From b39cb433824ba9ff5ef92abe6bacfdf2408856a1 Mon Sep 17 00:00:00 2001 From: gfuse Date: Mon, 4 Oct 2021 11:35:24 +0200 Subject: [PATCH] add some calibration --- GPU_version/vio/depth_filter_log.txt | 136 ++ GPU_version/vio/frame_handler_log.txt | 1955 +++++++++++++++--- GPU_version/vio/include/vio/point.h | 23 - GPU_version/vio/include/vio/pose_optimizer.h | 4 +- GPU_version/vio/include/vio/reprojector.h | 5 +- GPU_version/vio/launch/Px30.launch | 2 +- GPU_version/vio/param/vo_fast.yaml | 4 +- GPU_version/vio/src/frame_handler_mono.cpp | 11 +- GPU_version/vio/src/point.cpp | 18 - GPU_version/vio/src/pose_optimizer.cpp | 17 +- GPU_version/vio/src/reprojector.cpp | 80 +- 11 files changed, 1862 insertions(+), 393 deletions(-) diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt index e69de29..bfe23b7 100755 --- a/GPU_version/vio/depth_filter_log.txt +++ b/GPU_version/vio/depth_filter_log.txt @@ -0,0 +1,136 @@ +[11:32:26.215] New key frame +[11:32:26.215] BA loop run +[11:32:26.217] init error: 8.472095 +[11:32:26.222] end error: 0.002451 +[11:32:26.332] New key frame +[11:32:26.332] BA loop run +[11:32:26.334] init error: 12.629072 +[11:32:26.340] end error: 2.173331 +[11:32:26.468] New key frame +[11:32:26.468] BA loop run +[11:32:26.470] init error: 65.010863 +[11:32:26.477] end error: 1.928134 +[11:32:26.617] New key frame +[11:32:26.617] BA loop run +[11:32:26.619] init error: 111.982387 +[11:32:26.627] end error: 8.215693 +[11:32:26.780] New key frame +[11:32:26.780] BA loop run +[11:32:26.782] init error: 133637.531428 +[11:32:26.789] end error: 11.632299 +[11:32:27.443] New key frame +[11:32:27.443] BA loop run +[11:32:27.447] init error: 1319.422136 +[11:32:27.455] end error: 12.848739 +[11:32:27.621] New key frame +[11:32:27.621] BA loop run +[11:32:27.625] init error: 182.371153 +[11:32:27.641] end error: 13.471113 +[11:32:27.930] New key frame +[11:32:27.930] BA loop run +[11:32:27.935] init error: 281.210624 +[11:32:27.952] end error: 70.606181 +[11:32:28.077] New key frame +[11:32:28.077] BA loop run +[11:32:28.082] init error: 309.023063 +[11:32:28.422] end error: 23.878624 +[11:32:28.430] New key frame +[11:32:28.430] BA loop run +[11:32:28.440] init error: 399.805659 +[11:32:29.963] end error: 21.797671 +[11:32:29.976] New key frame +[11:32:29.976] BA loop run +[11:32:29.984] init error: 10406.282878 +[11:32:30.266] end error: 27.018722 +[11:32:30.497] New key frame +[11:32:30.497] BA loop run +[11:32:30.505] init error: 306.484531 +[11:32:30.770] end error: 29.021864 +[11:32:30.843] New key frame +[11:32:30.843] BA loop run +[11:32:30.868] init error: 218.967075 +[11:32:31.623] end error: 38.436167 +[11:32:31.642] New key frame +[11:32:31.642] BA loop run +[11:32:31.668] init error: 242.205017 +[11:32:31.915] end error: 39.613393 +[11:32:32.126] New key frame +[11:32:32.126] BA loop run +[11:32:32.137] init error: 1068.056513 +[11:32:32.471] end error: 32.717972 +[11:32:32.628] New key frame +[11:32:32.628] BA loop run +[11:32:32.640] init error: 205.632654 +[11:32:33.290] end error: 46.394407 +[11:32:33.307] New key frame +[11:32:33.307] BA loop run +[11:32:33.327] init error: 257.984168 +[11:32:34.235] end error: 45.118705 +[11:32:34.253] New key frame +[11:32:34.253] BA loop run +[11:32:34.269] init error: 378.196667 +[11:32:35.135] end error: 72.485312 +[11:32:35.152] New key frame +[11:32:35.152] BA loop run +[11:32:35.166] init error: 2940.286773 +[11:32:36.051] end error: 70.470916 +[11:32:36.064] New key frame +[11:32:36.064] BA loop run +[11:32:36.098] init error: 175.651875 +[11:32:36.564] end error: 51.774350 +[11:32:36.576] New key frame +[11:32:36.576] BA loop run +[11:32:36.594] init error: 212.690168 +[11:32:37.025] end error: 60.040802 +[11:32:37.035] New key frame +[11:32:37.035] BA loop run +[11:32:37.065] init error: 224.779653 +[11:32:37.748] end error: 50.944995 +[11:32:37.762] New key frame +[11:32:37.762] BA loop run +[11:32:37.799] init error: 144.458647 +[11:32:38.281] end error: 55.943794 +[11:32:38.292] New key frame +[11:32:38.292] BA loop run +[11:32:38.308] init error: 417.348226 +[11:32:38.776] end error: 65.937311 +[11:32:38.793] New key frame +[11:32:38.793] BA loop run +[11:32:38.826] init error: 321.374078 +[11:32:39.508] end error: 117.666568 +[11:32:39.522] New key frame +[11:32:39.522] BA loop run +[11:32:39.560] init error: 582.482623 +[11:32:40.106] end error: 56.439056 +[11:32:40.120] New key frame +[11:32:40.120] BA loop run +[11:32:40.145] init error: 406.636760 +[11:32:40.672] end error: 56.901814 +[11:32:40.685] New key frame +[11:32:40.685] BA loop run +[11:32:40.728] init error: 855.372149 +[11:32:41.341] end error: 65.671640 +[11:32:41.357] New key frame +[11:32:41.357] BA loop run +[11:32:41.397] init error: 587.088866 +[11:32:41.858] end error: 114.055639 +[11:32:41.936] New key frame +[11:32:41.936] BA loop run +[11:32:41.963] init error: 439.136273 +[11:32:42.631] end error: 63.348724 +[11:32:42.646] New key frame +[11:32:42.646] BA loop run +[11:32:42.681] init error: 661.332414 +[11:32:43.163] end error: 88.189274 +[11:32:43.327] New key frame +[11:32:43.327] BA loop run +[11:32:43.341] init error: 526.133967 +[11:32:44.023] end error: 79.628375 +[11:32:44.038] New key frame +[11:32:44.038] BA loop run +[11:32:44.060] init error: 490.175656 +[11:32:44.972] end error: 50.982413 +[11:32:44.982] New key frame +[11:32:44.982] BA loop run +[11:32:45.005] init error: 610.616898 +[11:32:45.434] end error: 57.851118 diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index 405053c..6ee0ce5 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,251 +1,1704 @@ -[09:36:51.193] Init: frame zero: 0.000000, 0.000000 0.000000 -[09:36:51.193] Init: Selected first frame. -[09:36:51.193] frame process finished the id is: 0 the obs is:0 -[09:36:51.224] Init: px average disparity is:0.096920 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:51.224] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:51.224] frame process finished the id is: 1 the obs is:0 -[09:36:51.320] Init: px average disparity is:0.120159 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:51.320] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:51.320] frame process finished the id is: 2 the obs is:0 -[09:36:51.419] Init: px average disparity is:0.166353 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:51.419] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:51.419] frame process finished the id is: 3 the obs is:0 -[09:36:51.519] Init: px average disparity is:0.191240 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:51.519] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:51.519] frame process finished the id is: 4 the obs is:0 -[09:36:51.620] Init: px average disparity is:0.207745 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:51.620] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:51.620] frame process finished the id is: 5 the obs is:0 -[09:36:51.719] Init: px average disparity is:0.227178 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:51.719] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:51.719] frame process finished the id is: 6 the obs is:0 -[09:36:51.824] Init: px average disparity is:0.236689 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:51.824] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:51.824] frame process finished the id is: 7 the obs is:0 -[09:36:51.921] Init: px average disparity is:0.269724 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:51.921] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:51.921] frame process finished the id is: 8 the obs is:0 -[09:36:52.020] Init: px average disparity is:0.279740 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:52.020] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:52.020] frame process finished the id is: 9 the obs is:0 -[09:36:52.121] Init: px average disparity is:0.324433 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:52.121] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:52.121] frame process finished the id is: 10 the obs is:0 -[09:36:52.221] Init: px average disparity is:0.332425 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:52.221] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:52.221] frame process finished the id is: 11 the obs is:0 -[09:36:52.322] Init: px average disparity is:0.360695 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:52.322] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:52.322] frame process finished the id is: 12 the obs is:0 -[09:36:52.421] Init: px average disparity is:0.331429 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:52.421] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:52.421] frame process finished the id is: 13 the obs is:0 -[09:36:52.523] Init: px average disparity is:0.364890 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:52.524] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:52.524] frame process finished the id is: 14 the obs is:0 -[09:36:52.621] Init: px average disparity is:0.336525 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:52.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:52.621] frame process finished the id is: 15 the obs is:0 -[09:36:52.721] Init: px average disparity is:0.393741 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:52.721] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:52.721] frame process finished the id is: 16 the obs is:0 -[09:36:52.822] Init: px average disparity is:0.365818 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:52.822] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:52.822] frame process finished the id is: 17 the obs is:0 -[09:36:52.922] Init: px average disparity is:0.362293 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:52.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:52.922] frame process finished the id is: 18 the obs is:0 -[09:36:53.021] Init: px average disparity is:0.361204 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:53.021] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:53.021] frame process finished the id is: 19 the obs is:0 -[09:36:53.120] Init: px average disparity is:0.348439 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:53.120] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:53.120] frame process finished the id is: 20 the obs is:0 -[09:36:53.221] Init: px average disparity is:0.350235 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:53.221] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:53.221] frame process finished the id is: 21 the obs is:0 -[09:36:53.322] Init: px average disparity is:0.355781 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:53.322] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:53.322] frame process finished the id is: 22 the obs is:0 -[09:36:53.422] Init: px average disparity is:0.350137 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:53.422] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:53.422] frame process finished the id is: 23 the obs is:0 -[09:36:53.521] Init: px average disparity is:0.351329 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:53.521] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:53.521] frame process finished the id is: 24 the obs is:0 -[09:36:53.621] Init: px average disparity is:0.309508 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:53.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:53.621] frame process finished the id is: 25 the obs is:0 -[09:36:53.722] Init: px average disparity is:0.347856 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:53.722] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:53.722] frame process finished the id is: 26 the obs is:0 -[09:36:53.821] Init: px average disparity is:0.323454 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:53.822] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:53.822] frame process finished the id is: 27 the obs is:0 -[09:36:53.922] Init: px average disparity is:0.334123 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:53.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:53.922] frame process finished the id is: 28 the obs is:0 -[09:36:54.022] Init: px average disparity is:0.373803 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:54.022] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:54.022] frame process finished the id is: 29 the obs is:0 -[09:36:54.121] Init: px average disparity is:0.323537 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:54.121] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:54.121] frame process finished the id is: 30 the obs is:0 -[09:36:54.221] Init: px average disparity is:0.339853 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:54.221] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:54.221] frame process finished the id is: 31 the obs is:0 -[09:36:54.322] Init: px average disparity is:0.355549 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:54.322] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:54.322] frame process finished the id is: 32 the obs is:0 -[09:36:54.422] Init: px average disparity is:0.327988 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:54.422] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:54.422] frame process finished the id is: 33 the obs is:0 -[09:36:54.522] Init: px average disparity is:0.334005 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:54.522] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:54.522] frame process finished the id is: 34 the obs is:0 -[09:36:54.622] Init: px average disparity is:0.329450 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:54.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:54.622] frame process finished the id is: 35 the obs is:0 -[09:36:54.721] Init: px average disparity is:0.353743 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:54.721] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:54.721] frame process finished the id is: 36 the obs is:0 -[09:36:54.823] Init: px average disparity is:0.325713 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:54.823] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:54.823] frame process finished the id is: 37 the obs is:0 -[09:36:54.925] Init: px average disparity is:0.336127 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:54.925] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:54.925] frame process finished the id is: 38 the obs is:0 -[09:36:55.026] Init: px average disparity is:0.339370 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:55.026] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:55.026] frame process finished the id is: 39 the obs is:0 -[09:36:55.128] Init: px average disparity is:0.341702 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:55.128] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:55.128] frame process finished the id is: 40 the obs is:0 -[09:36:55.221] Init: px average disparity is:0.322163 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:55.221] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:55.221] frame process finished the id is: 41 the obs is:0 -[09:36:55.320] Init: px average disparity is:0.327227 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:55.320] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:55.320] frame process finished the id is: 42 the obs is:0 -[09:36:55.426] Init: px average disparity is:0.337917 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:55.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:55.426] frame process finished the id is: 43 the obs is:0 -[09:36:55.521] Init: px average disparity is:0.347184 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:55.521] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:55.521] frame process finished the id is: 44 the obs is:0 -[09:36:55.621] Init: px average disparity is:0.345335 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:55.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:55.621] frame process finished the id is: 45 the obs is:0 -[09:36:55.727] Init: px average disparity is:0.349314 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:55.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:55.727] frame process finished the id is: 46 the obs is:0 -[09:36:55.823] Init: px average disparity is:0.325428 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:55.823] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:55.823] frame process finished the id is: 47 the obs is:0 -[09:36:55.923] Init: px average disparity is:0.333423 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:55.923] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:55.923] frame process finished the id is: 48 the obs is:0 -[09:36:56.023] Init: px average disparity is:0.322207 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:56.023] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:56.023] frame process finished the id is: 49 the obs is:0 -[09:36:56.123] Init: px average disparity is:0.332989 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:56.123] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:56.123] frame process finished the id is: 50 the obs is:0 -[09:36:56.227] Init: px average disparity is:0.326103 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:56.227] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:56.227] frame process finished the id is: 51 the obs is:0 -[09:36:56.328] Init: px average disparity is:0.338467 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:56.328] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:56.328] frame process finished the id is: 52 the obs is:0 -[09:36:56.427] Init: px average disparity is:0.351026 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:56.427] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:56.427] frame process finished the id is: 53 the obs is:0 -[09:36:56.527] Init: px average disparity is:0.344845 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:56.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:56.527] frame process finished the id is: 54 the obs is:0 -[09:36:56.627] Init: px average disparity is:0.332508 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:56.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:56.627] frame process finished the id is: 55 the obs is:0 -[09:36:56.730] Init: px average disparity is:0.340312 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:56.730] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:56.730] frame process finished the id is: 56 the obs is:0 -[09:36:56.823] Init: px average disparity is:0.359988 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:56.823] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:56.823] frame process finished the id is: 57 the obs is:0 -[09:36:56.924] Init: px average disparity is:0.342481 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:56.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:56.924] frame process finished the id is: 58 the obs is:0 -[09:36:57.023] Init: px average disparity is:0.336252 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:57.024] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:57.024] frame process finished the id is: 59 the obs is:0 -[09:36:57.122] Init: px average disparity is:0.332147 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:57.122] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:57.122] frame process finished the id is: 60 the obs is:0 -[09:36:57.220] Init: px average disparity is:0.330074 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:57.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:57.220] frame process finished the id is: 61 the obs is:0 -[09:36:57.319] Init: px average disparity is:0.344951 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:57.319] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:57.319] frame process finished the id is: 62 the obs is:0 -[09:36:57.419] Init: px average disparity is:0.336023 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:57.419] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:57.419] frame process finished the id is: 63 the obs is:0 -[09:36:57.519] Init: px average disparity is:0.336179 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:57.519] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:57.519] frame process finished the id is: 64 the obs is:0 -[09:36:57.619] Init: px average disparity is:0.331562 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:57.619] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:57.619] frame process finished the id is: 65 the obs is:0 -[09:36:57.719] Init: px average disparity is:0.343314 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:57.719] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:57.719] frame process finished the id is: 66 the obs is:0 -[09:36:57.819] Init: px average disparity is:0.344914 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:57.819] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:57.819] frame process finished the id is: 67 the obs is:0 -[09:36:57.922] Init: px average disparity is:0.343931 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:57.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:57.922] frame process finished the id is: 68 the obs is:0 -[09:36:58.019] Init: px average disparity is:0.342843 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:58.019] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:58.019] frame process finished the id is: 69 the obs is:0 -[09:36:58.120] Init: px average disparity is:0.319272 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:58.120] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:58.120] frame process finished the id is: 70 the obs is:0 -[09:36:58.220] Init: px average disparity is:0.332929 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:58.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:58.220] frame process finished the id is: 71 the obs is:0 -[09:36:58.320] Init: px average disparity is:0.335166 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:58.320] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:58.320] frame process finished the id is: 72 the obs is:0 -[09:36:58.420] Init: px average disparity is:0.322458 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:58.420] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:58.420] frame process finished the id is: 73 the obs is:0 -[09:36:58.520] Init: px average disparity is:0.333361 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:58.520] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:58.520] frame process finished the id is: 74 the obs is:0 -[09:36:58.621] Init: px average disparity is:0.364620 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:58.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:58.621] frame process finished the id is: 75 the obs is:0 -[09:36:58.720] Init: px average disparity is:0.361013 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:58.720] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:58.721] frame process finished the id is: 76 the obs is:0 -[09:36:58.822] Init: px average disparity is:0.352700 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:58.822] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:58.822] frame process finished the id is: 77 the obs is:0 -[09:36:58.921] Init: px average disparity is:0.342237 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:58.921] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:58.921] frame process finished the id is: 78 the obs is:0 -[09:36:58.965] Odometry x=0.000000, y=0.000000, theta=-0.000000 -[09:36:59.020] Init: px average disparity is:0.338066 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:59.020] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:59.020] frame process finished the id is: 79 the obs is:0 -[09:36:59.063] Odometry x=0.000001, y=0.033330, theta=-0.000007 -[09:36:59.120] Init: px average disparity is:0.342626 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:59.120] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:59.121] frame process finished the id is: 80 the obs is:0 -[09:36:59.165] Odometry x=0.000005, y=0.062598, theta=0.000440 -[09:36:59.226] Init: px average disparity is:6.551406 ,While minimum is: 10.000000 KLT tracked : 1212 -[09:36:59.226] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[09:36:59.226] frame process finished the id is: 81 the obs is:0 -[09:36:59.263] Odometry x=-0.000028, y=0.089868, theta=-0.006405 -[09:36:59.319] Init: px average disparity is:3.524687 ,While minimum is: 10.000000 KLT tracked : 1212 \ No newline at end of file +[11:32:17.330] Init: frame zero: 0.000000, 0.000000 0.000000 +[11:32:17.330] Init: Selected first frame. +[11:32:17.330] frame process finished the id is: 0 the obs is:0 +[11:32:17.354] Init: px average disparity is:0.096920 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:17.354] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:17.354] frame process finished the id is: 1 the obs is:0 +[11:32:17.448] Init: px average disparity is:0.120159 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:17.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:17.448] frame process finished the id is: 2 the obs is:0 +[11:32:17.549] Init: px average disparity is:0.166353 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:17.549] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:17.549] frame process finished the id is: 3 the obs is:0 +[11:32:17.650] Init: px average disparity is:0.191240 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:17.650] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:17.650] frame process finished the id is: 4 the obs is:0 +[11:32:17.746] Init: px average disparity is:0.207745 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:17.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:17.746] frame process finished the id is: 5 the obs is:0 +[11:32:17.854] Init: px average disparity is:0.227178 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:17.854] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:17.854] frame process finished the id is: 6 the obs is:0 +[11:32:17.956] Init: px average disparity is:0.236689 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:17.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:17.956] frame process finished the id is: 7 the obs is:0 +[11:32:18.057] Init: px average disparity is:0.269724 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:18.057] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:18.057] frame process finished the id is: 8 the obs is:0 +[11:32:18.159] Init: px average disparity is:0.279740 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:18.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:18.159] frame process finished the id is: 9 the obs is:0 +[11:32:18.259] Init: px average disparity is:0.324433 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:18.259] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:18.259] frame process finished the id is: 10 the obs is:0 +[11:32:18.359] Init: px average disparity is:0.332425 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:18.359] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:18.359] frame process finished the id is: 11 the obs is:0 +[11:32:18.458] Init: px average disparity is:0.360695 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:18.458] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:18.459] frame process finished the id is: 12 the obs is:0 +[11:32:18.560] Init: px average disparity is:0.331429 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:18.560] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:18.560] frame process finished the id is: 13 the obs is:0 +[11:32:18.658] Init: px average disparity is:0.364890 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:18.658] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:18.658] frame process finished the id is: 14 the obs is:0 +[11:32:18.757] Init: px average disparity is:0.336525 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:18.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:18.757] frame process finished the id is: 15 the obs is:0 +[11:32:18.857] Init: px average disparity is:0.393741 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:18.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:18.857] frame process finished the id is: 16 the obs is:0 +[11:32:18.958] Init: px average disparity is:0.365818 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:18.958] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:18.958] frame process finished the id is: 17 the obs is:0 +[11:32:19.056] Init: px average disparity is:0.362293 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:19.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:19.056] frame process finished the id is: 18 the obs is:0 +[11:32:19.158] Init: px average disparity is:0.361204 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:19.158] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:19.158] frame process finished the id is: 19 the obs is:0 +[11:32:19.246] Init: px average disparity is:0.348439 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:19.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:19.246] frame process finished the id is: 20 the obs is:0 +[11:32:19.337] Init: px average disparity is:0.350235 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:19.337] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:19.337] frame process finished the id is: 21 the obs is:0 +[11:32:19.458] Init: px average disparity is:0.355781 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:19.458] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:19.458] frame process finished the id is: 22 the obs is:0 +[11:32:19.559] Init: px average disparity is:0.350137 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:19.559] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:19.559] frame process finished the id is: 23 the obs is:0 +[11:32:19.657] Init: px average disparity is:0.351329 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:19.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:19.657] frame process finished the id is: 24 the obs is:0 +[11:32:19.757] Init: px average disparity is:0.309508 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:19.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:19.757] frame process finished the id is: 25 the obs is:0 +[11:32:19.858] Init: px average disparity is:0.347856 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:19.858] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:19.858] frame process finished the id is: 26 the obs is:0 +[11:32:19.959] Init: px average disparity is:0.323454 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:19.959] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:19.959] frame process finished the id is: 27 the obs is:0 +[11:32:20.056] Init: px average disparity is:0.334123 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:20.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:20.057] frame process finished the id is: 28 the obs is:0 +[11:32:20.161] Init: px average disparity is:0.373803 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:20.161] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:20.161] frame process finished the id is: 29 the obs is:0 +[11:32:20.242] Init: px average disparity is:0.323537 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:20.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:20.243] frame process finished the id is: 30 the obs is:0 +[11:32:20.338] Init: px average disparity is:0.339853 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:20.338] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:20.338] frame process finished the id is: 31 the obs is:0 +[11:32:20.440] Init: px average disparity is:0.355549 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:20.440] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:20.440] frame process finished the id is: 32 the obs is:0 +[11:32:20.538] Init: px average disparity is:0.327988 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:20.538] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:20.538] frame process finished the id is: 33 the obs is:0 +[11:32:20.638] Init: px average disparity is:0.334005 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:20.638] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:20.638] frame process finished the id is: 34 the obs is:0 +[11:32:20.739] Init: px average disparity is:0.329450 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:20.739] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:20.739] frame process finished the id is: 35 the obs is:0 +[11:32:20.841] Init: px average disparity is:0.353743 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:20.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:20.841] frame process finished the id is: 36 the obs is:0 +[11:32:20.937] Init: px average disparity is:0.325713 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:20.937] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:20.937] frame process finished the id is: 37 the obs is:0 +[11:32:21.038] Init: px average disparity is:0.336127 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:21.038] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:21.038] frame process finished the id is: 38 the obs is:0 +[11:32:21.141] Init: px average disparity is:0.339370 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:21.141] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:21.141] frame process finished the id is: 39 the obs is:0 +[11:32:21.237] Init: px average disparity is:0.341702 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:21.237] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:21.237] frame process finished the id is: 40 the obs is:0 +[11:32:21.422] Init: px average disparity is:0.322163 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:21.422] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:21.422] frame process finished the id is: 41 the obs is:0 +[11:32:21.446] Init: px average disparity is:0.327227 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:21.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:21.446] frame process finished the id is: 42 the obs is:0 +[11:32:21.556] Init: px average disparity is:0.337917 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:21.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:21.556] frame process finished the id is: 43 the obs is:0 +[11:32:21.655] Init: px average disparity is:0.347184 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:21.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:21.656] frame process finished the id is: 44 the obs is:0 +[11:32:21.757] Init: px average disparity is:0.345335 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:21.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:21.757] frame process finished the id is: 45 the obs is:0 +[11:32:21.857] Init: px average disparity is:0.349314 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:21.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:21.857] frame process finished the id is: 46 the obs is:0 +[11:32:21.959] Init: px average disparity is:0.325428 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:21.959] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:21.959] frame process finished the id is: 47 the obs is:0 +[11:32:22.057] Init: px average disparity is:0.333423 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:22.057] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:22.057] frame process finished the id is: 48 the obs is:0 +[11:32:22.157] Init: px average disparity is:0.322207 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:22.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:22.157] frame process finished the id is: 49 the obs is:0 +[11:32:22.259] Init: px average disparity is:0.332989 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:22.259] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:22.259] frame process finished the id is: 50 the obs is:0 +[11:32:22.357] Init: px average disparity is:0.326103 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:22.357] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:22.357] frame process finished the id is: 51 the obs is:0 +[11:32:22.457] Init: px average disparity is:0.338467 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:22.457] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:22.457] frame process finished the id is: 52 the obs is:0 +[11:32:22.558] Init: px average disparity is:0.351026 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:22.558] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:22.558] frame process finished the id is: 53 the obs is:0 +[11:32:22.658] Init: px average disparity is:0.344845 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:22.658] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:22.658] frame process finished the id is: 54 the obs is:0 +[11:32:22.757] Init: px average disparity is:0.332508 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:22.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:22.757] frame process finished the id is: 55 the obs is:0 +[11:32:22.857] Init: px average disparity is:0.340312 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:22.858] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:22.858] frame process finished the id is: 56 the obs is:0 +[11:32:22.956] Init: px average disparity is:0.359988 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:22.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:22.956] frame process finished the id is: 57 the obs is:0 +[11:32:23.058] Init: px average disparity is:0.342481 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:23.058] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:23.058] frame process finished the id is: 58 the obs is:0 +[11:32:23.157] Init: px average disparity is:0.336252 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:23.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:23.157] frame process finished the id is: 59 the obs is:0 +[11:32:23.258] Init: px average disparity is:0.332147 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:23.258] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:23.258] frame process finished the id is: 60 the obs is:0 +[11:32:23.360] Init: px average disparity is:0.330074 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:23.360] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:23.360] frame process finished the id is: 61 the obs is:0 +[11:32:23.462] Init: px average disparity is:0.344951 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:23.462] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:23.462] frame process finished the id is: 62 the obs is:0 +[11:32:23.554] Init: px average disparity is:0.336023 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:23.554] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:23.554] frame process finished the id is: 63 the obs is:0 +[11:32:23.657] Init: px average disparity is:0.336179 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:23.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:23.657] frame process finished the id is: 64 the obs is:0 +[11:32:23.756] Init: px average disparity is:0.331562 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:23.756] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:23.756] frame process finished the id is: 65 the obs is:0 +[11:32:23.857] Init: px average disparity is:0.343314 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:23.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:23.857] frame process finished the id is: 66 the obs is:0 +[11:32:23.957] Init: px average disparity is:0.344914 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:23.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:23.957] frame process finished the id is: 67 the obs is:0 +[11:32:24.058] Init: px average disparity is:0.343931 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:24.058] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:24.058] frame process finished the id is: 68 the obs is:0 +[11:32:24.157] Init: px average disparity is:0.342843 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:24.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:24.157] frame process finished the id is: 69 the obs is:0 +[11:32:24.258] Init: px average disparity is:0.319272 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:24.258] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:24.258] frame process finished the id is: 70 the obs is:0 +[11:32:24.358] Init: px average disparity is:0.332929 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:24.358] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:24.358] frame process finished the id is: 71 the obs is:0 +[11:32:24.458] Init: px average disparity is:0.335166 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:24.458] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:24.458] frame process finished the id is: 72 the obs is:0 +[11:32:24.557] Init: px average disparity is:0.322458 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:24.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:24.557] frame process finished the id is: 73 the obs is:0 +[11:32:24.671] Init: px average disparity is:0.333361 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:24.671] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:24.671] frame process finished the id is: 74 the obs is:0 +[11:32:24.757] Init: px average disparity is:0.364620 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:24.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:24.757] frame process finished the id is: 75 the obs is:0 +[11:32:24.865] Init: px average disparity is:0.361013 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:24.865] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:24.865] frame process finished the id is: 76 the obs is:0 +[11:32:24.956] Init: px average disparity is:0.352700 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:24.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:24.957] frame process finished the id is: 77 the obs is:0 +[11:32:25.058] Init: px average disparity is:0.342237 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:25.058] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:25.058] frame process finished the id is: 78 the obs is:0 +[11:32:25.084] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[11:32:25.158] Init: px average disparity is:0.338066 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:25.158] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:25.158] frame process finished the id is: 79 the obs is:0 +[11:32:25.185] Odometry x=0.000001, y=0.031996, theta=-0.000009 +[11:32:25.260] Init: px average disparity is:0.342626 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:25.260] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:25.260] frame process finished the id is: 80 the obs is:0 +[11:32:25.284] Odometry x=0.000006, y=0.059582, theta=0.000466 +[11:32:25.368] Init: px average disparity is:6.551406 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:25.368] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:25.368] frame process finished the id is: 81 the obs is:0 +[11:32:25.382] Odometry x=0.000020, y=0.085205, theta=0.001202 +[11:32:25.460] Init: px average disparity is:3.524687 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:25.460] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:25.460] frame process finished the id is: 82 the obs is:0 +[11:32:25.481] Odometry x=-0.000021, y=0.110075, theta=0.002741 +[11:32:25.560] Init: px average disparity is:5.077399 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:25.560] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:25.560] frame process finished the id is: 83 the obs is:0 +[11:32:25.581] Odometry x=-0.000087, y=0.134640, theta=0.005900 +[11:32:25.662] Init: px average disparity is:4.551499 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:25.662] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:25.662] frame process finished the id is: 84 the obs is:0 +[11:32:25.675] Odometry x=-0.000206, y=0.159072, theta=0.007554 +[11:32:25.764] Init: px average disparity is:6.954029 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:25.764] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:25.764] frame process finished the id is: 85 the obs is:0 +[11:32:25.781] Odometry x=-0.000404, y=0.183499, theta=0.005726 +[11:32:25.862] Init: px average disparity is:8.102174 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:25.862] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:25.862] frame process finished the id is: 86 the obs is:0 +[11:32:25.882] Odometry x=-0.000535, y=0.207888, theta=0.009038 +[11:32:25.986] Odometry x=-0.000728, y=0.232270, theta=0.012466 +[11:32:26.070] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:12.099699 ,While minimum is: 10.000000 KLT tracked: 1212 +[11:32:26.070] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:26.070] frame process finished the id is: 87 the obs is:0 +[11:32:26.082] Odometry x=-0.001044, y=0.256663, theta=0.009062 +[11:32:26.096] Init: px average disparity is:9.941098 ,While minimum is: 10.000000 KLT tracked : 1212 +[11:32:26.096] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:32:26.096] frame process finished the id is: 88 the obs is:0 +[11:32:26.180] Odometry x=-0.001251, y=0.281037, theta=0.008997 +[11:32:26.215] Init finished: Homography RANSAC (inlier) is:176 ,While 50 inliers minimum required. px average disparity is:11.320633 ,While minimum is: 10.000000 KLT tracked: 1212 +[11:32:26.215] Init: distance between the first and current frame is x:-0.001474 ,z=0.305438,angle between two frames: 0.011551 +[11:32:26.215] Init: Selected Second frame. The number of features: 176 depth mean:-0.431382 min:-1.054871 +[11:32:26.215] frame process finished the id is: 89 the obs is:176 +[11:32:26.279] Odometry x=-0.001474, y=0.305438, theta=0.011551 +[11:32:26.331] After Reprojection Map nMatches:190 ,distance between ekf and vo x:0.000037 ,z=-0.000043,angle between two frames:0.000112 +[11:32:26.331] n deleted obs = 35 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =155 error init =0.018453 error end=0.018453 +[11:32:26.331] After pose optimization, distance between ekf and vo x:0.000037 ,z=-0.000043,angle between two frames:0.000112 +[11:32:26.331] Update EKF and 3D points the number of feature in the new frame: 155 and number of obs: 155 +[11:32:26.332] need key frame pitch dis: 0.011460 translation dif:0.309115 +[11:32:26.332] Choose frame as a key frame Scene Depth mean:-0.286836 ,depth min:-1.022053 +[11:32:26.332] frame process finished the id is: 90 the obs is:155 +[11:32:26.378] Odometry x=-0.001483, y=0.309112, theta=0.011460 +[11:32:26.465] After Reprojection Map nMatches:265 ,distance between ekf and vo x:0.000101 ,z=-0.000225,angle between two frames:0.000306 +[11:32:26.466] n deleted obs = 52 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =213 error init =0.015022 error end=0.014173 +[11:32:26.466] After pose optimization, distance between ekf and vo x:-0.002982 ,z=-0.011829,angle between two frames:0.008450 +[11:32:26.466] Update EKF and 3D points the number of feature in the new frame: 213 and number of obs: 213 +[11:32:26.468] need key frame pitch dis: 0.020496 translation dif:0.109230 +[11:32:26.468] Choose frame as a key frame Scene Depth mean:-0.383560 ,depth min:-4.324615 +[11:32:26.468] frame process finished the id is: 91 the obs is:213 +[11:32:26.481] Odometry x=-0.004041, y=0.303543, theta=0.018824 +[11:32:26.580] Odometry x=-0.004549, y=0.330945, theta=0.018343 +[11:32:26.612] After Reprojection Map nMatches:281 ,distance between ekf and vo x:0.000005 ,z=-0.000015,angle between two frames:0.000011 +[11:32:26.613] n deleted obs = 50 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =231 error init =0.010394 error end=0.010069 +[11:32:26.613] After pose optimization, distance between ekf and vo x:0.001030 ,z=0.000331,angle between two frames:0.002532 +[11:32:26.613] Update EKF and 3D points the number of feature in the new frame: 231 and number of obs: 231 +[11:32:26.617] need key frame pitch dis: 3.102728 translation dif:0.067422 +[11:32:26.617] Choose frame as a key frame Scene Depth mean:-0.236570 ,depth min:-4.251899 +[11:32:26.617] frame process finished the id is: 92 the obs is:231 +[11:32:26.682] Odometry x=-0.003319, y=0.312034, theta=0.023730 +[11:32:26.776] After Reprojection Map nMatches:360 ,distance between ekf and vo x:0.000010 ,z=-0.000020,angle between two frames:0.000027 +[11:32:26.776] n deleted obs = 91 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =269 error init =0.151705 error end=0.151705 +[11:32:26.776] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000020,angle between two frames:0.000027 +[11:32:26.776] Update EKF and 3D points the number of feature in the new frame: 269 and number of obs: 269 +[11:32:26.780] need key frame pitch dis: 3.156125 translation dif:0.431282 +[11:32:26.780] Choose frame as a key frame Scene Depth mean:-0.132685 ,depth min:-9.544774 +[11:32:26.780] frame process finished the id is: 93 the obs is:269 +[11:32:26.781] Odometry x=-0.003402, y=0.316395, theta=0.024196 +[11:32:26.880] Odometry x=-0.004104, y=0.343784, theta=0.015783 +[11:32:26.943] After Reprojection Map nMatches:391 ,distance between ekf and vo x:0.000015 ,z=-0.000098,angle between two frames:0.000007 +[11:32:26.944] n deleted obs = 131 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =260 error init =0.027811 error end=0.027811 +[11:32:26.944] After pose optimization, distance between ekf and vo x:0.000015 ,z=-0.000098,angle between two frames:0.000007 +[11:32:26.944] Update EKF and 3D points the number of feature in the new frame: 260 and number of obs: 260 +[11:32:26.946] need key frame pitch dis: 0.052741 translation dif:0.044082 +[11:32:26.946] frame process finished the id is: 94 the obs is:260 +[11:32:26.982] Odometry x=-0.003562, y=0.324527, theta=0.024337 +[11:32:27.081] Odometry x=-0.004212, y=0.351895, theta=0.027853 +[11:32:27.114] After Reprojection Map nMatches:336 ,distance between ekf and vo x:-0.000007 ,z=-0.000181,angle between two frames:0.000006 +[11:32:27.115] n deleted obs = 64 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =272 error init =0.025647 error end=0.025647 +[11:32:27.115] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000181,angle between two frames:0.000006 +[11:32:27.115] Update EKF and 3D points the number of feature in the new frame: 272 and number of obs: 272 +[11:32:27.117] need key frame pitch dis: 0.053851 translation dif:0.051426 +[11:32:27.117] frame process finished the id is: 95 the obs is:272 +[11:32:27.179] Odometry x=-0.003774, y=0.332586, theta=0.025447 +[11:32:27.277] After Reprojection Map nMatches:392 ,distance between ekf and vo x:-0.000005 ,z=-0.000013,angle between two frames:0.000000 +[11:32:27.278] n deleted obs = 93 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =299 error init =0.029747 error end=0.029747 +[11:32:27.278] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000013,angle between two frames:0.000000 +[11:32:27.278] Update EKF and 3D points the number of feature in the new frame: 299 and number of obs: 299 +[11:32:27.280] need key frame pitch dis: 0.055652 translation dif:0.055478 +[11:32:27.280] frame process finished the id is: 96 the obs is:299 +[11:32:27.292] Odometry x=-0.003879, y=0.336938, theta=0.027248 +[11:32:27.386] Odometry x=-0.004653, y=0.364328, theta=0.022051 +[11:32:27.439] After Reprojection Map nMatches:401 ,distance between ekf and vo x:-0.000002 ,z=-0.000037,angle between two frames:0.000003 +[11:32:27.441] n deleted obs = 62 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =339 error init =0.103242 error end=0.042839 +[11:32:27.441] After pose optimization, distance between ekf and vo x:0.035938 ,z=0.078177,angle between two frames:0.025780 +[11:32:27.441] Update EKF and 3D points the number of feature in the new frame: 339 and number of obs: 339 +[11:32:27.443] need key frame pitch dis: 0.032166 translation dif:0.135588 +[11:32:27.443] Choose frame as a key frame Scene Depth mean:-0.026640 ,depth min:-6.870626 +[11:32:27.443] frame process finished the id is: 97 the obs is:339 +[11:32:27.484] Odometry x=0.026293, y=0.411194, theta=0.003762 +[11:32:27.576] Odometry x=0.026152, y=0.438582, theta=-0.006887 +[11:32:27.617] After Reprojection Map nMatches:411 ,distance between ekf and vo x:0.000034 ,z=-0.000081,angle between two frames:0.000005 +[11:32:27.618] n deleted obs = 80 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =331 error init =0.027805 error end=0.027805 +[11:32:27.618] After pose optimization, distance between ekf and vo x:0.000034 ,z=-0.000081,angle between two frames:0.000005 +[11:32:27.618] Update EKF and 3D points the number of feature in the new frame: 331 and number of obs: 331 +[11:32:27.621] need key frame pitch dis: 3.116656 translation dif:0.246529 +[11:32:27.621] Choose frame as a key frame Scene Depth mean:-0.542208 ,depth min:-72.710638 +[11:32:27.621] frame process finished the id is: 98 the obs is:331 +[11:32:27.679] Odometry x=0.026328, y=0.419340, theta=0.002090 +[11:32:27.779] After Reprojection Map nMatches:401 ,distance between ekf and vo x:0.000073 ,z=-0.000008,angle between two frames:0.000004 +[11:32:27.779] n deleted obs = 87 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =314 error init =2.703475 error end=0.207958 +[11:32:27.779] After pose optimization, distance between ekf and vo x:-0.306685 ,z=-0.220684,angle between two frames:0.050956 +[11:32:27.779] frame process finished the id is: 98 the obs is:331 +[11:32:27.781] Odometry x=0.026231, y=0.446720, theta=-0.005001 +[11:32:27.879] Odometry x=0.026352, y=0.472278, theta=0.001596 +[11:32:27.925] After Reprojection Map nMatches:404 ,distance between ekf and vo x:-0.000018 ,z=-0.000051,angle between two frames:0.000001 +[11:32:27.927] n deleted obs = 89 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =315 error init =0.030853 error end=0.030307 +[11:32:27.927] After pose optimization, distance between ekf and vo x:-0.012245 ,z=-0.004072,angle between two frames:0.000276 +[11:32:27.927] Update EKF and 3D points the number of feature in the new frame: 315 and number of obs: 315 +[11:32:27.930] need key frame pitch dis: 3.128348 translation dif:0.247930 +[11:32:27.930] Choose frame as a key frame Scene Depth mean:-0.262903 ,depth min:-29.491323 +[11:32:27.930] frame process finished the id is: 100 the obs is:315 +[11:32:27.981] Odometry x=0.015898, y=0.450992, theta=-0.005523 +[11:32:28.073] After Reprojection Map nMatches:402 ,distance between ekf and vo x:0.000002 ,z=0.000001,angle between two frames:0.000000 +[11:32:28.074] n deleted obs = 97 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =305 error init =0.036685 error end=0.036685 +[11:32:28.074] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000001,angle between two frames:0.000000 +[11:32:28.074] Update EKF and 3D points the number of feature in the new frame: 305 and number of obs: 305 +[11:32:28.077] need key frame pitch dis: 3.101580 translation dif:0.543103 +[11:32:28.077] Choose frame as a key frame Scene Depth mean:-0.591945 ,depth min:-84.031884 +[11:32:28.077] frame process finished the id is: 101 the obs is:305 +[11:32:28.078] Odometry x=0.015911, y=0.455374, theta=-0.007854 +[11:32:28.181] Odometry x=0.016234, y=0.482763, theta=0.013110 +[11:32:28.274] Odometry x=0.015862, y=0.508324, theta=0.022683 +[11:32:28.386] Odometry x=0.015247, y=0.533170, theta=0.033285 +[11:32:28.402] After Reprojection Map nMatches:430 ,distance between ekf and vo x:-0.000001 ,z=0.000018,angle between two frames:0.000000 +[11:32:28.425] n deleted obs = 108 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =322 error init =0.024234 error end=0.024234 +[11:32:28.425] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000018,angle between two frames:0.000000 +[11:32:28.425] Update EKF and 3D points the number of feature in the new frame: 322 and number of obs: 322 +[11:32:28.430] need key frame pitch dis: 3.118440 translation dif:0.669385 +[11:32:28.430] Choose frame as a key frame Scene Depth mean:-0.409449 ,depth min:-6.247414 +[11:32:28.430] frame process finished the id is: 102 the obs is:322 +[11:32:28.487] Odometry x=0.015725, y=0.471035, theta=0.000218 +[11:32:28.583] Odometry x=0.015760, y=0.498409, theta=0.008975 +[11:32:28.680] Odometry x=0.015539, y=0.523952, theta=0.001274 +[11:32:28.780] Odometry x=0.015507, y=0.548782, theta=0.005282 +[11:32:28.880] Odometry x=0.015382, y=0.573335, theta=0.005073 +[11:32:28.963] After Reprojection Map nMatches:459 ,distance between ekf and vo x:-0.000015 ,z=-0.000022,angle between two frames:0.000001 +[11:32:28.976] Odometry x=0.015258, y=0.597795, theta=0.009327 +[11:32:29.074] Odometry x=0.015032, y=0.622232, theta=0.011322 +[11:32:29.176] Odometry x=0.014750, y=0.646617, theta=0.013988 +[11:32:29.277] Odometry x=0.014398, y=0.671003, theta=0.015433 +[11:32:29.377] Odometry x=0.014007, y=0.695409, theta=0.012154 +[11:32:29.479] Odometry x=0.013712, y=0.719800, theta=0.014397 +[11:32:29.578] Odometry x=0.013372, y=0.744210, theta=0.017445 +[11:32:29.680] Odometry x=0.012934, y=0.768590, theta=0.017710 +[11:32:29.777] Odometry x=0.012514, y=0.792986, theta=0.021833 +[11:32:29.877] Odometry x=0.011986, y=0.817380, theta=0.024094 +[11:32:29.968] n deleted obs = 83 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =376 error init =0.018778 error end=0.018761 +[11:32:29.968] After pose optimization, distance between ekf and vo x:0.000426 ,z=-0.000365,angle between two frames:0.000428 +[11:32:29.968] Update EKF and 3D points the number of feature in the new frame: 376 and number of obs: 376 +[11:32:29.976] need key frame pitch dis: 3.128084 translation dif:0.641537 +[11:32:29.976] Choose frame as a key frame Scene Depth mean:-0.014445 ,depth min:-6.308068 +[11:32:29.976] frame process finished the id is: 103 the obs is:376 +[11:32:29.978] Odometry x=0.015444, y=0.527244, theta=0.002840 +[11:32:30.075] Odometry x=0.015323, y=0.554601, theta=-0.003745 +[11:32:30.180] Odometry x=0.015418, y=0.580158, theta=-0.007601 +[11:32:30.282] Odometry x=0.015604, y=0.605005, theta=-0.007674 +[11:32:30.374] Odometry x=0.015803, y=0.629567, theta=-0.010975 +[11:32:30.477] Odometry x=0.016091, y=0.654027, theta=-0.012322 +[11:32:30.491] After Reprojection Map nMatches:550 ,distance between ekf and vo x:0.000017 ,z=0.000005,angle between two frames:0.000005 +[11:32:30.492] n deleted obs = 116 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =434 error init =0.010660 error end=0.010660 +[11:32:30.492] After pose optimization, distance between ekf and vo x:0.000017 ,z=0.000005,angle between two frames:0.000005 +[11:32:30.492] Update EKF and 3D points the number of feature in the new frame: 434 and number of obs: 434 +[11:32:30.497] need key frame pitch dis: 3.139714 translation dif:0.475743 +[11:32:30.497] Choose frame as a key frame Scene Depth mean:-0.072726 ,depth min:-6.332547 +[11:32:30.497] frame process finished the id is: 104 the obs is:434 +[11:32:30.579] Odometry x=0.015591, y=0.550309, theta=0.000926 +[11:32:30.681] Odometry x=0.015567, y=0.577669, theta=0.001165 +[11:32:30.780] Odometry x=0.015542, y=0.603245, theta=-0.003613 +[11:32:30.831] After Reprojection Map nMatches:675 ,distance between ekf and vo x:-0.000014 ,z=-0.000001,angle between two frames:0.000001 +[11:32:30.833] n deleted obs = 119 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =556 error init =0.037529 error end=0.037529 +[11:32:30.833] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000001,angle between two frames:0.000001 +[11:32:30.833] Update EKF and 3D points the number of feature in the new frame: 556 and number of obs: 556 +[11:32:30.842] need key frame pitch dis: 3.115849 translation dif:0.455984 +[11:32:30.843] Choose frame as a key frame Scene Depth mean:-0.102017 ,depth min:-9.992358 +[11:32:30.858] frame process finished the id is: 105 the obs is:556 +[11:32:30.882] Odometry x=0.015574, y=0.562243, theta=0.000590 +[11:32:30.980] Odometry x=0.015510, y=0.589601, theta=-0.007756 +[11:32:31.077] Odometry x=0.015699, y=0.615140, theta=-0.006833 +[11:32:31.181] Odometry x=0.015857, y=0.639965, theta=-0.001587 +[11:32:31.282] Odometry x=0.015870, y=0.664517, theta=0.008842 +[11:32:31.378] Odometry x=0.015670, y=0.688967, theta=0.019389 +[11:32:31.487] Odometry x=0.015187, y=0.713374, theta=0.022752 +[11:32:31.509] After Reprojection Map nMatches:602 ,distance between ekf and vo x:-0.000025 ,z=-0.000009,angle between two frames:0.000001 +[11:32:31.580] Odometry x=0.014657, y=0.737765, theta=0.031203 +[11:32:31.630] n deleted obs = 96 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =506 error init =0.007685 error end=0.007681 +[11:32:31.630] After pose optimization, distance between ekf and vo x:-0.000247 ,z=-0.000074,angle between two frames:0.000022 +[11:32:31.630] Update EKF and 3D points the number of feature in the new frame: 506 and number of obs: 506 +[11:32:31.637] need key frame pitch dis: 3.135212 translation dif:0.476473 +[11:32:31.638] Choose frame as a key frame Scene Depth mean:-0.044486 ,depth min:-10.085976 +[11:32:31.658] frame process finished the id is: 106 the obs is:506 +[11:32:31.681] Odometry x=0.015142, y=0.592644, theta=0.006130 +[11:32:31.780] Odometry x=0.014818, y=0.620009, theta=-0.018648 +[11:32:31.882] Odometry x=0.015305, y=0.645550, theta=-0.019617 +[11:32:31.979] Odometry x=0.015746, y=0.670386, theta=-0.012404 +[11:32:32.082] Odometry x=0.016033, y=0.694945, theta=-0.008503 +[11:32:32.120] After Reprojection Map nMatches:688 ,distance between ekf and vo x:-0.000008 ,z=0.000001,angle between two frames:0.000001 +[11:32:32.122] n deleted obs = 165 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =523 error init =0.048481 error end=0.048481 +[11:32:32.122] After pose optimization, distance between ekf and vo x:-0.000008 ,z=0.000001,angle between two frames:0.000001 +[11:32:32.122] Update EKF and 3D points the number of feature in the new frame: 523 and number of obs: 523 +[11:32:32.125] need key frame pitch dis: 3.111961 translation dif:0.512741 +[11:32:32.126] Choose frame as a key frame Scene Depth mean:-14.428677 ,depth min:-922.205821 +[11:32:32.126] frame process finished the id is: 107 the obs is:523 +[11:32:32.177] Odometry x=0.015303, y=0.611991, theta=0.003962 +[11:32:32.280] Odometry x=0.015146, y=0.639362, theta=-0.004296 +[11:32:32.382] Odometry x=0.015239, y=0.664915, theta=-0.000768 +[11:32:32.483] Odometry x=0.015243, y=0.689751, theta=0.000953 +[11:32:32.576] Odometry x=0.015220, y=0.714323, theta=-0.004777 +[11:32:32.622] After Reprojection Map nMatches:704 ,distance between ekf and vo x:-0.000011 ,z=0.000039,angle between two frames:0.000000 +[11:32:32.624] n deleted obs = 180 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =524 error init =0.020284 error end=0.020284 +[11:32:32.624] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000039,angle between two frames:0.000000 +[11:32:32.624] Update EKF and 3D points the number of feature in the new frame: 524 and number of obs: 524 +[11:32:32.628] need key frame pitch dis: 3.113562 translation dif:0.523407 +[11:32:32.628] Choose frame as a key frame Scene Depth mean:-15.366708 ,depth min:-923.243252 +[11:32:32.628] frame process finished the id is: 108 the obs is:524 +[11:32:32.676] Odometry x=0.015298, y=0.631368, theta=0.002115 +[11:32:32.777] Odometry x=0.015251, y=0.658724, theta=0.000721 +[11:32:32.880] Odometry x=0.015254, y=0.684280, theta=-0.005880 +[11:32:32.982] Odometry x=0.015399, y=0.709088, theta=0.000264 +[11:32:33.006] After Reprojection Map nMatches:705 ,distance between ekf and vo x:-0.000020 ,z=0.000077,angle between two frames:0.000000 +[11:32:33.080] Odometry x=0.015376, y=0.733651, theta=0.005315 +[11:32:33.178] Odometry x=0.015244, y=0.758103, theta=0.010702 +[11:32:33.280] Odometry x=0.014968, y=0.782522, theta=0.009203 +[11:32:33.297] n deleted obs = 130 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =575 error init =0.017708 error end=0.017704 +[11:32:33.297] After pose optimization, distance between ekf and vo x:-0.004673 ,z=0.002358,angle between two frames:0.000113 +[11:32:33.297] Update EKF and 3D points the number of feature in the new frame: 575 and number of obs: 575 +[11:32:33.306] need key frame pitch dis: 3.072346 translation dif:0.574377 +[11:32:33.306] Choose frame as a key frame Scene Depth mean:-13.031509 ,depth min:-922.274546 +[11:32:33.307] frame process finished the id is: 109 the obs is:575 +[11:32:33.380] Odometry x=0.013565, y=0.769541, theta=0.007495 +[11:32:33.482] Odometry x=0.013411, y=0.793926, theta=0.009405 +[11:32:33.583] Odometry x=0.013160, y=0.818329, theta=0.008947 +[11:32:33.681] Odometry x=0.012966, y=0.842723, theta=0.010498 +[11:32:33.778] Odometry x=0.012732, y=0.867124, theta=0.013822 +[11:32:33.874] Odometry x=0.012407, y=0.891520, theta=0.019807 +[11:32:33.949] After Reprojection Map nMatches:783 ,distance between ekf and vo x:-0.000011 ,z=0.000035,angle between two frames:0.000000 +[11:32:33.980] Odometry x=0.011923, y=0.915916, theta=0.025734 +[11:32:34.079] Odometry x=0.011302, y=0.940301, theta=0.024456 +[11:32:34.176] Odometry x=0.010686, y=0.964651, theta=0.018391 +[11:32:34.244] n deleted obs = 218 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =565 error init =0.022388 error end=0.022387 +[11:32:34.244] After pose optimization, distance between ekf and vo x:-0.000063 ,z=0.000034,angle between two frames:0.000000 +[11:32:34.244] Update EKF and 3D points the number of feature in the new frame: 565 and number of obs: 565 +[11:32:34.252] need key frame pitch dis: 3.094426 translation dif:0.746329 +[11:32:34.253] Choose frame as a key frame Scene Depth mean:-0.109958 ,depth min:-18.970613 +[11:32:34.253] frame process finished the id is: 110 the obs is:565 +[11:32:34.282] Odometry x=0.013013, y=0.803024, theta=0.009316 +[11:32:34.380] Odometry x=0.012727, y=0.830400, theta=0.004532 +[11:32:34.482] Odometry x=0.012600, y=0.855965, theta=0.008531 +[11:32:34.582] Odometry x=0.012402, y=0.880792, theta=0.009045 +[11:32:34.679] Odometry x=0.012171, y=0.905335, theta=0.012706 +[11:32:34.781] Odometry x=0.011856, y=0.929801, theta=0.010278 +[11:32:34.867] After Reprojection Map nMatches:723 ,distance between ekf and vo x:-0.000001 ,z=-0.000099,angle between two frames:0.000000 +[11:32:34.879] Odometry x=0.011622, y=0.954173, theta=0.007220 +[11:32:34.981] Odometry x=0.011446, y=0.978570, theta=0.008312 +[11:32:35.083] Odometry x=0.011237, y=1.002969, theta=0.007838 +[11:32:35.144] n deleted obs = 110 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =613 error init =0.015481 error end=0.015392 +[11:32:35.145] After pose optimization, distance between ekf and vo x:-0.001339 ,z=0.022006,angle between two frames:0.002693 +[11:32:35.145] Update EKF and 3D points the number of feature in the new frame: 613 and number of obs: 613 +[11:32:35.151] need key frame pitch dis: 3.093285 translation dif:0.810285 +[11:32:35.151] Choose frame as a key frame Scene Depth mean:-0.724512 ,depth min:-66.132653 +[11:32:35.152] frame process finished the id is: 111 the obs is:613 +[11:32:35.180] Odometry x=0.011583, y=0.855869, theta=0.006003 +[11:32:35.282] Odometry x=0.011517, y=0.883248, theta=0.021235 +[11:32:35.383] Odometry x=0.011517, y=0.883248, theta=0.021235 +[11:32:35.481] Odometry x=0.010983, y=0.908801, theta=0.017314 +[11:32:35.583] Odometry x=0.010560, y=0.933529, theta=0.007593 +[11:32:35.682] Odometry x=0.010560, y=0.933529, theta=0.007593 +[11:32:35.783] After Reprojection Map nMatches:615 ,distance between ekf and vo x:-0.000013 ,z=0.000009,angle between two frames:0.000000 +[11:32:35.788] Odometry x=0.010560, y=0.955403, theta=0.019692 +[11:32:35.882] Odometry x=0.009969, y=0.977114, theta=0.012441 +[11:32:35.979] Odometry x=0.009619, y=1.000552, theta=0.003926 +[11:32:36.058] n deleted obs = 99 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =516 error init =0.016885 error end=0.016885 +[11:32:36.058] After pose optimization, distance between ekf and vo x:-0.000030 ,z=0.000013,angle between two frames:0.000107 +[11:32:36.058] Update EKF and 3D points the number of feature in the new frame: 516 and number of obs: 516 +[11:32:36.064] need key frame pitch dis: 3.131407 translation dif:0.800670 +[11:32:36.064] Choose frame as a key frame Scene Depth mean:-0.669719 ,depth min:-66.155746 +[11:32:36.064] frame process finished the id is: 112 the obs is:516 +[11:32:36.084] Odometry x=0.011267, y=0.881443, theta=0.007229 +[11:32:36.181] Odometry x=0.011197, y=0.908804, theta=0.028173 +[11:32:36.283] Odometry x=0.010441, y=0.934326, theta=0.041033 +[11:32:36.374] Odometry x=0.009418, y=0.959141, theta=0.040768 +[11:32:36.391] After Reprojection Map nMatches:538 ,distance between ekf and vo x:-0.000025 ,z=0.000010,angle between two frames:0.000002 +[11:32:36.475] Odometry x=0.008451, y=0.983666, theta=0.033538 +[11:32:36.571] n deleted obs = 103 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =435 error init =0.013066 error end=0.013066 +[11:32:36.571] After pose optimization, distance between ekf and vo x:-0.000025 ,z=0.000010,angle between two frames:0.000002 +[11:32:36.571] Update EKF and 3D points the number of feature in the new frame: 435 and number of obs: 435 +[11:32:36.575] need key frame pitch dis: 3.113797 translation dif:0.784460 +[11:32:36.575] Choose frame as a key frame Scene Depth mean:-1.060066 ,depth min:-66.166889 +[11:32:36.576] frame process finished the id is: 113 the obs is:435 +[11:32:36.588] Odometry x=0.010707, y=0.900775, theta=0.010097 +[11:32:36.674] Odometry x=0.010495, y=0.928126, theta=0.022625 +[11:32:36.774] Odometry x=0.009912, y=0.953646, theta=0.028105 +[11:32:36.879] Odometry x=0.009257, y=0.978484, theta=0.023627 +[11:32:36.965] After Reprojection Map nMatches:650 ,distance between ekf and vo x:-0.000002 ,z=-0.000023,angle between two frames:0.000000 +[11:32:36.979] Odometry x=0.008679, y=1.003038, theta=0.027125 +[11:32:37.031] n deleted obs = 167 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =483 error init =0.036249 error end=0.036096 +[11:32:37.031] After pose optimization, distance between ekf and vo x:-0.009956 ,z=0.003148,angle between two frames:0.009344 +[11:32:37.031] Update EKF and 3D points the number of feature in the new frame: 483 and number of obs: 483 +[11:32:37.035] need key frame pitch dis: 3.083646 translation dif:0.779916 +[11:32:37.035] Choose frame as a key frame Scene Depth mean:-0.998488 ,depth min:-66.153800 +[11:32:37.035] frame process finished the id is: 114 the obs is:483 +[11:32:37.088] Odometry x=0.001844, y=0.922761, theta=0.019678 +[11:32:37.180] Odometry x=0.001350, y=0.950090, theta=0.028789 +[11:32:37.280] Odometry x=0.000606, y=0.975621, theta=0.039012 +[11:32:37.380] Odometry x=-0.000339, y=1.000393, theta=0.034075 +[11:32:37.387] After Reprojection Map nMatches:573 ,distance between ekf and vo x:-0.000006 ,z=-0.000004,angle between two frames:0.000000 +[11:32:37.489] Odometry x=-0.001138, y=1.024956, theta=0.019610 +[11:32:37.585] Odometry x=-0.001593, y=1.049412, theta=0.023173 +[11:32:37.677] Odometry x=-0.002172, y=1.073801, theta=0.030600 +[11:32:37.755] n deleted obs = 168 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =405 error init =0.061555 error end=0.060755 +[11:32:37.755] After pose optimization, distance between ekf and vo x:-0.026395 ,z=-0.002455,angle between two frames:0.000594 +[11:32:37.755] Update EKF and 3D points the number of feature in the new frame: 405 and number of obs: 405 +[11:32:37.762] need key frame pitch dis: 3.097624 translation dif:0.807675 +[11:32:37.762] Choose frame as a key frame Scene Depth mean:-0.845741 ,depth min:-30.785237 +[11:32:37.778] frame process finished the id is: 115 the obs is:405 +[11:32:37.789] Odometry x=-0.021233, y=0.947404, theta=0.024379 +[11:32:37.882] Odometry x=-0.021832, y=0.974769, theta=0.034313 +[11:32:37.981] Odometry x=-0.022706, y=1.000311, theta=0.027427 +[11:32:38.082] Odometry x=-0.023339, y=1.025128, theta=0.013473 +[11:32:38.122] After Reprojection Map nMatches:583 ,distance between ekf and vo x:-0.000010 ,z=-0.000007,angle between two frames:0.000000 +[11:32:38.181] Odometry x=-0.023644, y=1.049667, theta=0.004392 +[11:32:38.277] Odometry x=-0.023765, y=1.074117, theta=0.008210 +[11:32:38.287] n deleted obs = 149 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =434 error init =0.035989 error end=0.035964 +[11:32:38.287] After pose optimization, distance between ekf and vo x:-0.001030 ,z=0.000026,angle between two frames:0.000003 +[11:32:38.287] Update EKF and 3D points the number of feature in the new frame: 434 and number of obs: 434 +[11:32:38.292] need key frame pitch dis: 3.021011 translation dif:0.951317 +[11:32:38.292] Choose frame as a key frame Scene Depth mean:-0.706635 ,depth min:-8.704209 +[11:32:38.292] frame process finished the id is: 116 the obs is:434 +[11:32:38.382] Odometry x=-0.023745, y=1.067427, theta=0.024636 +[11:32:38.484] Odometry x=-0.024362, y=1.091799, theta=0.030882 +[11:32:38.578] Odometry x=-0.025108, y=1.116210, theta=0.027117 +[11:32:38.680] Odometry x=-0.025769, y=1.140589, theta=0.014314 +[11:32:38.721] After Reprojection Map nMatches:644 ,distance between ekf and vo x:-0.000017 ,z=0.000018,angle between two frames:0.000001 +[11:32:38.776] Odometry x=-0.026113, y=1.164973, theta=0.009481 +[11:32:38.785] n deleted obs = 168 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =476 error init =0.024380 error end=0.023777 +[11:32:38.785] After pose optimization, distance between ekf and vo x:-0.028703 ,z=0.010089,angle between two frames:0.006334 +[11:32:38.785] Update EKF and 3D points the number of feature in the new frame: 476 and number of obs: 476 +[11:32:38.792] need key frame pitch dis: 3.011969 translation dif:1.038597 +[11:32:38.792] Choose frame as a key frame Scene Depth mean:-0.301384 ,depth min:-11.415562 +[11:32:38.793] frame process finished the id is: 117 the obs is:476 +[11:32:38.883] Odometry x=-0.033585, y=1.148683, theta=0.020053 +[11:32:38.980] Odometry x=-0.034088, y=1.173076, theta=0.024089 +[11:32:39.079] Odometry x=-0.034653, y=1.197466, theta=0.031478 +[11:32:39.182] Odometry x=-0.035354, y=1.221813, theta=0.047994 +[11:32:39.253] After Reprojection Map nMatches:543 ,distance between ekf and vo x:-0.000014 ,z=0.000005,angle between two frames:0.000001 +[11:32:39.286] Odometry x=-0.036498, y=1.246173, theta=0.056335 +[11:32:39.382] Odometry x=-0.037886, y=1.270492, theta=0.057802 +[11:32:39.475] Odometry x=-0.039328, y=1.294802, theta=0.049416 +[11:32:39.516] n deleted obs = 120 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =423 error init =0.018477 error end=0.018477 +[11:32:39.516] After pose optimization, distance between ekf and vo x:-0.000004 ,z=0.000004,angle between two frames:0.000001 +[11:32:39.516] Update EKF and 3D points the number of feature in the new frame: 423 and number of obs: 423 +[11:32:39.522] need key frame pitch dis: 3.139233 translation dif:1.030319 +[11:32:39.522] Choose frame as a key frame Scene Depth mean:-0.546760 ,depth min:-7.250742 +[11:32:39.522] frame process finished the id is: 118 the obs is:423 +[11:32:39.581] Odometry x=-0.043948, y=1.100111, theta=0.018227 +[11:32:39.680] Odometry x=-0.044407, y=1.127479, theta=0.024469 +[11:32:39.780] Odometry x=-0.045023, y=1.153031, theta=0.022350 +[11:32:39.879] Odometry x=-0.045580, y=1.177860, theta=0.032570 +[11:32:39.976] Odometry x=-0.046403, y=1.202389, theta=0.047368 +[11:32:39.983] After Reprojection Map nMatches:596 ,distance between ekf and vo x:-0.000001 ,z=-0.000019,angle between two frames:0.000004 +[11:32:40.078] Odometry x=-0.047573, y=1.226811, theta=0.057833 +[11:32:40.114] n deleted obs = 151 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =445 error init =0.033428 error end=0.032908 +[11:32:40.114] After pose optimization, distance between ekf and vo x:-0.063675 ,z=0.030558,angle between two frames:0.028806 +[11:32:40.114] Update EKF and 3D points the number of feature in the new frame: 445 and number of obs: 445 +[11:32:40.119] need key frame pitch dis: 3.077485 translation dif:1.064497 +[11:32:40.120] Choose frame as a key frame Scene Depth mean:-1.200794 ,depth min:-77.108636 +[11:32:40.120] frame process finished the id is: 119 the obs is:445 +[11:32:40.179] Odometry x=-0.065435, y=1.228667, theta=0.036527 +[11:32:40.277] Odometry x=-0.066336, y=1.253047, theta=0.036169 +[11:32:40.376] Odometry x=-0.067229, y=1.277446, theta=0.033052 +[11:32:40.478] Odometry x=-0.067986, y=1.301811, theta=0.036246 +[11:32:40.578] After Reprojection Map nMatches:595 ,distance between ekf and vo x:0.000009 ,z=0.000071,angle between two frames:0.000001 +[11:32:40.580] Odometry x=-0.068874, y=1.326184, theta=0.034043 +[11:32:40.679] n deleted obs = 177 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =418 error init =0.051282 error end=0.051267 +[11:32:40.679] After pose optimization, distance between ekf and vo x:0.000120 ,z=-0.003071,angle between two frames:0.000096 +[11:32:40.679] Update EKF and 3D points the number of feature in the new frame: 418 and number of obs: 418 +[11:32:40.684] need key frame pitch dis: 3.066082 translation dif:1.100218 +[11:32:40.685] Choose frame as a key frame Scene Depth mean:-1.298467 ,depth min:-78.367347 +[11:32:40.685] frame process finished the id is: 120 the obs is:418 +[11:32:40.687] Odometry x=-0.065967, y=1.244655, theta=0.037604 +[11:32:40.778] Odometry x=-0.066913, y=1.272018, theta=0.051855 +[11:32:40.879] Odometry x=-0.068250, y=1.297552, theta=0.041744 +[11:32:40.978] Odometry x=-0.069255, y=1.322347, theta=0.033247 +[11:32:41.080] Odometry x=-0.070073, y=1.346866, theta=0.027814 +[11:32:41.175] Odometry x=-0.070759, y=1.371278, theta=0.021499 +[11:32:41.215] After Reprojection Map nMatches:695 ,distance between ekf and vo x:0.000015 ,z=0.000101,angle between two frames:0.000001 +[11:32:41.276] Odometry x=-0.071283, y=1.395641, theta=0.022547 +[11:32:41.350] n deleted obs = 179 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =516 error init =0.041752 error end=0.040106 +[11:32:41.350] After pose optimization, distance between ekf and vo x:-0.004389 ,z=-0.010461,angle between two frames:0.000168 +[11:32:41.350] Update EKF and 3D points the number of feature in the new frame: 516 and number of obs: 516 +[11:32:41.357] need key frame pitch dis: 3.151938 translation dif:1.095105 +[11:32:41.357] Choose frame as a key frame Scene Depth mean:-0.834102 ,depth min:-78.310823 +[11:32:41.375] frame process finished the id is: 121 the obs is:516 +[11:32:41.378] Odometry x=-0.070590, y=1.262533, theta=0.035226 +[11:32:41.476] Odometry x=-0.071510, y=1.289900, theta=0.043062 +[11:32:41.583] Odometry x=-0.072652, y=1.315393, theta=0.045364 +[11:32:41.680] Odometry x=-0.073740, y=1.340219, theta=0.037299 +[11:32:41.776] Odometry x=-0.074656, y=1.364754, theta=0.042022 +[11:32:41.880] Odometry x=-0.075686, y=1.389187, theta=0.035830 +[11:32:41.922] After Reprojection Map nMatches:730 ,distance between ekf and vo x:0.000006 ,z=-0.000017,angle between two frames:0.000000 +[11:32:41.928] n deleted obs = 174 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =556 error init =0.018299 error end=0.018266 +[11:32:41.928] After pose optimization, distance between ekf and vo x:0.008122 ,z=-0.002038,angle between two frames:0.000328 +[11:32:41.928] Update EKF and 3D points the number of feature in the new frame: 556 and number of obs: 556 +[11:32:41.935] need key frame pitch dis: 3.129895 translation dif:1.154951 +[11:32:41.936] Choose frame as a key frame Scene Depth mean:-0.414075 ,depth min:-78.379694 +[11:32:41.936] frame process finished the id is: 122 the obs is:556 +[11:32:41.990] Odometry x=-0.064603, y=1.283832, theta=0.036367 +[11:32:42.082] Odometry x=-0.065529, y=1.311166, theta=0.051409 +[11:32:42.350] After Reprojection Map nMatches:695 ,distance between ekf and vo x:0.000013 ,z=-0.000032,angle between two frames:0.000000 +[11:32:42.640] n deleted obs = 162 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =533 error init =0.042343 error end=0.042332 +[11:32:42.640] After pose optimization, distance between ekf and vo x:0.002171 ,z=0.000043,angle between two frames:0.000020 +[11:32:42.640] Update EKF and 3D points the number of feature in the new frame: 533 and number of obs: 533 +[11:32:42.645] need key frame pitch dis: 3.096440 translation dif:1.119709 +[11:32:42.646] Choose frame as a key frame Scene Depth mean:-0.744444 ,depth min:-12.757831 +[11:32:42.662] frame process finished the id is: 123 the obs is:533 +[11:32:43.319] After Reprojection Map nMatches:738 ,distance between ekf and vo x:-0.000003 ,z=-0.000022,angle between two frames:0.000005 +[11:32:43.323] n deleted obs = 149 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =589 error init =0.024365 error end=0.024346 +[11:32:43.323] After pose optimization, distance between ekf and vo x:0.004316 ,z=-0.000675,angle between two frames:0.000443 +[11:32:43.323] Update EKF and 3D points the number of feature in the new frame: 589 and number of obs: 589 +[11:32:43.326] need key frame pitch dis: 3.108392 translation dif:1.085851 +[11:32:43.326] Choose frame as a key frame Scene Depth mean:1.060522 ,depth min:-25.268198 +[11:32:43.327] frame process finished the id is: 124 the obs is:589 +[11:32:43.933] After Reprojection Map nMatches:627 ,distance between ekf and vo x:0.000084 ,z=0.000018,angle between two frames:0.000007 +[11:32:44.031] n deleted obs = 204 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =423 error init =0.056061 error end=0.055962 +[11:32:44.031] After pose optimization, distance between ekf and vo x:0.010728 ,z=-0.023455,angle between two frames:0.000581 +[11:32:44.031] Update EKF and 3D points the number of feature in the new frame: 423 and number of obs: 423 +[11:32:44.037] need key frame pitch dis: 3.101957 translation dif:1.077278 +[11:32:44.037] Choose frame as a key frame Scene Depth mean:3.435905 ,depth min:-17.438895 +[11:32:44.038] frame process finished the id is: 125 the obs is:423 +[11:32:44.659] After Reprojection Map nMatches:573 ,distance between ekf and vo x:0.000024 ,z=0.000002,angle between two frames:0.000000 +[11:32:44.976] n deleted obs = 123 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =450 error init =0.025035 error end=0.025035 +[11:32:44.976] After pose optimization, distance between ekf and vo x:0.000024 ,z=0.000002,angle between two frames:0.000000 +[11:32:44.976] Update EKF and 3D points the number of feature in the new frame: 450 and number of obs: 450 +[11:32:44.981] need key frame pitch dis: 3.075397 translation dif:1.080714 +[11:32:44.981] Choose frame as a key frame Scene Depth mean:11188.199790 ,depth min:-17.424678 +[11:32:44.982] frame process finished the id is: 126 the obs is:450 +[11:32:44.996] Image Alignment failed 0 +[11:32:44.996] frame process finished the id is: 126 the obs is:450 +[11:32:45.062] Image Alignment failed 0 +[11:32:45.062] frame process finished the id is: 126 the obs is:450 +[11:32:45.160] Image Alignment failed 0 +[11:32:45.160] frame process finished the id is: 126 the obs is:450 +[11:32:45.260] Image Alignment failed 0 +[11:32:45.260] frame process finished the id is: 126 the obs is:450 +[11:32:45.361] Image Alignment failed 0 +[11:32:45.361] frame process finished the id is: 126 the obs is:450 +[11:32:45.459] Image Alignment failed 0 +[11:32:45.459] frame process finished the id is: 126 the obs is:450 +[11:32:45.563] Image Alignment failed 0 +[11:32:45.563] frame process finished the id is: 126 the obs is:450 +[11:32:45.664] Image Alignment failed 0 +[11:32:45.664] frame process finished the id is: 126 the obs is:450 +[11:32:45.767] Image Alignment failed 0 +[11:32:45.767] frame process finished the id is: 126 the obs is:450 +[11:32:45.864] Image Alignment failed 0 +[11:32:45.864] frame process finished the id is: 126 the obs is:450 +[11:32:45.965] Image Alignment failed 0 +[11:32:45.965] frame process finished the id is: 126 the obs is:450 +[11:32:46.064] Image Alignment failed 0 +[11:32:46.064] frame process finished the id is: 126 the obs is:450 +[11:32:46.165] Image Alignment failed 0 +[11:32:46.165] frame process finished the id is: 126 the obs is:450 +[11:32:46.264] Image Alignment failed 0 +[11:32:46.264] frame process finished the id is: 126 the obs is:450 +[11:32:46.365] Image Alignment failed 0 +[11:32:46.365] frame process finished the id is: 126 the obs is:450 +[11:32:46.464] Image Alignment failed 0 +[11:32:46.464] frame process finished the id is: 126 the obs is:450 +[11:32:46.565] Image Alignment failed 0 +[11:32:46.565] frame process finished the id is: 126 the obs is:450 +[11:32:46.664] Image Alignment failed 0 +[11:32:46.664] frame process finished the id is: 126 the obs is:450 +[11:32:46.765] Image Alignment failed 0 +[11:32:46.765] frame process finished the id is: 126 the obs is:450 +[11:32:46.865] Image Alignment failed 0 +[11:32:46.865] frame process finished the id is: 126 the obs is:450 +[11:32:46.965] Image Alignment failed 0 +[11:32:46.965] frame process finished the id is: 126 the obs is:450 +[11:32:47.065] Image Alignment failed 0 +[11:32:47.065] frame process finished the id is: 126 the obs is:450 +[11:32:47.167] Image Alignment failed 0 +[11:32:47.167] frame process finished the id is: 126 the obs is:450 +[11:32:47.266] Image Alignment failed 0 +[11:32:47.266] frame process finished the id is: 126 the obs is:450 +[11:32:47.369] Image Alignment failed 0 +[11:32:47.369] frame process finished the id is: 126 the obs is:450 +[11:32:47.464] Image Alignment failed 0 +[11:32:47.464] frame process finished the id is: 126 the obs is:450 +[11:32:47.564] Image Alignment failed 0 +[11:32:47.564] frame process finished the id is: 126 the obs is:450 +[11:32:47.664] Image Alignment failed 0 +[11:32:47.664] frame process finished the id is: 126 the obs is:450 +[11:32:47.764] Image Alignment failed 0 +[11:32:47.764] frame process finished the id is: 126 the obs is:450 +[11:32:47.864] Image Alignment failed 0 +[11:32:47.864] frame process finished the id is: 126 the obs is:450 +[11:32:47.963] Image Alignment failed 0 +[11:32:47.963] frame process finished the id is: 126 the obs is:450 +[11:32:48.064] Image Alignment failed 0 +[11:32:48.065] frame process finished the id is: 126 the obs is:450 +[11:32:48.165] Image Alignment failed 0 +[11:32:48.165] frame process finished the id is: 126 the obs is:450 +[11:32:48.264] Image Alignment failed 0 +[11:32:48.264] frame process finished the id is: 126 the obs is:450 +[11:32:48.365] Image Alignment failed 0 +[11:32:48.365] frame process finished the id is: 126 the obs is:450 +[11:32:48.464] Image Alignment failed 0 +[11:32:48.464] frame process finished the id is: 126 the obs is:450 +[11:32:48.566] Image Alignment failed 0 +[11:32:48.566] frame process finished the id is: 126 the obs is:450 +[11:32:48.665] Image Alignment failed 0 +[11:32:48.665] frame process finished the id is: 126 the obs is:450 +[11:32:48.765] Image Alignment failed 0 +[11:32:48.765] frame process finished the id is: 126 the obs is:450 +[11:32:48.865] Image Alignment failed 0 +[11:32:48.865] frame process finished the id is: 126 the obs is:450 +[11:32:48.965] Image Alignment failed 0 +[11:32:48.965] frame process finished the id is: 126 the obs is:450 +[11:32:49.064] Image Alignment failed 0 +[11:32:49.064] frame process finished the id is: 126 the obs is:450 +[11:32:49.164] Image Alignment failed 0 +[11:32:49.164] frame process finished the id is: 126 the obs is:450 +[11:32:49.264] Image Alignment failed 0 +[11:32:49.264] frame process finished the id is: 126 the obs is:450 +[11:32:49.361] Image Alignment failed 0 +[11:32:49.361] frame process finished the id is: 126 the obs is:450 +[11:32:49.465] Image Alignment failed 0 +[11:32:49.465] frame process finished the id is: 126 the obs is:450 +[11:32:49.565] Image Alignment failed 0 +[11:32:49.566] frame process finished the id is: 126 the obs is:450 +[11:32:49.665] Image Alignment failed 0 +[11:32:49.665] frame process finished the id is: 126 the obs is:450 +[11:32:49.765] Image Alignment failed 0 +[11:32:49.765] frame process finished the id is: 126 the obs is:450 +[11:32:49.865] Image Alignment failed 0 +[11:32:49.865] frame process finished the id is: 126 the obs is:450 +[11:32:49.965] Image Alignment failed 0 +[11:32:49.965] frame process finished the id is: 126 the obs is:450 +[11:32:50.065] Image Alignment failed 0 +[11:32:50.065] frame process finished the id is: 126 the obs is:450 +[11:32:50.165] Image Alignment failed 0 +[11:32:50.165] frame process finished the id is: 126 the obs is:450 +[11:32:50.264] Image Alignment failed 0 +[11:32:50.264] frame process finished the id is: 126 the obs is:450 +[11:32:50.366] Image Alignment failed 0 +[11:32:50.366] frame process finished the id is: 126 the obs is:450 +[11:32:50.465] Image Alignment failed 0 +[11:32:50.465] frame process finished the id is: 126 the obs is:450 +[11:32:50.564] Image Alignment failed 0 +[11:32:50.564] frame process finished the id is: 126 the obs is:450 +[11:32:50.665] Image Alignment failed 0 +[11:32:50.665] frame process finished the id is: 126 the obs is:450 +[11:32:50.766] Image Alignment failed 0 +[11:32:50.766] frame process finished the id is: 126 the obs is:450 +[11:32:50.864] Image Alignment failed 0 +[11:32:50.864] frame process finished the id is: 126 the obs is:450 +[11:32:50.964] Image Alignment failed 0 +[11:32:50.964] frame process finished the id is: 126 the obs is:450 +[11:32:51.064] Image Alignment failed 0 +[11:32:51.065] frame process finished the id is: 126 the obs is:450 +[11:32:51.164] Image Alignment failed 0 +[11:32:51.164] frame process finished the id is: 126 the obs is:450 +[11:32:51.264] Image Alignment failed 0 +[11:32:51.264] frame process finished the id is: 126 the obs is:450 +[11:32:51.365] Image Alignment failed 0 +[11:32:51.365] frame process finished the id is: 126 the obs is:450 +[11:32:51.464] Image Alignment failed 0 +[11:32:51.464] frame process finished the id is: 126 the obs is:450 +[11:32:51.564] Image Alignment failed 0 +[11:32:51.564] frame process finished the id is: 126 the obs is:450 +[11:32:51.665] Image Alignment failed 0 +[11:32:51.665] frame process finished the id is: 126 the obs is:450 +[11:32:51.764] Image Alignment failed 0 +[11:32:51.765] frame process finished the id is: 126 the obs is:450 +[11:32:51.863] Image Alignment failed 0 +[11:32:51.863] frame process finished the id is: 126 the obs is:450 +[11:32:51.964] Image Alignment failed 0 +[11:32:51.964] frame process finished the id is: 126 the obs is:450 +[11:32:52.064] Image Alignment failed 0 +[11:32:52.064] frame process finished the id is: 126 the obs is:450 +[11:32:52.165] Image Alignment failed 0 +[11:32:52.165] frame process finished the id is: 126 the obs is:450 +[11:32:52.265] Image Alignment failed 0 +[11:32:52.265] frame process finished the id is: 126 the obs is:450 +[11:32:52.365] Image Alignment failed 0 +[11:32:52.365] frame process finished the id is: 126 the obs is:450 +[11:32:52.466] Image Alignment failed 0 +[11:32:52.466] frame process finished the id is: 126 the obs is:450 +[11:32:52.565] Image Alignment failed 0 +[11:32:52.565] frame process finished the id is: 126 the obs is:450 +[11:32:52.668] Image Alignment failed 0 +[11:32:52.668] frame process finished the id is: 126 the obs is:450 +[11:32:52.768] Image Alignment failed 0 +[11:32:52.768] frame process finished the id is: 126 the obs is:450 +[11:32:52.867] Image Alignment failed 0 +[11:32:52.867] frame process finished the id is: 126 the obs is:450 +[11:32:52.961] Image Alignment failed 0 +[11:32:52.961] frame process finished the id is: 126 the obs is:450 +[11:32:53.065] Image Alignment failed 0 +[11:32:53.065] frame process finished the id is: 126 the obs is:450 +[11:32:53.165] Image Alignment failed 0 +[11:32:53.165] frame process finished the id is: 126 the obs is:450 +[11:32:53.265] Image Alignment failed 0 +[11:32:53.265] frame process finished the id is: 126 the obs is:450 +[11:32:53.365] Image Alignment failed 0 +[11:32:53.365] frame process finished the id is: 126 the obs is:450 +[11:32:53.465] Image Alignment failed 0 +[11:32:53.465] frame process finished the id is: 126 the obs is:450 +[11:32:53.566] Image Alignment failed 0 +[11:32:53.566] frame process finished the id is: 126 the obs is:450 +[11:32:53.664] Image Alignment failed 0 +[11:32:53.665] frame process finished the id is: 126 the obs is:450 +[11:32:53.765] Image Alignment failed 0 +[11:32:53.765] frame process finished the id is: 126 the obs is:450 +[11:32:53.865] Image Alignment failed 0 +[11:32:53.865] frame process finished the id is: 126 the obs is:450 +[11:32:53.966] Image Alignment failed 0 +[11:32:53.966] frame process finished the id is: 126 the obs is:450 +[11:32:54.065] Image Alignment failed 0 +[11:32:54.065] frame process finished the id is: 126 the obs is:450 +[11:32:54.166] Image Alignment failed 0 +[11:32:54.166] frame process finished the id is: 126 the obs is:450 +[11:32:54.264] Image Alignment failed 0 +[11:32:54.264] frame process finished the id is: 126 the obs is:450 +[11:32:54.367] Image Alignment failed 0 +[11:32:54.367] frame process finished the id is: 126 the obs is:450 +[11:32:54.468] Image Alignment failed 0 +[11:32:54.468] frame process finished the id is: 126 the obs is:450 +[11:32:54.566] Image Alignment failed 0 +[11:32:54.566] frame process finished the id is: 126 the obs is:450 +[11:32:54.666] Image Alignment failed 0 +[11:32:54.666] frame process finished the id is: 126 the obs is:450 +[11:32:54.768] Image Alignment failed 0 +[11:32:54.768] frame process finished the id is: 126 the obs is:450 +[11:32:54.864] Image Alignment failed 0 +[11:32:54.864] frame process finished the id is: 126 the obs is:450 +[11:32:54.966] Image Alignment failed 0 +[11:32:54.966] frame process finished the id is: 126 the obs is:450 +[11:32:55.064] Image Alignment failed 0 +[11:32:55.064] frame process finished the id is: 126 the obs is:450 +[11:32:55.165] Image Alignment failed 0 +[11:32:55.165] frame process finished the id is: 126 the obs is:450 +[11:32:55.264] Image Alignment failed 0 +[11:32:55.264] frame process finished the id is: 126 the obs is:450 +[11:32:55.365] Image Alignment failed 0 +[11:32:55.365] frame process finished the id is: 126 the obs is:450 +[11:32:55.465] Image Alignment failed 0 +[11:32:55.465] frame process finished the id is: 126 the obs is:450 +[11:32:55.566] Image Alignment failed 0 +[11:32:55.566] frame process finished the id is: 126 the obs is:450 +[11:32:55.664] Image Alignment failed 0 +[11:32:55.665] frame process finished the id is: 126 the obs is:450 +[11:32:55.768] Image Alignment failed 0 +[11:32:55.768] frame process finished the id is: 126 the obs is:450 +[11:32:55.866] Image Alignment failed 0 +[11:32:55.866] frame process finished the id is: 126 the obs is:450 +[11:32:55.963] Image Alignment failed 0 +[11:32:55.963] frame process finished the id is: 126 the obs is:450 +[11:32:56.066] Image Alignment failed 0 +[11:32:56.066] frame process finished the id is: 126 the obs is:450 +[11:32:56.167] Image Alignment failed 0 +[11:32:56.167] frame process finished the id is: 126 the obs is:450 +[11:32:56.265] Image Alignment failed 0 +[11:32:56.265] frame process finished the id is: 126 the obs is:450 +[11:32:56.366] Image Alignment failed 0 +[11:32:56.366] frame process finished the id is: 126 the obs is:450 +[11:32:56.466] Image Alignment failed 0 +[11:32:56.466] frame process finished the id is: 126 the obs is:450 +[11:32:56.565] Image Alignment failed 0 +[11:32:56.565] frame process finished the id is: 126 the obs is:450 +[11:32:56.663] Image Alignment failed 0 +[11:32:56.663] frame process finished the id is: 126 the obs is:450 +[11:32:56.767] Image Alignment failed 0 +[11:32:56.767] frame process finished the id is: 126 the obs is:450 +[11:32:56.865] Image Alignment failed 0 +[11:32:56.865] frame process finished the id is: 126 the obs is:450 +[11:32:56.965] Image Alignment failed 0 +[11:32:56.965] frame process finished the id is: 126 the obs is:450 +[11:32:57.066] Image Alignment failed 0 +[11:32:57.066] frame process finished the id is: 126 the obs is:450 +[11:32:57.168] Image Alignment failed 0 +[11:32:57.168] frame process finished the id is: 126 the obs is:450 +[11:32:57.265] Image Alignment failed 0 +[11:32:57.265] frame process finished the id is: 126 the obs is:450 +[11:32:57.365] Image Alignment failed 0 +[11:32:57.366] frame process finished the id is: 126 the obs is:450 +[11:32:57.465] Image Alignment failed 0 +[11:32:57.465] frame process finished the id is: 126 the obs is:450 +[11:32:57.565] Image Alignment failed 0 +[11:32:57.565] frame process finished the id is: 126 the obs is:450 +[11:32:57.665] Image Alignment failed 0 +[11:32:57.665] frame process finished the id is: 126 the obs is:450 +[11:32:57.765] Image Alignment failed 0 +[11:32:57.765] frame process finished the id is: 126 the obs is:450 +[11:32:57.864] Image Alignment failed 0 +[11:32:57.865] frame process finished the id is: 126 the obs is:450 +[11:32:57.966] Image Alignment failed 0 +[11:32:57.966] frame process finished the id is: 126 the obs is:450 +[11:32:58.068] Image Alignment failed 0 +[11:32:58.068] frame process finished the id is: 126 the obs is:450 +[11:32:58.164] Image Alignment failed 0 +[11:32:58.164] frame process finished the id is: 126 the obs is:450 +[11:32:58.264] Image Alignment failed 0 +[11:32:58.264] frame process finished the id is: 126 the obs is:450 +[11:32:58.365] Image Alignment failed 0 +[11:32:58.366] frame process finished the id is: 126 the obs is:450 +[11:32:58.464] Image Alignment failed 0 +[11:32:58.464] frame process finished the id is: 126 the obs is:450 +[11:32:58.565] Image Alignment failed 0 +[11:32:58.565] frame process finished the id is: 126 the obs is:450 +[11:32:58.665] Image Alignment failed 0 +[11:32:58.665] frame process finished the id is: 126 the obs is:450 +[11:32:58.766] Image Alignment failed 0 +[11:32:58.766] frame process finished the id is: 126 the obs is:450 +[11:32:58.865] Image Alignment failed 0 +[11:32:58.865] frame process finished the id is: 126 the obs is:450 +[11:32:58.967] Image Alignment failed 0 +[11:32:58.967] frame process finished the id is: 126 the obs is:450 +[11:32:59.068] Image Alignment failed 0 +[11:32:59.068] frame process finished the id is: 126 the obs is:450 +[11:32:59.167] Image Alignment failed 0 +[11:32:59.167] frame process finished the id is: 126 the obs is:450 +[11:32:59.265] Image Alignment failed 0 +[11:32:59.265] frame process finished the id is: 126 the obs is:450 +[11:32:59.366] Image Alignment failed 0 +[11:32:59.367] frame process finished the id is: 126 the obs is:450 +[11:32:59.466] Image Alignment failed 0 +[11:32:59.466] frame process finished the id is: 126 the obs is:450 +[11:32:59.566] Image Alignment failed 0 +[11:32:59.566] frame process finished the id is: 126 the obs is:450 +[11:32:59.666] Image Alignment failed 0 +[11:32:59.666] frame process finished the id is: 126 the obs is:450 +[11:32:59.767] Image Alignment failed 0 +[11:32:59.767] frame process finished the id is: 126 the obs is:450 +[11:32:59.864] Image Alignment failed 0 +[11:32:59.864] frame process finished the id is: 126 the obs is:450 +[11:32:59.966] Image Alignment failed 0 +[11:32:59.966] frame process finished the id is: 126 the obs is:450 +[11:33:00.067] Image Alignment failed 0 +[11:33:00.067] frame process finished the id is: 126 the obs is:450 +[11:33:00.165] Image Alignment failed 0 +[11:33:00.165] frame process finished the id is: 126 the obs is:450 +[11:33:00.267] Image Alignment failed 0 +[11:33:00.267] frame process finished the id is: 126 the obs is:450 +[11:33:00.365] Image Alignment failed 0 +[11:33:00.365] frame process finished the id is: 126 the obs is:450 +[11:33:00.466] Image Alignment failed 0 +[11:33:00.466] frame process finished the id is: 126 the obs is:450 +[11:33:00.572] Image Alignment failed 0 +[11:33:00.572] frame process finished the id is: 126 the obs is:450 +[11:33:00.658] Image Alignment failed 0 +[11:33:00.658] frame process finished the id is: 126 the obs is:450 +[11:33:00.765] Image Alignment failed 0 +[11:33:00.765] frame process finished the id is: 126 the obs is:450 +[11:33:00.865] Image Alignment failed 0 +[11:33:00.865] frame process finished the id is: 126 the obs is:450 +[11:33:00.965] Image Alignment failed 0 +[11:33:00.965] frame process finished the id is: 126 the obs is:450 +[11:33:01.065] Image Alignment failed 0 +[11:33:01.065] frame process finished the id is: 126 the obs is:450 +[11:33:01.168] Image Alignment failed 0 +[11:33:01.168] frame process finished the id is: 126 the obs is:450 +[11:33:01.265] Image Alignment failed 0 +[11:33:01.265] frame process finished the id is: 126 the obs is:450 +[11:33:01.366] Image Alignment failed 0 +[11:33:01.366] frame process finished the id is: 126 the obs is:450 +[11:33:01.465] Image Alignment failed 0 +[11:33:01.465] frame process finished the id is: 126 the obs is:450 +[11:33:01.566] Image Alignment failed 0 +[11:33:01.566] frame process finished the id is: 126 the obs is:450 +[11:33:01.666] Image Alignment failed 0 +[11:33:01.666] frame process finished the id is: 126 the obs is:450 +[11:33:01.766] Image Alignment failed 0 +[11:33:01.766] frame process finished the id is: 126 the obs is:450 +[11:33:01.867] Image Alignment failed 0 +[11:33:01.867] frame process finished the id is: 126 the obs is:450 +[11:33:01.965] Image Alignment failed 0 +[11:33:01.965] frame process finished the id is: 126 the obs is:450 +[11:33:02.065] Image Alignment failed 0 +[11:33:02.065] frame process finished the id is: 126 the obs is:450 +[11:33:02.167] Image Alignment failed 0 +[11:33:02.167] frame process finished the id is: 126 the obs is:450 +[11:33:02.265] Image Alignment failed 0 +[11:33:02.265] frame process finished the id is: 126 the obs is:450 +[11:33:02.366] Image Alignment failed 0 +[11:33:02.366] frame process finished the id is: 126 the obs is:450 +[11:33:02.466] Image Alignment failed 0 +[11:33:02.466] frame process finished the id is: 126 the obs is:450 +[11:33:02.566] Image Alignment failed 0 +[11:33:02.566] frame process finished the id is: 126 the obs is:450 +[11:33:02.666] Image Alignment failed 0 +[11:33:02.666] frame process finished the id is: 126 the obs is:450 +[11:33:02.767] Image Alignment failed 0 +[11:33:02.767] frame process finished the id is: 126 the obs is:450 +[11:33:02.865] Image Alignment failed 0 +[11:33:02.865] frame process finished the id is: 126 the obs is:450 +[11:33:02.966] Image Alignment failed 0 +[11:33:02.966] frame process finished the id is: 126 the obs is:450 +[11:33:03.065] Image Alignment failed 0 +[11:33:03.065] frame process finished the id is: 126 the obs is:450 +[11:33:03.166] Image Alignment failed 0 +[11:33:03.166] frame process finished the id is: 126 the obs is:450 +[11:33:03.265] Image Alignment failed 0 +[11:33:03.265] frame process finished the id is: 126 the obs is:450 +[11:33:03.367] Image Alignment failed 0 +[11:33:03.368] frame process finished the id is: 126 the obs is:450 +[11:33:03.465] Image Alignment failed 0 +[11:33:03.465] frame process finished the id is: 126 the obs is:450 +[11:33:03.566] Image Alignment failed 0 +[11:33:03.566] frame process finished the id is: 126 the obs is:450 +[11:33:03.668] Image Alignment failed 0 +[11:33:03.669] frame process finished the id is: 126 the obs is:450 +[11:33:03.766] Image Alignment failed 0 +[11:33:03.766] frame process finished the id is: 126 the obs is:450 +[11:33:03.865] Image Alignment failed 0 +[11:33:03.865] frame process finished the id is: 126 the obs is:450 +[11:33:03.966] Image Alignment failed 0 +[11:33:03.966] frame process finished the id is: 126 the obs is:450 +[11:33:04.065] Image Alignment failed 0 +[11:33:04.065] frame process finished the id is: 126 the obs is:450 +[11:33:04.166] Image Alignment failed 0 +[11:33:04.166] frame process finished the id is: 126 the obs is:450 +[11:33:04.273] Image Alignment failed 0 +[11:33:04.273] frame process finished the id is: 126 the obs is:450 +[11:33:04.361] Image Alignment failed 0 +[11:33:04.361] frame process finished the id is: 126 the obs is:450 +[11:33:04.465] Image Alignment failed 0 +[11:33:04.465] frame process finished the id is: 126 the obs is:450 +[11:33:04.567] Image Alignment failed 0 +[11:33:04.567] frame process finished the id is: 126 the obs is:450 +[11:33:04.666] Image Alignment failed 0 +[11:33:04.666] frame process finished the id is: 126 the obs is:450 +[11:33:04.766] Image Alignment failed 0 +[11:33:04.766] frame process finished the id is: 126 the obs is:450 +[11:33:04.865] Image Alignment failed 0 +[11:33:04.865] frame process finished the id is: 126 the obs is:450 +[11:33:04.965] Image Alignment failed 0 +[11:33:04.965] frame process finished the id is: 126 the obs is:450 +[11:33:05.065] Image Alignment failed 0 +[11:33:05.065] frame process finished the id is: 126 the obs is:450 +[11:33:05.165] Image Alignment failed 0 +[11:33:05.165] frame process finished the id is: 126 the obs is:450 +[11:33:05.265] Image Alignment failed 0 +[11:33:05.266] frame process finished the id is: 126 the obs is:450 +[11:33:05.366] Image Alignment failed 0 +[11:33:05.366] frame process finished the id is: 126 the obs is:450 +[11:33:05.466] Image Alignment failed 0 +[11:33:05.466] frame process finished the id is: 126 the obs is:450 +[11:33:05.566] Image Alignment failed 0 +[11:33:05.566] frame process finished the id is: 126 the obs is:450 +[11:33:05.667] Image Alignment failed 0 +[11:33:05.667] frame process finished the id is: 126 the obs is:450 +[11:33:05.766] Image Alignment failed 0 +[11:33:05.767] frame process finished the id is: 126 the obs is:450 +[11:33:05.865] Image Alignment failed 0 +[11:33:05.865] frame process finished the id is: 126 the obs is:450 +[11:33:05.965] Image Alignment failed 0 +[11:33:05.965] frame process finished the id is: 126 the obs is:450 +[11:33:06.065] Image Alignment failed 0 +[11:33:06.065] frame process finished the id is: 126 the obs is:450 +[11:33:06.166] Image Alignment failed 0 +[11:33:06.166] frame process finished the id is: 126 the obs is:450 +[11:33:06.268] Image Alignment failed 0 +[11:33:06.268] frame process finished the id is: 126 the obs is:450 +[11:33:06.341] Odometry x=-0.054308, y=1.292630, theta=0.039501 +[11:33:06.366] Image Alignment failed 0 +[11:33:06.366] frame process finished the id is: 126 the obs is:450 +[11:33:06.442] Odometry x=-0.053236, y=1.265280, theta=0.041255 +[11:33:06.466] Image Alignment failed 0 +[11:33:06.467] frame process finished the id is: 126 the obs is:450 +[11:33:06.542] Odometry x=-0.052176, y=1.239758, theta=0.042955 +[11:33:06.567] Image Alignment failed 0 +[11:33:06.567] frame process finished the id is: 126 the obs is:450 +[11:33:06.642] Odometry x=-0.051104, y=1.214960, theta=0.044360 +[11:33:06.666] Image Alignment failed 0 +[11:33:06.666] frame process finished the id is: 126 the obs is:450 +[11:33:06.742] Odometry x=-0.050025, y=1.190405, theta=0.039098 +[11:33:06.766] Image Alignment failed 0 +[11:33:06.766] frame process finished the id is: 126 the obs is:450 +[11:33:06.841] Odometry x=-0.049080, y=1.165956, theta=0.051278 +[11:33:06.868] Image Alignment failed 0 +[11:33:06.868] frame process finished the id is: 126 the obs is:450 +[11:33:06.942] Odometry x=-0.047836, y=1.141593, theta=0.059902 +[11:33:06.966] Image Alignment failed 0 +[11:33:06.966] frame process finished the id is: 126 the obs is:450 +[11:33:07.042] Odometry x=-0.046343, y=1.117250, theta=0.055289 +[11:33:07.066] Image Alignment failed 0 +[11:33:07.066] frame process finished the id is: 126 the obs is:450 +[11:33:07.141] Odometry x=-0.045005, y=1.092918, theta=0.055711 +[11:33:07.168] Image Alignment failed 0 +[11:33:07.168] frame process finished the id is: 126 the obs is:450 +[11:33:07.240] Odometry x=-0.043604, y=1.068546, theta=0.046945 +[11:33:07.264] Image Alignment failed 0 +[11:33:07.264] frame process finished the id is: 126 the obs is:450 +[11:33:07.341] Odometry x=-0.042517, y=1.044174, theta=0.054174 +[11:33:07.368] Image Alignment failed 0 +[11:33:07.368] frame process finished the id is: 126 the obs is:450 +[11:33:07.444] Odometry x=-0.041165, y=1.019827, theta=0.052163 +[11:33:07.468] Image Alignment failed 0 +[11:33:07.468] frame process finished the id is: 126 the obs is:450 +[11:33:07.538] Odometry x=-0.039922, y=0.995470, theta=0.055324 +[11:33:07.569] Image Alignment failed 0 +[11:33:07.569] frame process finished the id is: 126 the obs is:450 +[11:33:07.643] Odometry x=-0.038618, y=0.971147, theta=0.070483 +[11:33:07.668] Image Alignment failed 0 +[11:33:07.668] frame process finished the id is: 126 the obs is:450 +[11:33:07.742] Odometry x=-0.036866, y=0.946817, theta=0.068634 +[11:33:07.760] Image Alignment failed 0 +[11:33:07.760] frame process finished the id is: 126 the obs is:450 +[11:33:07.841] Odometry x=-0.035243, y=0.922517, theta=0.070405 +[11:33:07.866] Image Alignment failed 0 +[11:33:07.866] frame process finished the id is: 126 the obs is:450 +[11:33:07.941] Odometry x=-0.033545, y=0.898169, theta=0.068827 +[11:33:07.967] Image Alignment failed 0 +[11:33:07.967] frame process finished the id is: 126 the obs is:450 +[11:33:08.037] Odometry x=-0.031831, y=0.873883, theta=0.063407 +[11:33:08.068] Image Alignment failed 0 +[11:33:08.068] frame process finished the id is: 126 the obs is:450 +[11:33:08.141] Odometry x=-0.030286, y=0.849535, theta=0.064626 +[11:33:08.169] Image Alignment failed 0 +[11:33:08.169] frame process finished the id is: 126 the obs is:450 +[11:33:08.241] Odometry x=-0.028705, y=0.825193, theta=0.068556 +[11:33:08.270] Image Alignment failed 0 +[11:33:08.270] frame process finished the id is: 126 the obs is:450 +[11:33:08.346] Odometry x=-0.027060, y=0.800884, theta=0.072221 +[11:33:08.368] Image Alignment failed 0 +[11:33:08.368] frame process finished the id is: 126 the obs is:450 +[11:33:08.441] Odometry x=-0.025261, y=0.776554, theta=0.071650 +[11:33:08.468] Image Alignment failed 0 +[11:33:08.468] frame process finished the id is: 126 the obs is:450 +[11:33:08.541] Odometry x=-0.023492, y=0.752270, theta=0.070596 +[11:33:08.568] Image Alignment failed 0 +[11:33:08.568] frame process finished the id is: 126 the obs is:450 +[11:33:08.641] Odometry x=-0.021751, y=0.727928, theta=0.062211 +[11:33:08.668] Image Alignment failed 0 +[11:33:08.668] frame process finished the id is: 126 the obs is:450 +[11:33:08.743] Odometry x=-0.020230, y=0.703600, theta=0.053469 +[11:33:08.767] Image Alignment failed 0 +[11:33:08.767] frame process finished the id is: 126 the obs is:450 +[11:33:08.841] Odometry x=-0.018937, y=0.679210, theta=0.061983 +[11:33:08.868] Image Alignment failed 0 +[11:33:08.868] frame process finished the id is: 126 the obs is:450 +[11:33:08.941] Odometry x=-0.017426, y=0.654911, theta=0.062654 +[11:33:08.966] Image Alignment failed 0 +[11:33:08.966] frame process finished the id is: 126 the obs is:450 +[11:33:09.041] Odometry x=-0.015898, y=0.630579, theta=0.066373 +[11:33:09.066] Image Alignment failed 0 +[11:33:09.066] frame process finished the id is: 126 the obs is:450 +[11:33:09.143] Odometry x=-0.014276, y=0.606239, theta=0.070622 +[11:33:09.166] Image Alignment failed 0 +[11:33:09.166] frame process finished the id is: 126 the obs is:450 +[11:33:09.243] Odometry x=-0.012504, y=0.581946, theta=0.065702 +[11:33:09.266] Image Alignment failed 0 +[11:33:09.266] frame process finished the id is: 126 the obs is:450 +[11:33:09.344] Odometry x=-0.010922, y=0.557587, theta=0.069493 +[11:33:09.367] Image Alignment failed 0 +[11:33:09.367] frame process finished the id is: 126 the obs is:450 +[11:33:09.442] Odometry x=-0.009248, y=0.533249, theta=0.070172 +[11:33:09.468] Image Alignment failed 0 +[11:33:09.468] frame process finished the id is: 126 the obs is:450 +[11:33:09.542] Odometry x=-0.007516, y=0.508952, theta=0.057413 +[11:33:09.566] Image Alignment failed 0 +[11:33:09.566] frame process finished the id is: 126 the obs is:450 +[11:33:09.642] Odometry x=-0.006123, y=0.484607, theta=0.062585 +[11:33:09.666] Image Alignment failed 0 +[11:33:09.666] frame process finished the id is: 126 the obs is:450 +[11:33:09.742] Odometry x=-0.004593, y=0.460280, theta=0.067243 +[11:33:09.767] Image Alignment failed 0 +[11:33:09.767] frame process finished the id is: 126 the obs is:450 +[11:33:09.842] Odometry x=-0.002956, y=0.435929, theta=0.077865 +[11:33:09.866] Image Alignment failed 0 +[11:33:09.866] frame process finished the id is: 126 the obs is:450 +[11:33:09.941] Odometry x=-0.001054, y=0.411649, theta=0.078179 +[11:33:09.967] Image Alignment failed 0 +[11:33:09.967] frame process finished the id is: 126 the obs is:450 +[11:33:10.041] Odometry x=0.000850, y=0.387339, theta=0.077449 +[11:33:10.066] Image Alignment failed 0 +[11:33:10.066] frame process finished the id is: 126 the obs is:450 +[11:33:10.145] Odometry x=0.002699, y=0.363006, theta=0.083197 +[11:33:10.160] Image Alignment failed 0 +[11:33:10.160] frame process finished the id is: 126 the obs is:450 +[11:33:10.245] Odometry x=0.004764, y=0.338734, theta=0.080568 +[11:33:10.266] Image Alignment failed 0 +[11:33:10.266] frame process finished the id is: 126 the obs is:450 +[11:33:10.344] Odometry x=0.006750, y=0.314444, theta=0.076180 +[11:33:10.366] Image Alignment failed 0 +[11:33:10.366] frame process finished the id is: 126 the obs is:450 +[11:33:10.441] Odometry x=0.008589, y=0.290109, theta=0.076314 +[11:33:10.466] Image Alignment failed 0 +[11:33:10.466] frame process finished the id is: 126 the obs is:450 +[11:33:10.536] Odometry x=0.010438, y=0.265803, theta=0.077942 +[11:33:10.567] Image Alignment failed 0 +[11:33:10.567] frame process finished the id is: 126 the obs is:450 +[11:33:10.642] Odometry x=0.012329, y=0.241493, theta=0.079011 +[11:33:10.666] Image Alignment failed 0 +[11:33:10.666] frame process finished the id is: 126 the obs is:450 +[11:33:10.737] Odometry x=0.014308, y=0.217181, theta=0.070552 +[11:33:10.767] Image Alignment failed 0 +[11:33:10.767] frame process finished the id is: 126 the obs is:450 +[11:33:10.842] Odometry x=0.016012, y=0.192882, theta=0.069323 +[11:33:10.866] Image Alignment failed 0 +[11:33:10.866] frame process finished the id is: 126 the obs is:450 +[11:33:10.947] Odometry x=0.017738, y=0.168552, theta=0.066985 +[11:33:10.967] Image Alignment failed 0 +[11:33:10.967] frame process finished the id is: 126 the obs is:450 +[11:33:11.041] Odometry x=0.019376, y=0.144244, theta=0.056723 +[11:33:11.066] Image Alignment failed 0 +[11:33:11.066] frame process finished the id is: 126 the obs is:450 +[11:33:11.142] Odometry x=0.020776, y=0.119913, theta=0.054775 +[11:33:11.167] Image Alignment failed 0 +[11:33:11.167] frame process finished the id is: 126 the obs is:450 +[11:33:11.236] Odometry x=0.022102, y=0.095588, theta=0.061411 +[11:33:11.266] Image Alignment failed 0 +[11:33:11.266] frame process finished the id is: 126 the obs is:450 +[11:33:11.342] Odometry x=0.023598, y=0.071262, theta=0.065053 +[11:33:11.367] Image Alignment failed 0 +[11:33:11.367] frame process finished the id is: 126 the obs is:450 +[11:33:11.442] Odometry x=0.025154, y=0.046947, theta=0.067525 +[11:33:11.468] Image Alignment failed 0 +[11:33:11.468] frame process finished the id is: 126 the obs is:450 +[11:33:11.540] Odometry x=0.026815, y=0.022627, theta=0.062567 +[11:33:11.569] Image Alignment failed 0 +[11:33:11.569] frame process finished the id is: 126 the obs is:450 +[11:33:11.639] Odometry x=0.028357, y=-0.001699, theta=0.059138 +[11:33:11.669] Image Alignment failed 0 +[11:33:11.669] frame process finished the id is: 126 the obs is:450 +[11:33:11.741] Odometry x=0.029769, y=-0.026026, theta=0.067850 +[11:33:11.768] Image Alignment failed 0 +[11:33:11.768] frame process finished the id is: 126 the obs is:450 +[11:33:11.844] Odometry x=0.031452, y=-0.050344, theta=0.072096 +[11:33:11.866] Image Alignment failed 0 +[11:33:11.866] frame process finished the id is: 126 the obs is:450 +[11:33:11.940] Odometry x=0.033237, y=-0.074681, theta=0.075476 +[11:33:11.966] Image Alignment failed 0 +[11:33:11.966] frame process finished the id is: 126 the obs is:450 +[11:33:12.036] Odometry x=0.035077, y=-0.098978, theta=0.078750 +[11:33:12.067] Image Alignment failed 0 +[11:33:12.067] frame process finished the id is: 126 the obs is:450 +[11:33:12.140] Odometry x=0.036986, y=-0.123292, theta=0.084971 +[11:33:12.166] Image Alignment failed 0 +[11:33:12.166] frame process finished the id is: 126 the obs is:450 +[11:33:12.240] Odometry x=0.039049, y=-0.147622, theta=0.085633 +[11:33:12.267] Image Alignment failed 0 +[11:33:12.267] frame process finished the id is: 126 the obs is:450 +[11:33:12.345] Odometry x=0.041137, y=-0.171922, theta=0.084549 +[11:33:12.372] Image Alignment failed 0 +[11:33:12.372] frame process finished the id is: 126 the obs is:450 +[11:33:12.443] Odometry x=0.043194, y=-0.196212, theta=0.086007 +[11:33:12.457] Image Alignment failed 0 +[11:33:12.457] frame process finished the id is: 126 the obs is:450 +[11:33:12.543] Odometry x=0.045285, y=-0.220499, theta=0.087818 +[11:33:12.567] Image Alignment failed 0 +[11:33:12.567] frame process finished the id is: 126 the obs is:450 +[11:33:12.642] Odometry x=0.047400, y=-0.244819, theta=0.093396 +[11:33:12.666] Image Alignment failed 0 +[11:33:12.666] frame process finished the id is: 126 the obs is:450 +[11:33:12.738] Odometry x=0.049651, y=-0.269119, theta=0.096917 +[11:33:12.767] Image Alignment failed 0 +[11:33:12.767] frame process finished the id is: 126 the obs is:450 +[11:33:12.838] Odometry x=0.052005, y=-0.293405, theta=0.103276 +[11:33:12.867] Image Alignment failed 0 +[11:33:12.867] frame process finished the id is: 126 the obs is:450 +[11:33:12.942] Odometry x=0.054477, y=-0.317671, theta=0.116393 +[11:33:12.968] Image Alignment failed 0 +[11:33:12.968] frame process finished the id is: 126 the obs is:450 +[11:33:13.040] Odometry x=0.057330, y=-0.341881, theta=0.109720 +[11:33:13.067] Image Alignment failed 0 +[11:33:13.067] frame process finished the id is: 126 the obs is:450 +[11:33:13.139] Odometry x=0.060067, y=-0.366139, theta=0.093712 +[11:33:13.166] Image Alignment failed 0 +[11:33:13.166] frame process finished the id is: 126 the obs is:450 +[11:33:13.239] Odometry x=0.062319, y=-0.390410, theta=0.095369 +[11:33:13.267] Image Alignment failed 0 +[11:33:13.267] frame process finished the id is: 126 the obs is:450 +[11:33:13.338] Odometry x=0.064628, y=-0.414689, theta=0.093620 +[11:33:13.377] Image Alignment failed 0 +[11:33:13.377] frame process finished the id is: 126 the obs is:450 +[11:33:13.438] Odometry x=0.066890, y=-0.438986, theta=0.101079 +[11:33:13.467] Image Alignment failed 0 +[11:33:13.467] frame process finished the id is: 126 the obs is:450 +[11:33:13.539] Odometry x=0.069403, y=-0.463226, theta=0.098150 +[11:33:13.567] Image Alignment failed 0 +[11:33:13.567] frame process finished the id is: 126 the obs is:450 +[11:33:13.639] Odometry x=0.071776, y=-0.487496, theta=0.104984 +[11:33:13.667] Image Alignment failed 0 +[11:33:13.667] frame process finished the id is: 126 the obs is:450 +[11:33:13.739] Odometry x=0.074357, y=-0.511720, theta=0.099072 +[11:33:13.767] Image Alignment failed 0 +[11:33:13.767] frame process finished the id is: 126 the obs is:450 +[11:33:13.843] Odometry x=0.076820, y=-0.535962, theta=0.091674 +[11:33:13.866] Image Alignment failed 0 +[11:33:13.866] frame process finished the id is: 126 the obs is:450 +[11:33:13.943] Odometry x=0.079085, y=-0.560257, theta=0.081421 +[11:33:13.967] Image Alignment failed 0 +[11:33:13.967] frame process finished the id is: 126 the obs is:450 +[11:33:14.039] Odometry x=0.081065, y=-0.584596, theta=0.081652 +[11:33:14.066] Image Alignment failed 0 +[11:33:14.066] frame process finished the id is: 126 the obs is:450 +[11:33:14.138] Odometry x=0.083054, y=-0.608875, theta=0.084785 +[11:33:14.167] Image Alignment failed 0 +[11:33:14.167] frame process finished the id is: 126 the obs is:450 +[11:33:14.240] Odometry x=0.085133, y=-0.633194, theta=0.084019 +[11:33:14.267] Image Alignment failed 0 +[11:33:14.267] frame process finished the id is: 126 the obs is:450 +[11:33:14.345] Odometry x=0.085133, y=-0.633194, theta=0.084019 +[11:33:14.367] Image Alignment failed 0 +[11:33:14.367] frame process finished the id is: 126 the obs is:450 +[11:33:14.441] Odometry x=0.087161, y=-0.657468, theta=0.090464 +[11:33:14.467] Image Alignment failed 0 +[11:33:14.467] frame process finished the id is: 126 the obs is:450 +[11:33:14.545] Odometry x=0.087161, y=-0.657468, theta=0.090464 +[11:33:14.566] Image Alignment failed 0 +[11:33:14.567] frame process finished the id is: 126 the obs is:450 +[11:33:14.638] Odometry x=0.089151, y=-0.679126, theta=0.092712 +[11:33:14.666] Image Alignment failed 0 +[11:33:14.666] frame process finished the id is: 126 the obs is:450 +[11:33:14.744] Odometry x=0.091295, y=-0.700758, theta=0.086325 +[11:33:14.768] Image Alignment failed 0 +[11:33:14.768] frame process finished the id is: 126 the obs is:450 +[11:33:14.844] Odometry x=0.093383, y=-0.724101, theta=0.078234 +[11:33:14.867] Image Alignment failed 0 +[11:33:14.867] frame process finished the id is: 126 the obs is:450 +[11:33:14.942] Odometry x=0.095266, y=-0.748046, theta=0.078124 +[11:33:14.970] Image Alignment failed 0 +[11:33:14.970] frame process finished the id is: 126 the obs is:450 +[11:33:15.060] Odometry x=0.097147, y=-0.772218, theta=0.079891 +[11:33:15.068] Image Alignment failed 0 +[11:33:15.068] frame process finished the id is: 126 the obs is:450 +[11:33:15.142] Odometry x=0.099101, y=-0.796494, theta=0.082792 +[11:33:15.167] Image Alignment failed 0 +[11:33:15.167] frame process finished the id is: 126 the obs is:450 +[11:33:15.244] Odometry x=0.101101, y=-0.820784, theta=0.088321 +[11:33:15.267] Image Alignment failed 0 +[11:33:15.267] frame process finished the id is: 126 the obs is:450 +[11:33:15.338] Odometry x=0.103247, y=-0.845081, theta=0.093091 +[11:33:15.368] Image Alignment failed 0 +[11:33:15.368] frame process finished the id is: 126 the obs is:450 +[11:33:15.437] Odometry x=0.105527, y=-0.869335, theta=0.093115 +[11:33:15.468] Image Alignment failed 0 +[11:33:15.468] frame process finished the id is: 126 the obs is:450 +[11:33:15.537] Odometry x=0.107807, y=-0.893578, theta=0.087321 +[11:33:15.567] Image Alignment failed 0 +[11:33:15.567] frame process finished the id is: 126 the obs is:450 +[11:33:15.638] Odometry x=0.109986, y=-0.917840, theta=0.070739 +[11:33:15.742] Odometry x=0.109986, y=-0.917840, theta=0.070739 +[11:33:15.757] Image Alignment failed 0 +[11:33:15.757] frame process finished the id is: 126 the obs is:450 +[11:33:15.771] Image Alignment failed 0 +[11:33:15.771] frame process finished the id is: 126 the obs is:450 +[11:33:15.840] Odometry x=0.111709, y=-0.942136, theta=0.061175 +[11:33:15.866] Image Alignment failed 0 +[11:33:15.866] frame process finished the id is: 126 the obs is:450 +[11:33:15.944] Odometry x=0.112999, y=-0.963955, theta=0.064452 +[11:33:15.968] Image Alignment failed 0 +[11:33:15.968] frame process finished the id is: 126 the obs is:450 +[11:33:16.044] Odometry x=0.114512, y=-0.987361, theta=0.064522 +[11:33:16.068] Image Alignment failed 0 +[11:33:16.068] frame process finished the id is: 126 the obs is:450 +[11:33:16.144] Odometry x=0.116063, y=-1.011344, theta=0.064794 +[11:33:16.168] Image Alignment failed 0 +[11:33:16.168] frame process finished the id is: 126 the obs is:450 +[11:33:16.244] Odometry x=0.117657, y=-1.035535, theta=0.061210 +[11:33:16.267] Image Alignment failed 0 +[11:33:16.268] frame process finished the id is: 126 the obs is:450 +[11:33:16.339] Odometry x=0.119144, y=-1.059839, theta=0.061159 +[11:33:16.368] Image Alignment failed 0 +[11:33:16.368] frame process finished the id is: 126 the obs is:450 +[11:33:16.444] Odometry x=0.120609, y=-1.084159, theta=0.067031 +[11:33:16.467] Image Alignment failed 0 +[11:33:16.467] frame process finished the id is: 126 the obs is:450 +[11:33:16.544] Odometry x=0.122222, y=-1.108488, theta=0.071259 +[11:33:16.568] Image Alignment failed 0 +[11:33:16.568] frame process finished the id is: 126 the obs is:450 +[11:33:16.644] Odometry x=0.123938, y=-1.132801, theta=0.074929 +[11:33:16.668] Image Alignment failed 0 +[11:33:16.668] frame process finished the id is: 126 the obs is:450 +[11:33:16.744] Odometry x=0.125752, y=-1.157099, theta=0.077801 +[11:33:16.768] Image Alignment failed 0 +[11:33:16.768] frame process finished the id is: 126 the obs is:450 +[11:33:16.839] Odometry x=0.127650, y=-1.181408, theta=0.078220 +[11:33:16.868] Image Alignment failed 0 +[11:33:16.868] frame process finished the id is: 126 the obs is:450 +[11:33:16.944] Odometry x=0.129549, y=-1.205729, theta=0.082414 +[11:33:16.967] Image Alignment failed 0 +[11:33:16.967] frame process finished the id is: 126 the obs is:450 +[11:33:17.040] Odometry x=0.131554, y=-1.230013, theta=0.081088 +[11:33:17.068] Image Alignment failed 0 +[11:33:17.068] frame process finished the id is: 126 the obs is:450 +[11:33:17.145] Odometry x=0.133509, y=-1.254314, theta=0.083882 +[11:33:17.170] Image Alignment failed 0 +[11:33:17.170] frame process finished the id is: 126 the obs is:450 +[11:33:17.245] Odometry x=0.135542, y=-1.278599, theta=0.082022 +[11:33:17.261] Image Alignment failed 0 +[11:33:17.261] frame process finished the id is: 126 the obs is:450 +[11:33:17.338] Odometry x=0.137542, y=-1.302895, theta=0.081907 +[11:33:17.368] Image Alignment failed 0 +[11:33:17.368] frame process finished the id is: 126 the obs is:450 +[11:33:17.436] Odometry x=0.139535, y=-1.327179, theta=0.083116 +[11:33:17.466] Image Alignment failed 0 +[11:33:17.466] frame process finished the id is: 126 the obs is:450 +[11:33:17.543] Odometry x=0.141594, y=-1.351460, theta=0.076198 +[11:33:17.567] Image Alignment failed 0 +[11:33:17.567] frame process finished the id is: 126 the obs is:450 +[11:33:17.637] Odometry x=0.143448, y=-1.375782, theta=0.081423 +[11:33:17.666] Image Alignment failed 0 +[11:33:17.666] frame process finished the id is: 126 the obs is:450 +[11:33:17.743] Odometry x=0.145423, y=-1.400085, theta=0.085216 +[11:33:17.769] Image Alignment failed 0 +[11:33:17.769] frame process finished the id is: 126 the obs is:450 +[11:33:17.844] Odometry x=0.147509, y=-1.424361, theta=0.084080 +[11:33:17.868] Image Alignment failed 0 +[11:33:17.868] frame process finished the id is: 126 the obs is:450 +[11:33:17.945] Odometry x=0.149561, y=-1.448625, theta=0.088897 +[11:33:17.969] Image Alignment failed 0 +[11:33:17.969] frame process finished the id is: 126 the obs is:450 +[11:33:18.041] Odometry x=0.151729, y=-1.472890, theta=0.084750 +[11:33:18.069] Image Alignment failed 0 +[11:33:18.070] frame process finished the id is: 126 the obs is:450 +[11:33:18.141] Odometry x=0.153789, y=-1.497197, theta=0.088616 +[11:33:18.168] Image Alignment failed 0 +[11:33:18.168] frame process finished the id is: 126 the obs is:450 +[11:33:18.236] Odometry x=0.155936, y=-1.521486, theta=0.096097 +[11:33:18.269] Image Alignment failed 0 +[11:33:18.269] frame process finished the id is: 126 the obs is:450 +[11:33:18.341] Odometry x=0.158245, y=-1.545777, theta=0.101256 +[11:33:18.371] Image Alignment failed 0 +[11:33:18.371] frame process finished the id is: 126 the obs is:450 +[11:33:18.442] Odometry x=0.160698, y=-1.570031, theta=0.102564 +[11:33:18.468] Image Alignment failed 0 +[11:33:18.468] frame process finished the id is: 126 the obs is:450 +[11:33:18.542] Odometry x=0.163229, y=-1.594273, theta=0.098366 +[11:33:18.569] Image Alignment failed 0 +[11:33:18.569] frame process finished the id is: 126 the obs is:450 +[11:33:18.642] Odometry x=0.165648, y=-1.618509, theta=0.094673 +[11:33:18.668] Image Alignment failed 0 +[11:33:18.668] frame process finished the id is: 126 the obs is:450 +[11:33:18.737] Odometry x=0.167944, y=-1.642781, theta=0.102550 +[11:33:18.769] Image Alignment failed 0 +[11:33:18.769] frame process finished the id is: 126 the obs is:450 +[11:33:18.838] Odometry x=0.170436, y=-1.667046, theta=0.104288 +[11:33:18.870] Image Alignment failed 0 +[11:33:18.870] frame process finished the id is: 126 the obs is:450 +[11:33:18.942] Odometry x=0.172944, y=-1.691308, theta=0.111281 +[11:33:18.969] Image Alignment failed 0 +[11:33:18.969] frame process finished the id is: 126 the obs is:450 +[11:33:19.044] Odometry x=0.175661, y=-1.715542, theta=0.110532 +[11:33:19.069] Image Alignment failed 0 +[11:33:19.069] frame process finished the id is: 126 the obs is:450 +[11:33:19.138] Odometry x=0.178347, y=-1.739772, theta=0.108916 +[11:33:19.170] Image Alignment failed 0 +[11:33:19.170] frame process finished the id is: 126 the obs is:450 +[11:33:19.242] Odometry x=0.181002, y=-1.764004, theta=0.108735 +[11:33:19.268] Image Alignment failed 0 +[11:33:19.268] frame process finished the id is: 126 the obs is:450 +[11:33:19.341] Odometry x=0.183622, y=-1.788242, theta=0.115114 +[11:33:19.370] Image Alignment failed 0 +[11:33:19.370] frame process finished the id is: 126 the obs is:450 +[11:33:19.440] Odometry x=0.186393, y=-1.812468, theta=0.120505 +[11:33:19.474] Image Alignment failed 0 +[11:33:19.474] frame process finished the id is: 126 the obs is:450 +[11:33:19.543] Odometry x=0.189296, y=-1.836680, theta=0.126268 +[11:33:19.561] Image Alignment failed 0 +[11:33:19.561] frame process finished the id is: 126 the obs is:450 +[11:33:19.645] Odometry x=0.192371, y=-1.860871, theta=0.125368 +[11:33:19.668] Image Alignment failed 0 +[11:33:19.668] frame process finished the id is: 126 the obs is:450 +[11:33:19.741] Odometry x=0.195426, y=-1.885048, theta=0.129438 +[11:33:19.769] Image Alignment failed 0 +[11:33:19.769] frame process finished the id is: 126 the obs is:450 +[11:33:19.837] Odometry x=0.198557, y=-1.909219, theta=0.136674 +[11:33:19.867] Image Alignment failed 0 +[11:33:19.867] frame process finished the id is: 126 the obs is:450 +[11:33:19.943] Odometry x=0.201901, y=-1.933370, theta=0.138700 +[11:33:19.969] Image Alignment failed 0 +[11:33:19.969] frame process finished the id is: 126 the obs is:450 +[11:33:20.040] Odometry x=0.205283, y=-1.957512, theta=0.131270 +[11:33:20.067] Image Alignment failed 0 +[11:33:20.067] frame process finished the id is: 126 the obs is:450 +[11:33:20.139] Odometry x=0.208466, y=-1.981689, theta=0.127667 +[11:33:20.177] Image Alignment failed 0 +[11:33:20.177] frame process finished the id is: 126 the obs is:450 +[11:33:20.244] Odometry x=0.211574, y=-2.005871, theta=0.129658 +[11:33:20.267] Image Alignment failed 0 +[11:33:20.267] frame process finished the id is: 126 the obs is:450 +[11:33:20.337] Odometry x=0.214741, y=-2.030030, theta=0.127195 +[11:33:20.367] Image Alignment failed 0 +[11:33:20.367] frame process finished the id is: 126 the obs is:450 +[11:33:20.437] Odometry x=0.217849, y=-2.054207, theta=0.122806 +[11:33:20.466] Image Alignment failed 0 +[11:33:20.466] frame process finished the id is: 126 the obs is:450 +[11:33:20.543] Odometry x=0.220802, y=-2.078381, theta=0.125315 +[11:33:20.567] Image Alignment failed 0 +[11:33:20.567] frame process finished the id is: 126 the obs is:450 +[11:33:20.636] Odometry x=0.223822, y=-2.102578, theta=0.129952 +[11:33:20.667] Image Alignment failed 0 +[11:33:20.667] frame process finished the id is: 126 the obs is:450 +[11:33:20.739] Odometry x=0.226967, y=-2.126748, theta=0.132716 +[11:33:20.769] Image Alignment failed 0 +[11:33:20.769] frame process finished the id is: 126 the obs is:450 +[11:33:20.840] Odometry x=0.230219, y=-2.150904, theta=0.127980 +[11:33:20.869] Image Alignment failed 0 +[11:33:20.869] frame process finished the id is: 126 the obs is:450 +[11:33:20.941] Odometry x=0.233354, y=-2.175071, theta=0.122768 +[11:33:20.968] Image Alignment failed 0 +[11:33:20.968] frame process finished the id is: 126 the obs is:450 +[11:33:21.041] Odometry x=0.236330, y=-2.199249, theta=0.125144 +[11:33:21.068] Image Alignment failed 0 +[11:33:21.068] frame process finished the id is: 126 the obs is:450 +[11:33:21.141] Odometry x=0.239351, y=-2.223430, theta=0.127809 +[11:33:21.168] Image Alignment failed 0 +[11:33:21.168] frame process finished the id is: 126 the obs is:450 +[11:33:21.235] Odometry x=0.242451, y=-2.247610, theta=0.130982 +[11:33:21.267] Image Alignment failed 0 +[11:33:21.267] frame process finished the id is: 126 the obs is:450 +[11:33:21.345] Odometry x=0.245648, y=-2.271788, theta=0.127086 +[11:33:21.370] Image Alignment failed 0 +[11:33:21.370] frame process finished the id is: 126 the obs is:450 +[11:33:21.441] Odometry x=0.248729, y=-2.295978, theta=0.124391 +[11:33:21.467] Image Alignment failed 0 +[11:33:21.467] frame process finished the id is: 126 the obs is:450 +[11:33:21.541] Odometry x=0.251748, y=-2.320173, theta=0.126367 +[11:33:21.569] Image Alignment failed 0 +[11:33:21.569] frame process finished the id is: 126 the obs is:450 +[11:33:21.641] Odometry x=0.254811, y=-2.344352, theta=0.132725 +[11:33:21.669] Image Alignment failed 0 +[11:33:21.669] frame process finished the id is: 126 the obs is:450 +[11:33:21.742] Odometry x=0.258013, y=-2.368529, theta=0.140044 +[11:33:21.769] Image Alignment failed 0 +[11:33:21.769] frame process finished the id is: 126 the obs is:450 +[11:33:21.836] Odometry x=0.261399, y=-2.392684, theta=0.143283 +[11:33:21.868] Image Alignment failed 0 +[11:33:21.868] frame process finished the id is: 126 the obs is:450 +[11:33:21.941] Odometry x=0.264854, y=-2.416809, theta=0.149555 +[11:33:21.959] Image Alignment failed 0 +[11:33:21.960] frame process finished the id is: 126 the obs is:450 +[11:33:22.041] Odometry x=0.268506, y=-2.440923, theta=0.150044 +[11:33:22.067] Image Alignment failed 0 +[11:33:22.067] frame process finished the id is: 126 the obs is:450 +[11:33:22.142] Odometry x=0.272152, y=-2.465026, theta=0.152980 +[11:33:22.171] Image Alignment failed 0 +[11:33:22.171] frame process finished the id is: 126 the obs is:450 +[11:33:22.239] Odometry x=0.275844, y=-2.489126, theta=0.159846 +[11:33:22.268] Image Alignment failed 0 +[11:33:22.268] frame process finished the id is: 126 the obs is:450 +[11:33:22.344] Odometry x=0.279689, y=-2.513208, theta=0.165144 +[11:33:22.368] Image Alignment failed 0 +[11:33:22.368] frame process finished the id is: 126 the obs is:450 +[11:33:22.444] Odometry x=0.283688, y=-2.537265, theta=0.164441 +[11:33:22.467] Image Alignment failed 0 +[11:33:22.467] frame process finished the id is: 126 the obs is:450 +[11:33:22.540] Odometry x=0.287687, y=-2.561332, theta=0.166945 +[11:33:22.568] Image Alignment failed 0 +[11:33:22.568] frame process finished the id is: 126 the obs is:450 +[11:33:22.639] Odometry x=0.291731, y=-2.585365, theta=0.170375 +[11:33:22.667] Image Alignment failed 0 +[11:33:22.667] frame process finished the id is: 126 the obs is:450 +[11:33:22.742] Odometry x=0.295887, y=-2.609397, theta=0.171587 +[11:33:22.767] Image Alignment failed 0 +[11:33:22.767] frame process finished the id is: 126 the obs is:450 +[11:33:22.838] Odometry x=0.300065, y=-2.633423, theta=0.170359 +[11:33:22.867] Image Alignment failed 0 +[11:33:22.867] frame process finished the id is: 126 the obs is:450 +[11:33:22.937] Odometry x=0.304172, y=-2.657466, theta=0.175537 +[11:33:22.967] Image Alignment failed 0 +[11:33:22.967] frame process finished the id is: 126 the obs is:450 +[11:33:23.046] Odometry x=0.308453, y=-2.681465, theta=0.170240 +[11:33:23.069] Image Alignment failed 0 +[11:33:23.069] frame process finished the id is: 126 the obs is:450 +[11:33:23.140] Odometry x=0.312596, y=-2.705489, theta=0.164733 +[11:33:23.169] Image Alignment failed 0 +[11:33:23.169] frame process finished the id is: 126 the obs is:450 +[11:33:23.241] Odometry x=0.316617, y=-2.729527, theta=0.159814 +[11:33:23.272] Image Alignment failed 0 +[11:33:23.272] frame process finished the id is: 126 the obs is:450 +[11:33:23.341] Odometry x=0.320500, y=-2.753612, theta=0.160948 +[11:33:23.367] Image Alignment failed 0 +[11:33:23.367] frame process finished the id is: 126 the obs is:450 +[11:33:23.477] Image Alignment failed 0 +[11:33:23.477] frame process finished the id is: 126 the obs is:450 +[11:33:23.567] Image Alignment failed 0 +[11:33:23.567] frame process finished the id is: 126 the obs is:450 +[11:33:23.669] Image Alignment failed 0 +[11:33:23.669] frame process finished the id is: 126 the obs is:450 +[11:33:23.769] Image Alignment failed 0 +[11:33:23.769] frame process finished the id is: 126 the obs is:450 +[11:33:23.869] Image Alignment failed 0 +[11:33:23.869] frame process finished the id is: 126 the obs is:450 +[11:33:23.969] Image Alignment failed 0 +[11:33:23.969] frame process finished the id is: 126 the obs is:450 +[11:33:24.069] Image Alignment failed 0 +[11:33:24.069] frame process finished the id is: 126 the obs is:450 +[11:33:24.168] Image Alignment failed 0 +[11:33:24.168] frame process finished the id is: 126 the obs is:450 +[11:33:24.267] Image Alignment failed 0 +[11:33:24.267] frame process finished the id is: 126 the obs is:450 +[11:33:24.362] Image Alignment failed 0 +[11:33:24.362] frame process finished the id is: 126 the obs is:450 +[11:33:24.468] Image Alignment failed 0 +[11:33:24.468] frame process finished the id is: 126 the obs is:450 +[11:33:24.568] Image Alignment failed 0 +[11:33:24.568] frame process finished the id is: 126 the obs is:450 +[11:33:24.661] Image Alignment failed 0 +[11:33:24.661] frame process finished the id is: 126 the obs is:450 +[11:33:24.767] Image Alignment failed 0 +[11:33:24.767] frame process finished the id is: 126 the obs is:450 +[11:33:24.868] Image Alignment failed 0 +[11:33:24.868] frame process finished the id is: 126 the obs is:450 +[11:33:24.972] Image Alignment failed 0 +[11:33:24.972] frame process finished the id is: 126 the obs is:450 +[11:33:25.069] Image Alignment failed 0 +[11:33:25.069] frame process finished the id is: 126 the obs is:450 +[11:33:25.167] Image Alignment failed 0 +[11:33:25.167] frame process finished the id is: 126 the obs is:450 +[11:33:25.267] Image Alignment failed 0 +[11:33:25.267] frame process finished the id is: 126 the obs is:450 +[11:33:25.370] Image Alignment failed 0 +[11:33:25.370] frame process finished the id is: 126 the obs is:450 +[11:33:25.471] Image Alignment failed 0 +[11:33:25.471] frame process finished the id is: 126 the obs is:450 +[11:33:25.568] Image Alignment failed 0 +[11:33:25.568] frame process finished the id is: 126 the obs is:450 +[11:33:25.668] Image Alignment failed 0 +[11:33:25.668] frame process finished the id is: 126 the obs is:450 +[11:33:25.767] Image Alignment failed 0 +[11:33:25.767] frame process finished the id is: 126 the obs is:450 +[11:33:25.867] Image Alignment failed 0 +[11:33:25.867] frame process finished the id is: 126 the obs is:450 +[11:33:25.967] Image Alignment failed 0 +[11:33:25.967] frame process finished the id is: 126 the obs is:450 +[11:33:26.067] Image Alignment failed 0 +[11:33:26.067] frame process finished the id is: 126 the obs is:450 +[11:33:26.167] Image Alignment failed 0 +[11:33:26.167] frame process finished the id is: 126 the obs is:450 +[11:33:26.268] Image Alignment failed 0 +[11:33:26.268] frame process finished the id is: 126 the obs is:450 +[11:33:26.368] Image Alignment failed 0 +[11:33:26.368] frame process finished the id is: 126 the obs is:450 +[11:33:26.468] Image Alignment failed 0 +[11:33:26.468] frame process finished the id is: 126 the obs is:450 +[11:33:26.568] Image Alignment failed 0 +[11:33:26.568] frame process finished the id is: 126 the obs is:450 +[11:33:26.668] Image Alignment failed 0 +[11:33:26.668] frame process finished the id is: 126 the obs is:450 +[11:33:26.768] Image Alignment failed 0 +[11:33:26.768] frame process finished the id is: 126 the obs is:450 diff --git a/GPU_version/vio/include/vio/point.h b/GPU_version/vio/include/vio/point.h index cb0f3a2..bb9817c 100644 --- a/GPU_version/vio/include/vio/point.h +++ b/GPU_version/vio/include/vio/point.h @@ -46,17 +46,12 @@ public: static int point_counter_; //!< Counts the number of created points. Used to set the unique id. int id_; //!< Unique ID of the point. Vector3d pos_; //!< 3d pos of the point in the world coordinate frame. - Vector3d normal_; //!< Surface normal at point. - Matrix3d normal_information_; //!< Inverse covariance matrix of normal estimation. - bool normal_set_; //!< Flag whether the surface normal was estimated or not. list> obs_; //!< References to keyframes which observe the point. size_t n_obs_; //!< Number of obervations: Keyframes AND successful reprojections in intermediate frames. g2o::VertexSBAPointXYZ* v_pt_=nullptr; //!< Temporary pointer to the point-vertex in g2o during bundle adjustment. - int last_published_ts_; //!< Timestamp of last publishing. int last_frame_overlap_id_; //!< Flag for the reprojection: don't reproject a pt twice. PointType type_; //!< Quality of the point. int n_failed_reproj_; //!< Number of failed reprojections. Used to assess the quality of the point. - int n_succeeded_reproj_; //!< Number of succeeded reprojections. Used to assess the quality of the point. int last_structure_optim_; //!< Timestamp of last point optimization Point(const Vector3d& pos); @@ -69,8 +64,6 @@ public: /// Remove reference to a frame. bool deleteFrameRef(FramePtr frame); - /// Initialize point normal. The inital estimate will point towards the frame. - void initNormal(); /// Check whether mappoint has reference to a frame. std::shared_ptr findFrameRef(FramePtr frame); @@ -85,22 +78,6 @@ public: void optimize(const size_t n_iter); /// Jacobian of point projection on unit plane (focal length = 1) in frame (f). - inline static void jacobian_xyz2uv( - const Vector3d& p_in_f, - const Matrix3d& R_f_w, - Matrix23d& point_jac) - { - const double z_inv = 1.0/p_in_f[2]; - const double z_inv_sq = z_inv*z_inv; - point_jac(0, 0) = z_inv; - point_jac(0, 1) = 0.0; - point_jac(0, 2) = -p_in_f[0] * z_inv_sq; - point_jac(1, 0) = 0.0; - point_jac(1, 1) = z_inv; - point_jac(1, 2) = -p_in_f[1] * z_inv_sq; - point_jac = - point_jac * R_f_w; - } - void jacobian_xyz2uv_( const Vector3d& p_in_f, const Matrix3d& R_f_w, diff --git a/GPU_version/vio/include/vio/pose_optimizer.h b/GPU_version/vio/include/vio/pose_optimizer.h index 09b46d3..b28e336 100644 --- a/GPU_version/vio/include/vio/pose_optimizer.h +++ b/GPU_version/vio/include/vio/pose_optimizer.h @@ -18,6 +18,7 @@ #define SVO_POSE_OPTIMIZER_H_ #include +#include namespace vio { @@ -35,14 +36,13 @@ class Point; namespace pose_optimizer { void optimizeGaussNewton( - const double reproj_thresh, const size_t n_iter, - const bool verbose, FramePtr& frame, double& estimated_scale, double& error_init, double& error_final, size_t& num_obs, + vio::Map& map, FILE* log); } // namespace pose_optimizer diff --git a/GPU_version/vio/include/vio/reprojector.h b/GPU_version/vio/include/vio/reprojector.h index ddbba24..fd1c7e8 100644 --- a/GPU_version/vio/include/vio/reprojector.h +++ b/GPU_version/vio/include/vio/reprojector.h @@ -61,8 +61,7 @@ public: /// Project points from the map into the image. First finds keyframes with /// overlapping field of view and projects only those map-points. - - void reprojectMap2( + void reprojectMap( FramePtr frame, FramePtr last_frame, std::vector< std::pair >& overlap_kfs, @@ -97,10 +96,8 @@ private: Matcher matcher_; Map& map_; - static bool pointQualityComparator(Candidate& lhs, Candidate& rhs); void initializeGrid(vk::AbstractCamera* cam); void resetGrid(); - bool reprojectCell(Cell& cell, FramePtr frame, FILE* log_); }; } // namespace vio diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index 7c4cbdf..d12f08d 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -1,6 +1,6 @@ - + diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index 7ca4023..0a29dc7 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -10,7 +10,7 @@ svo: kfselect_mindist: 0.01 poseoptim_thresh: 8.0 init_min_inliers: 50 - ACC_noise: 0.5 #acc white noise in continuous in EKF - GYO_noise: 0.5 #gyro white noise in continuous in EKF + ACC_noise: 0.4 #acc white noise in continuous in EKF + GYO_noise: 0.4 #gyro white noise in continuous in EKF svo_ekf: 0.1 #Svo noise that will be devided by number of Reprojected points after opmization in EKF Cmd_Cov: 0.1 #control vector noise in EKF diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index a007cab..0722c44 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -194,13 +194,12 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() new_frame_=last_frame_; return RESULT_FAILURE; } - reprojector_.reprojectMap2(new_frame_, last_frame_,overlap_kfs_, gpu_fast_, log_); + reprojector_.reprojectMap(new_frame_, last_frame_,overlap_kfs_, gpu_fast_, log_); int n_point=0; for(auto i:overlap_kfs_)n_point+=i.second; #if VIO_DEBUG - fprintf(log_,"[%s] After Reprojection Map nPoint:%d ,nCell:%d ,nMatches:%d ,distance between ekf and vo x:%f ,z=%f,angle between two frames:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(), + fprintf(log_,"[%s] After Reprojection Map nMatches:%d ,distance between ekf and vo x:%f ,z=%f,angle between two frames:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(), n_point, - reprojector_.n_trials_,reprojector_.n_matches_, new_frame_->T_f_w_.se2().translation().x()-init_f.second.se2().translation().x(), new_frame_->T_f_w_.se2().translation().y()-init_f.second.se2().translation().y(), fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())); @@ -209,8 +208,8 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() size_t sfba_n_edges_final=0; double sfba_thresh, sfba_error_init, sfba_error_final; pose_optimizer::optimizeGaussNewton( - Config::poseOptimThresh(), 70, false, - new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final,log_); + Config::poseOptimThresh(), + new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final,map_,log_); #if VIO_DEBUG fprintf(log_,"[%s] After pose optimization, distance between ekf and vo x:%f ,z=%f,angle between two frames:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(), new_frame_->T_f_w_.se2().translation().x()-init_f.second.se2().translation().x(), @@ -218,7 +217,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())); #endif if((init_f.second.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.2 || - fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())>0.02 || sfba_n_edges_final<10){ + fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())>0.2 || sfba_n_edges_final<10){ new_frame_=last_frame_; return RESULT_FAILURE; } diff --git a/GPU_version/vio/src/point.cpp b/GPU_version/vio/src/point.cpp index 78c79bb..85d57b9 100644 --- a/GPU_version/vio/src/point.cpp +++ b/GPU_version/vio/src/point.cpp @@ -27,28 +27,22 @@ int Point::point_counter_ = 0; Point::Point(const Vector3d& pos) : id_(point_counter_++), pos_(pos), - normal_set_(false), n_obs_(0), v_pt_(NULL), - last_published_ts_(0), last_frame_overlap_id_(-10), type_(TYPE_UNKNOWN), n_failed_reproj_(0), - n_succeeded_reproj_(0), last_structure_optim_(0) {} Point::Point(const Vector3d& pos, std::shared_ptr ftr) : id_(point_counter_++), pos_(pos), - normal_set_(false), n_obs_(1), v_pt_(NULL), - last_published_ts_(0), last_frame_overlap_id_(-10), type_(TYPE_UNKNOWN), n_failed_reproj_(0), - n_succeeded_reproj_(0), last_structure_optim_(0) { obs_.push_front(ftr); @@ -90,17 +84,6 @@ bool Point::deleteFrameRef(FramePtr frame) return false; } -void Point::initNormal() -{ - assert(!obs_.empty()); - const std::shared_ptr ftr = obs_.back(); - assert(ftr->frame != NULL); - normal_ = ftr->frame->se3().rotation_matrix().transpose()*(-ftr->f); - double x=pow(20/(pos_-Vector3d(ftr->frame->pos()(0),0.0,ftr->frame->pos()(1))).norm(),2); - normal_information_ = DiagonalMatrix(x, 1.0, 1.0); - normal_set_ = true; -} - bool Point::getCloseViewObs(const Vector2d& framepos, std::shared_ptr& ftr,int id) const { boost::unique_lock lock(point_mut_); @@ -153,7 +136,6 @@ void Point::optimize(const size_t n_iter) { Matrix23d J; const Vector3d p_in_f((*it)->frame->se3()*pos_); - //Point::jacobian_xyz2uv(p_in_f, (*it)->frame->se3().rotation_matrix(), J); Point::jacobian_xyz2uv_(p_in_f, (*it)->frame->se3().rotation_matrix(), J, (*it)->frame->cam_->params(), (*it)->frame->T_f_w_); const Vector2d e(vk::project2d((*it)->f) - vk::project2d(p_in_f)); new_chi2 += e.squaredNorm(); diff --git a/GPU_version/vio/src/pose_optimizer.cpp b/GPU_version/vio/src/pose_optimizer.cpp index c66f3be..8601edb 100644 --- a/GPU_version/vio/src/pose_optimizer.cpp +++ b/GPU_version/vio/src/pose_optimizer.cpp @@ -27,14 +27,13 @@ namespace vio { namespace pose_optimizer { void optimizeGaussNewton( - const double reproj_thresh, const size_t n_iter, - const bool verbose, FramePtr& frame, double& estimated_scale, double& error_init, double& error_final, size_t& num_obs, + vio::Map& map, FILE* log) { // init @@ -55,11 +54,6 @@ void optimizeGaussNewton( Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_)); e *= 1.0 / (1<<(*it)->level); - //std::cerr<<"pose optimizer - error : "< 0.01){ - it = frame->fts_.erase(it); - continue; - }*/ chi2_vec_init.push_back(e.norm()); // just for debug errors.push_back(e.norm()); it++; @@ -69,9 +63,6 @@ void optimizeGaussNewton( return; vk::robust_cost::MADScaleEstimator scale_estimator; estimated_scale = scale_estimator.compute(errors); -//#if VIO_DEBUG -// fprintf(log,"[%s] Init estimate scale:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(),estimated_scale); -//#endif num_obs = errors.size(); double scale = estimated_scale; @@ -122,7 +113,7 @@ void optimizeGaussNewton( if(vk::norm_max(dT) <= EPS) break; } - point_mut_.lock(); + //point_mut_.lock(); size_t n_deleted_refs = 0; for(auto it=frame->fts_.begin(); it!=frame->fts_.end(); /*++it*/) { @@ -135,14 +126,14 @@ void optimizeGaussNewton( chi2_vec_final.push_back(e.norm()); if(e.norm() > 1.0 / frame->cam_->errorMultiplier2()) { - (*it)->point.reset(); + map.safeDeletePoint((*it)->point); it = frame->fts_.erase(it); ++n_deleted_refs; } else it++; } - point_mut_.unlock(); + //point_mut_.unlock(); num_obs -= n_deleted_refs; #if VIO_DEBUG error_init=0.0; diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp index 58c896e..43da972 100644 --- a/GPU_version/vio/src/reprojector.cpp +++ b/GPU_version/vio/src/reprojector.cpp @@ -65,7 +65,7 @@ namespace vio { //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // TODO - second reimplementation - void Reprojector::reprojectMap2( + void Reprojector::reprojectMap( FramePtr frame, FramePtr last_frame, std::vector > &overlap_kfs, @@ -116,31 +116,23 @@ namespace vio { std::vector keypoints_kfs; std::vector> matches; keypoints_kfs.push_back(cv::KeyPoint((*it_ref)->px.x(), (*it_ref)->px.y(), 7.f,(*it_ref)->score)); - cv::Mat ref_des=cv::Mat(1,64,CV_8UC1,(*it_ref)->descriptor); - if ((*it_ref)->px.y() < frame->img().rows/2) { matcher->knnMatch(ref_des, cur_des, matches, 1, cv::InputArray(maskup)); } else{ matcher->knnMatch(ref_des, cur_des, matches, 1, cv::InputArray(maskdown)); } - /*cv::Mat imgMatch,key_point_ref,key_point_cur; - cv::drawMatches( it_frame.item.first->img_pyr_[0], keypoints_kfs, frame->img_pyr_[0], keypoints_cur,matches, imgMatch); - cv::imshow("img",imgMatch); - cv::waitKey();*/ for(auto&& match:matches.back()){ it_cur=keypoints.begin(); std::advance(it_cur,match.trainIdx); if(!(*it_cur))continue; -/* const int k = static_cast((*it_cur)->px.y() / grid_.cell_size) * - grid_.grid_n_cols - + static_cast((*it_cur)->px.x() / grid_.cell_size); - if(k>grid_.cells.size()-1)continue; - assert(grid_.cells.at(k) != nullptr); - if(grid_.cells.at(k)->size()> Config::gridSize()-1)continue;*/ Vector2d px((int) (*it_cur)->px.x(), (int) (*it_cur)->px.y()); + const int k = static_cast((*it_cur)->px.y() / grid_.cell_size) * + grid_.grid_n_cols + + static_cast((*it_cur)->px.x() / grid_.cell_size); + if(grid_.cells.at(k)->size()> Config::gridSize()-1)continue; if ((*it_ref)->point == NULL){ SE3 T_ref_cur=it_frame.item.first->se3().inverse()*frame->se3(); // pose with respect to reference frame @@ -157,8 +149,7 @@ namespace vio { new_point->addFrameRef(frame->fts_.back()); added_keypoints.push_back(match.trainIdx); frame->fts_.back()->point->last_frame_overlap_id_=it_frame.item.first->id_; - ///TODO number of cell is not reflecting the number of point, check K value - //grid_.cells.at(k)->push_back(Candidate(frame->fts_.back()->point, px)); + grid_.cells.at(k)->push_back(Candidate(frame->fts_.back()->point, px)); overlap_kfs.back().second++; }else{ if(!matcher_.findMatchDirect(*(*it_ref)->point, *frame, px))continue; @@ -168,70 +159,13 @@ namespace vio { (*it_ref)->point, px,(*it_cur)->level,(*it_cur)->score,(*it_cur)->descriptor)); added_keypoints.push_back(match.trainIdx); - ///TODO number of cell is not reflecting the number of point, check K value - //grid_.cells.at(k)->push_back(Candidate((*it_ref)->point, px)); + grid_.cells.at(k)->push_back(Candidate(frame->fts_.back()->point, px)); overlap_kfs.back().second++; } } ++it_ref; } } - /*{ - for (auto&& cell : grid_.cells) { - if (reprojectCell(*cell, frame, log_)) - ++n_matches_; - if (n_matches_ > (size_t) Config::maxFts()) - break; - } - }*/ - //exit(0); - } - -//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool Reprojector::pointQualityComparator(Candidate &lhs, Candidate &rhs) { - if (lhs.pt->type_ > rhs.pt->type_) - return true; - return false; - } - - bool Reprojector::reprojectCell(Cell &cell, FramePtr frame, FILE* log_) { - if(cell.size()<1){ - return false; - } - cell.sort(boost::bind(&Reprojector::pointQualityComparator, _1, _2)); - Cell::iterator it=cell.begin(); - while(it!=cell.end()) - { - ++n_trials_; - if( it->pt ==NULL){ - it = cell.erase(it); - continue; - } - if(it->pt->type_ == Point::TYPE_DELETED) - { - it = cell.erase(it); - continue; - } - bool res = matcher_.findMatchDirect(*it->pt, *frame, it->px); - if(!res) - { - it->pt->n_failed_reproj_++; - if(it->pt->n_failed_reproj_ > 15)it->pt.reset(); - it = cell.erase(it); - continue; - } - - it->pt->n_succeeded_reproj_++; - if(it->pt->n_succeeded_reproj_ > 10) - it->pt->type_ = Point::TYPE_GOOD; - - cell.erase(it); - - // Maximum one point per cell. - return true; - } - - return false; } } \ No newline at end of file