is:369 +[21:01:21.703] Odometry x=0.344560, y=1.618764, theta=-2.248710 +[21:01:21.957] Odometry x=0.344560, y=1.618758, theta=-2.250443 +[21:01:22.176] Odometry x=0.344552, y=1.618677, theta=-2.260071 +[21:01:22.433] Odometry x=0.344550, y=1.618673, theta=-2.286417 +[21:01:22.542] After Reprojection Map nMatches:531 ,distance between ekf and vo x:0.000051 ,z=-0.000007,angle between two frames:0.000016 +[21:01:22.543] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =400 error init =0.096944 error end=0.042793 +[21:01:22.543] After pose optimization, distance between ekf and vo x:0.000051 ,z=-0.000007,angle between two frames:0.000016 +[21:01:22.543] Update EKF and 3D points the number of feature in the new frame: 400 and number of obs: 400 +[21:01:22.544] frame Scene Depth mean:0.475232 ,depth min:0.050023 +[21:01:22.549] need key frame pitch dis: 1.238876 translation dif:0.040878 +[21:01:22.549] Choose frame as a key frame Scene Depth mean:0.475232 ,depth min:0.050023 +[21:01:22.549] frame process finished the id is: 248 the obs is:392 +[21:01:22.690] Odometry x=0.344388, y=1.618302, theta=-2.296807 +[21:01:23.481] After Reprojection Map nMatches:501 ,distance between ekf and vo x:0.000022 ,z=-0.000024,angle between two frames:0.000002 +[21:01:23.483] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =305 error init =0.125698 error end=0.026914 +[21:01:23.483] After pose optimization, distance between ekf and vo x:0.000022 ,z=-0.000024,angle between two frames:0.000002 +[21:01:23.483] Update EKF and 3D points the number of feature in the new frame: 305 and number of obs: 305 +[21:01:23.483] frame Scene Depth mean:0.556054 ,depth min:0.050782 +[21:01:23.487] need key frame pitch dis: 1.246110 translation dif:0.040879 +[21:01:23.487] Choose frame as a key frame Scene Depth mean:0.556054 ,depth min:0.050782 +[21:01:23.487] frame process finished the id is: 249 the obs is:297 +[21:01:23.957] Odometry x=0.344398, y=1.618296, theta=-2.304041 +[21:01:24.222] Odometry x=0.344646, y=1.618049, theta=-2.303497 +[21:01:24.452] Odometry x=0.352064, y=1.611665, theta=-2.298704 +[21:01:24.603] After Reprojection Map nMatches:510 ,distance between ekf and vo x:0.000122 ,z=0.000039,angle between two frames:0.000073 +[21:01:24.605] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =375 error init =0.077020 error end=0.012914 +[21:01:24.605] After pose optimization, distance between ekf and vo x:0.000122 ,z=0.000039,angle between two frames:0.000073 +[21:01:24.605] Update EKF and 3D points the number of feature in the new frame: 375 and number of obs: 375 +[21:01:24.606] frame Scene Depth mean:0.506957 ,depth min:0.059208 +[21:01:24.610] need key frame pitch dis: 1.237188 translation dif:0.043519 +[21:01:24.610] Choose frame as a key frame Scene Depth mean:0.506957 ,depth min:0.059208 +[21:01:24.610] frame process finished the id is: 250 the obs is:375 +[21:01:24.716] Odometry x=0.355727, y=1.608392, theta=-2.295119 +[21:01:24.987] Odometry x=0.361021, y=1.603685, theta=-2.294584 +[21:01:25.160] Odometry x=0.367620, y=1.597843, theta=-2.300806 +[21:01:25.439] Odometry x=0.374795, y=1.591320, theta=-2.303651 +[21:01:25.625] After Reprojection Map nMatches:596 ,distance between ekf and vo x:0.000177 ,z=0.000066,angle between two frames:0.000105 +[21:01:25.627] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =354 error init =0.319385 error end=0.033283 +[21:01:25.627] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000066,angle between two frames:0.000105 +[21:01:25.627] Update EKF and 3D points the number of feature in the new frame: 354 and number of obs: 354 +[21:01:25.627] frame Scene Depth mean:0.642415 ,depth min:0.054112 +[21:01:25.631] need key frame pitch dis: 0.462494 translation dif:0.041702 +[21:01:25.631] Choose frame as a key frame Scene Depth mean:0.642415 ,depth min:0.054112 +[21:01:25.631] frame process finished the id is: 251 the obs is:354 +[21:01:25.675] Odometry x=0.375092, y=1.590345, theta=-2.301795 +[21:01:25.945] Odometry x=0.380682, y=1.585298, theta=-2.298666 +[21:01:26.364] Odometry x=0.388380, y=1.578790, theta=-2.292472 +[21:01:26.585] Odometry x=0.395934, y=1.572063, theta=-2.289797 +[21:01:26.709] After Reprojection Map nMatches:611 ,distance between ekf and vo x:-0.000244 ,z=0.000208,angle between two frames:0.000050 +[21:01:26.711] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =468 error init =0.139446 error end=0.023680 +[21:01:26.711] After pose optimization, distance between ekf and vo x:-0.000244 ,z=0.000208,angle between two frames:0.000050 +[21:01:26.711] Update EKF and 3D points the number of feature in the new frame: 468 and number of obs: 468 +[21:01:26.711] frame Scene Depth mean:0.482962 ,depth min:0.058386 +[21:01:26.718] need key frame pitch dis: 0.001585 translation dif:0.054987 +[21:01:26.718] frame process finished the id is: 252 the obs is:468 +[21:01:26.718] Odometry x=0.396632, y=1.571645, theta=-2.293534 +[21:01:27.167] Odometry x=0.401712, y=1.567000, theta=-2.290246 +[21:01:27.301] Odometry x=0.408193, y=1.561309, theta=-2.291961 +[21:01:27.434] Odometry x=0.415414, y=1.554972, theta=-2.291205 +[21:01:27.685] Odometry x=0.422727, y=1.548474, theta=-2.285970 +[21:01:27.850] After Reprojection Map nMatches:675 ,distance between ekf and vo x:0.000107 ,z=0.000199,angle between two frames:0.000149 +[21:01:27.852] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =569 error init =0.133448 error end=0.058112 +[21:01:27.852] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000199,angle between two frames:0.000149 +[21:01:27.852] Update EKF and 3D points the number of feature in the new frame: 569 and number of obs: 569 +[21:01:27.852] frame Scene Depth mean:0.400324 ,depth min:0.057701 +[21:01:27.860] need key frame pitch dis: 0.444158 translation dif:0.105007 +[21:01:27.860] Choose frame as a key frame Scene Depth mean:0.400324 ,depth min:0.057701 +[21:01:27.860] frame process finished the id is: 253 the obs is:569 +[21:01:27.943] Odometry x=0.422653, y=1.548545, theta=-2.283459 +[21:01:28.201] Odometry x=0.428569, y=1.543339, theta=-2.277835 +[21:01:28.427] Odometry x=0.436217, y=1.536341, theta=-2.263662 +[21:01:28.715] Odometry x=0.444761, y=1.528763, theta=-2.265134 +[21:01:29.007] Odometry x=0.454095, y=1.521046, theta=-2.268178 +[21:01:29.202] Odometry x=0.463545, y=1.513042, theta=-2.270077 +[21:01:29.215] After Reprojection Map nMatches:669 ,distance between ekf and vo x:0.000767 ,z=0.000224,angle between two frames:0.000421 +[21:01:29.217] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =577 error init =0.081669 error end=0.014949 +[21:01:29.217] After pose optimization, distance between ekf and vo x:0.000767 ,z=0.000224,angle between two frames:0.000421 +[21:01:29.217] Update EKF and 3D points the number of feature in the new frame: 577 and number of obs: 577 +[21:01:29.218] frame Scene Depth mean:0.343666 ,depth min:0.066767 +[21:01:29.226] need key frame pitch dis: 0.029652 translation dif:0.114805 +[21:01:29.226] Choose frame as a key frame Scene Depth mean:0.343666 ,depth min:0.066767 +[21:01:29.226] frame process finished the id is: 254 the obs is:577 +[21:01:29.446] Odometry x=0.461740, y=1.515031, theta=-2.272143 +[21:01:29.712] Odometry x=0.469111, y=1.508762, theta=-2.273853 +[21:01:29.940] Odometry x=0.478151, y=1.500590, theta=-2.267495 +[21:01:30.187] Odometry x=0.488165, y=1.492423, theta=-2.271610 +[21:01:30.335] After Reprojection Map nMatches:622 ,distance between ekf and vo x:-0.004657 ,z=0.141347,angle between two frames:0.099936 +[21:01:30.340] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =492 error init =0.104142 error end=0.019798 +[21:01:30.340] After pose optimization, distance between ekf and vo x:0.028613 ,z=0.129124,angle between two frames:0.109434 +[21:01:30.340] Update EKF and 3D points the number of feature in the new frame: 492 and number of obs: 492 +[21:01:30.340] frame Scene Depth mean:0.380400 ,depth min:0.069873 +[21:01:30.348] need key frame pitch dis: 0.036706 translation dif:0.078657 +[21:01:30.348] frame process finished the id is: 255 the obs is:492 +[21:01:30.447] Odometry x=0.496157, y=1.520543, theta=-2.320165 +[21:01:30.690] Odometry x=0.503335, y=1.513668, theta=-2.326950 +[21:01:30.977] Odometry x=0.513621, y=1.503664, theta=-2.322012 +[21:01:31.188] Odometry x=0.525520, y=1.492346, theta=-2.315881 +[21:01:31.296] After Reprojection Map nMatches:619 ,distance between ekf and vo x:0.002115 ,z=0.141360,angle between two frames:0.099969 +[21:01:31.301] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =554 error init =0.081463 error end=0.019756 +[21:01:31.301] After pose optimization, distance between ekf and vo x:0.038343 ,z=0.109531,angle between two frames:0.115377 +[21:01:31.301] Update EKF and 3D points the number of feature in the new frame: 554 and number of obs: 554 +[21:01:31.302] frame Scene Depth mean:0.418111 ,depth min:0.094454 +[21:01:31.311] need key frame pitch dis: 0.055212 translation dif:0.114793 +[21:01:31.311] Choose frame as a key frame Scene Depth mean:0.418111 ,depth min:0.094454 +[21:01:31.311] frame process finished the id is: 256 the obs is:554 +[21:01:31.454] Odometry x=0.533688, y=1.519412, theta=-2.338671 +[21:01:31.683] Odometry x=0.539607, y=1.513917, theta=-2.304346 +[21:01:31.927] Odometry x=0.549033, y=1.505984, theta=-2.292212 +[21:01:32.199] Odometry x=0.559196, y=1.497043, theta=-2.277444 +[21:01:32.434] Odometry x=0.569670, y=1.488170, theta=-2.272814 +[21:01:32.613] After Reprojection Map nMatches:666 ,distance between ekf and vo x:0.004761 ,z=0.141296,angle between two frames:0.099894 +[21:01:32.618] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =564 error init =0.077713 error end=0.026717 +[21:01:32.618] After pose optimization, distance between ekf and vo x:-0.254449 ,z=0.250554,angle between two frames:0.028941 +[21:01:32.618] frame process finished the id is: 256 the obs is:554 +[21:01:32.713] Odometry x=0.580464, y=1.479354, theta=-2.277100 +[21:01:33.031] Odometry x=0.591423, y=1.470281, theta=-2.286445 +[21:01:33.184] Odometry x=0.601955, y=1.461439, theta=-2.285166 +[21:01:33.450] Odometry x=0.612399, y=1.452423, theta=-2.281386 +[21:01:33.674] Odometry x=0.622977, y=1.443524, theta=-2.269968 +[21:01:33.697] After Reprojection Map nMatches:615 ,distance between ekf and vo x:-0.004016 ,z=0.141377,angle between two frames:0.099969 +[21:01:33.698] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =513 error init =0.052774 error end=0.043298 +[21:01:33.698] After pose optimization, distance between ekf and vo x:-0.004016 ,z=0.141377,angle between two frames:0.099969 +[21:01:33.699] Update EKF and 3D points the number of feature in the new frame: 513 and number of obs: 513 +[21:01:33.699] frame Scene Depth mean:0.566690 ,depth min:0.075131 +[21:01:33.706] need key frame pitch dis: 0.038300 translation dif:0.162898 +[21:01:33.706] Choose frame as a key frame Scene Depth mean:0.566690 ,depth min:0.075131 +[21:01:33.707] frame process finished the id is: 258 the obs is:513 +[21:01:33.951] Odometry x=0.620245, y=1.477455, theta=-2.310442 +[21:01:34.178] Odometry x=0.627628, y=1.470418, theta=-2.302795 +[21:01:34.425] Odometry x=0.637316, y=1.461498, theta=-2.294911 +[21:01:34.699] Odometry x=0.647605, y=1.452423, theta=-2.297400 +[21:01:34.809] After Reprojection Map nMatches:575 ,distance between ekf and vo x:0.000682 ,z=0.141394,angle between two frames:0.099978 +[21:01:34.813] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =505 error init =0.067690 error end=0.008473 +[21:01:34.813] After pose optimization, distance between ekf and vo x:-0.050748 ,z=0.193156,angle between two frames:0.075113 +[21:01:34.813] Update EKF and 3D points the number of feature in the new frame: 505 and number of obs: 505 +[21:01:34.813] frame Scene Depth mean:0.550431 ,depth min:0.134355 +[21:01:34.822] need key frame pitch dis: 0.008819 translation dif:0.106292 +[21:01:34.822] Choose frame as a key frame Scene Depth mean:0.550431 ,depth min:0.134355 +[21:01:34.822] frame process finished the id is: 259 the obs is:505 +[21:01:34.983] Odometry x=0.637208, y=1.495296, theta=-2.329852 +[21:01:35.189] Odometry x=0.644954, y=1.486201, theta=-2.330127 +[21:01:35.420] Odometry x=0.654817, y=1.476721, theta=-2.322904 +[21:01:35.679] Odometry x=0.665334, y=1.466981, theta=-2.322848 +[21:01:35.714] After Reprojection Map nMatches:501 ,distance between ekf and vo x:0.003475 ,z=0.141360,angle between two frames:0.099927 +[21:01:35.716] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =398 error init =0.074372 error end=0.057747 +[21:01:35.716] After pose optimization, distance between ekf and vo x:0.003475 ,z=0.141360,angle between two frames:0.099927 +[21:01:35.716] Update EKF and 3D points the number of feature in the new frame: 398 and number of obs: 398 +[21:01:35.716] frame Scene Depth mean:0.508136 ,depth min:0.071384 +[21:01:35.723] need key frame pitch dis: 0.048460 translation dif:0.051553 +[21:01:35.723] frame process finished the id is: 260 the obs is:398 +[21:01:35.944] Odometry x=0.667297, y=1.498524, theta=-2.358903 +[21:01:36.188] Odometry x=0.675073, y=1.490871, theta=-2.358376 +[21:01:36.444] Odometry x=0.684366, y=1.481245, theta=-2.363001 +[21:01:36.702] Odometry x=0.693955, y=1.471264, theta=-2.369460 +[21:01:36.802] After Reprojection Map nMatches:545 ,distance between ekf and vo x:0.007406 ,z=0.141148,angle between two frames:0.100049 +[21:01:36.805] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =475 error init =0.024787 error end=0.027920 +[21:01:36.805] After pose optimization, distance between ekf and vo x:-0.258128 ,z=0.418217,angle between two frames:0.002084 +[21:01:36.805] frame process finished the id is: 260 the obs is:398 +[21:01:36.988] Odometry x=0.703698, y=1.461092, theta=-2.375340 +[21:01:37.186] Odometry x=0.713443, y=1.450989, theta=-2.373017 +[21:01:37.431] Odometry x=0.723518, y=1.440955, theta=-2.359535 +[21:01:37.452] After Reprojection Map nMatches:458 ,distance between ekf and vo x:0.010300 ,z=0.141158,angle between two frames:0.099679 +[21:01:37.454] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =376 error init =0.077149 error end=0.048244 +[21:01:37.454] After pose optimization, distance between ekf and vo x:0.010300 ,z=0.141158,angle between two frames:0.099679 +[21:01:37.454] Update EKF and 3D points the number of feature in the new frame: 376 and number of obs: 376 +[21:01:37.454] frame Scene Depth mean:0.695312 ,depth min:0.185095 +[21:01:37.460] need key frame pitch dis: 0.042714 translation dif:0.110197 +[21:01:37.460] Choose frame as a key frame Scene Depth mean:0.695312 ,depth min:0.185095 +[21:01:37.460] frame process finished the id is: 262 the obs is:376 +[21:01:37.733] Odometry x=0.740590, y=1.435895, theta=-2.371273 +[21:01:37.806] After Reprojection Map nMatches:322 ,distance between ekf and vo x:0.070045 ,z=0.416863,angle between two frames:0.299990 +[21:01:37.808] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =267 error init =0.374326 error end=0.072126 +[21:01:37.808] After pose optimization, distance between ekf and vo x:0.065106 ,z=0.429844,angle between two frames:0.295840 +[21:01:37.808] frame process finished the id is: 262 the obs is:376 +[21:01:37.930] Odometry x=0.750516, y=1.426113, theta=-2.346235 +[21:01:38.177] After Reprojection Map nMatches:280 ,distance between ekf and vo x:0.058973 ,z=0.418572,angle between two frames:0.300080 +[21:01:38.178] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =215 error init =0.036779 error end=0.056726 +[21:01:38.178] After pose optimization, distance between ekf and vo x:0.058973 ,z=0.418572,angle between two frames:0.300080 +[21:01:38.178] frame process finished the id is: 262 the obs is:376 +[21:01:38.202] Odometry x=0.760343, y=1.416546, theta=-2.352352 +[21:01:38.447] Odometry x=0.770197, y=1.406637, theta=-2.355394 +[21:01:38.529] After Reprojection Map nMatches:322 ,distance between ekf and vo x:0.061600 ,z=0.418182,angle between two frames:0.300008 +[21:01:38.530] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =275 error init =0.094098 error end=0.051501 +[21:01:38.530] After pose optimization, distance between ekf and vo x:-0.253815 ,z=0.751674,angle between two frames:0.094154 +[21:01:38.530] frame process finished the id is: 262 the obs is:376 +[21:01:38.691] Odometry x=0.780459, y=1.396249, theta=-2.344049 +[21:01:38.940] After Reprojection Map nMatches:364 ,distance between ekf and vo x:0.024732 ,z=0.281336,angle between two frames:0.200045 +[21:01:38.941] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =282 error init =0.128902 error end=0.106924 +[21:01:38.941] After pose optimization, distance between ekf and vo x:0.024732 ,z=0.281336,angle between two frames:0.200045 +[21:01:38.941] frame process finished the id is: 262 the obs is:376 +[21:01:39.002] Odometry x=0.790599, y=1.386499, theta=-2.338162 +[21:01:39.185] Odometry x=0.800549, y=1.376697, theta=-2.347392 +[21:01:39.385] After Reprojection Map nMatches:377 ,distance between ekf and vo x:-0.000058 ,z=0.000024,angle between two frames:0.000026 +[21:01:39.386] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =335 error init =0.021839 error end=0.022157 +[21:01:39.386] After pose optimization, distance between ekf and vo x:-0.000058 ,z=0.000024,angle between two frames:0.000026 +[21:01:39.386] Update EKF and 3D points the number of feature in the new frame: 335 and number of obs: 335 +[21:01:39.386] frame Scene Depth mean:1.594233 ,depth min:0.131253 +[21:01:39.391] need key frame pitch dis: 0.032120 translation dif:0.214047 +[21:01:39.391] Choose frame as a key frame Scene Depth mean:1.594233 ,depth min:0.131253 +[21:01:39.391] frame process finished the id is: 267 the obs is:335 +[21:01:39.440] Odometry x=0.806095, y=1.371266, theta=-2.342562 +[21:01:39.711] Odometry x=0.813893, y=1.363738, theta=-2.341125 +[21:01:39.835] After Reprojection Map nMatches:430 ,distance between ekf and vo x:-0.000008 ,z=0.000010,angle between two frames:0.000011 +[21:01:39.836] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =358 error init =0.156320 error end=0.063463 +[21:01:39.836] After pose optimization, distance between ekf and vo x:-0.000008 ,z=0.000010,angle between two frames:0.000011 +[21:01:39.836] Update EKF and 3D points the number of feature in the new frame: 358 and number of obs: 358 +[21:01:39.836] frame Scene Depth mean:1.365688 ,depth min:0.125287 +[21:01:39.842] need key frame pitch dis: 0.008003 translation dif:0.227792 +[21:01:39.842] Choose frame as a key frame Scene Depth mean:1.365688 ,depth min:0.125287 +[21:01:39.842] frame process finished the id is: 268 the obs is:358 +[21:01:39.950] Odometry x=0.819308, y=1.358442, theta=-2.337854 +[21:01:40.176] Odometry x=0.826846, y=1.350968, theta=-2.336942 +[21:01:40.401] After Reprojection Map nMatches:473 ,distance between ekf and vo x:-0.000031 ,z=0.000034,angle between two frames:0.000002 +[21:01:40.404] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =397 error init =0.108998 error end=0.068168 +[21:01:40.404] After pose optimization, distance between ekf and vo x:-0.000447 ,z=0.000495,angle between two frames:0.000091 +[21:01:40.404] Update EKF and 3D points the number of feature in the new frame: 397 and number of obs: 397 +[21:01:40.404] frame Scene Depth mean:1.291771 ,depth min:0.117932 +[21:01:40.412] need key frame pitch dis: 0.009335 translation dif:0.036511 +[21:01:40.412] frame process finished the id is: 269 the obs is:397 +[21:01:40.434] Odometry x=0.832253, y=1.345793, theta=-2.333227 +[21:01:40.717] Odometry x=0.839943, y=1.338246, theta=-2.331039 +[21:01:40.924] After Reprojection Map nMatches:475 ,distance between ekf and vo x:-0.000059 ,z=0.000037,angle between two frames:0.000036 +[21:01:40.925] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =355 error init =0.335614 error end=0.086931 +[21:01:40.925] After pose optimization, distance between ekf and vo x:-0.000059 ,z=0.000037,angle between two frames:0.000036 +[21:01:40.925] Update EKF and 3D points the number of feature in the new frame: 355 and number of obs: 355 +[21:01:40.925] frame Scene Depth mean:1.335632 ,depth min:0.082531 +[21:01:40.931] need key frame pitch dis: 0.005541 translation dif:0.036495 +[21:01:40.931] frame process finished the id is: 270 the obs is:355 +[21:01:40.980] Odometry x=0.845464, y=1.332992, theta=-2.332313 +[21:01:41.212] Odometry x=0.852860, y=1.325121, theta=-2.330519 +[21:01:41.422] After Reprojection Map nMatches:399 ,distance between ekf and vo x:-0.000028 ,z=0.000054,angle between two frames:0.000014 +[21:01:41.423] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =282 error init =0.171504 error end=0.131440 +[21:01:41.423] After pose optimization, distance between ekf and vo x:-0.000028 ,z=0.000054,angle between two frames:0.000014 +[21:01:41.423] Update EKF and 3D points the number of feature in the new frame: 282 and number of obs: 282 +[21:01:41.423] frame Scene Depth mean:1.209169 ,depth min:0.062942 +[21:01:41.427] need key frame pitch dis: 0.004807 translation dif:0.054999 +[21:01:41.427] frame process finished the id is: 271 the obs is:282 +[21:01:41.438] Odometry x=0.858616, y=1.319974, theta=-2.333048 +[21:01:41.696] Odometry x=0.866223, y=1.312755, theta=-2.336019 +[21:01:41.949] Odometry x=0.875847, y=1.303644, theta=-2.334503 +[21:01:41.998] After Reprojection Map nMatches:348 ,distance between ekf and vo x:0.000252 ,z=0.000073,angle between two frames:0.000225 +[21:01:42.001] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =297 error init =0.064489 error end=0.033995 +[21:01:42.001] After pose optimization, distance between ekf and vo x:0.009873 ,z=0.008007,angle between two frames:0.001000 +[21:01:42.001] Update EKF and 3D points the number of feature in the new frame: 297 and number of obs: 297 +[21:01:42.001] frame Scene Depth mean:0.989533 ,depth min:0.056473 +[21:01:42.005] need key frame pitch dis: 0.003492 translation dif:0.098226 +[21:01:42.005] frame process finished the id is: 272 the obs is:297 +[21:01:42.204] Odometry x=0.893571, y=1.288302, theta=-2.334285 +[21:01:42.430] Odometry x=0.903703, y=1.278659, theta=-2.322957 +[21:01:42.518] After Reprojection Map nMatches:337 ,distance between ekf and vo x:0.000053 ,z=0.000093,angle between two frames:0.000063 +[21:01:42.521] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =265 error init =0.047871 error end=0.054908 +[21:01:42.521] After pose optimization, distance between ekf and vo x:-0.181730 ,z=0.228693,angle between two frames:0.092524 +[21:01:42.521] frame process finished the id is: 272 the obs is:297 +[21:01:42.683] Odometry x=0.913928, y=1.269071, theta=-2.325420 +[21:01:42.984] After Reprojection Map nMatches:206 ,distance between ekf and vo x:-0.000157 ,z=0.000050,angle between two frames:0.000021 +[21:01:42.986] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =160 error init =0.196557 error end=0.055503 +[21:01:42.986] After pose optimization, distance between ekf and vo x:-0.153143 ,z=0.084571,angle between two frames:0.191784 +[21:01:42.986] Update EKF and 3D points the number of feature in the new frame: 160 and number of obs: 160 +[21:01:42.986] frame Scene Depth mean:0.916725 ,depth min:0.068389 +[21:01:42.987] need key frame pitch dis: 0.120219 translation dif:0.225528 +[21:01:42.988] Choose frame as a key frame Scene Depth mean:0.916725 ,depth min:0.068389 +[21:01:42.988] frame process finished the id is: 274 the obs is:160 +[21:01:43.021] Odometry x=0.886617, y=1.281239, theta=-2.252347 +[21:01:43.181] Odometry x=0.894874, y=1.274472, theta=-2.240225 +[21:01:43.427] After Reprojection Map nMatches:177 ,distance between ekf and vo x:-0.000003 ,z=0.000037,angle between two frames:0.000131 +[21:01:43.429] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =153 error init =0.018967 error end=0.023605 +[21:01:43.429] After pose optimization, distance between ekf and vo x:-0.007973 ,z=0.020648,angle between two frames:0.007662 +[21:01:43.429] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153 +[21:01:43.429] frame Scene Depth mean:1.345159 ,depth min:0.081039 +[21:01:43.431] need key frame pitch dis: 0.098749 translation dif:0.115586 +[21:01:43.431] Choose frame as a key frame Scene Depth mean:1.345159 ,depth min:0.081039 +[21:01:43.431] frame process finished the id is: 275 the obs is:153 +[21:01:43.449] Odometry x=0.898732, y=1.274465, theta=-2.239105 +[21:01:43.693] Odometry x=0.908182, y=1.267352, theta=-2.234402 +[21:01:43.921] Odometry x=0.919533, y=1.258384, theta=-2.228938 +[21:01:43.931] After Reprojection Map nMatches:169 ,distance between ekf and vo x:0.000049 ,z=0.000095,angle between two frames:0.000149 +[21:01:43.932] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =117 error init =0.809239 error end=0.103357 +[21:01:43.932] After pose optimization, distance between ekf and vo x:-0.048764 ,z=0.074751,angle between two frames:0.033616 +[21:01:43.932] Update EKF and 3D points the number of feature in the new frame: 117 and number of obs: 117 +[21:01:43.933] frame Scene Depth mean:1.494055 ,depth min:0.160699 +[21:01:43.935] need key frame pitch dis: 0.027402 translation dif:0.044972 +[21:01:43.935] frame process finished the id is: 276 the obs is:117 +[21:01:44.191] Odometry x=0.933693, y=1.250746, theta=-2.234182 +[21:01:44.312] After Reprojection Map nMatches:179 ,distance between ekf and vo x:0.000084 ,z=0.000080,angle between two frames:0.000201 +[21:01:44.313] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =162 error init =0.070970 error end=0.013752 +[21:01:44.313] After pose optimization, distance between ekf and vo x:-0.003451 ,z=0.009493,angle between two frames:0.003361 +[21:01:44.313] Update EKF and 3D points the number of feature in the new frame: 162 and number of obs: 162 +[21:01:44.313] frame Scene Depth mean:0.758467 ,depth min:0.062416 +[21:01:44.315] need key frame pitch dis: 0.101333 translation dif:0.162441 +[21:01:44.315] Choose frame as a key frame Scene Depth mean:0.758467 ,depth min:0.062416 +[21:01:44.315] frame process finished the id is: 277 the obs is:162 +[21:01:44.419] Odometry x=0.939109, y=1.248738, theta=-2.236521 +[21:01:44.661] Odometry x=0.947450, y=1.242255, theta=-2.245122 +[21:01:44.822] After Reprojection Map nMatches:240 ,distance between ekf and vo x:-0.000363 ,z=0.000299,angle between two frames:0.000565 +[21:01:44.823] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =212 error init =0.001369 error end=0.003249 +[21:01:44.823] After pose optimization, distance between ekf and vo x:-0.000363 ,z=0.000299,angle between two frames:0.000565 +[21:01:44.823] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212 +[21:01:44.823] frame Scene Depth mean:0.952353 ,depth min:0.150093 +[21:01:44.827] need key frame pitch dis: 0.006713 translation dif:0.069428 +[21:01:44.827] frame process finished the id is: 278 the obs is:212 +[21:01:44.982] Odometry x=0.955155, y=1.234009, theta=-2.245818 +[21:01:45.204] Odometry x=0.963641, y=1.228303, theta=-2.250771 +[21:01:45.367] After Reprojection Map nMatches:277 ,distance between ekf and vo x:-0.000086 ,z=0.000136,angle between two frames:0.000086 +[21:01:45.367] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =253 error init =0.034366 error end=0.001689 +[21:01:45.367] After pose optimization, distance between ekf and vo x:-0.000086 ,z=0.000136,angle between two frames:0.000086 +[21:01:45.367] Update EKF and 3D points the number of feature in the new frame: 253 and number of obs: 253 +[21:01:45.367] frame Scene Depth mean:1.447604 ,depth min:0.069074 +[21:01:45.371] need key frame pitch dis: 0.092689 translation dif:0.202202 +[21:01:45.371] Choose frame as a key frame Scene Depth mean:1.447604 ,depth min:0.069074 +[21:01:45.371] frame process finished the id is: 279 the obs is:253 +[21:01:45.447] Odometry x=0.971233, y=1.225008, theta=-2.245166 +[21:01:45.690] Odometry x=0.980054, y=1.218647, theta=-2.223310 +[21:01:45.913] After Reprojection Map nMatches:306 ,distance between ekf and vo x:-0.000084 ,z=0.000194,angle between two frames:0.000147 +[21:01:45.914] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =276 error init =0.035112 error end=0.012828 +[21:01:45.914] After pose optimization, distance between ekf and vo x:-0.000084 ,z=0.000194,angle between two frames:0.000147 +[21:01:45.914] Update EKF and 3D points the number of feature in the new frame: 276 and number of obs: 276 +[21:01:45.914] frame Scene Depth mean:1.541091 ,depth min:0.075511 +[21:01:45.919] need key frame pitch dis: 0.115081 translation dif:0.220832 +[21:01:45.919] Choose frame as a key frame Scene Depth mean:1.541091 ,depth min:0.075511 +[21:01:45.919] frame process finished the id is: 280 the obs is:276 +[21:01:45.922] Odometry x=0.986215, y=1.213843, theta=-2.222773 +[21:01:46.184] Odometry x=0.994569, y=1.207482, theta=-2.224143 +[21:01:46.432] Odometry x=1.005165, y=1.199450, theta=-2.199452 +[21:01:46.472] After Reprojection Map nMatches:248 ,distance between ekf and vo x:-0.000423 ,z=0.000479,angle between two frames:0.001123 +[21:01:46.473] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =182 error init =0.093616 error end=0.068004 +[21:01:46.473] After pose optimization, distance between ekf and vo x:-0.000423 ,z=0.000479,angle between two frames:0.001123 +[21:01:46.473] Update EKF and 3D points the number of feature in the new frame: 182 and number of obs: 182 +[21:01:46.473] frame Scene Depth mean:1.809442 ,depth min:0.193090 +[21:01:46.476] need key frame pitch dis: 0.127474 translation dif:0.249856 +[21:01:46.476] Choose frame as a key frame Scene Depth mean:1.809442 ,depth min:0.193090 +[21:01:46.476] frame process finished the id is: 281 the obs is:182 +[21:01:46.685] Odometry x=1.008681, y=1.195452, theta=-2.210380 +[21:01:46.879] After Reprojection Map nMatches:187 ,distance between ekf and vo x:-0.000153 ,z=0.000057,angle between two frames:0.000026 +[21:01:46.880] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =169 error init =0.326528 error end=0.017320 +[21:01:46.880] After pose optimization, distance between ekf and vo x:0.001889 ,z=0.000398,angle between two frames:0.000231 +[21:01:46.880] Update EKF and 3D points the number of feature in the new frame: 169 and number of obs: 169 +[21:01:46.880] frame Scene Depth mean:1.768129 ,depth min:0.173673 +[21:01:46.884] need key frame pitch dis: 0.004809 translation dif:0.037583 +[21:01:46.884] frame process finished the id is: 282 the obs is:169 +[21:01:46.985] Odometry x=1.015400, y=1.190163, theta=-2.217964 +[21:01:47.198] Odometry x=1.023762, y=1.183923, theta=-2.231197 +[21:01:47.347] After Reprojection Map nMatches:328 ,distance between ekf and vo x:-0.000163 ,z=0.000048,angle between two frames:0.000041 +[21:01:47.349] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =312 error init =0.002221 error end=0.002378 +[21:01:47.349] After pose optimization, distance between ekf and vo x:-0.000162 ,z=0.000050,angle between two frames:0.000041 +[21:01:47.349] Update EKF and 3D points the number of feature in the new frame: 312 and number of obs: 312 +[21:01:47.349] frame Scene Depth mean:1.407994 ,depth min:0.156803 +[21:01:47.354] need key frame pitch dis: 0.021738 translation dif:0.026551 +[21:01:47.354] frame process finished the id is: 283 the obs is:312 +[21:01:47.439] Odometry x=1.030840, y=1.180825, theta=-2.232118 +[21:01:47.703] Odometry x=1.039184, y=1.174666, theta=-2.234506 +[21:01:47.765] After Reprojection Map nMatches:250 ,distance between ekf and vo x:-0.000091 ,z=0.000056,angle between two frames:0.000021 +[21:01:47.766] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =220 error init =0.005246 error end=0.020422 +[21:01:47.766] After pose optimization, distance between ekf and vo x:-0.000091 ,z=0.000056,angle between two frames:0.000021 +[21:01:47.766] Update EKF and 3D points the number of feature in the new frame: 220 and number of obs: 220 +[21:01:47.766] frame Scene Depth mean:1.712627 ,depth min:0.067399 +[21:01:47.771] need key frame pitch dis: 0.014828 translation dif:0.132771 +[21:01:47.771] Choose frame as a key frame Scene Depth mean:1.712627 ,depth min:0.067399 +[21:01:47.771] frame process finished the id is: 284 the obs is:220 +[21:01:47.941] Odometry x=1.045567, y=1.169399, theta=-2.221693 +[21:01:48.207] Odometry x=1.054294, y=1.162095, theta=-2.204554 +[21:01:48.314] After Reprojection Map nMatches:306 ,distance between ekf and vo x:-0.000170 ,z=0.000097,angle between two frames:0.000097 +[21:01:48.316] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =273 error init =1.141587 error end=0.028816 +[21:01:48.316] After pose optimization, distance between ekf and vo x:0.006008 ,z=0.005663,angle between two frames:0.000295 +[21:01:48.316] Update EKF and 3D points the number of feature in the new frame: 273 and number of obs: 273 +[21:01:48.317] frame Scene Depth mean:1.409855 ,depth min:0.140410 +[21:01:48.321] need key frame pitch dis: 0.000155 translation dif:0.064390 +[21:01:48.321] frame process finished the id is: 285 the obs is:273 +[21:01:48.444] Odometry x=1.061838, y=1.159115, theta=-2.210536 +[21:01:48.718] Odometry x=1.070357, y=1.152983, theta=-2.232730 +[21:01:48.788] After Reprojection Map nMatches:346 ,distance between ekf and vo x:-0.000124 ,z=0.000057,angle between two frames:0.000071 +[21:01:48.789] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =292 error init =0.019490 error end=0.030784 +[21:01:48.789] After pose optimization, distance between ekf and vo x:-0.000124 ,z=0.000057,angle between two frames:0.000071 +[21:01:48.789] Update EKF and 3D points the number of feature in the new frame: 292 and number of obs: 292 +[21:01:48.789] frame Scene Depth mean:1.444753 ,depth min:0.189728 +[21:01:48.794] need key frame pitch dis: 0.018287 translation dif:0.083850 +[21:01:48.794] frame process finished the id is: 286 the obs is:292 +[21:01:48.970] Odometry x=1.077380, y=1.147377, theta=-2.228667 +[21:01:49.186] Odometry x=1.086052, y=1.140840, theta=-2.215802 +[21:01:49.251] After Reprojection Map nMatches:351 ,distance between ekf and vo x:-0.000008 ,z=0.000058,angle between two frames:0.000034 +[21:01:49.254] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =295 error init =0.104217 error end=0.029790 +[21:01:49.254] After pose optimization, distance between ekf and vo x:0.000971 ,z=0.001190,angle between two frames:0.000016 +[21:01:49.254] Update EKF and 3D points the number of feature in the new frame: 295 and number of obs: 295 +[21:01:49.254] frame Scene Depth mean:1.403793 ,depth min:0.147677 +[21:01:49.258] need key frame pitch dis: 0.015899 translation dif:0.130782 +[21:01:49.258] Choose frame as a key frame Scene Depth mean:1.403793 ,depth min:0.147677 +[21:01:49.258] frame process finished the id is: 287 the obs is:295 +[21:01:49.446] Odometry x=1.092123, y=1.137114, theta=-2.206873 +[21:01:49.690] Odometry x=1.100927, y=1.131647, theta=-2.192481 +[21:01:49.729] After Reprojection Map nMatches:293 ,distance between ekf and vo x:-0.000095 ,z=0.000049,angle between two frames:0.000002 +[21:01:49.730] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =263 error init =0.158359 error end=0.060907 +[21:01:49.730] After pose optimization, distance between ekf and vo x:-0.000095 ,z=0.000049,angle between two frames:0.000002 +[21:01:49.730] Update EKF and 3D points the number of feature in the new frame: 263 and number of obs: 263 +[21:01:49.730] frame Scene Depth mean:1.471681 ,depth min:0.063667 +[21:01:49.734] need key frame pitch dis: 0.146729 translation dif:0.369563 +[21:01:49.734] Choose frame as a key frame Scene Depth mean:1.471681 ,depth min:0.063667 +[21:01:49.734] frame process finished the id is: 288 the obs is:263 +[21:01:49.925] Odometry x=1.107266, y=1.126802, theta=-2.191125 +[21:01:50.185] Odometry x=1.116178, y=1.120568, theta=-2.209926 +[21:01:50.243] After Reprojection Map nMatches:315 ,distance between ekf and vo x:0.000011 ,z=0.000123,angle between two frames:0.000076 +[21:01:50.244] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =289 error init =0.008234 error end=0.003142 +[21:01:50.244] After pose optimization, distance between ekf and vo x:0.000011 ,z=0.000123,angle between two frames:0.000076 +[21:01:50.244] Update EKF and 3D points the number of feature in the new frame: 289 and number of obs: 289 +[21:01:50.244] frame Scene Depth mean:1.507173 ,depth min:0.069083 +[21:01:50.249] need key frame pitch dis: 0.017548 translation dif:0.036661 +[21:01:50.249] frame process finished the id is: 289 the obs is:289 +[21:01:50.452] Odometry x=1.121722, y=1.115483, theta=-2.189326 +[21:01:50.679] Odometry x=1.130621, y=1.109232, theta=-2.207050 +[21:01:50.683] After Reprojection Map nMatches:226 ,distance between ekf and vo x:-0.000132 ,z=0.000183,angle between two frames:0.000116 +[21:01:50.683] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =201 error init =0.028569 error end=0.017446 +[21:01:50.683] After pose optimization, distance between ekf and vo x:-0.000132 ,z=0.000183,angle between two frames:0.000116 +[21:01:50.683] Update EKF and 3D points the number of feature in the new frame: 201 and number of obs: 201 +[21:01:50.683] frame Scene Depth mean:2.207454 ,depth min:0.139990 +[21:01:50.686] need key frame pitch dis: 0.012244 translation dif:0.050912 +[21:01:50.686] frame process finished the id is: 290 the obs is:201 +[21:01:50.988] Odometry x=1.151002, y=1.094285, theta=-2.200261 +[21:01:51.144] After Reprojection Map nMatches:370 ,distance between ekf and vo x:-0.000024 ,z=-0.000077,angle between two frames:0.000344 +[21:01:51.146] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =331 error init =0.016110 error end=0.007134 +[21:01:51.146] After pose optimization, distance between ekf and vo x:-0.000175 ,z=-0.000150,angle between two frames:0.000364 +[21:01:51.146] Update EKF and 3D points the number of feature in the new frame: 331 and number of obs: 331 +[21:01:51.146] frame Scene Depth mean:1.743450 ,depth min:0.078126 +[21:01:51.152] need key frame pitch dis: 0.017632 translation dif:0.053513 +[21:01:51.152] frame process finished the id is: 291 the obs is:331 +[21:01:51.604] After Reprojection Map nMatches:362 ,distance between ekf and vo x:0.000134 ,z=-0.000042,angle between two frames:0.000403 +[21:01:51.607] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =313 error init =0.048058 error end=0.078916 +[21:01:51.607] After pose optimization, distance between ekf and vo x:0.017136 ,z=0.039027,angle between two frames:0.005360 +[21:01:51.607] Update EKF and 3D points the number of feature in the new frame: 313 and number of obs: 313 +[21:01:51.607] frame Scene Depth mean:1.480341 ,depth min:0.086953 +[21:01:51.612] need key frame pitch dis: 0.017765 translation dif:0.052893 +[21:01:51.612] frame process finished the id is: 292 the obs is:313 +[21:01:52.173] After Reprojection Map nMatches:472 ,distance between ekf and vo x:-0.000098 ,z=0.000095,angle between two frames:0.000010 +[21:01:52.174] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =416 error init =0.035843 error end=0.050667 +[21:01:52.174] After pose optimization, distance between ekf and vo x:-0.000098 ,z=0.000095,angle between two frames:0.000010 +[21:01:52.174] Update EKF and 3D points the number of feature in the new frame: 416 and number of obs: 416 +[21:01:52.174] frame Scene Depth mean:2.176380 ,depth min:0.058663 +[21:01:52.180] need key frame pitch dis: 0.004182 translation dif:0.072115 +[21:01:52.180] frame process finished the id is: 293 the obs is:416 +[21:01:52.808] After Reprojection Map nMatches:496 ,distance between ekf and vo x:-0.000040 ,z=0.000216,angle between two frames:0.000238 +[21:01:52.810] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =407 error init =0.608670 error end=0.127441 +[21:01:52.810] After pose optimization, distance between ekf and vo x:-0.000040 ,z=0.000216,angle between two frames:0.000238 +[21:01:52.810] Update EKF and 3D points the number of feature in the new frame: 407 and number of obs: 407 +[21:01:52.810] frame Scene Depth mean:2.313601 ,depth min:0.057143 +[21:01:52.816] need key frame pitch dis: 0.005121 translation dif:0.072466 +[21:01:52.816] frame process finished the id is: 294 the obs is:407 +[21:01:53.423] After Reprojection Map nMatches:417 ,distance between ekf and vo x:-0.000034 ,z=0.000059,angle between two frames:0.000025 +[21:01:53.426] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =368 error init =0.034860 error end=0.008889 +[21:01:53.426] After pose optimization, distance between ekf and vo x:0.000037 ,z=0.000150,angle between two frames:0.000023 +[21:01:53.426] Update EKF and 3D points the number of feature in the new frame: 368 and number of obs: 368 +[21:01:53.426] frame Scene Depth mean:2.325636 ,depth min:0.056794 +[21:01:53.431] need key frame pitch dis: 0.125595 translation dif:0.423763 +[21:01:53.431] Choose frame as a key frame Scene Depth mean:2.325636 ,depth min:0.056794 +[21:01:53.431] frame process finished the id is: 295 the obs is:368 +[21:01:53.690] Odometry x=1.151218, y=1.094983, theta=-2.212260 +[21:01:53.927] Odometry x=1.151289, y=1.094852, theta=-2.212416 +[21:01:54.063] After Reprojection Map nMatches:468 ,distance between ekf and vo x:0.000010 ,z=0.000092,angle between two frames:0.000062 +[21:01:54.065] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =396 error init =0.208571 error end=0.027683 +[21:01:54.065] After pose optimization, distance between ekf and vo x:0.000010 ,z=0.000092,angle between two frames:0.000062 +[21:01:54.065] Update EKF and 3D points the number of feature in the new frame: 396 and number of obs: 396 +[21:01:54.065] frame Scene Depth mean:2.086112 ,depth min:0.055833 +[21:01:54.071] need key frame pitch dis: 0.025084 translation dif:0.073316 +[21:01:54.071] frame process finished the id is: 296 the obs is:396 +[21:01:54.209] Odometry x=1.151633, y=1.094291, theta=-2.231957 +[21:01:54.431] Odometry x=1.152513, y=1.094076, theta=-2.290118 +[21:01:54.631] After Reprojection Map nMatches:443 ,distance between ekf and vo x:-0.000022 ,z=0.000121,angle between two frames:0.000060 +[21:01:54.634] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =350 error init =0.074193 error end=0.051380 +[21:01:54.634] After pose optimization, distance between ekf and vo x:0.003013 ,z=0.002614,angle between two frames:0.000192 +[21:01:54.634] Update EKF and 3D points the number of feature in the new frame: 350 and number of obs: 350 +[21:01:54.634] frame Scene Depth mean:2.111053 ,depth min:0.111661 +[21:01:54.639] need key frame pitch dis: 0.099190 translation dif:0.131117 +[21:01:54.639] Choose frame as a key frame Scene Depth mean:2.111053 ,depth min:0.111661 +[21:01:54.639] frame process finished the id is: 297 the obs is:350 +[21:01:54.722] Odometry x=1.152983, y=1.094208, theta=-2.320883 +[21:01:54.981] Odometry x=1.153006, y=1.093956, theta=-2.379483 +[21:01:55.184] Odometry x=1.152995, y=1.093934, theta=-2.449783 +[21:01:55.218] After Reprojection Map nMatches:395 ,distance between ekf and vo x:-0.000101 ,z=0.000185,angle between two frames:0.000003 +[21:01:55.220] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =321 error init =0.116890 error end=0.041920 +[21:01:55.220] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000231,angle between two frames:0.000026 +[21:01:55.220] Update EKF and 3D points the number of feature in the new frame: 321 and number of obs: 321 +[21:01:55.221] frame Scene Depth mean:1.921079 ,depth min:0.063570 +[21:01:55.226] need key frame pitch dis: 0.329820 translation dif:0.002028 +[21:01:55.226] Choose frame as a key frame Scene Depth mean:1.921079 ,depth min:0.063570 +[21:01:55.227] frame process finished the id is: 298 the obs is:320 +[21:01:55.450] Odometry x=1.152878, y=1.093981, theta=-2.561321 +[21:01:55.665] After Reprojection Map nMatches:331 ,distance between ekf and vo x:0.000022 ,z=0.000044,angle between two frames:0.000014 +[21:01:55.666] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =243 error init =0.070498 error end=0.062683 +[21:01:55.666] After pose optimization, distance between ekf and vo x:0.000022 ,z=0.000044,angle between two frames:0.000014 +[21:01:55.666] Update EKF and 3D points the number of feature in the new frame: 243 and number of obs: 243 +[21:01:55.666] frame Scene Depth mean:1.807136 ,depth min:0.060802 +[21:01:55.671] need key frame pitch dis: 0.313265 translation dif:0.000170 +[21:01:55.671] Choose frame as a key frame Scene Depth mean:1.807136 ,depth min:0.060802 +[21:01:55.671] frame process finished the id is: 299 the obs is:239 +[21:01:55.719] Odometry x=1.152857, y=1.094094, theta=-2.634148 +[21:01:55.948] Odometry x=1.152859, y=1.094088, theta=-2.673319 +[21:01:56.097] After Reprojection Map nMatches:300 ,distance between ekf and vo x:0.000135 ,z=0.000019,angle between two frames:0.000033 +[21:01:56.098] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =222 error init =0.441197 error end=0.122831 +[21:01:56.098] After pose optimization, distance between ekf and vo x:0.000135 ,z=0.000019,angle between two frames:0.000033 +[21:01:56.098] Update EKF and 3D points the number of feature in the new frame: 222 and number of obs: 222 +[21:01:56.098] frame Scene Depth mean:1.866440 ,depth min:0.079486 +[21:01:56.103] need key frame pitch dis: 0.169052 translation dif:0.000344 +[21:01:56.103] Choose frame as a key frame Scene Depth mean:1.866440 ,depth min:0.079486 +[21:01:56.103] frame process finished the id is: 300 the obs is:222 +[21:01:56.205] Odometry x=1.152682, y=1.093892, theta=-2.711131 +[21:01:56.422] Odometry x=1.152690, y=1.093800, theta=-2.753698 +[21:01:56.453] After Reprojection Map nMatches:231 ,distance between ekf and vo x:0.000050 ,z=0.000077,angle between two frames:0.000040 +[21:01:56.454] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =206 error init =0.049577 error end=0.063044 +[21:01:56.454] After pose optimization, distance between ekf and vo x:0.000050 ,z=0.000077,angle between two frames:0.000040 +[21:01:56.454] Update EKF and 3D points the number of feature in the new frame: 206 and number of obs: 206 +[21:01:56.454] frame Scene Depth mean:1.424845 ,depth min:0.057601 +[21:01:56.459] need key frame pitch dis: 0.243926 translation dif:0.000346 +[21:01:56.459] Choose frame as a key frame Scene Depth mean:1.424845 ,depth min:0.057601 +[21:01:56.459] frame process finished the id is: 301 the obs is:206 +[21:01:56.680] Odometry x=1.152799, y=1.093739, theta=-2.786005 +[21:01:56.752] After Reprojection Map nMatches:196 ,distance between ekf and vo x:-0.000034 ,z=0.000364,angle between two frames:0.000124 +[21:01:56.753] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =170 error init =0.081010 error end=0.014686 +[21:01:56.753] After pose optimization, distance between ekf and vo x:-0.000034 ,z=0.000364,angle between two frames:0.000124 +[21:01:56.753] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170 +[21:01:56.753] frame Scene Depth mean:1.736896 ,depth min:0.065861 +[21:01:56.757] need key frame pitch dis: 0.111260 translation dif:0.000134 +[21:01:56.757] Choose frame as a key frame Scene Depth mean:1.736896 ,depth min:0.065861 +[21:01:56.757] frame process finished the id is: 302 the obs is:162 +[21:01:57.002] Odometry x=1.152756, y=1.093779, theta=-2.822391 +[21:01:57.059] After Reprojection Map nMatches:223 ,distance between ekf and vo x:0.000066 ,z=0.000071,angle between two frames:0.000053 +[21:01:57.060] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =163 error init =0.039925 error end=0.029011 +[21:01:57.060] After pose optimization, distance between ekf and vo x:0.012114 ,z=0.001496,angle between two frames:0.000744 +[21:01:57.060] Update EKF and 3D points the number of feature in the new frame: 163 and number of obs: 163 +[21:01:57.060] frame Scene Depth mean:1.258022 ,depth min:0.050841 +[21:01:57.064] need key frame pitch dis: 0.073468 translation dif:0.002491 +[21:01:57.064] frame process finished the id is: 303 the obs is:163 +[21:01:57.183] Odometry x=1.155289, y=1.093677, theta=-2.859473 +[21:01:57.376] After Reprojection Map nMatches:229 ,distance between ekf and vo x:0.000002 ,z=0.000358,angle between two frames:0.000125 +[21:01:57.377] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =168 error init =0.646085 error end=0.143916 +[21:01:57.377] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000358,angle between two frames:0.000125 +[21:01:57.377] Update EKF and 3D points the number of feature in the new frame: 168 and number of obs: 168 +[21:01:57.377] frame Scene Depth mean:1.109572 ,depth min:0.053271 +[21:01:57.380] need key frame pitch dis: 0.350705 translation dif:0.002261 +[21:01:57.380] Choose frame as a key frame Scene Depth mean:1.109572 ,depth min:0.053271 +[21:01:57.380] frame process finished the id is: 304 the obs is:157 +[21:01:57.445] Odometry x=1.155238, y=1.093679, theta=-2.892784 +[21:01:57.682] After Reprojection Map nMatches:265 ,distance between ekf and vo x:0.000209 ,z=0.000234,angle between two frames:0.000100 +[21:01:57.683] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =188 error init =0.044504 error end=0.065304 +[21:01:57.683] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000234,angle between two frames:0.000100 +[21:01:57.683] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188 +[21:01:57.683] frame Scene Depth mean:1.250061 ,depth min:0.056102 +[21:01:57.687] need key frame pitch dis: 0.378021 translation dif:0.002868 +[21:01:57.687] Choose frame as a key frame Scene Depth mean:1.250061 ,depth min:0.056102 +[21:01:57.687] frame process finished the id is: 305 the obs is:188 +[21:01:58.066] After Reprojection Map nMatches:311 ,distance between ekf and vo x:0.000176 ,z=0.000026,angle between two frames:0.000024 +[21:01:58.067] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =243 error init =0.060576 error end=0.021960 +[21:01:58.067] After pose optimization, distance between ekf and vo x:0.000176 ,z=0.000026,angle between two frames:0.000024 +[21:01:58.067] Update EKF and 3D points the number of feature in the new frame: 243 and number of obs: 243 +[21:01:58.067] frame Scene Depth mean:0.968187 ,depth min:0.054478 +[21:01:58.074] need key frame pitch dis: 0.109282 translation dif:0.003328 +[21:01:58.074] Choose frame as a key frame Scene Depth mean:0.968187 ,depth min:0.054478 +[21:01:58.074] frame process finished the id is: 306 the obs is:243 +[21:01:58.216] Odometry x=1.155969, y=1.094645, theta=-2.931672 +[21:01:58.435] Odometry x=1.155940, y=1.094572, theta=-2.934240 +[21:01:58.494] After Reprojection Map nMatches:306 ,distance between ekf and vo x:0.000119 ,z=0.000023,angle between two frames:0.000017 +[21:01:58.496] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =265 error init =0.328341 error end=0.013886 +[21:01:58.496] After pose optimization, distance between ekf and vo x:-0.068681 ,z=0.057192,angle between two frames:0.066241 +[21:01:58.496] Update EKF and 3D points the number of feature in the new frame: 265 and number of obs: 265 +[21:01:58.496] frame Scene Depth mean:1.191687 ,depth min:0.066509 +[21:01:58.502] need key frame pitch dis: 0.574716 translation dif:0.406827 +[21:01:58.502] Choose frame as a key frame Scene Depth mean:1.191687 ,depth min:0.066509 +[21:01:58.502] frame process finished the id is: 307 the obs is:265 +[21:01:58.677] Odometry x=1.139774, y=1.107823, theta=-2.912571 +[21:01:58.908] After Reprojection Map nMatches:387 ,distance between ekf and vo x:0.000125 ,z=0.000039,angle between two frames:0.000018 +[21:01:58.910] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =249 error init =0.121324 error end=0.045822 +[21:01:58.910] After pose optimization, distance between ekf and vo x:0.001476 ,z=-0.000961,angle between two frames:0.000307 +[21:01:58.910] Update EKF and 3D points the number of feature in the new frame: 249 and number of obs: 249 +[21:01:58.910] frame Scene Depth mean:1.152139 ,depth min:0.058104 +[21:01:58.915] need key frame pitch dis: 0.719594 translation dif:0.016785 +[21:01:58.915] Choose frame as a key frame Scene Depth mean:1.152139 ,depth min:0.058104 +[21:01:58.915] frame process finished the id is: 308 the obs is:249 +[21:01:59.016] Odometry x=1.140135, y=1.107588, theta=-2.931854 +[21:01:59.355] After Reprojection Map nMatches:318 ,distance between ekf and vo x:0.000116 ,z=0.000130,angle between two frames:0.000142 +[21:01:59.357] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =264 error init =0.011918 error end=0.011335 +[21:01:59.357] After pose optimization, distance between ekf and vo x:0.001765 ,z=0.001936,angle between two frames:0.001561 +[21:01:59.357] Update EKF and 3D points the number of feature in the new frame: 264 and number of obs: 264 +[21:01:59.357] frame Scene Depth mean:1.130381 ,depth min:0.050854 +[21:01:59.362] need key frame pitch dis: 0.732480 translation dif:0.016768 +[21:01:59.362] Choose frame as a key frame Scene Depth mean:1.130381 ,depth min:0.050854 +[21:01:59.362] frame process finished the id is: 309 the obs is:258 +[21:01:59.859] After Reprojection Map nMatches:386 ,distance between ekf and vo x:0.000008 ,z=0.000011,angle between two frames:0.000003 +[21:01:59.861] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =256 error init =0.106953 error end=0.023158 +[21:01:59.861] After pose optimization, distance between ekf and vo x:-0.004131 ,z=0.001003,angle between two frames:0.000245 +[21:01:59.861] Update EKF and 3D points the number of feature in the new frame: 256 and number of obs: 256 +[21:01:59.861] frame Scene Depth mean:0.945059 ,depth min:0.051923 +[21:01:59.866] need key frame pitch dis: 0.738506 translation dif:0.017546 +[21:01:59.866] Choose frame as a key frame Scene Depth mean:0.945059 ,depth min:0.051923 +[21:01:59.866] frame process finished the id is: 310 the obs is:256 +[21:02:00.369] After Reprojection Map nMatches:398 ,distance between ekf and vo x:0.000002 ,z=0.000015,angle between two frames:0.000007 +[21:02:00.372] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =279 error init =0.145245 error end=0.073030 +[21:02:00.372] After pose optimization, distance between ekf and vo x:-0.000360 ,z=0.001341,angle between two frames:0.000371 +[21:02:00.372] Update EKF and 3D points the number of feature in the new frame: 279 and number of obs: 279 +[21:02:00.372] frame Scene Depth mean:0.875259 ,depth min:0.051114 +[21:02:00.377] need key frame pitch dis: 0.741324 translation dif:0.017179 +[21:02:00.377] Choose frame as a key frame Scene Depth mean:0.875259 ,depth min:0.051114 +[21:02:00.377] frame process finished the id is: 311 the obs is:279 +[21:02:00.425] Odometry x=1.139835, y=1.107850, theta=-2.953584 +[21:02:00.686] Odometry x=1.139608, y=1.107067, theta=-2.956939 +[21:02:00.913] After Reprojection Map nMatches:398 ,distance between ekf and vo x:0.000014 ,z=0.000021,angle between two frames:0.000007 +[21:02:00.916] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =279 error init =0.049399 error end=0.023338 +[21:02:00.916] After pose optimization, distance between ekf and vo x:-0.000574 ,z=0.004313,angle between two frames:0.000662 +[21:02:00.916] Update EKF and 3D points the number of feature in the new frame: 279 and number of obs: 279 +[21:02:00.916] frame Scene Depth mean:0.912694 ,depth min:0.051132 +[21:02:00.921] need key frame pitch dis: 0.315491 translation dif:0.012483 +[21:02:00.921] Choose frame as a key frame Scene Depth mean:0.912694 ,depth min:0.051132 +[21:02:00.921] frame process finished the id is: 312 the obs is:240 +[21:02:01.026] Odometry x=1.140757, y=1.097164, theta=-2.949639 +[21:02:01.178] Odometry x=1.141733, y=1.092043, theta=-2.943758 +[21:02:01.446] Odometry x=1.144309, y=1.080730, theta=-2.939178 +[21:02:01.495] After Reprojection Map nMatches:434 ,distance between ekf and vo x:0.000035 ,z=0.000043,angle between two frames:0.000011 +[21:02:01.497] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =251 error init =0.073170 error end=0.021117 +[21:02:01.497] After pose optimization, distance between ekf and vo x:-0.004418 ,z=0.007283,angle between two frames:0.001132 +[21:02:01.497] Update EKF and 3D points the number of feature in the new frame: 251 and number of obs: 251 +[21:02:01.497] frame Scene Depth mean:1.331435 ,depth min:0.056891 +[21:02:01.502] need key frame pitch dis: 0.010981 translation dif:0.032061 +[21:02:01.502] frame process finished the id is: 313 the obs is:203 +[21:02:01.702] Odometry x=1.144678, y=1.075850, theta=-2.942834 +[21:02:01.955] Odometry x=1.146948, y=1.065047, theta=-2.945227 +[21:02:02.033] After Reprojection Map nMatches:379 ,distance between ekf and vo x:0.000061 ,z=-0.000028,angle between two frames:0.000027 +[21:02:02.035] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =240 error init =0.147276 error end=0.093525 +[21:02:02.035] After pose optimization, distance between ekf and vo x:0.000061 ,z=-0.000028,angle between two frames:0.000027 +[21:02:02.035] Update EKF and 3D points the number of feature in the new frame: 240 and number of obs: 240 +[21:02:02.035] frame Scene Depth mean:1.050520 ,depth min:0.062880 +[21:02:02.038] need key frame pitch dis: 0.100451 translation dif:0.036481 +[21:02:02.038] Choose frame as a key frame Scene Depth mean:1.050520 ,depth min:0.062880 +[21:02:02.038] frame process finished the id is: 314 the obs is:224 +[21:02:02.190] Odometry x=1.148281, y=1.057574, theta=-2.922842 +[21:02:02.410] After Reprojection Map nMatches:308 ,distance between ekf and vo x:0.000019 ,z=-0.000014,angle between two frames:0.000008 +[21:02:02.411] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =234 error init =0.011350 error end=0.008212 +[21:02:02.411] After pose optimization, distance between ekf and vo x:0.000019 ,z=-0.000014,angle between two frames:0.000008 +[21:02:02.411] Update EKF and 3D points the number of feature in the new frame: 234 and number of obs: 234 +[21:02:02.411] frame Scene Depth mean:0.920011 ,depth min:0.052050 +[21:02:02.418] need key frame pitch dis: 0.277313 translation dif:0.044404 +[21:02:02.418] Choose frame as a key frame Scene Depth mean:0.920011 ,depth min:0.052050 +[21:02:02.418] frame process finished the id is: 315 the obs is:233 +[21:02:02.431] Odometry x=1.149895, y=1.049789, theta=-2.911461 +[21:02:02.700] Odometry x=1.152108, y=1.039796, theta=-2.902015 +[21:02:02.798] After Reprojection Map nMatches:248 ,distance between ekf and vo x:0.000006 ,z=-0.000099,angle between two frames:0.000071 +[21:02:02.798] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =215 error init =0.004129 error end=0.001936 +[21:02:02.798] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000099,angle between two frames:0.000071 +[21:02:02.798] Update EKF and 3D points the number of feature in the new frame: 215 and number of obs: 215 +[21:02:02.798] frame Scene Depth mean:0.661383 ,depth min:0.057002 +[21:02:02.803] need key frame pitch dis: 0.372618 translation dif:0.051824 +[21:02:02.803] Choose frame as a key frame Scene Depth mean:0.661383 ,depth min:0.057002 +[21:02:02.803] frame process finished the id is: 316 the obs is:194 +[21:02:03.152] After Reprojection Map nMatches:301 ,distance between ekf and vo x:0.000009 ,z=-0.000017,angle between two frames:0.000001 +[21:02:03.155] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =192 error init =0.164655 error end=0.100360 +[21:02:03.155] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000014,angle between two frames:0.000001 +[21:02:03.155] Update EKF and 3D points the number of feature in the new frame: 192 and number of obs: 192 +[21:02:03.155] frame Scene Depth mean:0.963301 ,depth min:0.055452 +[21:02:03.160] need key frame pitch dis: 0.004508 translation dif:0.009646 +[21:02:03.160] frame process finished the id is: 317 the obs is:192 +[21:02:03.444] Odometry x=1.152314, y=1.040451, theta=-2.915969 +[21:02:03.593] After Reprojection Map nMatches:392 ,distance between ekf and vo x:0.000016 ,z=-0.000059,angle between two frames:0.000001 +[21:02:03.594] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =268 error init =0.076589 error end=0.031831 +[21:02:03.594] After pose optimization, distance between ekf and vo x:0.000016 ,z=-0.000059,angle between two frames:0.000001 +[21:02:03.594] Update EKF and 3D points the number of feature in the new frame: 268 and number of obs: 268 +[21:02:03.595] frame Scene Depth mean:0.725284 ,depth min:0.052993 +[21:02:03.599] need key frame pitch dis: 0.129353 translation dif:0.055869 +[21:02:03.599] Choose frame as a key frame Scene Depth mean:0.725284 ,depth min:0.052993 +[21:02:03.599] frame process finished the id is: 318 the obs is:268 +[21:02:03.718] Odometry x=1.152581, y=1.037870, theta=-2.915358 +[21:02:03.944] Odometry x=1.154540, y=1.029130, theta=-2.911588 +[21:02:04.099] After Reprojection Map nMatches:386 ,distance between ekf and vo x:0.000022 ,z=-0.000053,angle between two frames:0.000034 +[21:02:04.100] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =297 error init =0.029858 error end=0.012009 +[21:02:04.100] After pose optimization, distance between ekf and vo x:0.000022 ,z=-0.000053,angle between two frames:0.000034 +[21:02:04.100] Update EKF and 3D points the number of feature in the new frame: 297 and number of obs: 297 +[21:02:04.100] frame Scene Depth mean:0.847641 ,depth min:0.051037 +[21:02:04.105] need key frame pitch dis: 0.014284 translation dif:0.028926 +[21:02:04.105] frame process finished the id is: 319 the obs is:264 +[21:02:04.213] Odometry x=1.156806, y=1.021701, theta=-2.925745 +[21:02:04.583] After Reprojection Map nMatches:338 ,distance between ekf and vo x:-0.000009 ,z=-0.000089,angle between two frames:0.000017 +[21:02:04.584] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =283 error init =0.046981 error end=0.022121 +[21:02:04.584] After pose optimization, distance between ekf and vo x:-0.000009 ,z=-0.000089,angle between two frames:0.000017 +[21:02:04.584] Update EKF and 3D points the number of feature in the new frame: 283 and number of obs: 283 +[21:02:04.584] frame Scene Depth mean:0.789084 ,depth min:0.054308 +[21:02:04.589] need key frame pitch dis: 0.004666 translation dif:0.016740 +[21:02:04.589] frame process finished the id is: 320 the obs is:283 +[21:02:04.975] After Reprojection Map nMatches:315 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000 +[21:02:04.977] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =262 error init =0.033447 error end=0.011957 +[21:02:04.977] After pose optimization, distance between ekf and vo x:0.000218 ,z=0.000039,angle between two frames:0.000126 +[21:02:04.977] Update EKF and 3D points the number of feature in the new frame: 262 and number of obs: 262 +[21:02:04.977] frame Scene Depth mean:0.797909 ,depth min:0.054081 +[21:02:04.980] need key frame pitch dis: 0.010301 translation dif:0.021115 +[21:02:04.980] frame process finished the id is: 321 the obs is:262 +[21:02:05.365] After Reprojection Map nMatches:323 ,distance between ekf and vo x:0.000001 ,z=-0.000004,angle between two frames:0.000007 +[21:02:05.366] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =278 error init =0.019114 error end=0.004367 +[21:02:05.366] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000004,angle between two frames:0.000007 +[21:02:05.366] Update EKF and 3D points the number of feature in the new frame: 278 and number of obs: 278 +[21:02:05.366] frame Scene Depth mean:0.864428 ,depth min:0.053954 +[21:02:05.370] need key frame pitch dis: 0.013670 translation dif:0.016725 +[21:02:05.370] frame process finished the id is: 322 the obs is:278 +[21:02:05.719] After Reprojection Map nMatches:349 ,distance between ekf and vo x:-0.000002 ,z=-0.000013,angle between two frames:0.000003 +[21:02:05.721] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =302 error init =0.013205 error end=0.009543 +[21:02:05.721] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000013,angle between two frames:0.000003 +[21:02:05.721] Update EKF and 3D points the number of feature in the new frame: 302 and number of obs: 302 +[21:02:05.721] frame Scene Depth mean:1.097460 ,depth min:0.053901 +[21:02:05.724] need key frame pitch dis: 0.014154 translation dif:0.021111 +[21:02:05.724] frame process finished the id is: 323 the obs is:302 +[21:02:06.137] After Reprojection Map nMatches:304 ,distance between ekf and vo x:0.000004 ,z=-0.000016,angle between two frames:0.000007 +[21:02:06.138] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =261 error init =0.050624 error end=0.048856 +[21:02:06.138] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000016,angle between two frames:0.000007 +[21:02:06.138] Update EKF and 3D points the number of feature in the new frame: 261 and number of obs: 261 +[21:02:06.138] frame Scene Depth mean:0.970674 ,depth min:0.053879 +[21:02:06.142] need key frame pitch dis: 0.015296 translation dif:0.016727 +[21:02:06.142] frame process finished the id is: 324 the obs is:261 +[21:02:06.529] After Reprojection Map nMatches:282 ,distance between ekf and vo x:0.000007 ,z=-0.000016,angle between two frames:0.000007 +[21:02:06.530] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =248 error init =0.032773 error end=0.009183 +[21:02:06.530] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000016,angle between two frames:0.000007 +[21:02:06.530] Update EKF and 3D points the number of feature in the new frame: 248 and number of obs: 248 +[21:02:06.530] frame Scene Depth mean:0.928779 ,depth min:0.067604 +[21:02:06.534] need key frame pitch dis: 0.015499 translation dif:0.016728 +[21:02:06.534] frame process finished the id is: 325 the obs is:248 +[21:02:06.899] After Reprojection Map nMatches:311 ,distance between ekf and vo x:0.000009 ,z=-0.000007,angle between two frames:0.000007 +[21:02:06.901] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =260 error init =0.017751 error end=0.012780 +[21:02:06.901] After pose optimization, distance between ekf and vo x:0.000505 ,z=0.000085,angle between two frames:0.000424 +[21:02:06.901] Update EKF and 3D points the number of feature in the new frame: 260 and number of obs: 260 +[21:02:06.901] frame Scene Depth mean:0.886937 ,depth min:0.055642 +[21:02:06.904] need key frame pitch dis: 0.015409 translation dif:0.016734 +[21:02:06.904] frame process finished the id is: 326 the obs is:260 +[21:02:07.279] After Reprojection Map nMatches:259 ,distance between ekf and vo x:0.000007 ,z=-0.000027,angle between two frames:0.000007 +[21:02:07.279] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =222 error init =0.002814 error end=0.005455 +[21:02:07.280] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000027,angle between two frames:0.000007 +[21:02:07.280] Update EKF and 3D points the number of feature in the new frame: 222 and number of obs: 222 +[21:02:07.280] frame Scene Depth mean:0.840400 ,depth min:0.067088 +[21:02:07.283] need key frame pitch dis: 0.023032 translation dif:0.036892 +[21:02:07.283] frame process finished the id is: 327 the obs is:222 +[21:02:07.636] After Reprojection Map nMatches:336 ,distance between ekf and vo x:0.000010 ,z=-0.000006,angle between two frames:0.000007 +[21:02:07.636] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =243 error init =0.040280 error end=0.019352 +[21:02:07.636] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000006,angle between two frames:0.000007 +[21:02:07.636] Update EKF and 3D points the number of feature in the new frame: 243 and number of obs: 243 +[21:02:07.636] frame Scene Depth mean:0.803678 ,depth min:0.070116 +[21:02:07.639] need key frame pitch dis: 0.015605 translation dif:0.016727 +[21:02:07.639] frame process finished the id is: 328 the obs is:243 +[21:02:08.020] After Reprojection Map nMatches:311 ,distance between ekf and vo x:0.000002 ,z=-0.000013,angle between two frames:0.000007 +[21:02:08.021] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =258 error init =0.034259 error end=0.019226 +[21:02:08.021] After pose optimization, distance between ekf and vo x:0.000002 ,z=-0.000013,angle between two frames:0.000007 +[21:02:08.021] Update EKF and 3D points the number of feature in the new frame: 258 and number of obs: 258 +[21:02:08.021] frame Scene Depth mean:0.799040 ,depth min:0.057030 +[21:02:08.024] need key frame pitch dis: 0.015630 translation dif:0.016726 +[21:02:08.024] frame process finished the id is: 329 the obs is:258 +[21:02:08.491] After Reprojection Map nMatches:315 ,distance between ekf and vo x:0.000175 ,z=-0.000218,angle between two frames:0.000169 +[21:02:08.492] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =282 error init =0.001409 error end=0.001261 +[21:02:08.492] After pose optimization, distance between ekf and vo x:0.000175 ,z=-0.000218,angle between two frames:0.000169 +[21:02:08.492] Update EKF and 3D points the number of feature in the new frame: 282 and number of obs: 282 +[21:02:08.492] frame Scene Depth mean:0.911538 ,depth min:0.055900 +[21:02:08.495] need key frame pitch dis: 0.015054 translation dif:0.021171 +[21:02:08.495] frame process finished the id is: 330 the obs is:282 +[21:02:08.933] After Reprojection Map nMatches:294 ,distance between ekf and vo x:0.000168 ,z=-0.000229,angle between two frames:0.000170 +[21:02:08.934] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =244 error init =0.018719 error end=0.006372 +[21:02:08.934] After pose optimization, distance between ekf and vo x:0.000168 ,z=-0.000229,angle between two frames:0.000170 +[21:02:08.934] Update EKF and 3D points the number of feature in the new frame: 244 and number of obs: 244 +[21:02:08.934] frame Scene Depth mean:0.864197 ,depth min:0.055258 +[21:02:08.936] need key frame pitch dis: 0.015751 translation dif:0.016802 +[21:02:08.936] frame process finished the id is: 331 the obs is:244 +[21:02:09.382] After Reprojection Map nMatches:286 ,distance between ekf and vo x:0.000169 ,z=-0.000215,angle between two frames:0.000147 +[21:02:09.384] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =214 error init =0.034767 error end=0.010740 +[21:02:09.384] After pose optimization, distance between ekf and vo x:0.000222 ,z=-0.000143,angle between two frames:0.000073 +[21:02:09.384] Update EKF and 3D points the number of feature in the new frame: 214 and number of obs: 214 +[21:02:09.384] frame Scene Depth mean:0.873054 ,depth min:0.057477 +[21:02:09.386] need key frame pitch dis: 0.015725 translation dif:0.016789 +[21:02:09.386] frame process finished the id is: 332 the obs is:214 +[21:02:09.836] After Reprojection Map nMatches:323 ,distance between ekf and vo x:0.000303 ,z=-0.000363,angle between two frames:0.000300 +[21:02:09.837] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =265 error init =0.041224 error end=0.004878 +[21:02:09.837] After pose optimization, distance between ekf and vo x:0.000303 ,z=-0.000363,angle between two frames:0.000300 +[21:02:09.837] Update EKF and 3D points the number of feature in the new frame: 265 and number of obs: 265 +[21:02:09.837] frame Scene Depth mean:0.868795 ,depth min:0.057820 +[21:02:09.840] need key frame pitch dis: 0.015810 translation dif:0.016843 +[21:02:09.840] frame process finished the id is: 333 the obs is:265