diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt index e69de29..4293df2 100755 --- a/GPU_version/vio/depth_filter_log.txt +++ b/GPU_version/vio/depth_filter_log.txt @@ -0,0 +1,22 @@ +[16:31:45.913] init depth filter +[16:31:47.423] init depth filter +[16:31:50.898] DepthFilter: RESET. +[16:32:05.679] add key frame +[16:32:05.679] init seeds +[16:32:05.679] update 0 seeds +[16:32:05.679] init seeds +[16:32:05.682] DepthFilter: Initialized 82 new seeds +[16:32:05.682] add key frame +[16:32:05.682] update 82 seeds +[16:32:05.682] init seeds +[16:32:05.687] DepthFilter: Initialized 112 new seeds +[16:32:05.692] DepthFilter: Initialized 126 new seeds +[16:32:08.165] add new frame +[16:32:08.165] add key frame +[16:32:08.165] update 320 seeds +[16:32:08.165] init seeds +[16:32:08.168] DepthFilter: Initialized 149 new seeds +[16:32:10.624] add new frame +[16:32:10.624] update 469 seeds +[16:32:47.056] DepthFilter stop thread invoked. +[16:32:47.056] DepthFilter interrupt and join thread diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index cd3dd29..256583b 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,1806 +1,1013 @@ -[13:31:33.982] Init: frame zero: 0.000000, 0.000000 0.000000 -[13:31:33.982] Init: Selected first frame. -[13:31:33.982] frame process finished the id is: 0 the obs is:0 -[13:31:34.087] Init: px average disparity is:0.171924 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:34.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:34.087] frame process finished the id is: 1 the obs is:0 -[13:31:34.177] Init: px average disparity is:0.197214 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:34.177] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:34.177] frame process finished the id is: 2 the obs is:0 -[13:31:34.278] Init: px average disparity is:0.300773 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:34.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:34.279] frame process finished the id is: 3 the obs is:0 -[13:31:34.378] Init: px average disparity is:0.346792 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:34.378] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:34.378] frame process finished the id is: 4 the obs is:0 -[13:31:34.478] Init: px average disparity is:0.344977 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:34.478] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:34.478] frame process finished the id is: 5 the obs is:0 -[13:31:34.580] Init: px average disparity is:0.356134 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:34.580] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:34.580] frame process finished the id is: 6 the obs is:0 -[13:31:34.682] Init: px average disparity is:0.357122 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:34.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:34.682] frame process finished the id is: 7 the obs is:0 -[13:31:34.781] Init: px average disparity is:0.434690 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:34.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:34.781] frame process finished the id is: 8 the obs is:0 -[13:31:34.880] Init: px average disparity is:0.401477 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:34.880] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:34.880] frame process finished the id is: 9 the obs is:0 -[13:31:34.978] Init: px average disparity is:0.514230 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:34.978] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:34.978] frame process finished the id is: 10 the obs is:0 -[13:31:35.088] Init: px average disparity is:0.487374 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:35.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:35.088] frame process finished the id is: 11 the obs is:0 -[13:31:35.188] Init: px average disparity is:0.528610 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:35.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:35.188] frame process finished the id is: 12 the obs is:0 -[13:31:35.288] Init: px average disparity is:0.524849 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:35.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:35.288] frame process finished the id is: 13 the obs is:0 -[13:31:35.388] Init: px average disparity is:0.564045 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:35.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:35.388] frame process finished the id is: 14 the obs is:0 -[13:31:35.488] Init: px average disparity is:0.529731 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:35.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:35.489] frame process finished the id is: 15 the obs is:0 -[13:31:35.588] Init: px average disparity is:0.596839 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:35.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:35.588] frame process finished the id is: 16 the obs is:0 -[13:31:35.689] Init: px average disparity is:0.598733 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:35.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:35.689] frame process finished the id is: 17 the obs is:0 -[13:31:35.788] Init: px average disparity is:0.532942 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:35.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:35.789] frame process finished the id is: 18 the obs is:0 -[13:31:35.889] Init: px average disparity is:0.561542 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:35.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:35.889] frame process finished the id is: 19 the obs is:0 -[13:31:35.988] Init: px average disparity is:0.553948 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:35.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:35.988] frame process finished the id is: 20 the obs is:0 -[13:31:36.089] Init: px average disparity is:0.554106 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:36.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:36.089] frame process finished the id is: 21 the obs is:0 -[13:31:36.186] Init: px average disparity is:0.537530 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:36.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:36.186] frame process finished the id is: 22 the obs is:0 -[13:31:36.289] Init: px average disparity is:0.532027 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:36.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:36.289] frame process finished the id is: 23 the obs is:0 -[13:31:36.389] Init: px average disparity is:0.536972 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:36.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:36.389] frame process finished the id is: 24 the obs is:0 -[13:31:36.488] Init: px average disparity is:0.488394 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:36.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:36.488] frame process finished the id is: 25 the obs is:0 -[13:31:36.589] Init: px average disparity is:0.554650 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:36.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:36.589] frame process finished the id is: 26 the obs is:0 -[13:31:36.688] Init: px average disparity is:0.497258 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:36.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:36.688] frame process finished the id is: 27 the obs is:0 -[13:31:36.789] Init: px average disparity is:0.478406 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:36.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:36.790] frame process finished the id is: 28 the obs is:0 -[13:31:36.889] Init: px average disparity is:0.536003 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:36.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:36.890] frame process finished the id is: 29 the obs is:0 -[13:31:36.988] Init: px average disparity is:0.527197 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:36.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:36.988] frame process finished the id is: 30 the obs is:0 -[13:31:37.089] Init: px average disparity is:0.493819 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:37.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:37.089] frame process finished the id is: 31 the obs is:0 -[13:31:37.189] Init: px average disparity is:0.562226 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:37.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:37.189] frame process finished the id is: 32 the obs is:0 -[13:31:37.289] Init: px average disparity is:0.507723 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:37.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:37.289] frame process finished the id is: 33 the obs is:0 -[13:31:37.389] Init: px average disparity is:0.527498 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:37.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:37.389] frame process finished the id is: 34 the obs is:0 -[13:31:37.490] Init: px average disparity is:0.523116 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:37.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:37.490] frame process finished the id is: 35 the obs is:0 -[13:31:37.581] Init: px average disparity is:0.536801 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:37.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:37.581] frame process finished the id is: 36 the obs is:0 -[13:31:37.688] Init: px average disparity is:0.510002 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:37.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:37.688] frame process finished the id is: 37 the obs is:0 -[13:31:37.789] Init: px average disparity is:0.506828 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:37.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:37.789] frame process finished the id is: 38 the obs is:0 -[13:31:37.888] Init: px average disparity is:0.495384 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:37.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:37.888] frame process finished the id is: 39 the obs is:0 -[13:31:37.988] Init: px average disparity is:0.559384 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:37.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:37.988] frame process finished the id is: 40 the obs is:0 -[13:31:38.094] Init: px average disparity is:0.507849 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:38.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:38.094] frame process finished the id is: 41 the obs is:0 -[13:31:38.188] Init: px average disparity is:0.510538 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:38.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:38.188] frame process finished the id is: 42 the obs is:0 -[13:31:38.288] Init: px average disparity is:0.518728 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:38.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:38.288] frame process finished the id is: 43 the obs is:0 -[13:31:38.388] Init: px average disparity is:0.514651 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:38.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:38.388] frame process finished the id is: 44 the obs is:0 -[13:31:38.488] Init: px average disparity is:0.518479 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:38.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:38.488] frame process finished the id is: 45 the obs is:0 -[13:31:38.589] Init: px average disparity is:0.528163 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:38.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:38.589] frame process finished the id is: 46 the obs is:0 -[13:31:38.693] Init: px average disparity is:0.505184 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:38.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:38.693] frame process finished the id is: 47 the obs is:0 -[13:31:38.794] Init: px average disparity is:0.514183 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:38.794] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:38.794] frame process finished the id is: 48 the obs is:0 -[13:31:38.877] Init: px average disparity is:0.509565 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:38.877] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:38.877] frame process finished the id is: 49 the obs is:0 -[13:31:38.993] Init: px average disparity is:0.504711 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:38.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:38.993] frame process finished the id is: 50 the obs is:0 -[13:31:39.088] Init: px average disparity is:0.498120 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:39.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:39.089] frame process finished the id is: 51 the obs is:0 -[13:31:39.188] Init: px average disparity is:0.518064 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:39.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:39.188] frame process finished the id is: 52 the obs is:0 -[13:31:39.289] Init: px average disparity is:0.574171 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:39.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:39.289] frame process finished the id is: 53 the obs is:0 -[13:31:39.389] Init: px average disparity is:0.534647 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:39.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:39.389] frame process finished the id is: 54 the obs is:0 -[13:31:39.489] Init: px average disparity is:0.540708 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:39.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:39.489] frame process finished the id is: 55 the obs is:0 -[13:31:39.595] Init: px average disparity is:0.503344 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:39.596] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:39.596] frame process finished the id is: 56 the obs is:0 -[13:31:39.688] Init: px average disparity is:0.516396 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:39.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:39.688] frame process finished the id is: 57 the obs is:0 -[13:31:39.790] Init: px average disparity is:0.491501 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:39.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:39.790] frame process finished the id is: 58 the obs is:0 -[13:31:39.889] Init: px average disparity is:0.500469 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:39.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:39.889] frame process finished the id is: 59 the obs is:0 -[13:31:39.989] Init: px average disparity is:0.502337 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:39.989] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:39.989] frame process finished the id is: 60 the obs is:0 -[13:31:40.088] Init: px average disparity is:0.522458 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:40.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:40.089] frame process finished the id is: 61 the obs is:0 -[13:31:40.190] Init: px average disparity is:0.545939 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:40.190] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:40.190] frame process finished the id is: 62 the obs is:0 -[13:31:40.279] Init: px average disparity is:0.534511 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:40.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:40.279] frame process finished the id is: 63 the obs is:0 -[13:31:40.388] Init: px average disparity is:0.493620 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:40.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:40.388] frame process finished the id is: 64 the obs is:0 -[13:31:40.488] Init: px average disparity is:0.508335 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:40.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:40.489] frame process finished the id is: 65 the obs is:0 -[13:31:40.588] Init: px average disparity is:0.527201 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:40.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:40.588] frame process finished the id is: 66 the obs is:0 -[13:31:40.688] Init: px average disparity is:0.534781 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:40.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:40.688] frame process finished the id is: 67 the obs is:0 -[13:31:40.795] Init: px average disparity is:0.527935 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:40.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:40.795] frame process finished the id is: 68 the obs is:0 -[13:31:40.888] Init: px average disparity is:0.524864 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:40.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:40.888] frame process finished the id is: 69 the obs is:0 -[13:31:40.988] Init: px average disparity is:0.495727 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:40.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:40.988] frame process finished the id is: 70 the obs is:0 -[13:31:41.088] Init: px average disparity is:0.489154 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:41.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:41.088] frame process finished the id is: 71 the obs is:0 -[13:31:41.189] Init: px average disparity is:0.546246 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:41.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:41.189] frame process finished the id is: 72 the obs is:0 -[13:31:41.289] Init: px average disparity is:0.448256 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:41.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:41.289] frame process finished the id is: 73 the obs is:0 -[13:31:41.392] Init: px average disparity is:0.512867 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:41.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:41.393] frame process finished the id is: 74 the obs is:0 -[13:31:41.490] Init: px average disparity is:0.530945 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:41.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:41.490] frame process finished the id is: 75 the obs is:0 -[13:31:41.590] Init: px average disparity is:0.558546 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:41.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:41.590] frame process finished the id is: 76 the obs is:0 -[13:31:41.684] Init: px average disparity is:0.539629 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:41.684] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:41.684] frame process finished the id is: 77 the obs is:0 -[13:31:41.789] Init: px average disparity is:0.539964 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:41.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:41.789] frame process finished the id is: 78 the obs is:0 -[13:31:41.837] Odometry x=0.000000, y=0.000000, theta=0.000000 -[13:31:41.888] Init: px average disparity is:0.507625 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:41.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:41.889] frame process finished the id is: 79 the obs is:0 -[13:31:41.937] Odometry x=0.000000, y=0.000000, theta=0.000000 -[13:31:41.994] Init: px average disparity is:0.526847 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:41.994] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:41.994] frame process finished the id is: 80 the obs is:0 -[13:31:42.037] Odometry x=0.000001, y=0.013358, theta=0.000968 -[13:31:42.091] Init: px average disparity is:6.463798 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:42.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:42.091] frame process finished the id is: 81 the obs is:0 -[13:31:42.137] Odometry x=-0.000379, y=0.024747, theta=-0.001854 -[13:31:42.189] Init: px average disparity is:3.496661 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:42.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:42.189] frame process finished the id is: 82 the obs is:0 -[13:31:42.234] Odometry x=-0.000473, y=0.036436, theta=0.002181 -[13:31:42.289] Init: px average disparity is:5.282629 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:42.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:42.289] frame process finished the id is: 83 the obs is:0 -[13:31:42.335] Odometry x=-0.000540, y=0.048596, theta=0.006035 -[13:31:42.392] Init: px average disparity is:5.620252 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:42.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:42.392] frame process finished the id is: 84 the obs is:0 -[13:31:42.428] Odometry x=-0.000101, y=0.058768, theta=-0.001412 -[13:31:42.490] Init: px average disparity is:7.615593 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:42.491] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:42.491] frame process finished the id is: 85 the obs is:0 -[13:31:42.533] Odometry x=-0.000116, y=0.072021, theta=-0.004844 -[13:31:42.590] Init: px average disparity is:8.932544 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:42.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:42.590] frame process finished the id is: 86 the obs is:0 -[13:31:42.635] Odometry x=0.000074, y=0.082783, theta=0.002949 -[13:31:42.690] Init: px average disparity is:12.753211 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:42.690] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:42.690] frame process finished the id is: 87 the obs is:0 -[13:31:42.734] Odometry x=0.000648, y=0.094070, theta=0.003317 -[13:31:42.795] Init: px average disparity is:10.715972 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:42.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:42.795] frame process finished the id is: 88 the obs is:0 -[13:31:42.838] Odometry x=0.000636, y=0.105444, theta=-0.010203 -[13:31:42.892] Init: px average disparity is:11.875664 ,While minimum is: 40.000000 KLT tracked : 298 -[13:31:42.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:42.892] frame process finished the id is: 89 the obs is:0 -[13:31:42.932] Odometry x=0.000713, y=0.115948, theta=-0.006330 -[13:31:42.979] Init: px average disparity is:15.491363 ,While minimum is: 40.000000 KLT tracked : 293 -[13:31:42.979] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:42.979] frame process finished the id is: 90 the obs is:0 -[13:31:43.034] Odometry x=0.000720, y=0.125916, theta=0.001035 -[13:31:43.092] Init: px average disparity is:21.209539 ,While minimum is: 40.000000 KLT tracked : 293 -[13:31:43.092] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:43.092] frame process finished the id is: 91 the obs is:0 -[13:31:43.129] Odometry x=0.000734, y=0.136189, theta=-0.005571 -[13:31:43.198] Init: px average disparity is:21.705830 ,While minimum is: 40.000000 KLT tracked : 293 -[13:31:43.198] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:43.198] frame process finished the id is: 92 the obs is:0 -[13:31:43.232] Odometry x=0.000708, y=0.146964, theta=-0.004452 -[13:31:43.293] Init: px average disparity is:22.121128 ,While minimum is: 40.000000 KLT tracked : 293 -[13:31:43.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:43.293] frame process finished the id is: 93 the obs is:0 -[13:31:43.333] Odometry x=0.000978, y=0.158654, theta=-0.009256 -[13:31:43.393] Init: px average disparity is:24.239584 ,While minimum is: 40.000000 KLT tracked : 289 -[13:31:43.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:43.393] frame process finished the id is: 94 the obs is:0 -[13:31:43.434] Odometry x=0.000989, y=0.169295, theta=0.001291 -[13:31:43.493] Init: px average disparity is:26.022915 ,While minimum is: 40.000000 KLT tracked : 289 -[13:31:43.493] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:43.493] frame process finished the id is: 95 the obs is:0 -[13:31:43.533] Odometry x=0.001012, y=0.180329, theta=-0.007750 -[13:31:43.594] Init: px average disparity is:25.834814 ,While minimum is: 40.000000 KLT tracked : 287 -[13:31:43.594] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:43.594] frame process finished the id is: 96 the obs is:0 -[13:31:43.634] Odometry x=0.000950, y=0.191231, theta=-0.014290 -[13:31:43.693] Init: px average disparity is:25.559168 ,While minimum is: 40.000000 KLT tracked : 274 -[13:31:43.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:43.693] frame process finished the id is: 97 the obs is:0 -[13:31:43.734] Odometry x=0.000909, y=0.202059, theta=-0.002956 -[13:31:43.795] Init: px average disparity is:28.963259 ,While minimum is: 40.000000 KLT tracked : 274 -[13:31:43.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:43.795] frame process finished the id is: 98 the obs is:0 -[13:31:43.834] Odometry x=0.000893, y=0.212784, theta=-0.007865 -[13:31:43.893] Init: px average disparity is:31.308741 ,While minimum is: 40.000000 KLT tracked : 272 -[13:31:43.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:43.893] frame process finished the id is: 99 the obs is:0 -[13:31:43.936] Odometry x=0.000859, y=0.222637, theta=-0.006993 -[13:31:43.993] Init: px average disparity is:30.035295 ,While minimum is: 40.000000 KLT tracked : 270 -[13:31:43.994] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:43.994] frame process finished the id is: 100 the obs is:0 -[13:31:44.047] Odometry x=0.000849, y=0.233458, theta=-0.004882 -[13:31:44.095] Init: px average disparity is:28.858631 ,While minimum is: 40.000000 KLT tracked : 264 -[13:31:44.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:44.095] frame process finished the id is: 101 the obs is:0 -[13:31:44.139] Odometry x=0.001041, y=0.246076, theta=-0.012074 -[13:31:44.186] Init: px average disparity is:30.670175 ,While minimum is: 40.000000 KLT tracked : 264 -[13:31:44.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:44.186] frame process finished the id is: 102 the obs is:0 -[13:31:44.235] Odometry x=0.000983, y=0.255844, theta=-0.011264 -[13:31:44.293] Init: px average disparity is:31.336828 ,While minimum is: 40.000000 KLT tracked : 264 -[13:31:44.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:44.293] frame process finished the id is: 103 the obs is:0 -[13:31:44.329] Odometry x=0.003729, y=0.268275, theta=-0.015097 -[13:31:44.393] Init: px average disparity is:31.224998 ,While minimum is: 40.000000 KLT tracked : 263 -[13:31:44.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:44.393] frame process finished the id is: 104 the obs is:0 -[13:31:44.431] Odometry x=0.003755, y=0.278359, theta=-0.012060 -[13:31:44.494] Init: px average disparity is:30.524775 ,While minimum is: 40.000000 KLT tracked : 263 -[13:31:44.494] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:44.494] frame process finished the id is: 105 the obs is:0 -[13:31:44.536] Odometry x=0.003234, y=0.290059, theta=-0.019604 -[13:31:44.594] Init: px average disparity is:31.933799 ,While minimum is: 40.000000 KLT tracked : 263 -[13:31:44.594] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:44.594] frame process finished the id is: 106 the obs is:0 -[13:31:44.635] Odometry x=0.003157, y=0.301683, theta=-0.008852 -[13:31:44.695] Init: px average disparity is:35.169790 ,While minimum is: 40.000000 KLT tracked : 263 -[13:31:44.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:44.695] frame process finished the id is: 107 the obs is:0 -[13:31:44.736] Odometry x=0.012102, y=0.302457, theta=-0.027739 -[13:31:44.796] Init: px average disparity is:35.597564 ,While minimum is: 40.000000 KLT tracked : 263 -[13:31:44.796] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:44.796] frame process finished the id is: 108 the obs is:0 -[13:31:44.830] Odometry x=0.012286, y=0.315497, theta=-0.025933 -[13:31:44.896] Init: px average disparity is:36.489848 ,While minimum is: 40.000000 KLT tracked : 263 -[13:31:44.896] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:44.896] frame process finished the id is: 109 the obs is:0 -[13:31:44.936] Odometry x=0.011944, y=0.326197, theta=-0.000946 -[13:31:44.996] Init: px average disparity is:36.630540 ,While minimum is: 40.000000 KLT tracked : 263 -[13:31:44.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:44.996] frame process finished the id is: 110 the obs is:0 -[13:31:45.030] Odometry x=0.011932, y=0.337527, theta=-0.006210 -[13:31:45.097] Init: px average disparity is:38.454056 ,While minimum is: 40.000000 KLT tracked : 263 -[13:31:45.097] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:45.097] frame process finished the id is: 111 the obs is:0 -[13:31:45.139] Odometry x=0.011212, y=0.348290, theta=-0.006745 -[13:31:45.197] Init: px average disparity is:39.769759 ,While minimum is: 40.000000 KLT tracked : 263 -[13:31:45.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[13:31:45.197] frame process finished the id is: 112 the obs is:0 -[13:31:45.240] Odometry x=0.011199, y=0.361337, theta=-0.002237 -[13:31:45.336] Odometry x=0.011184, y=0.372625, theta=-0.010608 -[13:31:45.347] Init finished: Homography RANSAC (inlier) is:41 ,While 20 inliers minimum required. px average disparity is:43.051408 ,While minimum is: 40.000000 KLT tracked: 263 -[13:31:45.347] Init: distance between the first and current frame is x:0.011184 ,z=0.372625,angle between two frames: -0.010608 -[13:31:45.350] Init: Selected Second frame. The number of features: 41 depth mean:-1.166683 min:-1.718554 -[13:31:45.350] frame process finished the id is: 113 the obs is:41 -[13:31:45.433] Odometry x=0.011103, y=0.382883, theta=-0.020550 -[13:31:45.519] After Reprojection Map nPoint:34 ,nCell:34 ,nMatches:2 ,distance between ekf and vo x:-0.000385 ,z=-0.000053,angle between two frames:0.000184 -[13:31:45.519] n deleted obs = 1 n obs with reprojection error less than 0.5 px =1 error init =0.494634 error end=0.494634 -[13:31:45.519] After pose optimization, distance between ekf and vo x:-0.000385 ,z=-0.000053,angle between two frames:0.000184 -[13:31:45.519] frame process finished the id is: 113 the obs is:41 -[13:31:45.538] Odometry x=0.011058, y=0.393770, theta=-0.007742 -[13:31:45.632] Odometry x=0.011012, y=0.405237, theta=-0.012077 -[13:31:45.666] After Reprojection Map nPoint:35 ,nCell:35 ,nMatches:2 ,distance between ekf and vo x:-0.000411 ,z=-0.000048,angle between two frames:0.000210 -[13:31:45.666] n deleted obs = 0 n obs with reprojection error less than 0.5 px =2 error init =0.264979 error end=0.264979 -[13:31:45.666] After pose optimization, distance between ekf and vo x:-0.000411 ,z=-0.000048,angle between two frames:0.000210 -[13:31:45.666] frame process finished the id is: 113 the obs is:41 -[13:31:45.729] Odometry x=0.010950, y=0.416674, theta=-0.003471 -[13:31:45.814] After Reprojection Map nPoint:36 ,nCell:36 ,nMatches:4 ,distance between ekf and vo x:-0.000322 ,z=-0.000043,angle between two frames:0.000166 -[13:31:45.814] n deleted obs = 0 n obs with reprojection error less than 0.5 px =4 error init =0.351533 error end=0.289038 -[13:31:45.814] After pose optimization, distance between ekf and vo x:0.148594 ,z=0.009374,angle between two frames:0.038685 -[13:31:45.814] Update EKF and 3D points the number of feature in the new frame: 4 and number of obs: 4 -[13:31:45.814] key frame check new frame:0.151427 0.426127 -0.040401, key close:0.011184 0.372625 -0.010608 -[13:31:45.814] Choose frame as a key frame Scene Depth mean:-8.976423 ,depth min:-19.242695 -[13:31:45.814] frame process finished the id is: 116 the obs is:4 -[13:31:45.829] Odometry x=0.151427, y=0.426127, theta=-0.040401 -[13:31:45.932] Odometry x=0.151024, y=0.438969, theta=-0.036906 -[13:31:45.966] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000034 ,z=-0.000017,angle between two frames:0.000004 -[13:31:45.966] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000017,angle between two frames:0.000004 -[13:31:45.966] frame process finished the id is: 116 the obs is:4 -[13:31:46.030] Odometry x=0.150758, y=0.450396, theta=-0.039649 -[13:31:46.116] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000032 ,z=-0.000015,angle between two frames:0.000004 -[13:31:46.116] After pose optimization, distance between ekf and vo x:-0.000032 ,z=-0.000015,angle between two frames:0.000004 -[13:31:46.116] frame process finished the id is: 116 the obs is:4 -[13:31:46.134] Odometry x=0.150522, y=0.460995, theta=-0.042980 -[13:31:46.231] Odometry x=0.150553, y=0.473595, theta=-0.029659 -[13:31:46.266] After Reprojection Map nPoint:4 ,nCell:3 ,nMatches:1 ,distance between ekf and vo x:-0.000033 ,z=-0.000025,angle between two frames:0.000005 -[13:31:46.266] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.122376 error end=0.122376 -[13:31:46.266] After pose optimization, distance between ekf and vo x:-0.000033 ,z=-0.000025,angle between two frames:0.000005 -[13:31:46.266] frame process finished the id is: 116 the obs is:4 -[13:31:46.331] Odometry x=0.150544, y=0.484835, theta=-0.031517 -[13:31:46.425] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000134 ,z=-0.000108,angle between two frames:0.000001 -[13:31:46.425] After pose optimization, distance between ekf and vo x:0.000134 ,z=-0.000108,angle between two frames:0.000001 -[13:31:46.425] frame process finished the id is: 116 the obs is:4 -[13:31:46.433] Odometry x=0.150350, y=0.496165, theta=-0.036165 -[13:31:46.532] Odometry x=0.150158, y=0.508306, theta=-0.028657 -[13:31:46.577] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000034 ,z=-0.000012,angle between two frames:0.000004 -[13:31:46.577] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000012,angle between two frames:0.000004 -[13:31:46.577] frame process finished the id is: 116 the obs is:4 -[13:31:46.629] Odometry x=0.150088, y=0.519132, theta=-0.032593 -[13:31:46.727] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000034 ,z=-0.000011,angle between two frames:0.000004 -[13:31:46.727] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000011,angle between two frames:0.000004 -[13:31:46.727] frame process finished the id is: 116 the obs is:4 -[13:31:46.732] Odometry x=0.149922, y=0.532709, theta=-0.038311 -[13:31:46.828] Odometry x=0.149735, y=0.543536, theta=-0.028547 -[13:31:46.877] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000037 ,z=-0.000007,angle between two frames:0.000004 -[13:31:46.877] After pose optimization, distance between ekf and vo x:-0.000037 ,z=-0.000007,angle between two frames:0.000004 -[13:31:46.877] frame process finished the id is: 116 the obs is:4 -[13:31:46.932] Odometry x=0.149705, y=0.554070, theta=-0.032064 -[13:31:47.028] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000039 ,z=-0.000014,angle between two frames:0.000004 -[13:31:47.028] After pose optimization, distance between ekf and vo x:-0.000039 ,z=-0.000014,angle between two frames:0.000004 -[13:31:47.028] frame process finished the id is: 116 the obs is:4 -[13:31:47.029] Odometry x=0.149424, y=0.570711, theta=-0.029268 -[13:31:47.130] Odometry x=0.149226, y=0.584016, theta=-0.033424 -[13:31:47.178] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000036 ,z=-0.000017,angle between two frames:0.000004 -[13:31:47.178] After pose optimization, distance between ekf and vo x:-0.000036 ,z=-0.000017,angle between two frames:0.000004 -[13:31:47.178] frame process finished the id is: 116 the obs is:4 -[13:31:47.229] Odometry x=0.149469, y=0.594338, theta=-0.030218 -[13:31:47.329] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000039 ,z=-0.000013,angle between two frames:0.000004 -[13:31:47.329] After pose optimization, distance between ekf and vo x:-0.000039 ,z=-0.000013,angle between two frames:0.000004 -[13:31:47.329] frame process finished the id is: 116 the obs is:4 -[13:31:47.337] Odometry x=0.149358, y=0.603562, theta=-0.023059 -[13:31:47.434] Odometry x=0.149237, y=0.614533, theta=-0.027683 -[13:31:47.479] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000021 ,z=-0.000007,angle between two frames:0.000002 -[13:31:47.479] After pose optimization, distance between ekf and vo x:-0.000021 ,z=-0.000007,angle between two frames:0.000002 -[13:31:47.479] frame process finished the id is: 116 the obs is:4 -[13:31:47.531] Odometry x=0.148879, y=0.643311, theta=-0.034184 -[13:31:47.629] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000026 ,z=-0.000010,angle between two frames:0.000003 -[13:31:47.629] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000010,angle between two frames:0.000003 -[13:31:47.629] frame process finished the id is: 116 the obs is:4 -[13:31:47.632] Odometry x=0.148250, y=0.653547, theta=-0.027548 -[13:31:47.733] Odometry x=0.148082, y=0.663984, theta=-0.038348 -[13:31:47.781] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000038 ,z=-0.000012,angle between two frames:0.000004 -[13:31:47.781] After pose optimization, distance between ekf and vo x:-0.000038 ,z=-0.000012,angle between two frames:0.000004 -[13:31:47.781] frame process finished the id is: 116 the obs is:4 -[13:31:47.829] Odometry x=0.146868, y=0.674688, theta=-0.033372 -[13:31:47.932] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:2 ,distance between ekf and vo x:-0.000026 ,z=-0.000009,angle between two frames:0.000003 -[13:31:47.932] n deleted obs = 0 n obs with reprojection error less than 0.5 px =2 error init =0.097363 error end=0.097363 -[13:31:47.932] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000009,angle between two frames:0.000003 -[13:31:47.932] frame process finished the id is: 116 the obs is:4 -[13:31:47.933] Odometry x=0.146706, y=0.685162, theta=-0.030956 -[13:31:48.032] Odometry x=0.146558, y=0.696430, theta=-0.022003 -[13:31:48.083] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000028 ,z=-0.000010,angle between two frames:0.000003 -[13:31:48.083] After pose optimization, distance between ekf and vo x:-0.000028 ,z=-0.000010,angle between two frames:0.000003 -[13:31:48.083] frame process finished the id is: 116 the obs is:4 -[13:31:48.131] Odometry x=0.146463, y=0.707758, theta=-0.020143 -[13:31:48.231] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:0.027285 ,z=0.018053,angle between two frames:0.004876 -[13:31:48.231] n deleted obs = 0 n obs with reprojection error less than 0.5 px =6 error init =0.228122 error end=0.228122 -[13:31:48.231] After pose optimization, distance between ekf and vo x:0.027285 ,z=0.018053,angle between two frames:0.004876 -[13:31:48.231] Update EKF and 3D points the number of feature in the new frame: 6 and number of obs: 6 -[13:31:48.231] key frame check new frame:0.172240 0.725409 -0.016289, key close:0.151427 0.426127 -0.040401 -[13:31:48.231] Choose frame as a key frame Scene Depth mean:1.606597 ,depth min:1.160308 -[13:31:48.231] frame process finished the id is: 132 the obs is:6 -[13:31:48.239] Odometry x=0.172240, y=0.725409, theta=-0.016289 -[13:31:48.332] Odometry x=0.172405, y=0.739503, theta=-0.018433 -[13:31:48.391] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000024 ,z=-0.002968,angle between two frames:0.008175 -[13:31:48.392] After pose optimization, distance between ekf and vo x:0.000024 ,z=-0.002968,angle between two frames:0.008175 -[13:31:48.392] frame process finished the id is: 132 the obs is:6 -[13:31:48.435] Odometry x=0.172367, y=0.749647, theta=-0.018341 -[13:31:48.533] Odometry x=0.169602, y=0.767142, theta=-0.036925 -[13:31:48.548] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000105 ,z=-0.001989,angle between two frames:0.005107 -[13:31:48.548] After pose optimization, distance between ekf and vo x:0.000105 ,z=-0.001989,angle between two frames:0.005107 -[13:31:48.548] frame process finished the id is: 132 the obs is:6 -[13:31:48.633] Odometry x=0.169234, y=0.777713, theta=-0.030689 -[13:31:48.703] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000663 ,z=-0.002699,angle between two frames:0.005193 -[13:31:48.703] After pose optimization, distance between ekf and vo x:0.000663 ,z=-0.002699,angle between two frames:0.005193 -[13:31:48.703] frame process finished the id is: 132 the obs is:6 -[13:31:48.730] Odometry x=0.167790, y=0.790296, theta=-0.032166 -[13:31:48.836] Odometry x=0.167594, y=0.800714, theta=-0.029090 -[13:31:48.863] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000666 ,z=-0.002749,angle between two frames:0.005682 -[13:31:48.863] After pose optimization, distance between ekf and vo x:0.000666 ,z=-0.002749,angle between two frames:0.005682 -[13:31:48.863] frame process finished the id is: 132 the obs is:6 -[13:31:48.933] Odometry x=0.167434, y=0.812113, theta=-0.029519 -[13:31:49.028] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001214 ,z=-0.004490,angle between two frames:0.009011 -[13:31:49.028] After pose optimization, distance between ekf and vo x:0.001214 ,z=-0.004490,angle between two frames:0.009011 -[13:31:49.028] frame process finished the id is: 132 the obs is:6 -[13:31:49.033] Odometry x=0.167253, y=0.823296, theta=-0.038777 -[13:31:49.132] Odometry x=0.166916, y=0.833727, theta=-0.038114 -[13:31:49.185] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000406 ,z=-0.001544,angle between two frames:0.002749 -[13:31:49.185] After pose optimization, distance between ekf and vo x:0.000406 ,z=-0.001544,angle between two frames:0.002749 -[13:31:49.185] frame process finished the id is: 132 the obs is:6 -[13:31:49.233] Odometry x=0.166716, y=0.844584, theta=-0.036845 -[13:31:49.330] Odometry x=0.165672, y=0.859115, theta=-0.038654 -[13:31:49.344] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000896 ,z=-0.002836,angle between two frames:0.004921 -[13:31:49.345] After pose optimization, distance between ekf and vo x:0.000896 ,z=-0.002836,angle between two frames:0.004921 -[13:31:49.345] frame process finished the id is: 132 the obs is:6 -[13:31:49.432] Odometry x=0.164022, y=0.876934, theta=-0.031443 -[13:31:49.501] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000568 ,z=-0.001358,angle between two frames:0.002557 -[13:31:49.501] After pose optimization, distance between ekf and vo x:0.000568 ,z=-0.001358,angle between two frames:0.002557 -[13:31:49.501] frame process finished the id is: 132 the obs is:6 -[13:31:49.529] Odometry x=0.163798, y=0.887781, theta=-0.032489 -[13:31:49.633] Odometry x=0.166198, y=0.898623, theta=-0.045122 -[13:31:49.650] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000142 ,z=-0.000334,angle between two frames:0.000547 -[13:31:49.650] After pose optimization, distance between ekf and vo x:0.000142 ,z=-0.000334,angle between two frames:0.000547 -[13:31:49.650] frame process finished the id is: 132 the obs is:6 -[13:31:49.735] Odometry x=0.166002, y=0.909218, theta=-0.036784 -[13:31:49.810] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001340 ,z=-0.002561,angle between two frames:0.005109 -[13:31:49.810] After pose optimization, distance between ekf and vo x:0.001340 ,z=-0.002561,angle between two frames:0.005109 -[13:31:49.810] frame process finished the id is: 132 the obs is:6 -[13:31:49.837] Odometry x=0.165790, y=0.920099, theta=-0.043548 -[13:31:49.930] Odometry x=0.165603, y=0.930161, theta=-0.033116 -[13:31:49.969] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001236 ,z=-0.002319,angle between two frames:0.004442 -[13:31:49.969] After pose optimization, distance between ekf and vo x:0.001236 ,z=-0.002319,angle between two frames:0.004442 -[13:31:49.969] frame process finished the id is: 132 the obs is:6 -[13:31:50.032] Odometry x=0.165349, y=0.942757, theta=-0.043861 -[13:31:50.130] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001449 ,z=-0.003006,angle between two frames:0.005087 -[13:31:50.130] After pose optimization, distance between ekf and vo x:0.001449 ,z=-0.003006,angle between two frames:0.005087 -[13:31:50.130] frame process finished the id is: 132 the obs is:6 -[13:31:50.132] Odometry x=0.165122, y=0.953585, theta=-0.037836 -[13:31:50.235] Odometry x=0.166859, y=0.964641, theta=-0.041200 -[13:31:50.286] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000814 ,z=-0.001495,angle between two frames:0.002897 -[13:31:50.286] After pose optimization, distance between ekf and vo x:0.000814 ,z=-0.001495,angle between two frames:0.002897 -[13:31:50.286] frame process finished the id is: 132 the obs is:6 -[13:31:50.336] Odometry x=0.166694, y=0.974028, theta=-0.040183 -[13:31:50.434] Odometry x=0.166407, y=0.989113, theta=-0.029965 -[13:31:50.443] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000917 ,z=-0.001317,angle between two frames:0.002863 -[13:31:50.443] After pose optimization, distance between ekf and vo x:0.000917 ,z=-0.001317,angle between two frames:0.002863 -[13:31:50.443] frame process finished the id is: 132 the obs is:6 -[13:31:50.531] Odometry x=0.166186, y=1.004899, theta=-0.031004 -[13:31:50.601] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001183 ,z=-0.001856,angle between two frames:0.003531 -[13:31:50.602] After pose optimization, distance between ekf and vo x:0.001183 ,z=-0.001856,angle between two frames:0.003531 -[13:31:50.602] frame process finished the id is: 132 the obs is:6 -[13:31:50.626] Odometry x=0.165954, y=1.017345, theta=-0.035705 -[13:31:50.733] Odometry x=0.165767, y=1.028200, theta=-0.034188 -[13:31:50.763] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.002390 ,z=-0.003348,angle between two frames:0.006339 -[13:31:50.763] After pose optimization, distance between ekf and vo x:0.002390 ,z=-0.003348,angle between two frames:0.006339 -[13:31:50.763] frame process finished the id is: 132 the obs is:6 -[13:31:50.767] Image Alignment failed 0 -[13:31:50.767] frame process finished the id is: 132 the obs is:6 -[13:31:50.772] Image Alignment failed 0 -[13:31:50.772] frame process finished the id is: 132 the obs is:6 -[13:31:50.834] Odometry x=0.165850, y=1.039101, theta=-0.037945 -[13:31:50.877] Image Alignment failed 0 -[13:31:50.877] frame process finished the id is: 132 the obs is:6 -[13:31:50.933] Odometry x=0.164810, y=1.056104, theta=-0.044028 -[13:31:50.979] Image Alignment failed 0 -[13:31:50.979] frame process finished the id is: 132 the obs is:6 -[13:31:51.032] Odometry x=0.164588, y=1.067472, theta=-0.038145 -[13:31:51.077] Image Alignment failed 0 -[13:31:51.077] frame process finished the id is: 132 the obs is:6 -[13:31:51.134] Odometry x=0.164316, y=1.080481, theta=-0.046219 -[13:31:51.179] Image Alignment failed 0 -[13:31:51.179] frame process finished the id is: 132 the obs is:6 -[13:31:51.235] Odometry x=0.163840, y=1.091759, theta=-0.039428 -[13:31:51.277] Image Alignment failed 0 -[13:31:51.277] frame process finished the id is: 132 the obs is:6 -[13:31:51.336] Odometry x=0.164374, y=1.102525, theta=-0.042736 -[13:31:51.377] Image Alignment failed 0 -[13:31:51.377] frame process finished the id is: 132 the obs is:6 -[13:31:51.432] Odometry x=0.164163, y=1.112959, theta=-0.034725 -[13:31:51.477] Image Alignment failed 0 -[13:31:51.477] frame process finished the id is: 132 the obs is:6 -[13:31:51.532] Odometry x=0.163908, y=1.127455, theta=-0.043803 -[13:31:51.574] Image Alignment failed 0 -[13:31:51.574] frame process finished the id is: 132 the obs is:6 -[13:31:51.635] Odometry x=0.163861, y=1.133207, theta=-0.047203 -[13:31:51.679] Image Alignment failed 0 -[13:31:51.679] frame process finished the id is: 132 the obs is:6 -[13:31:51.736] Odometry x=0.163634, y=1.143829, theta=-0.035927 -[13:31:51.778] Image Alignment failed 0 -[13:31:51.778] frame process finished the id is: 132 the obs is:6 -[13:31:51.836] Odometry x=0.163458, y=1.157960, theta=-0.036866 -[13:31:51.877] Image Alignment failed 0 -[13:31:51.877] frame process finished the id is: 132 the obs is:6 -[13:31:51.933] Odometry x=0.163229, y=1.168674, theta=-0.049463 -[13:31:51.977] Image Alignment failed 0 -[13:31:51.977] frame process finished the id is: 132 the obs is:6 -[13:31:52.034] Odometry x=0.162869, y=1.183886, theta=-0.032232 -[13:31:52.078] Image Alignment failed 0 -[13:31:52.078] frame process finished the id is: 132 the obs is:6 -[13:31:52.133] Odometry x=0.162285, y=1.216888, theta=-0.023771 -[13:31:52.177] Image Alignment failed 0 -[13:31:52.177] frame process finished the id is: 132 the obs is:6 -[13:31:52.234] Odometry x=0.147397, y=1.175944, theta=-0.030983 -[13:31:52.277] Image Alignment failed 0 -[13:31:52.278] frame process finished the id is: 132 the obs is:6 -[13:31:52.335] Odometry x=0.144997, y=1.146450, theta=-0.046472 -[13:31:52.377] Image Alignment failed 0 -[13:31:52.377] frame process finished the id is: 132 the obs is:6 -[13:31:52.435] Odometry x=0.144904, y=1.112047, theta=-0.075575 -[13:31:52.477] Image Alignment failed 0 -[13:31:52.477] frame process finished the id is: 132 the obs is:6 -[13:31:52.534] Odometry x=0.143760, y=1.140767, theta=-0.036977 -[13:31:52.578] Image Alignment failed 0 -[13:31:52.578] frame process finished the id is: 132 the obs is:6 -[13:31:52.637] Odometry x=0.143638, y=1.151519, theta=-0.050382 -[13:31:52.678] Image Alignment failed 0 -[13:31:52.678] frame process finished the id is: 132 the obs is:6 -[13:31:52.733] Odometry x=0.143932, y=1.163325, theta=-0.047382 -[13:31:52.777] Image Alignment failed 0 -[13:31:52.778] frame process finished the id is: 132 the obs is:6 -[13:31:52.835] Odometry x=0.149495, y=1.186545, theta=-0.040314 -[13:31:52.878] Image Alignment failed 0 -[13:31:52.878] frame process finished the id is: 132 the obs is:6 -[13:31:52.935] Odometry x=0.150560, y=1.196737, theta=-0.021245 -[13:31:52.978] Image Alignment failed 0 -[13:31:52.978] frame process finished the id is: 132 the obs is:6 -[13:31:53.032] Odometry x=0.150424, y=1.207084, theta=-0.017175 -[13:31:53.077] Image Alignment failed 0 -[13:31:53.077] frame process finished the id is: 132 the obs is:6 -[13:31:53.127] Odometry x=0.150302, y=1.219157, theta=-0.037785 -[13:31:53.177] Image Alignment failed 0 -[13:31:53.177] frame process finished the id is: 132 the obs is:6 -[13:31:53.234] Odometry x=0.151036, y=1.242648, theta=-0.040855 -[13:31:53.277] Image Alignment failed 0 -[13:31:53.277] frame process finished the id is: 132 the obs is:6 -[13:31:53.334] Odometry x=0.141193, y=1.238172, theta=-0.047573 -[13:31:53.377] Image Alignment failed 0 -[13:31:53.377] frame process finished the id is: 132 the obs is:6 -[13:31:53.427] Odometry x=0.138954, y=1.248674, theta=-0.023905 -[13:31:53.477] Image Alignment failed 0 -[13:31:53.477] frame process finished the id is: 132 the obs is:6 -[13:31:53.527] Odometry x=0.144926, y=1.271890, theta=-0.033264 -[13:31:53.577] Image Alignment failed 0 -[13:31:53.577] frame process finished the id is: 132 the obs is:6 -[13:31:53.634] Odometry x=0.141697, y=1.280833, theta=-0.033528 -[13:31:53.680] Image Alignment failed 0 -[13:31:53.680] frame process finished the id is: 132 the obs is:6 -[13:31:53.733] Odometry x=0.141312, y=1.293651, theta=-0.026060 -[13:31:53.777] Image Alignment failed 0 -[13:31:53.777] frame process finished the id is: 132 the obs is:6 -[13:31:53.837] Odometry x=0.152038, y=1.279021, theta=-0.018128 -[13:31:53.875] Image Alignment failed 0 -[13:31:53.875] frame process finished the id is: 132 the obs is:6 -[13:31:53.934] Odometry x=0.151788, y=1.292158, theta=-0.030923 -[13:31:53.983] Image Alignment failed 0 -[13:31:53.984] frame process finished the id is: 132 the obs is:6 -[13:31:54.033] Odometry x=0.148149, y=1.323869, theta=-0.024339 -[13:31:54.080] Image Alignment failed 0 -[13:31:54.080] frame process finished the id is: 132 the obs is:6 -[13:31:54.134] Odometry x=0.149398, y=1.323204, theta=-0.027806 -[13:31:54.175] Image Alignment failed 0 -[13:31:54.175] frame process finished the id is: 132 the obs is:6 -[13:31:54.236] Odometry x=0.182469, y=1.310036, theta=-0.042150 -[13:31:54.280] Image Alignment failed 0 -[13:31:54.280] frame process finished the id is: 132 the obs is:6 -[13:31:54.340] Odometry x=0.182611, y=1.319307, theta=-0.022783 -[13:31:54.379] Image Alignment failed 0 -[13:31:54.379] frame process finished the id is: 132 the obs is:6 -[13:31:54.431] Odometry x=0.191530, y=1.346618, theta=-0.006943 -[13:31:54.479] Image Alignment failed 0 -[13:31:54.479] frame process finished the id is: 132 the obs is:6 -[13:31:54.542] Odometry x=0.194186, y=1.365345, theta=-0.025150 -[13:31:54.584] Image Alignment failed 0 -[13:31:54.584] frame process finished the id is: 132 the obs is:6 -[13:31:54.636] Odometry x=0.193926, y=1.377759, theta=-0.025588 -[13:31:54.679] Image Alignment failed 0 -[13:31:54.679] frame process finished the id is: 132 the obs is:6 -[13:31:54.737] Odometry x=0.194326, y=1.385772, theta=-0.035158 -[13:31:54.779] Image Alignment failed 0 -[13:31:54.779] frame process finished the id is: 132 the obs is:6 -[13:31:54.837] Odometry x=0.194881, y=1.396287, theta=-0.041544 -[13:31:54.880] Image Alignment failed 0 -[13:31:54.880] frame process finished the id is: 132 the obs is:6 -[13:31:54.935] Odometry x=0.201442, y=1.382261, theta=-0.041369 -[13:31:54.980] Image Alignment failed 0 -[13:31:54.980] frame process finished the id is: 132 the obs is:6 -[13:31:55.036] Odometry x=0.204497, y=1.403032, theta=-0.035086 -[13:31:55.080] Image Alignment failed 0 -[13:31:55.080] frame process finished the id is: 132 the obs is:6 -[13:31:55.136] Odometry x=0.195285, y=1.414455, theta=-0.010089 -[13:31:55.180] Image Alignment failed 0 -[13:31:55.180] frame process finished the id is: 132 the obs is:6 -[13:31:55.237] Odometry x=0.195171, y=1.425334, theta=-0.018988 -[13:31:55.280] Image Alignment failed 0 -[13:31:55.280] frame process finished the id is: 132 the obs is:6 -[13:31:55.334] Odometry x=0.194935, y=1.435451, theta=-0.026107 -[13:31:55.383] Image Alignment failed 0 -[13:31:55.383] frame process finished the id is: 132 the obs is:6 -[13:31:55.439] Odometry x=0.194474, y=1.446163, theta=-0.045578 -[13:31:55.480] Image Alignment failed 0 -[13:31:55.480] frame process finished the id is: 132 the obs is:6 -[13:31:55.531] Odometry x=0.194226, y=1.457594, theta=-0.035192 -[13:31:55.579] Image Alignment failed 0 -[13:31:55.580] frame process finished the id is: 132 the obs is:6 -[13:31:55.637] Odometry x=0.194727, y=1.447068, theta=-0.009738 -[13:31:55.680] Image Alignment failed 0 -[13:31:55.680] frame process finished the id is: 132 the obs is:6 -[13:31:55.733] Odometry x=0.189323, y=1.446279, theta=-0.001121 -[13:31:55.787] Image Alignment failed 0 -[13:31:55.787] frame process finished the id is: 132 the obs is:6 -[13:31:55.833] Odometry x=0.189233, y=1.453525, theta=-0.015651 -[13:31:55.910] Image Alignment failed 0 -[13:31:55.910] frame process finished the id is: 132 the obs is:6 -[13:31:55.935] Odometry x=0.200884, y=1.466505, theta=-0.009450 -[13:31:56.010] Image Alignment failed 0 -[13:31:56.010] frame process finished the id is: 132 the obs is:6 -[13:31:56.040] Odometry x=0.201379, y=1.477408, theta=-0.012175 -[13:31:56.110] Image Alignment failed 0 -[13:31:56.110] frame process finished the id is: 132 the obs is:6 -[13:31:56.135] Odometry x=0.200886, y=1.481735, theta=-0.026614 -[13:31:56.211] Image Alignment failed 0 -[13:31:56.211] frame process finished the id is: 132 the obs is:6 -[13:31:56.227] Odometry x=0.200690, y=1.493090, theta=-0.033570 -[13:31:56.308] Image Alignment failed 0 -[13:31:56.308] frame process finished the id is: 132 the obs is:6 -[13:31:56.337] Odometry x=0.200897, y=1.495295, theta=-0.023547 -[13:31:56.410] Image Alignment failed 0 -[13:31:56.410] frame process finished the id is: 132 the obs is:6 -[13:31:56.436] Odometry x=0.189788, y=1.507214, theta=-0.031200 -[13:31:56.511] Image Alignment failed 0 -[13:31:56.511] frame process finished the id is: 132 the obs is:6 -[13:31:56.531] Odometry x=0.189925, y=1.517555, theta=-0.034418 -[13:31:56.611] Image Alignment failed 0 -[13:31:56.611] frame process finished the id is: 132 the obs is:6 -[13:31:56.633] Odometry x=0.189743, y=1.529421, theta=-0.021008 -[13:31:56.711] Image Alignment failed 0 -[13:31:56.711] frame process finished the id is: 132 the obs is:6 -[13:31:56.730] Odometry x=0.193385, y=1.540331, theta=-0.016291 -[13:31:56.812] Image Alignment failed 0 -[13:31:56.812] frame process finished the id is: 132 the obs is:6 -[13:31:56.830] Odometry x=0.183211, y=1.513424, theta=-0.032518 -[13:31:56.912] Image Alignment failed 0 -[13:31:56.912] frame process finished the id is: 132 the obs is:6 -[13:31:56.929] Odometry x=0.181340, y=1.539923, theta=-0.030691 -[13:31:57.011] Image Alignment failed 0 -[13:31:57.011] frame process finished the id is: 132 the obs is:6 -[13:31:57.034] Odometry x=0.179424, y=1.562031, theta=-0.027946 -[13:31:57.111] Image Alignment failed 0 -[13:31:57.111] frame process finished the id is: 132 the obs is:6 -[13:31:57.134] Odometry x=0.179078, y=1.560396, theta=-0.031748 -[13:31:57.211] Image Alignment failed 0 -[13:31:57.211] frame process finished the id is: 132 the obs is:6 -[13:31:57.229] Odometry x=0.178732, y=1.571097, theta=-0.037384 -[13:31:57.311] Image Alignment failed 0 -[13:31:57.311] frame process finished the id is: 132 the obs is:6 -[13:31:57.334] Odometry x=0.178577, y=1.581299, theta=-0.039251 -[13:31:57.411] Image Alignment failed 0 -[13:31:57.411] frame process finished the id is: 132 the obs is:6 -[13:31:57.434] Odometry x=0.178356, y=1.592678, theta=-0.023707 -[13:31:57.511] Image Alignment failed 0 -[13:31:57.511] frame process finished the id is: 132 the obs is:6 -[13:31:57.530] Odometry x=0.176868, y=1.603339, theta=-0.027694 -[13:31:57.611] Image Alignment failed 0 -[13:31:57.611] frame process finished the id is: 132 the obs is:6 -[13:31:57.629] Odometry x=0.175604, y=1.625606, theta=-0.034193 -[13:31:57.711] Image Alignment failed 0 -[13:31:57.711] frame process finished the id is: 132 the obs is:6 -[13:31:57.730] Odometry x=0.181476, y=1.636461, theta=-0.035725 -[13:31:57.811] Image Alignment failed 0 -[13:31:57.811] frame process finished the id is: 132 the obs is:6 -[13:31:57.831] Odometry x=0.179265, y=1.675509, theta=-0.034807 -[13:31:57.912] Image Alignment failed 0 -[13:31:57.912] frame process finished the id is: 132 the obs is:6 -[13:31:57.928] Odometry x=0.178635, y=1.686384, theta=-0.043521 -[13:31:58.011] Image Alignment failed 0 -[13:31:58.011] frame process finished the id is: 132 the obs is:6 -[13:31:58.034] Odometry x=0.169763, y=1.695537, theta=-0.030773 -[13:31:58.111] Image Alignment failed 0 -[13:31:58.111] frame process finished the id is: 132 the obs is:6 -[13:31:58.130] Odometry x=0.180738, y=1.727773, theta=-0.010000 -[13:31:58.212] Image Alignment failed 0 -[13:31:58.212] frame process finished the id is: 132 the obs is:6 -[13:31:58.232] Odometry x=0.184222, y=1.738343, theta=0.001048 -[13:31:58.312] Image Alignment failed 0 -[13:31:58.312] frame process finished the id is: 132 the obs is:6 -[13:31:58.335] Odometry x=0.185835, y=1.761133, theta=-0.019306 -[13:31:58.411] Image Alignment failed 0 -[13:31:58.411] frame process finished the id is: 132 the obs is:6 -[13:31:58.430] Odometry x=0.185452, y=1.772430, theta=-0.037155 -[13:31:58.517] Image Alignment failed 0 -[13:31:58.517] frame process finished the id is: 132 the obs is:6 -[13:31:58.530] Odometry x=0.181195, y=1.782214, theta=-0.026639 -[13:31:58.612] Image Alignment failed 0 -[13:31:58.612] frame process finished the id is: 132 the obs is:6 -[13:31:58.633] Odometry x=0.181601, y=1.813473, theta=-0.041432 -[13:31:58.707] Image Alignment failed 0 -[13:31:58.707] frame process finished the id is: 132 the obs is:6 -[13:31:58.738] Odometry x=0.187673, y=1.830356, theta=-0.029675 -[13:31:58.811] Image Alignment failed 0 -[13:31:58.811] frame process finished the id is: 132 the obs is:6 -[13:31:58.837] Odometry x=0.193245, y=1.840896, theta=-0.043037 -[13:31:58.912] Image Alignment failed 0 -[13:31:58.912] frame process finished the id is: 132 the obs is:6 -[13:31:59.010] Image Alignment failed 0 -[13:31:59.010] frame process finished the id is: 132 the obs is:6 -[13:31:59.110] Image Alignment failed 0 -[13:31:59.110] frame process finished the id is: 132 the obs is:6 -[13:31:59.212] Image Alignment failed 0 -[13:31:59.212] frame process finished the id is: 132 the obs is:6 -[13:31:59.310] Image Alignment failed 0 -[13:31:59.310] frame process finished the id is: 132 the obs is:6 -[13:31:59.411] Image Alignment failed 0 -[13:31:59.411] frame process finished the id is: 132 the obs is:6 -[13:31:59.510] Image Alignment failed 0 -[13:31:59.510] frame process finished the id is: 132 the obs is:6 -[13:31:59.610] Image Alignment failed 0 -[13:31:59.610] frame process finished the id is: 132 the obs is:6 -[13:31:59.710] Image Alignment failed 0 -[13:31:59.710] frame process finished the id is: 132 the obs is:6 -[13:31:59.815] Image Alignment failed 0 -[13:31:59.815] frame process finished the id is: 132 the obs is:6 -[13:31:59.913] Image Alignment failed 0 -[13:31:59.913] frame process finished the id is: 132 the obs is:6 -[13:32:00.016] Image Alignment failed 0 -[13:32:00.016] frame process finished the id is: 132 the obs is:6 -[13:32:00.111] Image Alignment failed 0 -[13:32:00.111] frame process finished the id is: 132 the obs is:6 -[13:32:00.211] Image Alignment failed 0 -[13:32:00.211] frame process finished the id is: 132 the obs is:6 -[13:32:00.312] Image Alignment failed 0 -[13:32:00.312] frame process finished the id is: 132 the obs is:6 -[13:32:00.413] Image Alignment failed 0 -[13:32:00.413] frame process finished the id is: 132 the obs is:6 -[13:32:00.512] Image Alignment failed 0 -[13:32:00.512] frame process finished the id is: 132 the obs is:6 -[13:32:00.612] Image Alignment failed 0 -[13:32:00.612] frame process finished the id is: 132 the obs is:6 -[13:32:00.712] Image Alignment failed 0 -[13:32:00.712] frame process finished the id is: 132 the obs is:6 -[13:32:00.811] Image Alignment failed 0 -[13:32:00.811] frame process finished the id is: 132 the obs is:6 -[13:32:00.912] Image Alignment failed 0 -[13:32:00.912] frame process finished the id is: 132 the obs is:6 -[13:32:01.017] Image Alignment failed 0 -[13:32:01.017] frame process finished the id is: 132 the obs is:6 -[13:32:01.113] Image Alignment failed 0 -[13:32:01.113] frame process finished the id is: 132 the obs is:6 -[13:32:01.212] Image Alignment failed 0 -[13:32:01.212] frame process finished the id is: 132 the obs is:6 -[13:32:01.312] Image Alignment failed 0 -[13:32:01.312] frame process finished the id is: 132 the obs is:6 -[13:32:01.411] Image Alignment failed 0 -[13:32:01.411] frame process finished the id is: 132 the obs is:6 -[13:32:01.511] Image Alignment failed 0 -[13:32:01.511] frame process finished the id is: 132 the obs is:6 -[13:32:01.613] Image Alignment failed 0 -[13:32:01.613] frame process finished the id is: 132 the obs is:6 -[13:32:01.713] Image Alignment failed 0 -[13:32:01.713] frame process finished the id is: 132 the obs is:6 -[13:32:01.811] Image Alignment failed 0 -[13:32:01.812] frame process finished the id is: 132 the obs is:6 -[13:32:01.911] Image Alignment failed 0 -[13:32:01.911] frame process finished the id is: 132 the obs is:6 -[13:32:02.006] Image Alignment failed 0 -[13:32:02.006] frame process finished the id is: 132 the obs is:6 -[13:32:02.117] Image Alignment failed 0 -[13:32:02.117] frame process finished the id is: 132 the obs is:6 -[13:32:02.212] Image Alignment failed 0 -[13:32:02.212] frame process finished the id is: 132 the obs is:6 -[13:32:02.312] Image Alignment failed 0 -[13:32:02.312] frame process finished the id is: 132 the obs is:6 -[13:32:02.417] Image Alignment failed 0 -[13:32:02.417] frame process finished the id is: 132 the obs is:6 -[13:32:02.512] Image Alignment failed 0 -[13:32:02.512] frame process finished the id is: 132 the obs is:6 -[13:32:02.611] Image Alignment failed 0 -[13:32:02.611] frame process finished the id is: 132 the obs is:6 -[13:32:02.712] Image Alignment failed 0 -[13:32:02.712] frame process finished the id is: 132 the obs is:6 -[13:32:02.811] Image Alignment failed 0 -[13:32:02.812] frame process finished the id is: 132 the obs is:6 -[13:32:02.912] Image Alignment failed 0 -[13:32:02.912] frame process finished the id is: 132 the obs is:6 -[13:32:03.012] Image Alignment failed 0 -[13:32:03.012] frame process finished the id is: 132 the obs is:6 -[13:32:03.112] Image Alignment failed 0 -[13:32:03.112] frame process finished the id is: 132 the obs is:6 -[13:32:03.212] Image Alignment failed 0 -[13:32:03.212] frame process finished the id is: 132 the obs is:6 -[13:32:03.313] Image Alignment failed 0 -[13:32:03.313] frame process finished the id is: 132 the obs is:6 -[13:32:03.412] Image Alignment failed 0 -[13:32:03.412] frame process finished the id is: 132 the obs is:6 -[13:32:03.512] Image Alignment failed 0 -[13:32:03.512] frame process finished the id is: 132 the obs is:6 -[13:32:03.611] Image Alignment failed 0 -[13:32:03.611] frame process finished the id is: 132 the obs is:6 -[13:32:03.712] Image Alignment failed 0 -[13:32:03.712] frame process finished the id is: 132 the obs is:6 -[13:32:03.812] Image Alignment failed 0 -[13:32:03.812] frame process finished the id is: 132 the obs is:6 -[13:32:03.915] Image Alignment failed 0 -[13:32:03.915] frame process finished the id is: 132 the obs is:6 -[13:32:04.013] Image Alignment failed 0 -[13:32:04.014] frame process finished the id is: 132 the obs is:6 -[13:32:04.112] Image Alignment failed 0 -[13:32:04.112] frame process finished the id is: 132 the obs is:6 -[13:32:04.211] Image Alignment failed 0 -[13:32:04.211] frame process finished the id is: 132 the obs is:6 -[13:32:04.311] Image Alignment failed 0 -[13:32:04.311] frame process finished the id is: 132 the obs is:6 -[13:32:04.411] Image Alignment failed 0 -[13:32:04.412] frame process finished the id is: 132 the obs is:6 -[13:32:04.511] Image Alignment failed 0 -[13:32:04.511] frame process finished the id is: 132 the obs is:6 -[13:32:04.611] Image Alignment failed 0 -[13:32:04.611] frame process finished the id is: 132 the obs is:6 -[13:32:04.711] Image Alignment failed 0 -[13:32:04.711] frame process finished the id is: 132 the obs is:6 -[13:32:04.811] Image Alignment failed 0 -[13:32:04.812] frame process finished the id is: 132 the obs is:6 -[13:32:04.912] Image Alignment failed 0 -[13:32:04.912] frame process finished the id is: 132 the obs is:6 -[13:32:05.012] Image Alignment failed 0 -[13:32:05.012] frame process finished the id is: 132 the obs is:6 -[13:32:05.113] Image Alignment failed 0 -[13:32:05.113] frame process finished the id is: 132 the obs is:6 -[13:32:05.213] Image Alignment failed 0 -[13:32:05.213] frame process finished the id is: 132 the obs is:6 -[13:32:05.313] Image Alignment failed 0 -[13:32:05.313] frame process finished the id is: 132 the obs is:6 -[13:32:05.412] Image Alignment failed 0 -[13:32:05.412] frame process finished the id is: 132 the obs is:6 -[13:32:05.512] Image Alignment failed 0 -[13:32:05.512] frame process finished the id is: 132 the obs is:6 -[13:32:05.612] Image Alignment failed 0 -[13:32:05.612] frame process finished the id is: 132 the obs is:6 -[13:32:05.717] Image Alignment failed 0 -[13:32:05.717] frame process finished the id is: 132 the obs is:6 -[13:32:05.807] Image Alignment failed 0 -[13:32:05.807] frame process finished the id is: 132 the obs is:6 -[13:32:05.912] Image Alignment failed 0 -[13:32:05.912] frame process finished the id is: 132 the obs is:6 -[13:32:06.012] Image Alignment failed 0 -[13:32:06.012] frame process finished the id is: 132 the obs is:6 -[13:32:06.112] Image Alignment failed 0 -[13:32:06.112] frame process finished the id is: 132 the obs is:6 -[13:32:06.212] Image Alignment failed 0 -[13:32:06.212] frame process finished the id is: 132 the obs is:6 -[13:32:06.313] Image Alignment failed 0 -[13:32:06.313] frame process finished the id is: 132 the obs is:6 -[13:32:06.412] Image Alignment failed 0 -[13:32:06.412] frame process finished the id is: 132 the obs is:6 -[13:32:06.512] Image Alignment failed 0 -[13:32:06.512] frame process finished the id is: 132 the obs is:6 -[13:32:06.612] Image Alignment failed 0 -[13:32:06.612] frame process finished the id is: 132 the obs is:6 -[13:32:06.713] Image Alignment failed 0 -[13:32:06.713] frame process finished the id is: 132 the obs is:6 -[13:32:06.812] Image Alignment failed 0 -[13:32:06.812] frame process finished the id is: 132 the obs is:6 -[13:32:06.912] Image Alignment failed 0 -[13:32:06.912] frame process finished the id is: 132 the obs is:6 -[13:32:07.011] Image Alignment failed 0 -[13:32:07.011] frame process finished the id is: 132 the obs is:6 -[13:32:07.113] Image Alignment failed 0 -[13:32:07.113] frame process finished the id is: 132 the obs is:6 -[13:32:07.213] Image Alignment failed 0 -[13:32:07.213] frame process finished the id is: 132 the obs is:6 -[13:32:07.311] Image Alignment failed 0 -[13:32:07.311] frame process finished the id is: 132 the obs is:6 -[13:32:07.413] Image Alignment failed 0 -[13:32:07.413] frame process finished the id is: 132 the obs is:6 -[13:32:07.519] Image Alignment failed 0 -[13:32:07.519] frame process finished the id is: 132 the obs is:6 -[13:32:07.612] Image Alignment failed 0 -[13:32:07.612] frame process finished the id is: 132 the obs is:6 -[13:32:07.712] Image Alignment failed 0 -[13:32:07.712] frame process finished the id is: 132 the obs is:6 -[13:32:07.813] Image Alignment failed 0 -[13:32:07.813] frame process finished the id is: 132 the obs is:6 -[13:32:07.912] Image Alignment failed 0 -[13:32:07.912] frame process finished the id is: 132 the obs is:6 -[13:32:08.012] Image Alignment failed 0 -[13:32:08.012] frame process finished the id is: 132 the obs is:6 -[13:32:08.118] Image Alignment failed 0 -[13:32:08.118] frame process finished the id is: 132 the obs is:6 -[13:32:08.213] Image Alignment failed 0 -[13:32:08.213] frame process finished the id is: 132 the obs is:6 -[13:32:08.312] Image Alignment failed 0 -[13:32:08.312] frame process finished the id is: 132 the obs is:6 -[13:32:08.412] Image Alignment failed 0 -[13:32:08.412] frame process finished the id is: 132 the obs is:6 -[13:32:08.512] Image Alignment failed 0 -[13:32:08.512] frame process finished the id is: 132 the obs is:6 -[13:32:08.612] Image Alignment failed 0 -[13:32:08.612] frame process finished the id is: 132 the obs is:6 -[13:32:08.712] Image Alignment failed 0 -[13:32:08.712] frame process finished the id is: 132 the obs is:6 -[13:32:08.812] Image Alignment failed 0 -[13:32:08.812] frame process finished the id is: 132 the obs is:6 -[13:32:08.912] Image Alignment failed 0 -[13:32:08.912] frame process finished the id is: 132 the obs is:6 -[13:32:09.012] Image Alignment failed 0 -[13:32:09.012] frame process finished the id is: 132 the obs is:6 -[13:32:09.112] Image Alignment failed 0 -[13:32:09.112] frame process finished the id is: 132 the obs is:6 -[13:32:09.212] Image Alignment failed 0 -[13:32:09.212] frame process finished the id is: 132 the obs is:6 -[13:32:09.312] Image Alignment failed 0 -[13:32:09.312] frame process finished the id is: 132 the obs is:6 -[13:32:09.415] Image Alignment failed 0 -[13:32:09.415] frame process finished the id is: 132 the obs is:6 -[13:32:09.515] Image Alignment failed 0 -[13:32:09.515] frame process finished the id is: 132 the obs is:6 -[13:32:09.615] Image Alignment failed 0 -[13:32:09.615] frame process finished the id is: 132 the obs is:6 -[13:32:09.712] Image Alignment failed 0 -[13:32:09.712] frame process finished the id is: 132 the obs is:6 -[13:32:09.812] Image Alignment failed 0 -[13:32:09.812] frame process finished the id is: 132 the obs is:6 -[13:32:09.917] Image Alignment failed 0 -[13:32:09.917] frame process finished the id is: 132 the obs is:6 -[13:32:10.012] Image Alignment failed 0 -[13:32:10.012] frame process finished the id is: 132 the obs is:6 -[13:32:10.111] Image Alignment failed 0 -[13:32:10.111] frame process finished the id is: 132 the obs is:6 -[13:32:10.212] Image Alignment failed 0 -[13:32:10.212] frame process finished the id is: 132 the obs is:6 -[13:32:10.313] Image Alignment failed 0 -[13:32:10.313] frame process finished the id is: 132 the obs is:6 -[13:32:10.413] Image Alignment failed 0 -[13:32:10.413] frame process finished the id is: 132 the obs is:6 -[13:32:10.513] Image Alignment failed 0 -[13:32:10.513] frame process finished the id is: 132 the obs is:6 -[13:32:10.613] Image Alignment failed 0 -[13:32:10.613] frame process finished the id is: 132 the obs is:6 -[13:32:10.713] Image Alignment failed 0 -[13:32:10.713] frame process finished the id is: 132 the obs is:6 -[13:32:10.813] Image Alignment failed 0 -[13:32:10.813] frame process finished the id is: 132 the obs is:6 -[13:32:10.913] Image Alignment failed 0 -[13:32:10.913] frame process finished the id is: 132 the obs is:6 -[13:32:11.011] Image Alignment failed 0 -[13:32:11.011] frame process finished the id is: 132 the obs is:6 -[13:32:11.112] Image Alignment failed 0 -[13:32:11.112] frame process finished the id is: 132 the obs is:6 -[13:32:11.216] Image Alignment failed 0 -[13:32:11.216] frame process finished the id is: 132 the obs is:6 -[13:32:11.313] Image Alignment failed 0 -[13:32:11.313] frame process finished the id is: 132 the obs is:6 -[13:32:11.414] Image Alignment failed 0 -[13:32:11.414] frame process finished the id is: 132 the obs is:6 -[13:32:11.515] Image Alignment failed 0 -[13:32:11.515] frame process finished the id is: 132 the obs is:6 -[13:32:11.611] Image Alignment failed 0 -[13:32:11.611] frame process finished the id is: 132 the obs is:6 -[13:32:11.718] Image Alignment failed 0 -[13:32:11.718] frame process finished the id is: 132 the obs is:6 -[13:32:11.811] Image Alignment failed 0 -[13:32:11.811] frame process finished the id is: 132 the obs is:6 -[13:32:11.913] Image Alignment failed 0 -[13:32:11.913] frame process finished the id is: 132 the obs is:6 -[13:32:12.012] Image Alignment failed 0 -[13:32:12.012] frame process finished the id is: 132 the obs is:6 -[13:32:12.112] Image Alignment failed 0 -[13:32:12.112] frame process finished the id is: 132 the obs is:6 -[13:32:12.213] Image Alignment failed 0 -[13:32:12.213] frame process finished the id is: 132 the obs is:6 -[13:32:12.318] Image Alignment failed 0 -[13:32:12.318] frame process finished the id is: 132 the obs is:6 -[13:32:12.412] Image Alignment failed 0 -[13:32:12.413] frame process finished the id is: 132 the obs is:6 -[13:32:12.514] Image Alignment failed 0 -[13:32:12.514] frame process finished the id is: 132 the obs is:6 -[13:32:12.613] Image Alignment failed 0 -[13:32:12.613] frame process finished the id is: 132 the obs is:6 -[13:32:12.712] Image Alignment failed 0 -[13:32:12.712] frame process finished the id is: 132 the obs is:6 -[13:32:12.808] Image Alignment failed 0 -[13:32:12.808] frame process finished the id is: 132 the obs is:6 -[13:32:12.909] Image Alignment failed 0 -[13:32:12.909] frame process finished the id is: 132 the obs is:6 -[13:32:13.012] Image Alignment failed 0 -[13:32:13.013] frame process finished the id is: 132 the obs is:6 -[13:32:13.114] Image Alignment failed 0 -[13:32:13.114] frame process finished the id is: 132 the obs is:6 -[13:32:13.213] Image Alignment failed 0 -[13:32:13.213] frame process finished the id is: 132 the obs is:6 -[13:32:13.312] Image Alignment failed 0 -[13:32:13.312] frame process finished the id is: 132 the obs is:6 -[13:32:13.414] Image Alignment failed 0 -[13:32:13.414] frame process finished the id is: 132 the obs is:6 -[13:32:13.513] Image Alignment failed 0 -[13:32:13.513] frame process finished the id is: 132 the obs is:6 -[13:32:13.612] Image Alignment failed 0 -[13:32:13.612] frame process finished the id is: 132 the obs is:6 -[13:32:13.711] Image Alignment failed 0 -[13:32:13.711] frame process finished the id is: 132 the obs is:6 -[13:32:13.813] Image Alignment failed 0 -[13:32:13.813] frame process finished the id is: 132 the obs is:6 -[13:32:13.914] Image Alignment failed 0 -[13:32:13.914] frame process finished the id is: 132 the obs is:6 -[13:32:14.015] Image Alignment failed 0 -[13:32:14.015] frame process finished the id is: 132 the obs is:6 -[13:32:14.112] Image Alignment failed 0 -[13:32:14.112] frame process finished the id is: 132 the obs is:6 -[13:32:14.214] Image Alignment failed 0 -[13:32:14.214] frame process finished the id is: 132 the obs is:6 -[13:32:14.308] Image Alignment failed 0 -[13:32:14.308] frame process finished the id is: 132 the obs is:6 -[13:32:14.408] Image Alignment failed 0 -[13:32:14.408] frame process finished the id is: 132 the obs is:6 -[13:32:14.508] Image Alignment failed 0 -[13:32:14.508] frame process finished the id is: 132 the obs is:6 -[13:32:14.608] Image Alignment failed 0 -[13:32:14.608] frame process finished the id is: 132 the obs is:6 -[13:32:14.709] Image Alignment failed 0 -[13:32:14.709] frame process finished the id is: 132 the obs is:6 -[13:32:14.811] Image Alignment failed 0 -[13:32:14.811] frame process finished the id is: 132 the obs is:6 -[13:32:14.908] Image Alignment failed 0 -[13:32:14.908] frame process finished the id is: 132 the obs is:6 -[13:32:15.008] Image Alignment failed 0 -[13:32:15.008] frame process finished the id is: 132 the obs is:6 -[13:32:15.108] Image Alignment failed 0 -[13:32:15.108] frame process finished the id is: 132 the obs is:6 -[13:32:15.207] Image Alignment failed 0 -[13:32:15.207] frame process finished the id is: 132 the obs is:6 -[13:32:15.308] Image Alignment failed 0 -[13:32:15.308] frame process finished the id is: 132 the obs is:6 -[13:32:15.408] Image Alignment failed 0 -[13:32:15.408] frame process finished the id is: 132 the obs is:6 -[13:32:15.508] Image Alignment failed 0 -[13:32:15.509] frame process finished the id is: 132 the obs is:6 -[13:32:15.607] Image Alignment failed 0 -[13:32:15.607] frame process finished the id is: 132 the obs is:6 -[13:32:15.709] Image Alignment failed 0 -[13:32:15.709] frame process finished the id is: 132 the obs is:6 -[13:32:15.809] Image Alignment failed 0 -[13:32:15.809] frame process finished the id is: 132 the obs is:6 -[13:32:15.908] Image Alignment failed 0 -[13:32:15.908] frame process finished the id is: 132 the obs is:6 -[13:32:16.008] Image Alignment failed 0 -[13:32:16.008] frame process finished the id is: 132 the obs is:6 -[13:32:16.109] Image Alignment failed 0 -[13:32:16.109] frame process finished the id is: 132 the obs is:6 -[13:32:16.209] Image Alignment failed 0 -[13:32:16.209] frame process finished the id is: 132 the obs is:6 -[13:32:16.307] Image Alignment failed 0 -[13:32:16.307] frame process finished the id is: 132 the obs is:6 -[13:32:16.409] Image Alignment failed 0 -[13:32:16.409] frame process finished the id is: 132 the obs is:6 -[13:32:16.509] Image Alignment failed 0 -[13:32:16.509] frame process finished the id is: 132 the obs is:6 -[13:32:16.607] Image Alignment failed 0 -[13:32:16.607] frame process finished the id is: 132 the obs is:6 -[13:32:16.708] Image Alignment failed 0 -[13:32:16.708] frame process finished the id is: 132 the obs is:6 -[13:32:16.809] Image Alignment failed 0 -[13:32:16.809] frame process finished the id is: 132 the obs is:6 -[13:32:16.907] Image Alignment failed 0 -[13:32:16.907] frame process finished the id is: 132 the obs is:6 -[13:32:17.009] Image Alignment failed 0 -[13:32:17.009] frame process finished the id is: 132 the obs is:6 -[13:32:17.107] Image Alignment failed 0 -[13:32:17.108] frame process finished the id is: 132 the obs is:6 -[13:32:17.209] Image Alignment failed 0 -[13:32:17.209] frame process finished the id is: 132 the obs is:6 -[13:32:17.309] Image Alignment failed 0 -[13:32:17.309] frame process finished the id is: 132 the obs is:6 -[13:32:17.407] Image Alignment failed 0 -[13:32:17.407] frame process finished the id is: 132 the obs is:6 -[13:32:17.508] Image Alignment failed 0 -[13:32:17.508] frame process finished the id is: 132 the obs is:6 -[13:32:17.609] Image Alignment failed 0 -[13:32:17.609] frame process finished the id is: 132 the obs is:6 -[13:32:17.707] Image Alignment failed 0 -[13:32:17.707] frame process finished the id is: 132 the obs is:6 -[13:32:17.807] Image Alignment failed 0 -[13:32:17.807] frame process finished the id is: 132 the obs is:6 -[13:32:17.911] Image Alignment failed 0 -[13:32:17.911] frame process finished the id is: 132 the obs is:6 -[13:32:18.007] Image Alignment failed 0 -[13:32:18.007] frame process finished the id is: 132 the obs is:6 -[13:32:18.111] Image Alignment failed 0 -[13:32:18.111] frame process finished the id is: 132 the obs is:6 -[13:32:18.208] Image Alignment failed 0 -[13:32:18.208] frame process finished the id is: 132 the obs is:6 -[13:32:18.308] Image Alignment failed 0 -[13:32:18.308] frame process finished the id is: 132 the obs is:6 -[13:32:18.408] Image Alignment failed 0 -[13:32:18.408] frame process finished the id is: 132 the obs is:6 -[13:32:18.508] Image Alignment failed 0 -[13:32:18.508] frame process finished the id is: 132 the obs is:6 -[13:32:18.611] Image Alignment failed 0 -[13:32:18.611] frame process finished the id is: 132 the obs is:6 -[13:32:18.708] Image Alignment failed 0 -[13:32:18.708] frame process finished the id is: 132 the obs is:6 -[13:32:18.808] Image Alignment failed 0 -[13:32:18.808] frame process finished the id is: 132 the obs is:6 -[13:32:18.908] Image Alignment failed 0 -[13:32:18.908] frame process finished the id is: 132 the obs is:6 -[13:32:19.008] Image Alignment failed 0 -[13:32:19.008] frame process finished the id is: 132 the obs is:6 -[13:32:19.108] Image Alignment failed 0 -[13:32:19.108] frame process finished the id is: 132 the obs is:6 -[13:32:19.209] Image Alignment failed 0 -[13:32:19.209] frame process finished the id is: 132 the obs is:6 -[13:32:19.308] Image Alignment failed 0 -[13:32:19.308] frame process finished the id is: 132 the obs is:6 -[13:32:19.409] Image Alignment failed 0 -[13:32:19.409] frame process finished the id is: 132 the obs is:6 -[13:32:19.508] Image Alignment failed 0 -[13:32:19.508] frame process finished the id is: 132 the obs is:6 -[13:32:19.608] Image Alignment failed 0 -[13:32:19.608] frame process finished the id is: 132 the obs is:6 -[13:32:19.708] Image Alignment failed 0 -[13:32:19.708] frame process finished the id is: 132 the obs is:6 -[13:32:19.808] Image Alignment failed 0 -[13:32:19.808] frame process finished the id is: 132 the obs is:6 -[13:32:19.908] Image Alignment failed 0 -[13:32:19.908] frame process finished the id is: 132 the obs is:6 -[13:32:20.008] Image Alignment failed 0 -[13:32:20.008] frame process finished the id is: 132 the obs is:6 -[13:32:20.109] Image Alignment failed 0 -[13:32:20.109] frame process finished the id is: 132 the obs is:6 -[13:32:20.207] Image Alignment failed 0 -[13:32:20.207] frame process finished the id is: 132 the obs is:6 -[13:32:20.310] Image Alignment failed 0 -[13:32:20.310] frame process finished the id is: 132 the obs is:6 -[13:32:20.410] Image Alignment failed 0 -[13:32:20.410] frame process finished the id is: 132 the obs is:6 -[13:32:20.508] Image Alignment failed 0 -[13:32:20.508] frame process finished the id is: 132 the obs is:6 -[13:32:20.608] Image Alignment failed 0 -[13:32:20.608] frame process finished the id is: 132 the obs is:6 -[13:32:20.708] Image Alignment failed 0 -[13:32:20.708] frame process finished the id is: 132 the obs is:6 -[13:32:20.807] Image Alignment failed 0 -[13:32:20.807] frame process finished the id is: 132 the obs is:6 -[13:32:20.908] Image Alignment failed 0 -[13:32:20.908] frame process finished the id is: 132 the obs is:6 -[13:32:21.020] Image Alignment failed 0 -[13:32:21.020] frame process finished the id is: 132 the obs is:6 -[13:32:21.109] Image Alignment failed 0 -[13:32:21.109] frame process finished the id is: 132 the obs is:6 -[13:32:21.208] Image Alignment failed 0 -[13:32:21.208] frame process finished the id is: 132 the obs is:6 -[13:32:21.311] Image Alignment failed 0 -[13:32:21.311] frame process finished the id is: 132 the obs is:6 -[13:32:21.409] Image Alignment failed 0 -[13:32:21.409] frame process finished the id is: 132 the obs is:6 -[13:32:21.509] Image Alignment failed 0 -[13:32:21.509] frame process finished the id is: 132 the obs is:6 -[13:32:21.608] Image Alignment failed 0 -[13:32:21.608] frame process finished the id is: 132 the obs is:6 -[13:32:21.708] Image Alignment failed 0 -[13:32:21.708] frame process finished the id is: 132 the obs is:6 -[13:32:21.807] Image Alignment failed 0 -[13:32:21.807] frame process finished the id is: 132 the obs is:6 -[13:32:21.908] Image Alignment failed 0 -[13:32:21.908] frame process finished the id is: 132 the obs is:6 -[13:32:22.009] Image Alignment failed 0 -[13:32:22.009] frame process finished the id is: 132 the obs is:6 -[13:32:22.107] Image Alignment failed 0 -[13:32:22.107] frame process finished the id is: 132 the obs is:6 -[13:32:22.207] Image Alignment failed 0 -[13:32:22.207] frame process finished the id is: 132 the obs is:6 -[13:32:22.309] Image Alignment failed 0 -[13:32:22.309] frame process finished the id is: 132 the obs is:6 -[13:32:22.407] Image Alignment failed 0 -[13:32:22.407] frame process finished the id is: 132 the obs is:6 -[13:32:22.508] Image Alignment failed 0 -[13:32:22.508] frame process finished the id is: 132 the obs is:6 -[13:32:22.607] Image Alignment failed 0 -[13:32:22.608] frame process finished the id is: 132 the obs is:6 -[13:32:22.707] Image Alignment failed 0 -[13:32:22.707] frame process finished the id is: 132 the obs is:6 -[13:32:22.808] Image Alignment failed 0 -[13:32:22.808] frame process finished the id is: 132 the obs is:6 -[13:32:22.909] Image Alignment failed 0 -[13:32:22.909] frame process finished the id is: 132 the obs is:6 -[13:32:23.011] Image Alignment failed 0 -[13:32:23.011] frame process finished the id is: 132 the obs is:6 -[13:32:23.089] Odometry x=0.192482, y=1.860166, theta=-0.046015 -[13:32:23.108] Image Alignment failed 0 -[13:32:23.108] frame process finished the id is: 132 the obs is:6 -[13:32:23.192] Odometry x=6.709942, y=0.746288, theta=0.016354 -[13:32:23.209] Image Alignment failed 0 -[13:32:23.209] frame process finished the id is: 132 the obs is:6 -[13:32:23.294] Odometry x=6.705150, y=0.735871, theta=0.045953 -[13:32:23.308] Image Alignment failed 0 -[13:32:23.308] frame process finished the id is: 132 the obs is:6 -[13:32:23.393] Odometry x=6.704867, y=0.724649, theta=0.046050 -[13:32:23.408] Image Alignment failed 0 -[13:32:23.408] frame process finished the id is: 132 the obs is:6 -[13:32:23.493] Odometry x=6.717712, y=0.713586, theta=0.071742 -[13:32:23.508] Image Alignment failed 0 -[13:32:23.508] frame process finished the id is: 132 the obs is:6 -[13:32:23.592] Odometry x=6.717392, y=0.703158, theta=0.065747 -[13:32:23.612] Image Alignment failed 0 -[13:32:23.612] frame process finished the id is: 132 the obs is:6 -[13:32:23.693] Odometry x=6.715869, y=0.692697, theta=0.067398 -[13:32:23.709] Image Alignment failed 0 -[13:32:23.709] frame process finished the id is: 132 the obs is:6 -[13:32:23.791] Odometry x=6.716219, y=0.692871, theta=0.022948 -[13:32:23.810] Image Alignment failed 0 -[13:32:23.810] frame process finished the id is: 132 the obs is:6 -[13:32:23.894] Odometry x=6.715983, y=0.668093, theta=0.042780 -[13:32:23.910] Image Alignment failed 0 -[13:32:23.910] frame process finished the id is: 132 the obs is:6 -[13:32:23.991] Odometry x=6.715965, y=0.659374, theta=0.020835 -[13:32:24.013] Image Alignment failed 0 -[13:32:24.013] frame process finished the id is: 132 the obs is:6 -[13:32:24.092] Odometry x=6.709707, y=0.648500, theta=0.064729 -[13:32:24.111] Image Alignment failed 0 -[13:32:24.112] frame process finished the id is: 132 the obs is:6 -[13:32:24.194] Odometry x=6.707841, y=0.640176, theta=0.068105 -[13:32:24.212] Image Alignment failed 0 -[13:32:24.212] frame process finished the id is: 132 the obs is:6 -[13:32:24.291] Odometry x=6.707407, y=0.626314, theta=0.047261 -[13:32:24.311] Image Alignment failed 0 -[13:32:24.311] frame process finished the id is: 132 the obs is:6 -[13:32:24.393] Odometry x=6.707115, y=0.617198, theta=0.067016 -[13:32:24.411] Image Alignment failed 0 -[13:32:24.411] frame process finished the id is: 132 the obs is:6 -[13:32:24.493] Odometry x=6.706865, y=0.604704, theta=0.035132 -[13:32:24.509] Image Alignment failed 0 -[13:32:24.509] frame process finished the id is: 132 the obs is:6 -[13:32:24.592] Odometry x=6.705334, y=0.593976, theta=0.059153 -[13:32:24.609] Image Alignment failed 0 -[13:32:24.609] frame process finished the id is: 132 the obs is:6 -[13:32:24.692] Odometry x=6.699207, y=0.583302, theta=0.047421 -[13:32:24.709] Image Alignment failed 0 -[13:32:24.709] frame process finished the id is: 132 the obs is:6 -[13:32:24.788] Odometry x=6.701627, y=0.593873, theta=0.051086 -[13:32:24.809] Image Alignment failed 0 -[13:32:24.809] frame process finished the id is: 132 the obs is:6 -[13:32:24.891] Odometry x=6.707086, y=0.604222, theta=0.044666 -[13:32:24.909] Image Alignment failed 0 -[13:32:24.909] frame process finished the id is: 132 the obs is:6 -[13:32:24.996] Odometry x=6.706800, y=0.593595, theta=0.060313 -[13:32:25.010] Image Alignment failed 0 -[13:32:25.010] frame process finished the id is: 132 the obs is:6 -[13:32:25.095] Odometry x=6.707801, y=0.601922, theta=0.056694 -[13:32:25.111] Image Alignment failed 0 -[13:32:25.111] frame process finished the id is: 132 the obs is:6 -[13:32:25.192] Odometry x=6.697894, y=0.570863, theta=0.068951 -[13:32:25.211] Image Alignment failed 0 -[13:32:25.211] frame process finished the id is: 132 the obs is:6 -[13:32:25.290] Odometry x=6.704555, y=0.580698, theta=0.074229 -[13:32:25.310] Image Alignment failed 0 -[13:32:25.310] frame process finished the id is: 132 the obs is:6 -[13:32:25.393] Odometry x=6.704839, y=0.580098, theta=0.039880 -[13:32:25.411] Image Alignment failed 0 -[13:32:25.411] frame process finished the id is: 132 the obs is:6 -[13:32:25.494] Odometry x=6.705992, y=0.597111, theta=0.032491 -[13:32:25.509] Image Alignment failed 0 -[13:32:25.509] frame process finished the id is: 132 the obs is:6 -[13:32:25.592] Odometry x=6.704330, y=0.586187, theta=0.055670 -[13:32:25.610] Image Alignment failed 0 -[13:32:25.610] frame process finished the id is: 132 the obs is:6 -[13:32:25.691] Odometry x=6.703943, y=0.572523, theta=0.045123 -[13:32:25.708] Image Alignment failed 0 -[13:32:25.708] frame process finished the id is: 132 the obs is:6 -[13:32:25.791] Odometry x=6.703700, y=0.558728, theta=0.055223 -[13:32:25.810] Image Alignment failed 0 -[13:32:25.811] frame process finished the id is: 132 the obs is:6 -[13:32:25.889] Odometry x=6.704197, y=0.568435, theta=0.036968 -[13:32:25.908] Image Alignment failed 0 -[13:32:25.908] frame process finished the id is: 132 the obs is:6 -[13:32:25.993] Odometry x=6.709224, y=0.561458, theta=0.037330 -[13:32:26.009] Image Alignment failed 0 -[13:32:26.009] frame process finished the id is: 132 the obs is:6 -[13:32:26.094] Odometry x=6.708824, y=0.536439, theta=0.052067 -[13:32:26.108] Image Alignment failed 0 -[13:32:26.108] frame process finished the id is: 132 the obs is:6 -[13:32:26.197] Odometry x=6.700322, y=0.513763, theta=0.055663 -[13:32:26.210] Image Alignment failed 0 -[13:32:26.210] frame process finished the id is: 132 the obs is:6 -[13:32:26.296] Odometry x=6.698343, y=0.517088, theta=0.032916 -[13:32:26.308] Image Alignment failed 0 -[13:32:26.308] frame process finished the id is: 132 the obs is:6 -[13:32:26.393] Odometry x=6.699460, y=0.510530, theta=0.044975 -[13:32:26.410] Image Alignment failed 0 -[13:32:26.410] frame process finished the id is: 132 the obs is:6 -[13:32:26.493] Odometry x=6.700153, y=0.499743, theta=0.044682 -[13:32:26.510] Image Alignment failed 0 -[13:32:26.510] frame process finished the id is: 132 the obs is:6 -[13:32:26.595] Odometry x=6.706841, y=0.483752, theta=0.048594 -[13:32:26.609] Image Alignment failed 0 -[13:32:26.609] frame process finished the id is: 132 the obs is:6 -[13:32:26.693] Odometry x=6.714064, y=0.494470, theta=0.033692 -[13:32:26.709] Image Alignment failed 0 -[13:32:26.709] frame process finished the id is: 132 the obs is:6 -[13:32:26.793] Odometry x=6.729612, y=0.480380, theta=0.049272 -[13:32:26.810] Image Alignment failed 0 -[13:32:26.810] frame process finished the id is: 132 the obs is:6 -[13:32:26.895] Odometry x=6.726950, y=0.462547, theta=0.053007 -[13:32:26.909] Image Alignment failed 0 -[13:32:26.909] frame process finished the id is: 132 the obs is:6 -[13:32:26.997] Odometry x=6.726242, y=0.460459, theta=0.048443 -[13:32:27.011] Image Alignment failed 0 -[13:32:27.011] frame process finished the id is: 132 the obs is:6 -[13:32:27.094] Odometry x=6.727058, y=0.450992, theta=0.038315 -[13:32:27.111] Image Alignment failed 0 -[13:32:27.111] frame process finished the id is: 132 the obs is:6 -[13:32:27.196] Odometry x=6.727833, y=0.425444, theta=0.050422 -[13:32:27.209] Image Alignment failed 0 -[13:32:27.209] frame process finished the id is: 132 the obs is:6 -[13:32:27.288] Odometry x=6.726101, y=0.374464, theta=0.038752 -[13:32:27.309] Image Alignment failed 0 -[13:32:27.309] frame process finished the id is: 132 the obs is:6 -[13:32:27.390] Odometry x=6.717039, y=0.350969, theta=0.036505 -[13:32:27.409] Image Alignment failed 0 -[13:32:27.409] frame process finished the id is: 132 the obs is:6 -[13:32:27.492] Odometry x=6.716935, y=0.341208, theta=0.033160 -[13:32:27.509] Image Alignment failed 0 -[13:32:27.509] frame process finished the id is: 132 the obs is:6 -[13:32:27.594] Odometry x=6.716699, y=0.330493, theta=0.052807 -[13:32:27.609] Image Alignment failed 0 -[13:32:27.609] frame process finished the id is: 132 the obs is:6 -[13:32:27.689] Odometry x=6.716375, y=0.319258, theta=0.055886 -[13:32:27.710] Image Alignment failed 0 -[13:32:27.710] frame process finished the id is: 132 the obs is:6 -[13:32:27.791] Odometry x=6.712349, y=0.312715, theta=0.024699 -[13:32:27.809] Image Alignment failed 0 -[13:32:27.809] frame process finished the id is: 132 the obs is:6 -[13:32:27.893] Odometry x=6.701842, y=0.306568, theta=0.038789 -[13:32:27.909] Image Alignment failed 0 -[13:32:27.909] frame process finished the id is: 132 the obs is:6 -[13:32:27.990] Odometry x=6.701320, y=0.299872, theta=0.046355 -[13:32:28.009] Image Alignment failed 0 -[13:32:28.009] frame process finished the id is: 132 the obs is:6 -[13:32:28.097] Odometry x=6.701212, y=0.295271, theta=0.038948 -[13:32:28.111] Image Alignment failed 0 -[13:32:28.111] frame process finished the id is: 132 the obs is:6 -[13:32:28.194] Odometry x=6.701539, y=0.323343, theta=0.055204 -[13:32:28.209] Image Alignment failed 0 -[13:32:28.209] frame process finished the id is: 132 the obs is:6 -[13:32:28.292] Odometry x=6.701341, y=0.331463, theta=0.024555 -[13:32:28.312] Image Alignment failed 0 -[13:32:28.312] frame process finished the id is: 132 the obs is:6 -[13:32:28.395] Odometry x=6.701749, y=0.313291, theta=0.025542 -[13:32:28.412] Image Alignment failed 0 -[13:32:28.412] frame process finished the id is: 132 the obs is:6 -[13:32:28.493] Odometry x=6.691212, y=0.313998, theta=0.056315 -[13:32:28.510] Image Alignment failed 0 -[13:32:28.510] frame process finished the id is: 132 the obs is:6 -[13:32:28.594] Odometry x=6.691259, y=0.304834, theta=0.045511 -[13:32:28.609] Image Alignment failed 0 -[13:32:28.609] frame process finished the id is: 132 the obs is:6 -[13:32:28.694] Odometry x=6.692866, y=0.293910, theta=0.045959 -[13:32:28.710] Image Alignment failed 0 -[13:32:28.710] frame process finished the id is: 132 the obs is:6 -[13:32:28.787] Odometry x=6.693636, y=0.283993, theta=0.045671 -[13:32:28.809] Image Alignment failed 0 -[13:32:28.809] frame process finished the id is: 132 the obs is:6 -[13:32:28.889] Odometry x=6.693889, y=0.295616, theta=0.046135 -[13:32:28.911] Image Alignment failed 0 -[13:32:28.911] frame process finished the id is: 132 the obs is:6 -[13:32:28.991] Odometry x=6.696191, y=0.338872, theta=0.046472 -[13:32:29.008] Image Alignment failed 0 -[13:32:29.008] frame process finished the id is: 132 the obs is:6 -[13:32:29.094] Odometry x=6.695405, y=0.294903, theta=0.051124 -[13:32:29.109] Image Alignment failed 0 -[13:32:29.109] frame process finished the id is: 132 the obs is:6 -[13:32:29.193] Odometry x=6.695142, y=0.284585, theta=0.045641 -[13:32:29.209] Image Alignment failed 0 -[13:32:29.209] frame process finished the id is: 132 the obs is:6 -[13:32:29.295] Odometry x=6.695124, y=0.273888, theta=0.045984 -[13:32:29.311] Image Alignment failed 0 -[13:32:29.311] frame process finished the id is: 132 the obs is:6 -[13:32:29.393] Odometry x=6.695181, y=0.276111, theta=0.047794 -[13:32:29.409] Image Alignment failed 0 -[13:32:29.409] frame process finished the id is: 132 the obs is:6 -[13:32:29.491] Odometry x=6.695540, y=0.294068, theta=0.048573 -[13:32:29.509] Image Alignment failed 0 -[13:32:29.509] frame process finished the id is: 132 the obs is:6 -[13:32:29.593] Odometry x=6.690394, y=0.288139, theta=0.049629 -[13:32:29.609] Image Alignment failed 0 -[13:32:29.609] frame process finished the id is: 132 the obs is:6 -[13:32:29.695] Odometry x=6.689791, y=0.277491, theta=0.059229 -[13:32:29.709] Image Alignment failed 0 -[13:32:29.709] frame process finished the id is: 132 the obs is:6 -[13:32:29.795] Odometry x=6.699992, y=0.262946, theta=0.030971 -[13:32:29.809] Image Alignment failed 0 -[13:32:29.809] frame process finished the id is: 132 the obs is:6 -[13:32:29.893] Odometry x=6.714272, y=0.257360, theta=0.031673 -[13:32:29.911] Image Alignment failed 0 -[13:32:29.911] frame process finished the id is: 132 the obs is:6 -[13:32:29.990] Odometry x=6.712114, y=0.251600, theta=0.041908 -[13:32:30.011] Image Alignment failed 0 -[13:32:30.011] frame process finished the id is: 132 the obs is:6 -[13:32:30.093] Odometry x=6.709742, y=0.247438, theta=0.039195 -[13:32:30.120] Image Alignment failed 0 -[13:32:30.120] frame process finished the id is: 132 the obs is:6 -[13:32:30.190] Odometry x=6.723217, y=0.270111, theta=0.040386 -[13:32:30.211] Image Alignment failed 0 -[13:32:30.211] frame process finished the id is: 132 the obs is:6 -[13:32:30.294] Odometry x=6.730249, y=0.259978, theta=0.031947 -[13:32:30.311] Image Alignment failed 0 -[13:32:30.311] frame process finished the id is: 132 the obs is:6 -[13:32:30.395] Odometry x=6.729631, y=0.265008, theta=0.038080 -[13:32:30.409] Image Alignment failed 0 -[13:32:30.409] frame process finished the id is: 132 the obs is:6 -[13:32:30.493] Odometry x=6.729991, y=0.301180, theta=0.046489 -[13:32:30.511] Image Alignment failed 0 -[13:32:30.511] frame process finished the id is: 132 the obs is:6 -[13:32:30.595] Odometry x=6.725242, y=0.283215, theta=0.034914 -[13:32:30.610] Image Alignment failed 0 -[13:32:30.610] frame process finished the id is: 132 the obs is:6 -[13:32:30.693] Odometry x=6.736042, y=0.279217, theta=0.047342 -[13:32:30.709] Image Alignment failed 0 -[13:32:30.709] frame process finished the id is: 132 the obs is:6 -[13:32:30.790] Odometry x=6.736127, y=0.283055, theta=0.042745 -[13:32:30.810] Image Alignment failed 0 -[13:32:30.810] frame process finished the id is: 132 the obs is:6 -[13:32:30.893] Odometry x=6.735863, y=0.270586, theta=0.037369 -[13:32:30.910] Image Alignment failed 0 -[13:32:30.910] frame process finished the id is: 132 the obs is:6 -[13:32:30.995] Odometry x=6.735591, y=0.254966, theta=0.041838 -[13:32:31.009] Image Alignment failed 0 -[13:32:31.009] frame process finished the id is: 132 the obs is:6 -[13:32:31.093] Odometry x=6.728811, y=0.217006, theta=0.040740 -[13:32:31.112] Image Alignment failed 0 -[13:32:31.112] frame process finished the id is: 132 the obs is:6 -[13:32:31.192] Odometry x=6.729451, y=0.236140, theta=0.056583 -[13:32:31.210] Image Alignment failed 0 -[13:32:31.210] frame process finished the id is: 132 the obs is:6 -[13:32:31.292] Odometry x=6.722818, y=0.225381, theta=0.043662 -[13:32:31.311] Image Alignment failed 0 -[13:32:31.311] frame process finished the id is: 132 the obs is:6 -[13:32:31.389] Odometry x=6.722299, y=0.191041, theta=0.066248 -[13:32:31.408] Image Alignment failed 0 -[13:32:31.408] frame process finished the id is: 132 the obs is:6 -[13:32:31.493] Odometry x=6.724712, y=0.175369, theta=0.046538 -[13:32:31.511] Image Alignment failed 0 -[13:32:31.511] frame process finished the id is: 132 the obs is:6 -[13:32:31.595] Odometry x=6.724565, y=0.169242, theta=0.045186 -[13:32:31.609] Image Alignment failed 0 -[13:32:31.609] frame process finished the id is: 132 the obs is:6 -[13:32:31.693] Odometry x=6.724371, y=0.161406, theta=0.056843 -[13:32:31.714] Image Alignment failed 0 -[13:32:31.714] frame process finished the id is: 132 the obs is:6 -[13:32:31.806] Odometry x=6.724156, y=0.151063, theta=0.058847 -[13:32:31.813] Image Alignment failed 0 -[13:32:31.813] frame process finished the id is: 132 the obs is:6 -[13:32:31.892] Odometry x=6.723957, y=0.143679, theta=0.053531 -[13:32:31.909] Image Alignment failed 0 -[13:32:31.909] frame process finished the id is: 132 the obs is:6 -[13:32:31.996] Odometry x=6.723593, y=0.130954, theta=0.061730 -[13:32:32.011] Image Alignment failed 0 -[13:32:32.011] frame process finished the id is: 132 the obs is:6 -[13:32:32.093] Odometry x=6.724185, y=0.119491, theta=0.066331 -[13:32:32.110] Image Alignment failed 0 -[13:32:32.110] frame process finished the id is: 132 the obs is:6 -[13:32:32.191] Odometry x=6.724025, y=0.111377, theta=0.056275 -[13:32:32.210] Image Alignment failed 0 -[13:32:32.210] frame process finished the id is: 132 the obs is:6 -[13:32:32.293] Odometry x=6.723840, y=0.105100, theta=0.048726 -[13:32:32.309] Image Alignment failed 0 -[13:32:32.309] frame process finished the id is: 132 the obs is:6 -[13:32:32.390] Odometry x=6.725762, y=0.094542, theta=0.046953 -[13:32:32.494] Odometry x=6.725611, y=0.083771, theta=0.052585 -[13:32:32.500] Image Alignment failed 0 -[13:32:32.500] frame process finished the id is: 132 the obs is:6 -[13:32:32.514] Image Alignment failed 0 -[13:32:32.514] frame process finished the id is: 132 the obs is:6 -[13:32:32.595] Odometry x=6.725585, y=0.082706, theta=0.052538 -[13:32:32.609] Image Alignment failed 0 -[13:32:32.609] frame process finished the id is: 132 the obs is:6 -[13:32:32.692] Odometry x=6.726732, y=0.060286, theta=0.068904 -[13:32:32.711] Image Alignment failed 0 -[13:32:32.711] frame process finished the id is: 132 the obs is:6 -[13:32:32.792] Odometry x=6.726435, y=0.052362, theta=0.070456 -[13:32:32.811] Image Alignment failed 0 -[13:32:32.811] frame process finished the id is: 132 the obs is:6 -[13:32:32.894] Odometry x=6.726099, y=0.042405, theta=0.062709 -[13:32:32.910] Image Alignment failed 0 -[13:32:32.910] frame process finished the id is: 132 the obs is:6 -[13:32:32.996] Odometry x=6.726073, y=0.033582, theta=0.056545 -[13:32:33.009] Image Alignment failed 0 -[13:32:33.009] frame process finished the id is: 132 the obs is:6 -[13:32:33.092] Odometry x=6.725756, y=0.022810, theta=0.064303 -[13:32:33.110] Image Alignment failed 0 -[13:32:33.110] frame process finished the id is: 132 the obs is:6 -[13:32:33.194] Odometry x=6.725461, y=0.012138, theta=0.069708 -[13:32:33.211] Image Alignment failed 0 -[13:32:33.211] frame process finished the id is: 132 the obs is:6 -[13:32:33.291] Odometry x=6.724971, y=0.001750, theta=0.064360 -[13:32:33.309] Image Alignment failed 0 -[13:32:33.309] frame process finished the id is: 132 the obs is:6 -[13:32:33.392] Odometry x=6.724551, y=-0.008029, theta=0.061717 -[13:32:33.410] Image Alignment failed 0 -[13:32:33.410] frame process finished the id is: 132 the obs is:6 -[13:32:33.494] Odometry x=6.724181, y=-0.017942, theta=0.065191 -[13:32:33.510] Image Alignment failed 0 -[13:32:33.510] frame process finished the id is: 132 the obs is:6 -[13:32:33.591] Odometry x=6.724720, y=-0.029128, theta=0.064417 -[13:32:33.612] Image Alignment failed 0 -[13:32:33.612] frame process finished the id is: 132 the obs is:6 -[13:32:33.694] Odometry x=6.724410, y=-0.039871, theta=0.061394 -[13:32:33.710] Image Alignment failed 0 -[13:32:33.710] frame process finished the id is: 132 the obs is:6 -[13:32:33.795] Odometry x=6.721094, y=-0.048074, theta=0.061043 -[13:32:33.810] Image Alignment failed 0 -[13:32:33.810] frame process finished the id is: 132 the obs is:6 -[13:32:33.894] Odometry x=6.720761, y=-0.058767, theta=0.063556 -[13:32:33.911] Image Alignment failed 0 -[13:32:33.911] frame process finished the id is: 132 the obs is:6 -[13:32:33.997] Odometry x=6.720779, y=-0.065793, theta=0.060139 -[13:32:34.011] Image Alignment failed 0 -[13:32:34.011] frame process finished the id is: 132 the obs is:6 -[13:32:34.090] Odometry x=6.720068, y=-0.076325, theta=0.061904 -[13:32:34.112] Image Alignment failed 0 -[13:32:34.112] frame process finished the id is: 132 the obs is:6 -[13:32:34.188] Odometry x=6.719808, y=-0.085760, theta=0.061346 -[13:32:34.210] Image Alignment failed 0 -[13:32:34.210] frame process finished the id is: 132 the obs is:6 -[13:32:34.294] Odometry x=6.720033, y=-0.093947, theta=0.063819 -[13:32:34.309] Image Alignment failed 0 -[13:32:34.309] frame process finished the id is: 132 the obs is:6 -[13:32:34.392] Odometry x=6.721452, y=-0.105155, theta=0.064938 -[13:32:34.409] Image Alignment failed 0 -[13:32:34.409] frame process finished the id is: 132 the obs is:6 -[13:32:34.494] Odometry x=6.720942, y=-0.115564, theta=0.056913 -[13:32:34.511] Image Alignment failed 0 -[13:32:34.511] frame process finished the id is: 132 the obs is:6 -[13:32:34.595] Odometry x=6.720779, y=-0.121121, theta=0.058331 -[13:32:34.611] Image Alignment failed 0 -[13:32:34.611] frame process finished the id is: 132 the obs is:6 -[13:32:34.692] Odometry x=6.724977, y=-0.126004, theta=0.068254 -[13:32:34.712] Image Alignment failed 0 -[13:32:34.712] frame process finished the id is: 132 the obs is:6 -[13:32:34.795] Odometry x=6.724648, y=-0.135904, theta=0.058128 -[13:32:34.812] Image Alignment failed 0 -[13:32:34.812] frame process finished the id is: 132 the obs is:6 -[13:32:34.892] Odometry x=6.724491, y=-0.146673, theta=0.063752 -[13:32:34.910] Image Alignment failed 0 -[13:32:34.910] frame process finished the id is: 132 the obs is:6 -[13:32:34.991] Odometry x=6.717721, y=-0.156732, theta=0.064367 -[13:32:35.010] Image Alignment failed 0 -[13:32:35.010] frame process finished the id is: 132 the obs is:6 -[13:32:35.089] Odometry x=6.715511, y=-0.167269, theta=0.070117 -[13:32:35.113] Image Alignment failed 0 -[13:32:35.113] frame process finished the id is: 132 the obs is:6 -[13:32:35.191] Odometry x=6.715131, y=-0.178060, theta=0.065662 -[13:32:35.210] Image Alignment failed 0 -[13:32:35.210] frame process finished the id is: 132 the obs is:6 -[13:32:35.293] Odometry x=6.715174, y=-0.188625, theta=0.049899 -[13:32:35.312] Image Alignment failed 0 -[13:32:35.312] frame process finished the id is: 132 the obs is:6 -[13:32:35.389] Odometry x=6.714973, y=-0.197600, theta=0.049066 -[13:32:35.410] Image Alignment failed 0 -[13:32:35.410] frame process finished the id is: 132 the obs is:6 -[13:32:35.488] Odometry x=6.715649, y=-0.207835, theta=0.065287 -[13:32:35.512] Image Alignment failed 0 -[13:32:35.512] frame process finished the id is: 132 the obs is:6 -[13:32:35.590] Odometry x=6.714851, y=-0.218692, theta=0.058618 -[13:32:35.614] Image Alignment failed 0 -[13:32:35.614] frame process finished the id is: 132 the obs is:6 -[13:32:35.692] Odometry x=6.714503, y=-0.229423, theta=0.064775 -[13:32:35.711] Image Alignment failed 0 -[13:32:35.711] frame process finished the id is: 132 the obs is:6 -[13:32:35.794] Odometry x=6.714004, y=-0.239946, theta=0.046508 -[13:32:35.810] Image Alignment failed 0 -[13:32:35.810] frame process finished the id is: 132 the obs is:6 -[13:32:35.891] Odometry x=6.713669, y=-0.250801, theta=0.051542 -[13:32:35.911] Image Alignment failed 0 -[13:32:35.911] frame process finished the id is: 132 the obs is:6 -[13:32:35.998] Odometry x=6.713526, y=-0.259767, theta=0.060577 -[13:32:36.011] Image Alignment failed 0 -[13:32:36.011] frame process finished the id is: 132 the obs is:6 -[13:32:36.095] Odometry x=6.713466, y=-0.271111, theta=0.055927 -[13:32:36.111] Image Alignment failed 0 -[13:32:36.111] frame process finished the id is: 132 the obs is:6 -[13:32:36.192] Odometry x=6.713175, y=-0.281593, theta=0.053371 -[13:32:36.210] Image Alignment failed 0 -[13:32:36.210] frame process finished the id is: 132 the obs is:6 -[13:32:36.294] Odometry x=6.711656, y=-0.291886, theta=0.052419 -[13:32:36.311] Image Alignment failed 0 -[13:32:36.311] frame process finished the id is: 132 the obs is:6 -[13:32:36.396] Odometry x=6.711743, y=-0.302688, theta=0.048407 -[13:32:36.412] Image Alignment failed 0 -[13:32:36.412] frame process finished the id is: 132 the obs is:6 -[13:32:36.496] Odometry x=6.711249, y=-0.313505, theta=0.053562 -[13:32:36.512] Image Alignment failed 0 -[13:32:36.512] frame process finished the id is: 132 the obs is:6 -[13:32:36.589] Odometry x=6.710944, y=-0.323859, theta=0.061934 -[13:32:36.609] Image Alignment failed 0 -[13:32:36.609] frame process finished the id is: 132 the obs is:6 -[13:32:36.688] Odometry x=6.711640, y=-0.334318, theta=0.056272 -[13:32:36.711] Image Alignment failed 0 -[13:32:36.711] frame process finished the id is: 132 the obs is:6 -[13:32:36.791] Odometry x=6.709509, y=-0.343888, theta=0.060927 -[13:32:36.809] Image Alignment failed 0 -[13:32:36.809] frame process finished the id is: 132 the obs is:6 -[13:32:36.893] Odometry x=6.708808, y=-0.354895, theta=0.043312 -[13:32:36.919] Image Alignment failed 0 -[13:32:36.919] frame process finished the id is: 132 the obs is:6 -[13:32:36.991] Odometry x=6.708990, y=-0.365621, theta=0.053752 -[13:32:37.009] Image Alignment failed 0 -[13:32:37.009] frame process finished the id is: 132 the obs is:6 -[13:32:37.092] Odometry x=6.708792, y=-0.374720, theta=0.046819 -[13:32:37.109] Image Alignment failed 0 -[13:32:37.109] frame process finished the id is: 132 the obs is:6 -[13:32:37.189] Odometry x=6.708555, y=-0.385330, theta=0.045259 -[13:32:37.209] Image Alignment failed 0 -[13:32:37.209] frame process finished the id is: 132 the obs is:6 -[13:32:37.295] Odometry x=6.708283, y=-0.394260, theta=0.057564 -[13:32:37.309] Image Alignment failed 0 -[13:32:37.309] frame process finished the id is: 132 the obs is:6 -[13:32:37.392] Odometry x=6.708318, y=-0.405997, theta=0.044110 -[13:32:37.411] Image Alignment failed 0 -[13:32:37.411] frame process finished the id is: 132 the obs is:6 -[13:32:37.489] Odometry x=6.708055, y=-0.415943, theta=0.045187 -[13:32:37.513] Image Alignment failed 0 -[13:32:37.513] frame process finished the id is: 132 the obs is:6 -[13:32:37.589] Odometry x=6.707871, y=-0.425069, theta=0.041943 -[13:32:37.611] Image Alignment failed 0 -[13:32:37.611] frame process finished the id is: 132 the obs is:6 -[13:32:37.691] Odometry x=6.707955, y=-0.436053, theta=0.040114 -[13:32:37.711] Image Alignment failed 0 -[13:32:37.711] frame process finished the id is: 132 the obs is:6 -[13:32:37.793] Odometry x=6.707512, y=-0.445465, theta=0.062885 -[13:32:37.810] Image Alignment failed 0 -[13:32:37.810] frame process finished the id is: 132 the obs is:6 -[13:32:37.893] Odometry x=6.707347, y=-0.453843, theta=0.054308 -[13:32:37.910] Image Alignment failed 0 -[13:32:37.910] frame process finished the id is: 132 the obs is:6 -[13:32:37.989] Odometry x=6.706789, y=-0.464163, theta=0.059315 -[13:32:38.010] Image Alignment failed 0 -[13:32:38.010] frame process finished the id is: 132 the obs is:6 -[13:32:38.096] Odometry x=6.706594, y=-0.474786, theta=0.049564 -[13:32:38.110] Image Alignment failed 0 -[13:32:38.110] frame process finished the id is: 132 the obs is:6 -[13:32:38.191] Odometry x=6.706321, y=-0.486139, theta=0.049953 -[13:32:38.210] Image Alignment failed 0 -[13:32:38.210] frame process finished the id is: 132 the obs is:6 -[13:32:38.293] Odometry x=6.707084, y=-0.496514, theta=0.048915 -[13:32:38.310] Image Alignment failed 0 -[13:32:38.310] frame process finished the id is: 132 the obs is:6 -[13:32:38.393] Odometry x=6.706836, y=-0.507057, theta=0.064356 -[13:32:38.410] Image Alignment failed 0 -[13:32:38.410] frame process finished the id is: 132 the obs is:6 -[13:32:38.489] Odometry x=6.706544, y=-0.517389, theta=0.058930 -[13:32:38.510] Image Alignment failed 0 -[13:32:38.510] frame process finished the id is: 132 the obs is:6 -[13:32:38.591] Odometry x=6.706109, y=-0.527867, theta=0.064152 -[13:32:38.610] Image Alignment failed 0 -[13:32:38.610] frame process finished the id is: 132 the obs is:6 -[13:32:38.693] Odometry x=6.705753, y=-0.538615, theta=0.063897 -[13:32:38.710] Image Alignment failed 0 -[13:32:38.710] frame process finished the id is: 132 the obs is:6 -[13:32:38.794] Odometry x=6.705235, y=-0.549399, theta=0.063217 -[13:32:38.810] Image Alignment failed 0 -[13:32:38.810] frame process finished the id is: 132 the obs is:6 -[13:32:38.896] Odometry x=6.704986, y=-0.557025, theta=0.063137 -[13:32:38.913] Image Alignment failed 0 -[13:32:38.913] frame process finished the id is: 132 the obs is:6 -[13:32:38.994] Odometry x=6.705285, y=-0.567997, theta=0.061773 -[13:32:39.010] Image Alignment failed 0 -[13:32:39.010] frame process finished the id is: 132 the obs is:6 -[13:32:39.092] Odometry x=6.702055, y=-0.578122, theta=0.067730 -[13:32:39.110] Image Alignment failed 0 -[13:32:39.110] frame process finished the id is: 132 the obs is:6 -[13:32:39.194] Odometry x=6.700827, y=-0.588735, theta=0.058194 -[13:32:39.210] Image Alignment failed 0 -[13:32:39.210] frame process finished the id is: 132 the obs is:6 -[13:32:39.295] Odometry x=6.700415, y=-0.599280, theta=0.061172 -[13:32:39.311] Image Alignment failed 0 -[13:32:39.311] frame process finished the id is: 132 the obs is:6 -[13:32:39.388] Odometry x=6.700034, y=-0.610051, theta=0.064604 -[13:32:39.409] Image Alignment failed 0 -[13:32:39.409] frame process finished the id is: 132 the obs is:6 -[13:32:39.497] Odometry x=6.699699, y=-0.620267, theta=0.057456 -[13:32:39.510] Image Alignment failed 0 -[13:32:39.510] frame process finished the id is: 132 the obs is:6 -[13:32:39.593] Odometry x=6.699444, y=-0.631615, theta=0.061515 -[13:32:39.610] Image Alignment failed 0 -[13:32:39.610] frame process finished the id is: 132 the obs is:6 -[13:32:39.689] Odometry x=6.699101, y=-0.642005, theta=0.068365 -[13:32:39.711] Image Alignment failed 0 -[13:32:39.711] frame process finished the id is: 132 the obs is:6 -[13:32:39.795] Odometry x=6.698746, y=-0.652456, theta=0.056615 -[13:32:39.811] Image Alignment failed 0 -[13:32:39.811] frame process finished the id is: 132 the obs is:6 -[13:32:39.889] Odometry x=6.698209, y=-0.663017, theta=0.054171 -[13:32:39.910] Image Alignment failed 0 -[13:32:39.910] frame process finished the id is: 132 the obs is:6 -[13:32:39.992] Odometry x=6.697937, y=-0.673293, theta=0.056328 -[13:32:40.016] Image Alignment failed 0 -[13:32:40.016] frame process finished the id is: 132 the obs is:6 -[13:32:40.091] Odometry x=6.697819, y=-0.685433, theta=0.062816 -[13:32:40.109] Image Alignment failed 0 -[13:32:40.110] frame process finished the id is: 132 the obs is:6 -[13:32:40.220] Image Alignment failed 0 -[13:32:40.220] frame process finished the id is: 132 the obs is:6 -[13:32:40.309] Image Alignment failed 0 -[13:32:40.309] frame process finished the id is: 132 the obs is:6 -[13:32:40.410] Image Alignment failed 0 -[13:32:40.410] frame process finished the id is: 132 the obs is:6 -[13:32:40.510] Image Alignment failed 0 -[13:32:40.510] frame process finished the id is: 132 the obs is:6 -[13:32:40.610] Image Alignment failed 0 -[13:32:40.610] frame process finished the id is: 132 the obs is:6 -[13:32:40.711] Image Alignment failed 0 -[13:32:40.711] frame process finished the id is: 132 the obs is:6 -[13:32:40.812] Image Alignment failed 0 -[13:32:40.812] fram \ No newline at end of file +[16:31:50.906] frame process finished the id is: 0 the obs is:0 +[16:31:50.997] Init: frame zero: 0.000000, 0.000000 0.000000 +[16:31:50.997] Init: Selected first frame. +[16:31:50.997] frame process finished the id is: 1 the obs is:0 +[16:31:51.099] Init: px average disparity is:0.176662 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:51.099] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:51.099] frame process finished the id is: 2 the obs is:0 +[16:31:51.197] Init: px average disparity is:0.231702 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:51.198] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:51.198] frame process finished the id is: 3 the obs is:0 +[16:31:51.297] Init: px average disparity is:0.243649 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:51.297] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:51.297] frame process finished the id is: 4 the obs is:0 +[16:31:51.396] Init: px average disparity is:0.298366 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:51.396] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:51.396] frame process finished the id is: 5 the obs is:0 +[16:31:51.498] Init: px average disparity is:0.446487 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:51.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:51.498] frame process finished the id is: 6 the obs is:0 +[16:31:51.598] Init: px average disparity is:0.356445 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:51.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:51.598] frame process finished the id is: 7 the obs is:0 +[16:31:51.695] Init: px average disparity is:0.490347 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:51.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:51.695] frame process finished the id is: 8 the obs is:0 +[16:31:51.797] Init: px average disparity is:0.488559 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:51.797] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:51.797] frame process finished the id is: 9 the obs is:0 +[16:31:51.896] Init: px average disparity is:0.486688 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:51.896] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:51.896] frame process finished the id is: 10 the obs is:0 +[16:31:51.996] Init: px average disparity is:0.551365 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:51.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:51.996] frame process finished the id is: 11 the obs is:0 +[16:31:52.095] Init: px average disparity is:0.619942 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:52.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:52.095] frame process finished the id is: 12 the obs is:0 +[16:31:52.195] Init: px average disparity is:0.690610 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:52.195] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:52.195] frame process finished the id is: 13 the obs is:0 +[16:31:52.296] Init: px average disparity is:0.677722 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:52.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:52.297] frame process finished the id is: 14 the obs is:0 +[16:31:52.397] Init: px average disparity is:0.647427 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:52.397] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:52.397] frame process finished the id is: 15 the obs is:0 +[16:31:52.495] Init: px average disparity is:0.708423 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:52.495] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:52.495] frame process finished the id is: 16 the obs is:0 +[16:31:52.598] Init: px average disparity is:0.606615 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:52.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:52.598] frame process finished the id is: 17 the obs is:0 +[16:31:52.695] Init: px average disparity is:0.630407 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:52.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:52.695] frame process finished the id is: 18 the obs is:0 +[16:31:52.795] Init: px average disparity is:0.679305 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:52.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:52.795] frame process finished the id is: 19 the obs is:0 +[16:31:52.895] Init: px average disparity is:0.742493 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:52.895] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:52.895] frame process finished the id is: 20 the obs is:0 +[16:31:53.002] Init: px average disparity is:0.626572 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:53.002] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:53.002] frame process finished the id is: 21 the obs is:0 +[16:31:53.102] Init: px average disparity is:0.663087 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:53.102] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:53.102] frame process finished the id is: 22 the obs is:0 +[16:31:53.202] Init: px average disparity is:0.670134 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:53.202] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:53.202] frame process finished the id is: 23 the obs is:0 +[16:31:53.301] Init: px average disparity is:0.621564 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:53.302] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:53.302] frame process finished the id is: 24 the obs is:0 +[16:31:53.401] Init: px average disparity is:0.620483 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:53.402] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:53.402] frame process finished the id is: 25 the obs is:0 +[16:31:53.503] Init: px average disparity is:0.672609 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:53.503] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:53.503] frame process finished the id is: 26 the obs is:0 +[16:31:53.605] Init: px average disparity is:0.566756 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:53.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:53.605] frame process finished the id is: 27 the obs is:0 +[16:31:53.702] Init: px average disparity is:0.684367 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:53.702] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:53.702] frame process finished the id is: 28 the obs is:0 +[16:31:53.802] Init: px average disparity is:0.643930 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:53.802] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:53.802] frame process finished the id is: 29 the obs is:0 +[16:31:53.903] Init: px average disparity is:0.623237 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:53.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:53.903] frame process finished the id is: 30 the obs is:0 +[16:31:54.003] Init: px average disparity is:0.609370 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:54.003] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:54.003] frame process finished the id is: 31 the obs is:0 +[16:31:54.103] Init: px average disparity is:0.673813 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:54.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:54.103] frame process finished the id is: 32 the obs is:0 +[16:31:54.203] Init: px average disparity is:0.696077 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:54.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:54.203] frame process finished the id is: 33 the obs is:0 +[16:31:54.302] Init: px average disparity is:0.581767 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:54.302] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:54.302] frame process finished the id is: 34 the obs is:0 +[16:31:54.403] Init: px average disparity is:0.533788 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:54.403] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:54.403] frame process finished the id is: 35 the obs is:0 +[16:31:54.500] Init: px average disparity is:0.618649 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:54.500] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:54.500] frame process finished the id is: 36 the obs is:0 +[16:31:54.604] Init: px average disparity is:0.634760 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:54.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:54.605] frame process finished the id is: 37 the obs is:0 +[16:31:54.703] Init: px average disparity is:0.591073 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:54.703] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:54.703] frame process finished the id is: 38 the obs is:0 +[16:31:54.803] Init: px average disparity is:0.561905 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:54.803] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:54.803] frame process finished the id is: 39 the obs is:0 +[16:31:54.904] Init: px average disparity is:0.686149 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:54.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:54.904] frame process finished the id is: 40 the obs is:0 +[16:31:55.004] Init: px average disparity is:0.561582 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:55.004] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:55.004] frame process finished the id is: 41 the obs is:0 +[16:31:55.104] Init: px average disparity is:0.673549 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:55.105] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:55.105] frame process finished the id is: 42 the obs is:0 +[16:31:55.203] Init: px average disparity is:0.588607 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:55.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:55.203] frame process finished the id is: 43 the obs is:0 +[16:31:55.303] Init: px average disparity is:0.657390 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:55.303] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:55.303] frame process finished the id is: 44 the obs is:0 +[16:31:55.404] Init: px average disparity is:0.646623 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:55.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:55.404] frame process finished the id is: 45 the obs is:0 +[16:31:55.503] Init: px average disparity is:0.694260 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:55.503] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:55.503] frame process finished the id is: 46 the obs is:0 +[16:31:55.605] Init: px average disparity is:0.611804 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:55.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:55.605] frame process finished the id is: 47 the obs is:0 +[16:31:55.704] Init: px average disparity is:0.686522 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:55.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:55.704] frame process finished the id is: 48 the obs is:0 +[16:31:55.806] Init: px average disparity is:0.512358 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:55.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:55.806] frame process finished the id is: 49 the obs is:0 +[16:31:55.895] Init: px average disparity is:0.705084 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:55.895] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:55.895] frame process finished the id is: 50 the obs is:0 +[16:31:56.001] Init: px average disparity is:0.679996 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:56.001] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:56.001] frame process finished the id is: 51 the obs is:0 +[16:31:56.107] Init: px average disparity is:0.681286 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:56.107] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:56.107] frame process finished the id is: 52 the obs is:0 +[16:31:56.208] Init: px average disparity is:0.599166 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:56.208] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:56.208] frame process finished the id is: 53 the obs is:0 +[16:31:56.305] Init: px average disparity is:0.640090 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:56.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:56.305] frame process finished the id is: 54 the obs is:0 +[16:31:56.390] Odometry x=0.000000, y=0.000000, theta=0.000000 +[16:31:56.405] Init: px average disparity is:0.627500 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:56.405] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:56.405] frame process finished the id is: 55 the obs is:0 +[16:31:56.491] Odometry x=0.000000, y=0.000000, theta=0.000000 +[16:31:56.504] Init: px average disparity is:0.583611 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:56.505] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:56.505] frame process finished the id is: 56 the obs is:0 +[16:31:56.590] Odometry x=-0.000000, y=-0.005932, theta=0.001023 +[16:31:56.605] Init: px average disparity is:0.645293 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:56.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:56.605] frame process finished the id is: 57 the obs is:0 +[16:31:56.690] Odometry x=-0.002523, y=-0.043713, theta=0.003731 +[16:31:56.705] Init: px average disparity is:5.093438 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:56.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:56.706] frame process finished the id is: 58 the obs is:0 +[16:31:56.785] Odometry x=-0.002529, y=-0.049048, theta=-0.000767 +[16:31:56.806] Init: px average disparity is:9.921133 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:56.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:56.806] frame process finished the id is: 59 the obs is:0 +[16:31:56.889] Odometry x=-0.002514, y=-0.054155, theta=-0.000421 +[16:31:56.905] Init: px average disparity is:9.389783 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:56.905] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:56.905] frame process finished the id is: 60 the obs is:0 +[16:31:56.986] Odometry x=-0.002427, y=-0.059616, theta=-0.004278 +[16:31:57.006] Init: px average disparity is:10.847570 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:57.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:57.006] frame process finished the id is: 61 the obs is:0 +[16:31:57.089] Odometry x=-0.002401, y=-0.064898, theta=-0.000269 +[16:31:57.105] Init: px average disparity is:13.652140 ,While minimum is: 40.000000 KLT tracked : 123 +[16:31:57.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:57.106] frame process finished the id is: 62 the obs is:0 +[16:31:57.189] Odometry x=-0.002343, y=-0.069973, theta=0.005129 +[16:31:57.207] Init: px average disparity is:17.292907 ,While minimum is: 40.000000 KLT tracked : 122 +[16:31:57.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:57.207] frame process finished the id is: 63 the obs is:0 +[16:31:57.291] Odometry x=-0.002460, y=-0.075410, theta=-0.001224 +[16:31:57.297] Init: px average disparity is:18.699293 ,While minimum is: 40.000000 KLT tracked : 121 +[16:31:57.297] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:57.297] frame process finished the id is: 64 the obs is:0 +[16:31:57.383] Odometry x=-0.002444, y=-0.080998, theta=-0.005174 +[16:31:57.406] Init: px average disparity is:21.120296 ,While minimum is: 40.000000 KLT tracked : 120 +[16:31:57.406] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:57.406] frame process finished the id is: 65 the obs is:0 +[16:31:57.489] Odometry x=-0.002426, y=-0.085616, theta=-0.001409 +[16:31:57.505] Init: px average disparity is:23.236261 ,While minimum is: 40.000000 KLT tracked : 120 +[16:31:57.505] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:57.505] frame process finished the id is: 66 the obs is:0 +[16:31:57.590] Odometry x=-0.002230, y=-0.091294, theta=-0.002806 +[16:31:57.604] Init: px average disparity is:26.126563 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:57.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:57.605] frame process finished the id is: 67 the obs is:0 +[16:31:57.686] Odometry x=-0.002230, y=-0.096925, theta=0.006066 +[16:31:57.711] Init: px average disparity is:25.314079 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:57.711] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:57.711] frame process finished the id is: 68 the obs is:0 +[16:31:57.792] Odometry x=-0.001818, y=-0.102521, theta=0.004114 +[16:31:57.806] Init: px average disparity is:18.448878 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:57.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:57.806] frame process finished the id is: 69 the obs is:0 +[16:31:57.887] Odometry x=-0.001826, y=-0.108179, theta=0.001484 +[16:31:57.904] Init: px average disparity is:14.937389 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:57.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:57.904] frame process finished the id is: 70 the obs is:0 +[16:31:57.989] Odometry x=-0.001710, y=-0.112842, theta=0.007070 +[16:31:58.005] Init: px average disparity is:11.649527 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:58.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:58.005] frame process finished the id is: 71 the obs is:0 +[16:31:58.091] Odometry x=-0.001713, y=-0.116056, theta=0.001882 +[16:31:58.105] Init: px average disparity is:10.527807 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:58.105] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:58.105] frame process finished the id is: 72 the obs is:0 +[16:31:58.192] Odometry x=-0.001722, y=-0.121207, theta=0.002587 +[16:31:58.206] Init: px average disparity is:10.349943 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:58.206] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:58.206] frame process finished the id is: 73 the obs is:0 +[16:31:58.292] Odometry x=-0.001720, y=-0.126831, theta=-0.000953 +[16:31:58.307] Init: px average disparity is:9.816593 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:58.307] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:58.307] frame process finished the id is: 74 the obs is:0 +[16:31:58.391] Odometry x=-0.001733, y=-0.129442, theta=0.004560 +[16:31:58.397] Init: px average disparity is:10.789921 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:58.397] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:58.397] frame process finished the id is: 75 the obs is:0 +[16:31:58.491] Odometry x=-0.001461, y=-0.132372, theta=-0.009195 +[16:31:58.506] Init: px average disparity is:13.466755 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:58.506] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:58.506] frame process finished the id is: 76 the obs is:0 +[16:31:58.591] Odometry x=-0.001461, y=-0.137444, theta=0.012532 +[16:31:58.612] Init: px average disparity is:14.047947 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:58.612] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:58.612] frame process finished the id is: 77 the obs is:0 +[16:31:58.690] Odometry x=-0.001390, y=-0.142885, theta=0.007022 +[16:31:58.706] Init: px average disparity is:14.984088 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:58.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:58.706] frame process finished the id is: 78 the obs is:0 +[16:31:58.790] Odometry x=-0.001402, y=-0.147680, theta=0.011780 +[16:31:58.806] Init: px average disparity is:17.076736 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:58.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:58.806] frame process finished the id is: 79 the obs is:0 +[16:31:58.890] Odometry x=0.000251, y=-0.152547, theta=0.016507 +[16:31:58.906] Init: px average disparity is:15.960668 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:58.906] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:58.906] frame process finished the id is: 80 the obs is:0 +[16:31:58.990] Odometry x=0.000207, y=-0.157904, theta=0.013762 +[16:31:59.006] Init: px average disparity is:20.359493 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:59.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:59.006] frame process finished the id is: 81 the obs is:0 +[16:31:59.089] Odometry x=0.000218, y=-0.163431, theta=0.007616 +[16:31:59.107] Init: px average disparity is:22.889392 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:59.107] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:59.107] frame process finished the id is: 82 the obs is:0 +[16:31:59.189] Odometry x=0.000197, y=-0.168736, theta=0.009589 +[16:31:59.209] Init: px average disparity is:23.864906 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:59.209] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:59.209] frame process finished the id is: 83 the obs is:0 +[16:31:59.289] Odometry x=0.000176, y=-0.174216, theta=0.006115 +[16:31:59.307] Init: px average disparity is:24.940109 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:59.307] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:59.307] frame process finished the id is: 84 the obs is:0 +[16:31:59.389] Odometry x=0.000154, y=-0.179610, theta=0.012547 +[16:31:59.407] Init: px average disparity is:20.805350 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:59.407] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:59.407] frame process finished the id is: 85 the obs is:0 +[16:31:59.492] Odometry x=0.000164, y=-0.185007, theta=0.003008 +[16:31:59.497] Init: px average disparity is:19.360137 ,While minimum is: 40.000000 KLT tracked : 119 +[16:31:59.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:59.498] frame process finished the id is: 86 the obs is:0 +[16:31:59.598] Odometry x=0.000131, y=-0.190360, theta=0.018428 +[16:31:59.607] Init: px average disparity is:13.951045 ,While minimum is: 40.000000 KLT tracked : 118 +[16:31:59.607] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:59.607] frame process finished the id is: 87 the obs is:0 +[16:31:59.691] Odometry x=0.000104, y=-0.195795, theta=0.011930 +[16:31:59.707] Init: px average disparity is:12.056556 ,While minimum is: 40.000000 KLT tracked : 118 +[16:31:59.707] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:59.707] frame process finished the id is: 88 the obs is:0 +[16:31:59.791] Odometry x=0.000148, y=-0.198915, theta=0.018243 +[16:31:59.815] Init: px average disparity is:13.289181 ,While minimum is: 40.000000 KLT tracked : 118 +[16:31:59.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:59.815] frame process finished the id is: 89 the obs is:0 +[16:31:59.891] Odometry x=0.000082, y=-0.204192, theta=0.020399 +[16:31:59.907] Init: px average disparity is:15.981768 ,While minimum is: 40.000000 KLT tracked : 118 +[16:31:59.908] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:31:59.908] frame process finished the id is: 90 the obs is:0 +[16:31:59.986] Odometry x=0.000027, y=-0.208450, theta=0.000841 +[16:32:00.006] Init: px average disparity is:13.674085 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:00.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:00.006] frame process finished the id is: 91 the obs is:0 +[16:32:00.087] Odometry x=-0.000013, y=-0.213562, theta=0.001724 +[16:32:00.106] Init: px average disparity is:16.058524 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:00.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:00.106] frame process finished the id is: 92 the obs is:0 +[16:32:00.195] Odometry x=-0.000119, y=-0.213182, theta=0.002589 +[16:32:00.207] Init: px average disparity is:13.762964 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:00.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:00.207] frame process finished the id is: 93 the obs is:0 +[16:32:00.286] Odometry x=0.000439, y=-0.218676, theta=-0.003095 +[16:32:00.306] Init: px average disparity is:13.568470 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:00.306] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:00.306] frame process finished the id is: 94 the obs is:0 +[16:32:00.387] Odometry x=0.000389, y=-0.223599, theta=0.003446 +[16:32:00.406] Init: px average disparity is:15.165335 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:00.406] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:00.406] frame process finished the id is: 95 the obs is:0 +[16:32:00.485] Odometry x=0.000495, y=-0.228631, theta=-0.000229 +[16:32:00.508] Init: px average disparity is:16.081270 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:00.508] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:00.508] frame process finished the id is: 96 the obs is:0 +[16:32:00.591] Odometry x=0.000496, y=-0.234301, theta=0.000302 +[16:32:00.612] Init: px average disparity is:23.001996 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:00.612] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:00.612] frame process finished the id is: 97 the obs is:0 +[16:32:00.690] Odometry x=0.003069, y=-0.223732, theta=0.004429 +[16:32:00.701] Init: px average disparity is:22.149165 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:00.701] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:00.701] frame process finished the id is: 98 the obs is:0 +[16:32:00.794] Odometry x=0.003038, y=-0.229881, theta=0.009631 +[16:32:00.808] Init: px average disparity is:21.013592 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:00.808] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:00.808] frame process finished the id is: 99 the obs is:0 +[16:32:00.887] Odometry x=0.003406, y=-0.234084, theta=0.012792 +[16:32:00.907] Init: px average disparity is:19.147360 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:00.907] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:00.907] frame process finished the id is: 100 the obs is:0 +[16:32:00.988] Odometry x=0.003383, y=-0.239128, theta=0.002506 +[16:32:01.007] Init: px average disparity is:20.135640 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:01.007] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:01.007] frame process finished the id is: 101 the obs is:0 +[16:32:01.089] Odometry x=0.003614, y=-0.244615, theta=0.003991 +[16:32:01.107] Init: px average disparity is:20.555002 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:01.107] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:01.107] frame process finished the id is: 102 the obs is:0 +[16:32:01.192] Odometry x=0.003651, y=-0.250146, theta=0.008094 +[16:32:01.198] Init: px average disparity is:19.413411 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:01.198] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:01.198] frame process finished the id is: 103 the obs is:0 +[16:32:01.289] Odometry x=0.003659, y=-0.255649, theta=-0.004196 +[16:32:01.307] Init: px average disparity is:22.195258 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:01.307] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:01.307] frame process finished the id is: 104 the obs is:0 +[16:32:01.390] Odometry x=0.003799, y=-0.260128, theta=0.010205 +[16:32:01.407] Init: px average disparity is:21.626414 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:01.408] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:01.408] frame process finished the id is: 105 the obs is:0 +[16:32:01.489] Odometry x=0.004390, y=-0.264364, theta=0.007403 +[16:32:01.514] Init: px average disparity is:21.513379 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:01.514] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:01.514] frame process finished the id is: 106 the obs is:0 +[16:32:01.589] Odometry x=0.004534, y=-0.269860, theta=0.007934 +[16:32:01.607] Init: px average disparity is:22.921550 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:01.607] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:01.607] frame process finished the id is: 107 the obs is:0 +[16:32:01.691] Odometry x=0.004572, y=-0.274910, theta=-0.006605 +[16:32:01.709] Init: px average disparity is:23.733170 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:01.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:01.709] frame process finished the id is: 108 the obs is:0 +[16:32:01.788] Odometry x=0.004620, y=-0.280607, theta=-0.004723 +[16:32:01.798] Init: px average disparity is:22.727107 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:01.798] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:01.798] frame process finished the id is: 109 the obs is:0 +[16:32:01.887] Odometry x=0.004711, y=-0.285835, theta=-0.010626 +[16:32:01.908] Init: px average disparity is:22.767356 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:01.908] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:01.908] frame process finished the id is: 110 the obs is:0 +[16:32:01.988] Odometry x=0.004738, y=-0.290977, theta=0.001416 +[16:32:02.008] Init: px average disparity is:22.155347 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:02.008] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:02.008] frame process finished the id is: 111 the obs is:0 +[16:32:02.093] Odometry x=0.005450, y=-0.296578, theta=-0.007215 +[16:32:02.108] Init: px average disparity is:23.712618 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:02.109] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:02.109] frame process finished the id is: 112 the obs is:0 +[16:32:02.189] Odometry x=0.004948, y=-0.301987, theta=-0.002522 +[16:32:02.208] Init: px average disparity is:24.651488 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:02.208] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:02.208] frame process finished the id is: 113 the obs is:0 +[16:32:02.293] Odometry x=0.004957, y=-0.307213, theta=-0.004920 +[16:32:02.314] Init: px average disparity is:26.721089 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:02.314] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:02.314] frame process finished the id is: 114 the obs is:0 +[16:32:02.389] Odometry x=0.004966, y=-0.312645, theta=-0.001516 +[16:32:02.408] Init: px average disparity is:26.872318 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:02.409] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:02.409] frame process finished the id is: 115 the obs is:0 +[16:32:02.489] Odometry x=0.005073, y=-0.315958, theta=-0.009413 +[16:32:02.509] Init: px average disparity is:25.744648 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:02.509] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:02.509] frame process finished the id is: 116 the obs is:0 +[16:32:02.589] Odometry x=0.005096, y=-0.321309, theta=-0.004572 +[16:32:02.610] Init: px average disparity is:23.628069 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:02.610] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:02.610] frame process finished the id is: 117 the obs is:0 +[16:32:02.691] Odometry x=0.005132, y=-0.326650, theta=-0.009712 +[16:32:02.714] Init: px average disparity is:24.661978 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:02.714] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:02.714] frame process finished the id is: 118 the obs is:0 +[16:32:02.790] Odometry x=0.005161, y=-0.332113, theta=-0.010277 +[16:32:02.814] Init: px average disparity is:25.049956 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:02.814] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:02.814] frame process finished the id is: 119 the obs is:0 +[16:32:02.888] Odometry x=0.005179, y=-0.337380, theta=-0.003007 +[16:32:02.903] Init: px average disparity is:26.396367 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:02.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:02.903] frame process finished the id is: 120 the obs is:0 +[16:32:02.989] Odometry x=0.005182, y=-0.342678, theta=-0.002181 +[16:32:03.010] Init: px average disparity is:25.234994 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:03.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:03.010] frame process finished the id is: 121 the obs is:0 +[16:32:03.095] Odometry x=0.005183, y=-0.348106, theta=-0.000980 +[16:32:03.108] Init: px average disparity is:26.675480 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:03.108] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:03.108] frame process finished the id is: 122 the obs is:0 +[16:32:03.188] Odometry x=0.005258, y=-0.353824, theta=-0.005902 +[16:32:03.208] Init: px average disparity is:26.265634 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:03.208] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:03.208] frame process finished the id is: 123 the obs is:0 +[16:32:03.294] Odometry x=0.005268, y=-0.359009, theta=-0.004718 +[16:32:03.309] Init: px average disparity is:28.219774 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:03.309] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:03.309] frame process finished the id is: 124 the obs is:0 +[16:32:03.390] Odometry x=0.005270, y=-0.364647, theta=0.000068 +[16:32:03.409] Init: px average disparity is:28.996223 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:03.409] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:03.409] frame process finished the id is: 125 the obs is:0 +[16:32:03.485] Odometry x=0.005266, y=-0.369825, theta=-0.003705 +[16:32:03.508] Init: px average disparity is:32.256793 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:03.509] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:03.509] frame process finished the id is: 126 the obs is:0 +[16:32:03.590] Odometry x=0.005284, y=-0.374079, theta=-0.005087 +[16:32:03.619] Init: px average disparity is:30.452129 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:03.619] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:03.619] frame process finished the id is: 127 the obs is:0 +[16:32:03.690] Odometry x=0.005321, y=-0.379395, theta=-0.008989 +[16:32:03.709] Init: px average disparity is:29.675494 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:03.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:03.709] frame process finished the id is: 128 the obs is:0 +[16:32:03.789] Odometry x=0.005373, y=-0.385117, theta=-0.009392 +[16:32:03.809] Init: px average disparity is:30.339197 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:03.809] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:03.809] frame process finished the id is: 129 the obs is:0 +[16:32:03.890] Odometry x=0.005403, y=-0.390583, theta=-0.012982 +[16:32:03.909] Init: px average disparity is:33.056479 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:03.909] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:03.910] frame process finished the id is: 130 the obs is:0 +[16:32:03.990] Odometry x=0.005422, y=-0.394713, theta=-0.011219 +[16:32:04.009] Init: px average disparity is:32.944858 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:04.009] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:04.009] frame process finished the id is: 131 the obs is:0 +[16:32:04.089] Odometry x=0.005579, y=-0.400057, theta=-0.017518 +[16:32:04.098] Init: px average disparity is:34.336130 ,While minimum is: 40.000000 KLT tracked : 118 +[16:32:04.098] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:04.098] frame process finished the id is: 132 the obs is:0 +[16:32:04.188] Odometry x=0.005657, y=-0.405415, theta=-0.009065 +[16:32:04.217] Init: px average disparity is:36.675949 ,While minimum is: 40.000000 KLT tracked : 117 +[16:32:04.217] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:04.217] frame process finished the id is: 133 the obs is:0 +[16:32:04.288] Odometry x=0.005715, y=-0.408248, theta=-0.017489 +[16:32:04.310] Init: px average disparity is:37.425772 ,While minimum is: 40.000000 KLT tracked : 117 +[16:32:04.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:04.310] frame process finished the id is: 134 the obs is:0 +[16:32:04.388] Odometry x=0.005752, y=-0.413353, theta=-0.009997 +[16:32:04.410] Init: px average disparity is:32.327735 ,While minimum is: 40.000000 KLT tracked : 115 +[16:32:04.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:04.410] frame process finished the id is: 135 the obs is:0 +[16:32:04.488] Odometry x=0.005750, y=-0.418674, theta=-0.016637 +[16:32:04.509] Init: px average disparity is:28.573211 ,While minimum is: 40.000000 KLT tracked : 113 +[16:32:04.510] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:04.510] frame process finished the id is: 136 the obs is:0 +[16:32:04.588] Odometry x=0.005818, y=-0.423990, theta=-0.019360 +[16:32:04.611] Init: px average disparity is:28.717315 ,While minimum is: 40.000000 KLT tracked : 113 +[16:32:04.611] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:04.611] frame process finished the id is: 137 the obs is:0 +[16:32:04.688] Odometry x=0.005868, y=-0.429716, theta=-0.014029 +[16:32:04.711] Init: px average disparity is:34.774880 ,While minimum is: 40.000000 KLT tracked : 113 +[16:32:04.711] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:04.711] frame process finished the id is: 138 the obs is:0 +[16:32:04.788] Odometry x=0.006027, y=-0.434157, theta=-0.019355 +[16:32:04.810] Init: px average disparity is:34.784472 ,While minimum is: 40.000000 KLT tracked : 111 +[16:32:04.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:04.810] frame process finished the id is: 139 the obs is:0 +[16:32:04.888] Odometry x=0.006095, y=-0.439493, theta=-0.008592 +[16:32:04.911] Init: px average disparity is:32.999429 ,While minimum is: 40.000000 KLT tracked : 110 +[16:32:04.911] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:04.911] frame process finished the id is: 140 the obs is:0 +[16:32:04.987] Odometry x=0.006110, y=-0.444647, theta=-0.004616 +[16:32:05.009] Init: px average disparity is:31.624653 ,While minimum is: 40.000000 KLT tracked : 109 +[16:32:05.009] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:05.009] frame process finished the id is: 141 the obs is:0 +[16:32:05.093] Odometry x=0.006140, y=-0.450006, theta=-0.009641 +[16:32:05.109] Init: px average disparity is:32.967347 ,While minimum is: 40.000000 KLT tracked : 109 +[16:32:05.110] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:05.110] frame process finished the id is: 142 the obs is:0 +[16:32:05.186] Odometry x=0.006159, y=-0.455631, theta=-0.014783 +[16:32:05.210] Init: px average disparity is:33.717344 ,While minimum is: 40.000000 KLT tracked : 109 +[16:32:05.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:05.210] frame process finished the id is: 143 the obs is:0 +[16:32:05.286] Odometry x=0.006192, y=-0.460525, theta=-0.015146 +[16:32:05.310] Init: px average disparity is:35.856300 ,While minimum is: 40.000000 KLT tracked : 109 +[16:32:05.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:05.310] frame process finished the id is: 144 the obs is:0 +[16:32:05.388] Odometry x=0.006233, y=-0.465612, theta=-0.018771 +[16:32:05.409] Init: px average disparity is:37.873664 ,While minimum is: 40.000000 KLT tracked : 109 +[16:32:05.409] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:05.409] frame process finished the id is: 145 the obs is:0 +[16:32:05.488] Odometry x=0.006272, y=-0.470918, theta=-0.015033 +[16:32:05.515] Init: px average disparity is:39.989901 ,While minimum is: 40.000000 KLT tracked : 109 +[16:32:05.515] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[16:32:05.516] frame process finished the id is: 146 the obs is:0 +[16:32:05.593] Odometry x=0.006330, y=-0.475363, theta=-0.015908 +[16:32:05.679] inlier: x=-2.316586, y=2.037493, z=-5.145954 pos: x=-2.214474 y=1.390050 z=-5.878202 +[16:32:05.679] inlier: x=-2.303918, y=2.028512, z=-5.163616 pos: x=-2.201481 y=1.379012 z=-5.894403 +[16:32:05.679] inlier: x=-2.342526, y=2.049010, z=-5.203282 pos: x=-2.239348 y=1.394437 z=-5.936974 +[16:32:05.679] inlier: x=-2.344439, y=2.082391, z=-5.662436 pos: x=-2.232754 y=1.371618 z=-6.396730 +[16:32:05.679] inlier: x=-2.083312, y=2.456384, z=-7.196304 pos: x=-1.943258 y=1.556513 z=-7.959681 +[16:32:05.679] inlier: x=-2.422527, y=2.859102, z=-8.370996 pos: x=-2.260654 y=1.812329 z=-9.180733 +[16:32:05.679] inlier: x=-2.745556, y=2.207917, z=-7.430581 pos: x=-2.601048 y=1.279857 z=-8.174067 +[16:32:05.679] inlier: x=0.146745, y=-0.323411, z=1.469316 pos: x=0.125887 y=-0.141635 z=1.019646 +[16:32:05.679] inlier: x=0.142276, y=-0.328848, z=1.477362 pos: x=0.121270 y=-0.146061 z=1.028211 +[16:32:05.679] inlier: x=0.148215, y=-0.330419, z=1.485039 pos: x=0.127066 y=-0.146672 z=1.036131 +[16:32:05.679] inlier: x=-1.096571, y=0.111344, z=-3.090179 pos: x=-1.032751 y=-0.268495 z=-3.580931 +[16:32:05.679] inlier: x=-1.009955, y=-0.302019, z=-3.151666 pos: x=-0.945011 y=-0.686073 z=-3.589980 +[16:32:05.679] inlier: x=-1.167294, y=-0.378295, z=-1.784291 pos: x=-1.127654 y=-0.595524 z=-2.226627 +[16:32:05.679] inlier: x=-2.386639, y=2.106846, z=-5.760110 pos: x=-2.273138 y=1.383894 z=-6.497416 +[16:32:05.679] inlier: x=-6.025852, y=7.382330, z=-21.349844 pos: x=-5.622930 y=4.712255 z=-22.678124 +[16:32:05.679] inlier: x=6.970421, y=-8.869008, z=27.006518 pos: x=6.475321 y=-5.496463 z=27.529059 +[16:32:05.679] inlier: x=0.149803, y=-0.311724, z=1.448875 pos: x=0.129324 y=-0.132519 z=0.997993 +[16:32:05.679] inlier: x=-1.081253, y=-0.031918, z=-3.006827 pos: x=-1.018980 y=-0.400498 z=-3.480473 +[16:32:05.679] inlier: x=-4.370262, y=5.647190, z=-16.092861 pos: x=-4.065008 y=3.634341 z=-17.219320 +[16:32:05.679] inlier: x=0.132925, y=-0.282150, z=1.372073 pos: x=0.113872 y=-0.112562 z=0.917862 +[16:32:05.679] inlier: x=0.220071, y=-0.654654, z=2.339989 pos: x=0.183072 y=-0.364154 z=1.925397 +[16:32:05.679] Init finished: Homography RANSAC (inlier) is:21 ,While 20 inliers minimum required. px average disparity is:41.625505 ,While minimum is: 40.000000 KLT tracked: 108 +[16:32:05.679] Init: distance between the first and current frame is x:0.006387 ,z=-0.480580,angle between two frames: -0.018526 +[16:32:05.682] Init: Selected Second frame. The number of features: 21 depth mean:-4.076583 min:-23.663468 +[16:32:05.682] frame process finished the id is: 147 the obs is:21 +[16:32:05.693] Odometry x=0.006387, y=-0.480580, theta=-0.018526 +[16:32:05.791] Odometry x=0.006488, y=-0.485119, theta=-0.034196 +[16:32:05.834] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000004 ,z=-0.000003,angle between two frames:0.000000 +[16:32:05.834] After pose optimization, distance between ekf and vo x:-0.000004 ,z=-0.000003,angle between two frames:0.000000 +[16:32:05.834] frame process finished the id is: 147 the obs is:21 +[16:32:05.886] Odometry x=0.006669, y=-0.490335, theta=-0.026023 +[16:32:05.977] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.000007 ,z=-0.000011,angle between two frames:0.000000 +[16:32:05.977] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000011,angle between two frames:0.000000 +[16:32:05.977] frame process finished the id is: 147 the obs is:21 +[16:32:05.990] Odometry x=0.006722, y=-0.495371, theta=-0.017152 +[16:32:06.087] Odometry x=0.006807, y=-0.501009, theta=-0.032935 +[16:32:06.121] After Reprojection Map nPoint:19 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000008 ,z=-0.000012,angle between two frames:0.000000 +[16:32:06.121] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.121862 error end=0.119048 +[16:32:06.121] After pose optimization, distance between ekf and vo x:0.001893 ,z=-0.041526,angle between two frames:0.003693 +[16:32:06.121] frame process finished the id is: 147 the obs is:21 +[16:32:06.189] Odometry x=0.006891, y=-0.506089, theta=-0.030343 +[16:32:06.266] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000025 ,z=-0.000043,angle between two frames:0.000000 +[16:32:06.266] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.299711 error end=0.299711 +[16:32:06.266] After pose optimization, distance between ekf and vo x:-0.000025 ,z=-0.000043,angle between two frames:0.000000 +[16:32:06.266] frame process finished the id is: 147 the obs is:21 +[16:32:06.287] Odometry x=0.006984, y=-0.511488, theta=-0.036134 +[16:32:06.389] Odometry x=0.007097, y=-0.516883, theta=-0.028379 +[16:32:06.410] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000018 ,z=-0.000040,angle between two frames:0.000000 +[16:32:06.410] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.746387 error end=0.480837 +[16:32:06.410] After pose optimization, distance between ekf and vo x:-0.056921 ,z=-0.147799,angle between two frames:0.079629 +[16:32:06.410] frame process finished the id is: 147 the obs is:21 +[16:32:06.487] Odometry x=0.007192, y=-0.522242, theta=-0.037669 +[16:32:06.560] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000023 ,z=-0.000029,angle between two frames:0.000002 +[16:32:06.560] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.186783 error end=0.186783 +[16:32:06.560] After pose optimization, distance between ekf and vo x:-0.000023 ,z=-0.000029,angle between two frames:0.000002 +[16:32:06.560] frame process finished the id is: 147 the obs is:21 +[16:32:06.585] Odometry x=0.007279, y=-0.527590, theta=-0.028151 +[16:32:06.687] Odometry x=0.007429, y=-0.532556, theta=-0.036683 +[16:32:06.705] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:0.000475 ,z=0.002503,angle between two frames:0.000146 +[16:32:06.705] After pose optimization, distance between ekf and vo x:0.000475 ,z=0.002503,angle between two frames:0.000146 +[16:32:06.705] frame process finished the id is: 147 the obs is:21 +[16:32:06.784] Odometry x=0.007516, y=-0.537495, theta=-0.034721 +[16:32:06.856] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000021,angle between two frames:0.000000 +[16:32:06.856] n deleted obs = 1 n obs with reprojection error less than 0.5 px =0 error init =0.654590 error end=0.654590 +[16:32:06.856] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000021,angle between two frames:0.000000 +[16:32:06.856] frame process finished the id is: 147 the obs is:21 +[16:32:06.886] Odometry x=0.007607, y=-0.542854, theta=-0.030204 +[16:32:06.984] Odometry x=0.007687, y=-0.548176, theta=-0.032988 +[16:32:07.001] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.000019 ,z=-0.000029,angle between two frames:0.000000 +[16:32:07.001] After pose optimization, distance between ekf and vo x:-0.000019 ,z=-0.000029,angle between two frames:0.000000 +[16:32:07.001] frame process finished the id is: 147 the obs is:21 +[16:32:07.087] Odometry x=0.007766, y=-0.553373, theta=-0.029916 +[16:32:07.144] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000014 ,z=-0.000018,angle between two frames:0.000001 +[16:32:07.144] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000018,angle between two frames:0.000001 +[16:32:07.144] frame process finished the id is: 147 the obs is:21 +[16:32:07.185] Odometry x=0.007810, y=-0.558768, theta=-0.030678 +[16:32:07.283] Odometry x=0.008214, y=-0.563365, theta=-0.031652 +[16:32:07.287] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000008 ,z=0.000001,angle between two frames:0.000001 +[16:32:07.287] After pose optimization, distance between ekf and vo x:-0.000008 ,z=0.000001,angle between two frames:0.000001 +[16:32:07.287] frame process finished the id is: 147 the obs is:21 +[16:32:07.384] Odometry x=0.008288, y=-0.568728, theta=-0.027563 +[16:32:07.434] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:-0.000005 ,z=-0.000018,angle between two frames:0.000000 +[16:32:07.434] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.153272 error end=0.134457 +[16:32:07.434] After pose optimization, distance between ekf and vo x:-0.003364 ,z=0.002861,angle between two frames:0.004134 +[16:32:07.434] frame process finished the id is: 147 the obs is:21 +[16:32:07.486] Odometry x=0.008405, y=-0.573564, theta=-0.030817 +[16:32:07.583] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:0.000022 ,z=0.000023,angle between two frames:0.000000 +[16:32:07.583] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.459275 error end=0.459275 +[16:32:07.583] After pose optimization, distance between ekf and vo x:0.000022 ,z=0.000023,angle between two frames:0.000000 +[16:32:07.583] frame process finished the id is: 147 the obs is:21 +[16:32:07.585] Odometry x=0.008502, y=-0.577904, theta=-0.044393 +[16:32:07.685] Odometry x=0.008765, y=-0.583069, theta=-0.040863 +[16:32:07.727] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:2 ,distance between ekf and vo x:-0.000025 ,z=-0.000048,angle between two frames:0.000000 +[16:32:07.727] n deleted obs = 2 n obs with reprojection error less than 0.5 px =0 error init =0.670155 error end=0.670155 +[16:32:07.727] After pose optimization, distance between ekf and vo x:-0.000025 ,z=-0.000048,angle between two frames:0.000000 +[16:32:07.727] frame process finished the id is: 147 the obs is:21 +[16:32:07.782] Odometry x=0.008957, y=-0.587414, theta=-0.041081 +[16:32:07.875] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:2 ,distance between ekf and vo x:-0.000007 ,z=-0.000030,angle between two frames:0.000000 +[16:32:07.875] n deleted obs = 1 n obs with reprojection error less than 0.5 px =1 error init =0.537067 error end=0.537067 +[16:32:07.875] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000030,angle between two frames:0.000000 +[16:32:07.875] frame process finished the id is: 147 the obs is:21 +[16:32:07.887] Odometry x=0.009083, y=-0.592730, theta=-0.042911 +[16:32:07.990] Odometry x=0.009397, y=-0.598063, theta=-0.033465 +[16:32:08.019] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000013 ,z=-0.000018,angle between two frames:0.000001 +[16:32:08.019] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.498526 error end=0.487367 +[16:32:08.019] After pose optimization, distance between ekf and vo x:0.176049 ,z=0.043105,angle between two frames:0.056793 +[16:32:08.019] frame process finished the id is: 147 the obs is:21 +[16:32:08.087] Odometry x=0.009493, y=-0.603223, theta=-0.033956 +[16:32:08.165] After Reprojection Map nPoint:26 ,nCell:19 ,nMatches:6 ,distance between ekf and vo x:-0.000035 ,z=-0.000077,angle between two frames:0.000000 +[16:32:08.165] n deleted obs = 4 n obs with reprojection error less than 0.5 px =14 error init =0.397616 error end=0.392796 +[16:32:08.165] After pose optimization, distance between ekf and vo x:-0.066712 ,z=-0.020721,angle between two frames:0.026977 +[16:32:08.165] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18 +[16:32:08.165] key frame check new frame:-0.053572 -0.623106 -0.059700, key close:0.006387 -0.480580 -0.018526 +[16:32:08.165] Choose frame as a key frame Scene Depth mean:0.347407 ,depth min:0.316508 +[16:32:08.165] frame process finished the id is: 164 the obs is:18 +[16:32:08.189] Odometry x=-0.053572, y=-0.623106, theta=-0.059700 +[16:32:08.286] Odometry x=-0.053347, y=-0.629593, theta=-0.064351 +[16:32:08.309] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000384 ,z=0.000115,angle between two frames:0.000158 +[16:32:08.309] After pose optimization, distance between ekf and vo x:-0.000384 ,z=0.000115,angle between two frames:0.000158 +[16:32:08.309] frame process finished the id is: 164 the obs is:18 +[16:32:08.388] Odometry x=-0.053155, y=-0.634598, theta=-0.056661 +[16:32:08.452] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:-0.000241 ,z=0.000048,angle between two frames:0.000088 +[16:32:08.452] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.298615 error end=0.298615 +[16:32:08.452] After pose optimization, distance between ekf and vo x:-0.000241 ,z=0.000048,angle between two frames:0.000088 +[16:32:08.452] frame process finished the id is: 164 the obs is:18 +[16:32:08.488] Odometry x=-0.052993, y=-0.640182, theta=-0.059913 +[16:32:08.590] Odometry x=-0.052808, y=-0.645454, theta=-0.053001 +[16:32:08.596] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:-0.000542 ,z=0.000065,angle between two frames:0.000216 +[16:32:08.596] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.305267 error end=0.303649 +[16:32:08.596] After pose optimization, distance between ekf and vo x:-0.001854 ,z=0.002164,angle between two frames:0.000646 +[16:32:08.596] frame process finished the id is: 164 the obs is:18 +[16:32:08.693] Odometry x=-0.052666, y=-0.650550, theta=-0.054826 +[16:32:08.740] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000549 ,z=0.000103,angle between two frames:0.000225 +[16:32:08.740] After pose optimization, distance between ekf and vo x:-0.000549 ,z=0.000103,angle between two frames:0.000225 +[16:32:08.740] frame process finished the id is: 164 the obs is:18 +[16:32:08.788] Odometry x=-0.052522, y=-0.656477, theta=-0.054258 +[16:32:08.883] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000949 ,z=0.000153,angle between two frames:0.000389 +[16:32:08.883] After pose optimization, distance between ekf and vo x:-0.000949 ,z=0.000153,angle between two frames:0.000389 +[16:32:08.883] frame process finished the id is: 164 the obs is:18 +[16:32:08.891] Odometry x=-0.052335, y=-0.661353, theta=-0.057094 +[16:32:08.989] Odometry x=-0.052181, y=-0.667041, theta=-0.055521 +[16:32:09.027] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000494 ,z=0.000117,angle between two frames:0.000199 +[16:32:09.027] After pose optimization, distance between ekf and vo x:-0.000494 ,z=0.000117,angle between two frames:0.000199 +[16:32:09.027] frame process finished the id is: 164 the obs is:18 +[16:32:09.083] Odometry x=-0.052027, y=-0.671902, theta=-0.054103 +[16:32:09.173] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000672 ,z=0.000143,angle between two frames:0.000272 +[16:32:09.173] After pose optimization, distance between ekf and vo x:-0.000672 ,z=0.000143,angle between two frames:0.000272 +[16:32:09.173] frame process finished the id is: 164 the obs is:18 +[16:32:09.187] Odometry x=-0.051893, y=-0.676236, theta=-0.062766 +[16:32:09.288] Odometry x=-0.051701, y=-0.681978, theta=-0.061314 +[16:32:09.318] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000052 ,z=0.000007,angle between two frames:0.000001 +[16:32:09.318] After pose optimization, distance between ekf and vo x:-0.000052 ,z=0.000007,angle between two frames:0.000001 +[16:32:09.318] frame process finished the id is: 164 the obs is:18 +[16:32:09.389] Odometry x=-0.051544, y=-0.687344, theta=-0.059152 +[16:32:09.463] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000119 ,z=0.000020,angle between two frames:0.000035 +[16:32:09.463] After pose optimization, distance between ekf and vo x:-0.000119 ,z=0.000020,angle between two frames:0.000035 +[16:32:09.463] frame process finished the id is: 164 the obs is:18 +[16:32:09.488] Odometry x=-0.051836, y=-0.692291, theta=-0.062371 +[16:32:09.589] Odometry x=-0.051657, y=-0.697434, theta=-0.064931 +[16:32:09.608] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000155 ,z=0.000004,angle between two frames:0.000041 +[16:32:09.609] After pose optimization, distance between ekf and vo x:-0.000155 ,z=0.000004,angle between two frames:0.000041 +[16:32:09.609] frame process finished the id is: 164 the obs is:18 +[16:32:09.689] Odometry x=-0.051274, y=-0.702945, theta=-0.069471 +[16:32:09.753] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000209 ,z=0.000081,angle between two frames:0.000082 +[16:32:09.754] After pose optimization, distance between ekf and vo x:-0.000209 ,z=0.000081,angle between two frames:0.000082 +[16:32:09.754] frame process finished the id is: 164 the obs is:18 +[16:32:09.789] Odometry x=-0.050870, y=-0.708071, theta=-0.059563 +[16:32:09.884] Odometry x=-0.050697, y=-0.713437, theta=-0.061876 +[16:32:09.898] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000100 ,z=0.000010,angle between two frames:0.000023 +[16:32:09.898] After pose optimization, distance between ekf and vo x:-0.000100 ,z=0.000010,angle between two frames:0.000023 +[16:32:09.898] frame process finished the id is: 164 the obs is:18 +[16:32:09.989] Odometry x=-0.050441, y=-0.718474, theta=-0.047867 +[16:32:10.043] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:-0.000172 ,z=0.000032,angle between two frames:0.000063 +[16:32:10.043] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.174213 error end=0.174213 +[16:32:10.043] After pose optimization, distance between ekf and vo x:-0.000172 ,z=0.000032,angle between two frames:0.000063 +[16:32:10.043] frame process finished the id is: 164 the obs is:18 +[16:32:10.089] Odometry x=-0.050251, y=-0.724000, theta=-0.044043 +[16:32:10.184] Odometry x=-0.050117, y=-0.729519, theta=-0.058049 +[16:32:10.188] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000110 ,z=0.000098,angle between two frames:0.000043 +[16:32:10.188] After pose optimization, distance between ekf and vo x:-0.000110 ,z=0.000098,angle between two frames:0.000043 +[16:32:10.188] frame process finished the id is: 164 the obs is:18 +[16:32:10.289] Odometry x=-0.049959, y=-0.734312, theta=-0.058124 +[16:32:10.334] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000276 ,z=0.000040,angle between two frames:0.000104 +[16:32:10.334] After pose optimization, distance between ekf and vo x:-0.000276 ,z=0.000040,angle between two frames:0.000104 +[16:32:10.334] frame process finished the id is: 164 the obs is:18 +[16:32:10.389] Odometry x=-0.049802, y=-0.740008, theta=-0.052477 +[16:32:10.479] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000342 ,z=0.000052,angle between two frames:0.000126 +[16:32:10.479] After pose optimization, distance between ekf and vo x:-0.000342 ,z=0.000052,angle between two frames:0.000126 +[16:32:10.479] frame process finished the id is: 164 the obs is:18 +[16:32:10.489] Odometry x=-0.049607, y=-0.745527, theta=-0.056376 +[16:32:10.589] Odometry x=-0.049466, y=-0.750684, theta=-0.055362 +[16:32:10.623] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:-0.000307 ,z=0.000085,angle between two frames:0.000118 +[16:32:10.623] n deleted obs = 6 n obs with reprojection error less than 0.5 px =6 error init =3.031884 error end=3.031884 +[16:32:10.623] After pose optimization, distance between ekf and vo x:-0.000307 ,z=0.000085,angle between two frames:0.000118 +[16:32:10.623] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[16:32:10.624] key frame check new frame:-0.049880 -0.745934 -0.056898, key close:-0.053572 -0.623106 -0.059700 +[16:32:10.624] frame process finished the id is: 181 the obs is:12 +[16:32:10.684] Odometry x=-0.049880, y=-0.745934, theta=-0.056898 +[16:32:10.774] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000219 ,z=-0.000610,angle between two frames:0.000266 +[16:32:10.774] After pose optimization, distance between ekf and vo x:0.000219 ,z=-0.000610,angle between two frames:0.000266 +[16:32:10.774] frame process finished the id is: 181 the obs is:12 +[16:32:10.789] Odometry x=-0.049720, y=-0.751746, theta=-0.058045 +[16:32:10.889] Odometry x=-0.049529, y=-0.757519, theta=-0.064266 +[16:32:10.924] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000188 ,z=-0.000565,angle between two frames:0.000243 +[16:32:10.924] After pose optimization, distance between ekf and vo x:0.000188 ,z=-0.000565,angle between two frames:0.000243 +[16:32:10.924] frame process finished the id is: 181 the obs is:12 +[16:32:10.989] Odometry x=-0.049326, y=-0.758388, theta=-0.057937 +[16:32:11.075] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000151 ,z=-0.000515,angle between two frames:0.000216 +[16:32:11.075] After pose optimization, distance between ekf and vo x:0.000151 ,z=-0.000515,angle between two frames:0.000216 +[16:32:11.075] frame process finished the id is: 181 the obs is:12 +[16:32:11.088] Odometry x=-0.049148, y=-0.763734, theta=-0.058127 +[16:32:11.191] Odometry x=-0.048982, y=-0.769100, theta=-0.065120 +[16:32:11.225] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000165 ,z=-0.000496,angle between two frames:0.000214 +[16:32:11.225] After pose optimization, distance between ekf and vo x:0.000165 ,z=-0.000496,angle between two frames:0.000214 +[16:32:11.225] frame process finished the id is: 181 the obs is:12 +[16:32:11.285] Odometry x=-0.048848, y=-0.772992, theta=-0.063609 +[16:32:11.367] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000204 ,z=0.000044,angle between two frames:0.000068 +[16:32:11.367] After pose optimization, distance between ekf and vo x:-0.000204 ,z=0.000044,angle between two frames:0.000068 +[16:32:11.367] frame process finished the id is: 181 the obs is:12 +[16:32:11.388] Odometry x=-0.048691, y=-0.777889, theta=-0.063274 +[16:32:11.489] Odometry x=-0.048496, y=-0.783509, theta=-0.072459 +[16:32:11.510] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000207 ,z=0.000043,angle between two frames:0.000069 +[16:32:11.510] After pose optimization, distance between ekf and vo x:-0.000207 ,z=0.000043,angle between two frames:0.000069 +[16:32:11.510] frame process finished the id is: 181 the obs is:12 +[16:32:11.587] Odometry x=-0.048329, y=-0.788576, theta=-0.063946 +[16:32:11.655] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000350 ,z=0.000075,angle between two frames:0.000119 +[16:32:11.655] After pose optimization, distance between ekf and vo x:-0.000350 ,z=0.000075,angle between two frames:0.000119 +[16:32:11.655] frame process finished the id is: 181 the obs is:12 +[16:32:11.688] Odometry x=-0.048122, y=-0.793867, theta=-0.078717 +[16:32:11.790] Odometry x=-0.047917, y=-0.799247, theta=-0.061289 +[16:32:11.797] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000287 ,z=0.000060,angle between two frames:0.000095 +[16:32:11.797] After pose optimization, distance between ekf and vo x:-0.000287 ,z=0.000060,angle between two frames:0.000095 +[16:32:11.797] frame process finished the id is: 181 the obs is:12 +[16:32:11.890] Odometry x=-0.047598, y=-0.804724, theta=-0.063974 +[16:32:11.940] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000219 ,z=0.000019,angle between two frames:0.000067 +[16:32:11.940] After pose optimization, distance between ekf and vo x:-0.000219 ,z=0.000019,angle between two frames:0.000067 +[16:32:11.940] frame process finished the id is: 181 the obs is:12 +[16:32:11.990] Odometry x=-0.047436, y=-0.810073, theta=-0.064362 +[16:32:12.083] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000188 ,z=0.000005,angle between two frames:0.000054 +[16:32:12.083] After pose optimization, distance between ekf and vo x:-0.000188 ,z=0.000005,angle between two frames:0.000054 +[16:32:12.083] frame process finished the id is: 181 the obs is:12 +[16:32:12.089] Odometry x=-0.047179, y=-0.815407, theta=-0.068484 +[16:32:12.191] Odometry x=-0.047020, y=-0.820786, theta=-0.062309 +[16:32:12.224] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000188 ,z=0.000019,angle between two frames:0.000057 +[16:32:12.224] After pose optimization, distance between ekf and vo x:-0.000188 ,z=0.000019,angle between two frames:0.000057 +[16:32:12.224] frame process finished the id is: 181 the obs is:12 +[16:32:12.288] Odometry x=-0.046842, y=-0.826396, theta=-0.064403 +[16:32:12.367] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000200 ,z=0.000020,angle between two frames:0.000061 +[16:32:12.367] After pose optimization, distance between ekf and vo x:-0.000200 ,z=0.000020,angle between two frames:0.000061 +[16:32:12.367] frame process finished the id is: 181 the obs is:12 +[16:32:12.391] Odometry x=-0.046697, y=-0.831118, theta=-0.062170 +[16:32:12.490] Odometry x=-0.046442, y=-0.836578, theta=-0.060818 +[16:32:12.508] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000207 ,z=0.000015,angle between two frames:0.000061 +[16:32:12.508] After pose optimization, distance between ekf and vo x:-0.000207 ,z=0.000015,angle between two frames:0.000061 +[16:32:12.508] frame process finished the id is: 181 the obs is:12 +[16:32:12.590] Odometry x=-0.046291, y=-0.841658, theta=-0.061804 +[16:32:12.649] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000208 ,z=0.000016,angle between two frames:0.000062 +[16:32:12.649] After pose optimization, distance between ekf and vo x:-0.000208 ,z=0.000016,angle between two frames:0.000062 +[16:32:12.649] frame process finished the id is: 181 the obs is:12 +[16:32:12.687] Odometry x=-0.046100, y=-0.846696, theta=-0.062685 +[16:32:12.790] Odometry x=-0.045903, y=-0.851791, theta=-0.062923 +[16:32:12.793] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000343 ,z=0.000068,angle between two frames:0.000114 +[16:32:12.793] After pose optimization, distance between ekf and vo x:-0.000343 ,z=0.000068,angle between two frames:0.000114 +[16:32:12.793] frame process finished the id is: 181 the obs is:12 +[16:32:12.893] Odometry x=-0.045698, y=-0.857383, theta=-0.064097 +[16:32:12.936] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000345 ,z=0.000073,angle between two frames:0.000116 +[16:32:12.937] After pose optimization, distance between ekf and vo x:-0.000345 ,z=0.000073,angle between two frames:0.000116 +[16:32:12.937] frame process finished the id is: 181 the obs is:12 +[16:32:12.990] Odometry x=-0.045485, y=-0.861792, theta=-0.060091 +[16:32:13.077] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000233 ,z=0.000037,angle between two frames:0.000075 +[16:32:13.077] After pose optimization, distance between ekf and vo x:-0.000233 ,z=0.000037,angle between two frames:0.000075 +[16:32:13.077] frame process finished the id is: 181 the obs is:12 +[16:32:13.088] Odometry x=-0.045314, y=-0.867137, theta=-0.071861 +[16:32:13.190] Odometry x=-0.045134, y=-0.872154, theta=-0.069362 +[16:32:13.226] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000162 ,z=-0.000372,angle between two frames:0.000171 +[16:32:13.226] After pose optimization, distance between ekf and vo x:0.000162 ,z=-0.000372,angle between two frames:0.000171 +[16:32:13.226] frame process finished the id is: 181 the obs is:12 +[16:32:13.287] Odometry x=-0.044927, y=-0.877749, theta=-0.077578 +[16:32:13.369] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000158 ,z=0.000009,angle between two frames:0.000043 +[16:32:13.369] After pose optimization, distance between ekf and vo x:-0.000158 ,z=0.000009,angle between two frames:0.000043 +[16:32:13.369] frame process finished the id is: 181 the obs is:12 +[16:32:13.384] Odometry x=-0.044551, y=-0.882436, theta=-0.074406 +[16:32:13.492] Odometry x=-0.044308, y=-0.887658, theta=-0.073098 +[16:32:13.511] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000303 ,z=0.000079,angle between two frames:0.000103 +[16:32:13.511] After pose optimization, distance between ekf and vo x:-0.000303 ,z=0.000079,angle between two frames:0.000103 +[16:32:13.511] frame process finished the id is: 181 the obs is:12 +[16:32:13.588] Odometry x=-0.044080, y=-0.892860, theta=-0.072866 +[16:32:13.653] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000243 ,z=0.000062,angle between two frames:0.000081 +[16:32:13.653] After pose optimization, distance between ekf and vo x:-0.000243 ,z=0.000062,angle between two frames:0.000081 +[16:32:13.653] frame process finished the id is: 181 the obs is:12 +[16:32:13.691] Odometry x=-0.043892, y=-0.897937, theta=-0.073505 +[16:32:13.788] Odometry x=-0.043670, y=-0.903518, theta=-0.078064 +[16:32:13.796] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000332 ,z=0.000077,angle between two frames:0.000109 +[16:32:13.796] After pose optimization, distance between ekf and vo x:-0.000332 ,z=0.000077,angle between two frames:0.000109 +[16:32:13.796] frame process finished the id is: 181 the obs is:12 +[16:32:13.887] Odometry x=-0.043469, y=-0.908669, theta=-0.071563 +[16:32:13.939] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000257 ,z=-0.000010,angle between two frames:0.000062 +[16:32:13.939] After pose optimization, distance between ekf and vo x:-0.000257 ,z=-0.000010,angle between two frames:0.000062 +[16:32:13.939] frame process finished the id is: 181 the obs is:12 +[16:32:13.989] Odometry x=-0.043275, y=-0.913763, theta=-0.074298 +[16:32:14.086] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000083 ,z=-0.000170,angle between two frames:0.000035 +[16:32:14.086] After pose optimization, distance between ekf and vo x:-0.000083 ,z=-0.000170,angle between two frames:0.000035 +[16:32:14.086] frame process finished the id is: 181 the obs is:12 +[16:32:14.088] Odometry x=-0.043001, y=-0.918971, theta=-0.068116 +[16:32:14.185] Odometry x=-0.042791, y=-0.924356, theta=-0.064391 +[16:32:14.229] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000243 ,z=0.000072,angle between two frames:0.000081 +[16:32:14.229] After pose optimization, distance between ekf and vo x:-0.000243 ,z=0.000072,angle between two frames:0.000081 +[16:32:14.229] frame process finished the id is: 181 the obs is:12 +[16:32:14.294] Odometry x=-0.042620, y=-0.929441, theta=-0.069377 +[16:32:14.378] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000251 ,z=-0.000576,angle between two frames:0.000243 +[16:32:14.378] After pose optimization, distance between ekf and vo x:0.000251 ,z=-0.000576,angle between two frames:0.000243 +[16:32:14.378] frame process finished the id is: 181 the obs is:12 +[16:32:14.392] Odometry x=-0.042401, y=-0.931926, theta=-0.066797 +[16:32:14.491] Odometry x=-0.042219, y=-0.937059, theta=-0.070868 +[16:32:14.521] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000248 ,z=0.000075,angle between two frames:0.000083 +[16:32:14.521] After pose optimization, distance between ekf and vo x:-0.000248 ,z=0.000075,angle between two frames:0.000083 +[16:32:14.521] frame process finished the id is: 181 the obs is:12 +[16:32:14.589] Odometry x=-0.042009, y=-0.941896, theta=-0.068986 +[16:32:14.671] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000245 ,z=-0.000543,angle between two frames:0.000232 +[16:32:14.671] After pose optimization, distance between ekf and vo x:0.000245 ,z=-0.000543,angle between two frames:0.000232 +[16:32:14.671] frame process finished the id is: 181 the obs is:12 +[16:32:14.688] Odometry x=-0.041608, y=-0.943900, theta=-0.058619 +[16:32:14.788] Odometry x=-0.041465, y=-0.948834, theta=-0.056895 +[16:32:14.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000491 ,z=0.000158,angle between two frames:0.000168 +[16:32:14.814] After pose optimization, distance between ekf and vo x:-0.000491 ,z=0.000158,angle between two frames:0.000168 +[16:32:14.814] frame process finished the id is: 181 the obs is:12 +[16:32:14.882] Odometry x=-0.041311, y=-0.954338, theta=-0.060732 +[16:32:14.957] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000356 ,z=0.000117,angle between two frames:0.000123 +[16:32:14.957] After pose optimization, distance between ekf and vo x:-0.000356 ,z=0.000117,angle between two frames:0.000123 +[16:32:14.957] frame process finished the id is: 181 the obs is:12 +[16:32:14.989] Odometry x=-0.041175, y=-0.958815, theta=-0.060944 +[16:32:15.090] Odometry x=-0.040991, y=-0.965231, theta=-0.055827 +[16:32:15.100] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000360 ,z=0.000099,angle between two frames:0.000121 +[16:32:15.100] After pose optimization, distance between ekf and vo x:-0.000360 ,z=0.000099,angle between two frames:0.000121 +[16:32:15.100] frame process finished the id is: 181 the obs is:12 +[16:32:15.190] Odometry x=-0.040832, y=-0.970594, theta=-0.063962 +[16:32:15.242] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000287 ,z=0.000071,angle between two frames:0.000093 +[16:32:15.242] After pose optimization, distance between ekf and vo x:-0.000287 ,z=0.000071,angle between two frames:0.000093 +[16:32:15.242] frame process finished the id is: 181 the obs is:12 +[16:32:15.289] Odometry x=-0.040360, y=-0.975680, theta=-0.048021 +[16:32:15.384] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000357 ,z=0.000087,angle between two frames:0.000118 +[16:32:15.384] After pose optimization, distance between ekf and vo x:-0.000357 ,z=0.000087,angle between two frames:0.000118 +[16:32:15.384] frame process finished the id is: 181 the obs is:12 +[16:32:15.389] Odometry x=-0.040277, y=-0.980073, theta=-0.046366 +[16:32:15.489] Odometry x=-0.039702, y=-0.984852, theta=-0.056812 +[16:32:15.528] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000328 ,z=0.000088,angle between two frames:0.000109 +[16:32:15.528] After pose optimization, distance between ekf and vo x:-0.000328 ,z=0.000088,angle between two frames:0.000109 +[16:32:15.528] frame process finished the id is: 181 the obs is:12 +[16:32:15.589] Odometry x=-0.039553, y=-0.989908, theta=-0.063742 +[16:32:15.671] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000274 ,z=0.000072,angle between two frames:0.000087 +[16:32:15.671] After pose optimization, distance between ekf and vo x:-0.000274 ,z=0.000072,angle between two frames:0.000087 +[16:32:15.671] frame process finished the id is: 181 the obs is:12 +[16:32:15.689] Odometry x=-0.039368, y=-0.994974, theta=-0.059524 +[16:32:15.789] Odometry x=-0.039217, y=-0.999883, theta=-0.062310 +[16:32:15.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000258 ,z=0.000058,angle between two frames:0.000081 +[16:32:15.814] After pose optimization, distance between ekf and vo x:-0.000258 ,z=0.000058,angle between two frames:0.000081 +[16:32:15.814] frame process finished the id is: 181 the obs is:12 +[16:32:15.889] Odometry x=-0.039000, y=-1.005211, theta=-0.058736 +[16:32:15.955] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000271 ,z=0.000066,angle between two frames:0.000087 +[16:32:15.956] After pose optimization, distance between ekf and vo x:-0.000271 ,z=0.000066,angle between two frames:0.000087 +[16:32:15.956] frame process finished the id is: 181 the obs is:12 +[16:32:15.991] Odometry x=-0.038746, y=-1.010576, theta=-0.067243 +[16:32:16.089] Odometry x=-0.038562, y=-1.016161, theta=-0.062131 +[16:32:16.100] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000325 ,z=0.000093,angle between two frames:0.000107 +[16:32:16.100] After pose optimization, distance between ekf and vo x:-0.000325 ,z=0.000093,angle between two frames:0.000107 +[16:32:16.100] frame process finished the id is: 181 the obs is:12 +[16:32:16.191] Odometry x=-0.038393, y=-1.021729, theta=-0.063299 +[16:32:16.243] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000287 ,z=0.000075,angle between two frames:0.000095 +[16:32:16.243] After pose optimization, distance between ekf and vo x:-0.000287 ,z=0.000075,angle between two frames:0.000095 +[16:32:16.243] frame process finished the id is: 181 the obs is:12 +[16:32:16.289] Odometry x=-0.038083, y=-1.026208, theta=-0.064449 +[16:32:16.386] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000306 ,z=0.000073,angle between two frames:0.000098 +[16:32:16.386] After pose optimization, distance between ekf and vo x:-0.000306 ,z=0.000073,angle between two frames:0.000098 +[16:32:16.386] frame process finished the id is: 181 the obs is:12 +[16:32:16.389] Odometry x=-0.037865, y=-1.031143, theta=-0.066292 +[16:32:16.491] Odometry x=-0.037656, y=-1.036480, theta=-0.062520 +[16:32:16.529] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000293 ,z=0.000089,angle between two frames:0.000097 +[16:32:16.529] After pose optimization, distance between ekf and vo x:-0.000293 ,z=0.000089,angle between two frames:0.000097 +[16:32:16.529] frame process finished the id is: 181 the obs is:12 +[16:32:16.589] Odometry x=-0.037435, y=-1.040294, theta=-0.074396 +[16:32:16.672] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000315 ,z=0.000089,angle between two frames:0.000105 +[16:32:16.672] After pose optimization, distance between ekf and vo x:-0.000315 ,z=0.000089,angle between two frames:0.000105 +[16:32:16.672] frame process finished the id is: 181 the obs is:12 +[16:32:16.693] Odometry x=-0.037231, y=-1.045616, theta=-0.073257 +[16:32:16.786] Odometry x=-0.037065, y=-1.050086, theta=-0.066025 +[16:32:16.816] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000309 ,z=0.000079,angle between two frames:0.000101 +[16:32:16.816] After pose optimization, distance between ekf and vo x:-0.000309 ,z=0.000079,angle between two frames:0.000101 +[16:32:16.816] frame process finished the id is: 181 the obs is:12 +[16:32:16.888] Odometry x=-0.036895, y=-1.054841, theta=-0.071708 +[16:32:16.959] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000309 ,z=0.000073,angle between two frames:0.000099 +[16:32:16.959] After pose optimization, distance between ekf and vo x:-0.000309 ,z=0.000073,angle between two frames:0.000099 +[16:32:16.959] frame process finished the id is: 181 the obs is:12 +[16:32:16.988] Odometry x=-0.036684, y=-1.060136, theta=-0.072268 +[16:32:17.087] Odometry x=-0.036472, y=-1.065417, theta=-0.071192 +[16:32:17.102] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000260 ,z=0.000057,angle between two frames:0.000082 +[16:32:17.102] After pose optimization, distance between ekf and vo x:-0.000260 ,z=0.000057,angle between two frames:0.000082 +[16:32:17.102] frame process finished the id is: 181 the obs is:12 +[16:32:17.245] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000315 ,z=0.000054,angle between two frames:0.000094 +[16:32:17.245] After pose optimization, distance between ekf and vo x:-0.000315 ,z=0.000054,angle between two frames:0.000094 +[16:32:17.245] frame process finished the id is: 181 the obs is:12 +[16:32:17.386] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000319 ,z=0.000058,angle between two frames:0.000096 +[16:32:17.386] After pose optimization, distance between ekf and vo x:-0.000319 ,z=0.000058,angle between two frames:0.000096 +[16:32:17.386] frame process finished the id is: 181 the obs is:12 +[16:32:17.529] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000321 ,z=0.000059,angle between two frames:0.000097 +[16:32:17.529] After pose optimization, distance between ekf and vo x:-0.000321 ,z=0.000059,angle between two frames:0.000097 +[16:32:17.529] frame process finished the id is: 181 the obs is:12 +[16:32:17.672] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000322 ,z=0.000060,angle between two frames:0.000098 +[16:32:17.672] After pose optimization, distance between ekf and vo x:-0.000322 ,z=0.000060,angle between two frames:0.000098 +[16:32:17.672] frame process finished the id is: 181 the obs is:12 +[16:32:17.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000323 ,z=0.000063,angle between two frames:0.000099 +[16:32:17.814] After pose optimization, distance between ekf and vo x:-0.000323 ,z=0.000063,angle between two frames:0.000099 +[16:32:17.814] frame process finished the id is: 181 the obs is:12 +[16:32:17.957] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000323 ,z=0.000069,angle between two frames:0.000100 +[16:32:17.957] After pose optimization, distance between ekf and vo x:-0.000323 ,z=0.000069,angle between two frames:0.000100 +[16:32:17.957] frame process finished the id is: 181 the obs is:12 +[16:32:18.098] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000323 ,z=0.000070,angle between two frames:0.000101 +[16:32:18.098] After pose optimization, distance between ekf and vo x:-0.000323 ,z=0.000070,angle between two frames:0.000101 +[16:32:18.098] frame process finished the id is: 181 the obs is:12 +[16:32:18.240] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000319 ,z=0.000065,angle between two frames:0.000099 +[16:32:18.240] After pose optimization, distance between ekf and vo x:-0.000319 ,z=0.000065,angle between two frames:0.000099 +[16:32:18.240] frame process finished the id is: 181 the obs is:12 +[16:32:18.383] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000058,angle between two frames:0.000097 +[16:32:18.383] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000058,angle between two frames:0.000097 +[16:32:18.384] frame process finished the id is: 181 the obs is:12 +[16:32:18.528] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000060,angle between two frames:0.000097 +[16:32:18.528] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000060,angle between two frames:0.000097 +[16:32:18.528] frame process finished the id is: 181 the obs is:12 +[16:32:18.671] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:18.671] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:18.671] frame process finished the id is: 181 the obs is:12 +[16:32:18.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000060,angle between two frames:0.000097 +[16:32:18.814] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000060,angle between two frames:0.000097 +[16:32:18.814] frame process finished the id is: 181 the obs is:12 +[16:32:18.957] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 +[16:32:18.957] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 +[16:32:18.957] frame process finished the id is: 181 the obs is:12 +[16:32:19.099] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.100] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.100] frame process finished the id is: 181 the obs is:12 +[16:32:19.242] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.242] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.243] frame process finished the id is: 181 the obs is:12 +[16:32:19.385] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.385] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.385] frame process finished the id is: 181 the obs is:12 +[16:32:19.528] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.528] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.528] frame process finished the id is: 181 the obs is:12 +[16:32:19.671] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.671] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.671] frame process finished the id is: 181 the obs is:12 +[16:32:19.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.814] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.814] frame process finished the id is: 181 the obs is:12 +[16:32:19.958] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.958] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:19.958] frame process finished the id is: 181 the obs is:12 +[16:32:20.102] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.102] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.102] frame process finished the id is: 181 the obs is:12 +[16:32:20.245] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000319 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.245] After pose optimization, distance between ekf and vo x:-0.000319 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.245] frame process finished the id is: 181 the obs is:12 +[16:32:20.389] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.389] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.389] frame process finished the id is: 181 the obs is:12 +[16:32:20.532] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.532] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.532] frame process finished the id is: 181 the obs is:12 +[16:32:20.674] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.674] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.674] frame process finished the id is: 181 the obs is:12 +[16:32:20.816] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.816] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.816] frame process finished the id is: 181 the obs is:12 +[16:32:20.959] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.959] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 +[16:32:20.959] frame process finished the id is: 181 the obs is:12 +[16:32:21.102] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000060,angle between two frames:0.000097 +[16:32:21.102] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000060,angle between two frames:0.000097 +[16:32:21.102] frame process finished the id is: 181 the obs is:12 diff --git a/GPU_version/vio/src/initialization.cpp b/GPU_version/vio/src/initialization.cpp index 3b34b86..cacc4f0 100644 --- a/GPU_version/vio/src/initialization.cpp +++ b/GPU_version/vio/src/initialization.cpp @@ -99,7 +99,13 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur) std::advance(first,id); if(frame_cur->cam_->isInFrame(Vector2d(px_cur_.at(id).x,px_cur_.at(id).y).cast(), 10) && frame_ref_->cam_->isInFrame((*first)->px.cast(), 10)){ - Vector3d pos = frame_cur->getSE3Inv() * (xyz_in_cur_.at(id)/* *scale */); + Vector3d pos = frame_cur->se3() * (xyz_in_cur_.at(id)/* *scale */); +#if VIO_DEBUG + fprintf(log_,"[%s] inlier: x=%f, y=%f, z=%f pos: x=%f y=%f z=%f\n", + vio::time_in_HH_MM_SS_MMM().c_str(), + xyz_in_cur_.at(id).x(),xyz_in_cur_.at(id).y(),xyz_in_cur_.at(id).z(), + pos.x(),pos.y(),pos.z()); +#endif std::shared_ptr new_point = std::make_shared(pos); std::shared_ptr ftr_cur=std::make_shared(frame_cur, new_point, Vector2d(px_cur_.at(id).x,px_cur_.at(id).y), frame_cur->c2f(px_cur_.at(id).x,px_cur_.at(id).y), (*first)->level);