diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index 9715b33..1c06659 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,1096 +1,757 @@ -[19:40:43.386] frame process finished the id is: 0 the obs is:0 -[19:40:43.479] Init: frame zero: 0.000000, 0.000000 0.000000 -[19:40:43.479] Init: Selected first frame. -[19:40:43.479] frame process finished the id is: 1 the obs is:0 -[19:40:43.581] Init: px average disparity is:0.181787 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:43.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:43.581] frame process finished the id is: 2 the obs is:0 -[19:40:43.679] Init: px average disparity is:0.239343 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:43.679] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:43.679] frame process finished the id is: 3 the obs is:0 -[19:40:43.777] Init: px average disparity is:0.252471 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:43.777] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:43.777] frame process finished the id is: 4 the obs is:0 -[19:40:43.877] Init: px average disparity is:0.307369 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:43.877] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:43.877] frame process finished the id is: 5 the obs is:0 -[19:40:43.978] Init: px average disparity is:0.463217 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:43.978] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:43.978] frame process finished the id is: 6 the obs is:0 -[19:40:44.084] Init: px average disparity is:0.370744 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:44.084] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:44.084] frame process finished the id is: 7 the obs is:0 -[19:40:44.178] Init: px average disparity is:0.508368 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:44.178] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:44.178] frame process finished the id is: 8 the obs is:0 -[19:40:44.279] Init: px average disparity is:0.507115 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:44.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:44.279] frame process finished the id is: 9 the obs is:0 -[19:40:44.381] Init: px average disparity is:0.500017 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:44.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:44.381] frame process finished the id is: 10 the obs is:0 -[19:40:44.479] Init: px average disparity is:0.570553 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:44.479] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:44.479] frame process finished the id is: 11 the obs is:0 -[19:40:44.578] Init: px average disparity is:0.643874 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:44.578] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:44.578] frame process finished the id is: 12 the obs is:0 -[19:40:44.682] Init: px average disparity is:0.716885 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:44.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:44.682] frame process finished the id is: 13 the obs is:0 -[19:40:44.785] Init: px average disparity is:0.704752 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:44.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:44.785] frame process finished the id is: 14 the obs is:0 -[19:40:44.883] Init: px average disparity is:0.671469 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:44.883] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:44.883] frame process finished the id is: 15 the obs is:0 -[19:40:44.982] Init: px average disparity is:0.732591 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:44.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:44.983] frame process finished the id is: 16 the obs is:0 -[19:40:45.083] Init: px average disparity is:0.625697 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:45.083] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:45.083] frame process finished the id is: 17 the obs is:0 -[19:40:45.182] Init: px average disparity is:0.652830 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:45.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:45.183] frame process finished the id is: 18 the obs is:0 -[19:40:45.284] Init: px average disparity is:0.699982 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:45.284] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:45.284] frame process finished the id is: 19 the obs is:0 -[19:40:45.384] Init: px average disparity is:0.767700 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:45.384] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:45.384] frame process finished the id is: 20 the obs is:0 -[19:40:45.484] Init: px average disparity is:0.647153 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:45.485] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:45.485] frame process finished the id is: 21 the obs is:0 -[19:40:45.584] Init: px average disparity is:0.684126 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:45.584] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:45.584] frame process finished the id is: 22 the obs is:0 -[19:40:45.678] Init: px average disparity is:0.695500 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:45.678] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:45.678] frame process finished the id is: 23 the obs is:0 -[19:40:45.783] Init: px average disparity is:0.645300 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:45.783] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:45.783] frame process finished the id is: 24 the obs is:0 -[19:40:45.884] Init: px average disparity is:0.643848 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:45.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:45.885] frame process finished the id is: 25 the obs is:0 -[19:40:45.985] Init: px average disparity is:0.695306 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:45.985] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:45.985] frame process finished the id is: 26 the obs is:0 -[19:40:46.086] Init: px average disparity is:0.587571 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:46.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:46.086] frame process finished the id is: 27 the obs is:0 -[19:40:46.185] Init: px average disparity is:0.711292 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:46.185] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:46.185] frame process finished the id is: 28 the obs is:0 -[19:40:46.285] Init: px average disparity is:0.668747 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:46.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:46.285] frame process finished the id is: 29 the obs is:0 -[19:40:46.385] Init: px average disparity is:0.645173 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:46.385] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:46.385] frame process finished the id is: 30 the obs is:0 -[19:40:46.485] Init: px average disparity is:0.634112 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:46.485] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:46.485] frame process finished the id is: 31 the obs is:0 -[19:40:46.586] Init: px average disparity is:0.698086 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:46.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:46.586] frame process finished the id is: 32 the obs is:0 -[19:40:46.685] Init: px average disparity is:0.722132 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:46.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:46.685] frame process finished the id is: 33 the obs is:0 -[19:40:46.784] Init: px average disparity is:0.604671 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:46.784] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:46.784] frame process finished the id is: 34 the obs is:0 -[19:40:46.886] Init: px average disparity is:0.553103 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:46.886] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:46.886] frame process finished the id is: 35 the obs is:0 -[19:40:46.976] Init: px average disparity is:0.642887 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:46.976] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:46.976] frame process finished the id is: 36 the obs is:0 -[19:40:47.087] Init: px average disparity is:0.657819 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:47.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:47.087] frame process finished the id is: 37 the obs is:0 -[19:40:47.184] Init: px average disparity is:0.613608 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:47.184] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:47.184] frame process finished the id is: 38 the obs is:0 -[19:40:47.285] Init: px average disparity is:0.580937 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:47.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:47.285] frame process finished the id is: 39 the obs is:0 -[19:40:47.386] Init: px average disparity is:0.707341 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:47.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:47.386] frame process finished the id is: 40 the obs is:0 -[19:40:47.485] Init: px average disparity is:0.582254 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:47.486] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:47.486] frame process finished the id is: 41 the obs is:0 -[19:40:47.586] Init: px average disparity is:0.699619 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:47.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:47.586] frame process finished the id is: 42 the obs is:0 -[19:40:47.685] Init: px average disparity is:0.611877 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:47.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:47.685] frame process finished the id is: 43 the obs is:0 -[19:40:47.785] Init: px average disparity is:0.678798 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:47.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:47.785] frame process finished the id is: 44 the obs is:0 -[19:40:47.885] Init: px average disparity is:0.669401 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:47.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:47.885] frame process finished the id is: 45 the obs is:0 -[19:40:47.985] Init: px average disparity is:0.722483 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:47.985] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:47.985] frame process finished the id is: 46 the obs is:0 -[19:40:48.086] Init: px average disparity is:0.635076 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:48.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:48.086] frame process finished the id is: 47 the obs is:0 -[19:40:48.185] Init: px average disparity is:0.712988 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:48.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:48.186] frame process finished the id is: 48 the obs is:0 -[19:40:48.285] Init: px average disparity is:0.531575 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:48.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:48.285] frame process finished the id is: 49 the obs is:0 -[19:40:48.378] Init: px average disparity is:0.729184 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:48.378] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:48.378] frame process finished the id is: 50 the obs is:0 -[19:40:48.485] Init: px average disparity is:0.703436 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:48.485] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:48.485] frame process finished the id is: 51 the obs is:0 -[19:40:48.589] Init: px average disparity is:0.707106 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:48.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:48.589] frame process finished the id is: 52 the obs is:0 -[19:40:48.686] Init: px average disparity is:0.620616 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:48.686] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:48.686] frame process finished the id is: 53 the obs is:0 -[19:40:48.786] Init: px average disparity is:0.666593 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:48.786] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:48.786] frame process finished the id is: 54 the obs is:0 -[19:40:48.873] Odometry x=0.000000, y=0.000000, theta=0.000000 -[19:40:48.887] Init: px average disparity is:0.649498 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:48.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:48.887] frame process finished the id is: 55 the obs is:0 -[19:40:48.972] Odometry x=0.000000, y=0.000000, theta=0.000000 -[19:40:48.985] Init: px average disparity is:0.607032 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:48.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:48.986] frame process finished the id is: 56 the obs is:0 -[19:40:49.073] Odometry x=-0.000001, y=-0.005261, theta=0.001454 -[19:40:49.086] Init: px average disparity is:0.669184 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:49.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:49.086] frame process finished the id is: 57 the obs is:0 -[19:40:49.173] Odometry x=-0.000004, y=-0.011545, theta=0.000504 -[19:40:49.187] Init: px average disparity is:5.129996 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:49.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:49.187] frame process finished the id is: 58 the obs is:0 -[19:40:49.267] Odometry x=0.000035, y=-0.015679, theta=-0.000838 -[19:40:49.287] Init: px average disparity is:9.966312 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:49.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:49.287] frame process finished the id is: 59 the obs is:0 -[19:40:49.371] Odometry x=0.000051, y=-0.020807, theta=-0.002745 -[19:40:49.387] Init: px average disparity is:9.467743 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:49.387] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:49.387] frame process finished the id is: 60 the obs is:0 -[19:40:49.467] Odometry x=0.000296, y=-0.026268, theta=-0.006246 -[19:40:49.487] Init: px average disparity is:10.938882 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:49.487] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:49.487] frame process finished the id is: 61 the obs is:0 -[19:40:49.572] Odometry x=0.000342, y=-0.031083, theta=0.002185 -[19:40:49.587] Init: px average disparity is:13.757237 ,While minimum is: 40.000000 KLT tracked : 117 -[19:40:49.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:49.588] frame process finished the id is: 62 the obs is:0 -[19:40:49.673] Odometry x=0.000351, y=-0.030483, theta=0.004376 -[19:40:49.688] Init: px average disparity is:17.379244 ,While minimum is: 40.000000 KLT tracked : 116 -[19:40:49.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:49.688] frame process finished the id is: 63 the obs is:0 -[19:40:49.774] Odometry x=0.000317, y=-0.036139, theta=0.000249 -[19:40:49.779] Init: px average disparity is:18.784021 ,While minimum is: 40.000000 KLT tracked : 115 -[19:40:49.779] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:49.779] frame process finished the id is: 64 the obs is:0 -[19:40:49.865] Odometry x=0.000322, y=-0.041462, theta=-0.004965 -[19:40:49.888] Init: px average disparity is:21.220005 ,While minimum is: 40.000000 KLT tracked : 114 -[19:40:49.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:49.888] frame process finished the id is: 65 the obs is:0 -[19:40:49.971] Odometry x=0.000342, y=-0.046081, theta=-0.002413 -[19:40:49.986] Init: px average disparity is:23.363265 ,While minimum is: 40.000000 KLT tracked : 114 -[19:40:49.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:49.986] frame process finished the id is: 66 the obs is:0 -[19:40:50.066] Odometry x=0.000588, y=-0.051799, theta=-0.002386 -[19:40:50.085] Init: px average disparity is:26.263364 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:50.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:50.086] frame process finished the id is: 67 the obs is:0 -[19:40:50.167] Odometry x=0.000580, y=-0.057687, theta=0.004392 -[19:40:50.186] Init: px average disparity is:25.458221 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:50.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:50.187] frame process finished the id is: 68 the obs is:0 -[19:40:50.269] Odometry x=0.001239, y=-0.063219, theta=-0.000088 -[19:40:50.288] Init: px average disparity is:18.605852 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:50.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:50.288] frame process finished the id is: 69 the obs is:0 -[19:40:50.370] Odometry x=0.001239, y=-0.068519, theta=-0.000832 -[19:40:50.386] Init: px average disparity is:15.131617 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:50.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:50.386] frame process finished the id is: 70 the obs is:0 -[19:40:50.472] Odometry x=0.001375, y=-0.073849, theta=0.002895 -[19:40:50.488] Init: px average disparity is:11.865697 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:50.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:50.488] frame process finished the id is: 71 the obs is:0 -[19:40:50.573] Odometry x=0.001375, y=-0.076456, theta=0.000084 -[19:40:50.588] Init: px average disparity is:10.765171 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:50.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:50.588] frame process finished the id is: 72 the obs is:0 -[19:40:50.673] Odometry x=0.001369, y=-0.081698, theta=-0.000469 -[19:40:50.688] Init: px average disparity is:10.617586 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:50.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:50.688] frame process finished the id is: 73 the obs is:0 -[19:40:50.775] Odometry x=0.001381, y=-0.087054, theta=-0.003962 -[19:40:50.788] Init: px average disparity is:10.093803 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:50.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:50.788] frame process finished the id is: 74 the obs is:0 -[19:40:50.873] Odometry x=0.001372, y=-0.089933, theta=0.001567 -[19:40:50.879] Init: px average disparity is:11.096210 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:50.879] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:50.879] frame process finished the id is: 75 the obs is:0 -[19:40:50.973] Odometry x=0.002081, y=-0.092899, theta=-0.012752 -[19:40:50.987] Init: px average disparity is:13.747084 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:50.987] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:50.987] frame process finished the id is: 76 the obs is:0 -[19:40:51.072] Odometry x=0.002088, y=-0.098390, theta=0.006126 -[19:40:51.089] Init: px average disparity is:14.333469 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:51.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:51.089] frame process finished the id is: 77 the obs is:0 -[19:40:51.172] Odometry x=0.002203, y=-0.103558, theta=0.000875 -[19:40:51.188] Init: px average disparity is:15.281518 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:51.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:51.188] frame process finished the id is: 78 the obs is:0 -[19:40:51.272] Odometry x=0.002198, y=-0.108618, theta=0.004018 -[19:40:51.288] Init: px average disparity is:17.381624 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:51.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:51.288] frame process finished the id is: 79 the obs is:0 -[19:40:51.372] Odometry x=0.004054, y=-0.112882, theta=0.012114 -[19:40:51.388] Init: px average disparity is:16.270868 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:51.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:51.388] frame process finished the id is: 80 the obs is:0 -[19:40:51.472] Odometry x=0.004023, y=-0.118241, theta=0.008261 -[19:40:51.488] Init: px average disparity is:20.628982 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:51.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:51.488] frame process finished the id is: 81 the obs is:0 -[19:40:51.571] Odometry x=0.004011, y=-0.123592, theta=0.004443 -[19:40:51.588] Init: px average disparity is:23.159982 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:51.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:51.588] frame process finished the id is: 82 the obs is:0 -[19:40:51.670] Odometry x=0.004000, y=-0.128929, theta=0.008347 -[19:40:51.689] Init: px average disparity is:24.144341 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:51.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:51.689] frame process finished the id is: 83 the obs is:0 -[19:40:51.771] Odometry x=0.003983, y=-0.134645, theta=0.003350 -[19:40:51.788] Init: px average disparity is:25.239371 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:51.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:51.789] frame process finished the id is: 84 the obs is:0 -[19:40:51.870] Odometry x=0.003969, y=-0.140006, theta=0.011048 -[19:40:51.888] Init: px average disparity is:21.103070 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:51.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:51.889] frame process finished the id is: 85 the obs is:0 -[19:40:51.973] Odometry x=0.003945, y=-0.145389, theta=0.005506 -[19:40:51.979] Init: px average disparity is:19.712978 ,While minimum is: 40.000000 KLT tracked : 113 -[19:40:51.979] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:51.979] frame process finished the id is: 86 the obs is:0 -[19:40:52.079] Odometry x=0.003908, y=-0.150786, theta=0.020892 -[19:40:52.089] Init: px average disparity is:14.357505 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:52.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:52.089] frame process finished the id is: 87 the obs is:0 -[19:40:52.173] Odometry x=0.003878, y=-0.156197, theta=0.013049 -[19:40:52.189] Init: px average disparity is:12.441069 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:52.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:52.189] frame process finished the id is: 88 the obs is:0 -[19:40:52.273] Odometry x=0.003992, y=-0.159825, theta=0.019250 -[19:40:52.290] Init: px average disparity is:13.483968 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:52.290] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:52.290] frame process finished the id is: 89 the obs is:0 -[19:40:52.375] Odometry x=0.003946, y=-0.164806, theta=0.020170 -[19:40:52.389] Init: px average disparity is:16.048428 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:52.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:52.389] frame process finished the id is: 90 the obs is:0 -[19:40:52.468] Odometry x=0.003878, y=-0.169583, theta=0.008889 -[19:40:52.487] Init: px average disparity is:13.787453 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:52.487] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:52.487] frame process finished the id is: 91 the obs is:0 -[19:40:52.569] Odometry x=0.003807, y=-0.174686, theta=0.009140 -[19:40:52.587] Init: px average disparity is:16.044162 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:52.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:52.587] frame process finished the id is: 92 the obs is:0 -[19:40:52.677] Odometry x=0.003794, y=-0.175126, theta=0.007432 -[19:40:52.689] Init: px average disparity is:13.957701 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:52.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:52.689] frame process finished the id is: 93 the obs is:0 -[19:40:52.767] Odometry x=0.004086, y=-0.180361, theta=0.001324 -[19:40:52.787] Init: px average disparity is:13.868453 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:52.787] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:52.787] frame process finished the id is: 94 the obs is:0 -[19:40:52.868] Odometry x=0.004043, y=-0.185330, theta=0.013355 -[19:40:52.887] Init: px average disparity is:15.333970 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:52.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:52.887] frame process finished the id is: 95 the obs is:0 -[19:40:52.966] Odometry x=0.004299, y=-0.190370, theta=0.009248 -[19:40:52.989] Init: px average disparity is:16.277480 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:52.989] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:52.989] frame process finished the id is: 96 the obs is:0 -[19:40:53.072] Odometry x=0.004276, y=-0.196029, theta=0.009630 -[19:40:53.094] Init: px average disparity is:23.110018 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:53.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:53.094] frame process finished the id is: 97 the obs is:0 -[19:40:53.172] Odometry x=0.006101, y=-0.185728, theta=0.020443 -[19:40:53.179] Init: px average disparity is:22.215885 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:53.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:53.179] frame process finished the id is: 98 the obs is:0 -[19:40:53.275] Odometry x=0.006020, y=-0.191983, theta=0.022320 -[19:40:53.289] Init: px average disparity is:21.061951 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:53.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:53.289] frame process finished the id is: 99 the obs is:0 -[19:40:53.369] Odometry x=0.006098, y=-0.196233, theta=0.024170 -[19:40:53.388] Init: px average disparity is:19.445168 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:53.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:53.388] frame process finished the id is: 100 the obs is:0 -[19:40:53.469] Odometry x=0.006045, y=-0.201275, theta=0.014406 -[19:40:53.487] Init: px average disparity is:20.355723 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:53.487] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:53.487] frame process finished the id is: 101 the obs is:0 -[19:40:53.570] Odometry x=0.006011, y=-0.206662, theta=0.013523 -[19:40:53.588] Init: px average disparity is:20.792560 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:53.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:53.588] frame process finished the id is: 102 the obs is:0 -[19:40:53.674] Odometry x=0.005963, y=-0.212083, theta=0.022459 -[19:40:53.688] Init: px average disparity is:19.581194 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:53.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:53.689] frame process finished the id is: 103 the obs is:0 -[19:40:53.770] Odometry x=0.005935, y=-0.217557, theta=0.016998 -[19:40:53.788] Init: px average disparity is:22.186160 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:53.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:53.788] frame process finished the id is: 104 the obs is:0 -[19:40:53.871] Odometry x=0.005851, y=-0.222564, theta=0.039120 -[19:40:53.889] Init: px average disparity is:21.522802 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:53.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:53.889] frame process finished the id is: 105 the obs is:0 -[19:40:53.970] Odometry x=0.006717, y=-0.226787, theta=0.027951 -[19:40:53.995] Init: px average disparity is:21.272553 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:53.995] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:53.995] frame process finished the id is: 106 the obs is:0 -[19:40:54.071] Odometry x=0.006630, y=-0.232275, theta=0.034306 -[19:40:54.088] Init: px average disparity is:22.569489 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:54.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:54.088] frame process finished the id is: 107 the obs is:0 -[19:40:54.172] Odometry x=0.006724, y=-0.237422, theta=0.024166 -[19:40:54.190] Init: px average disparity is:23.378648 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:54.190] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:54.190] frame process finished the id is: 108 the obs is:0 -[19:40:54.270] Odometry x=0.006649, y=-0.242995, theta=0.026776 -[19:40:54.279] Init: px average disparity is:22.427062 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:54.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:54.279] frame process finished the id is: 109 the obs is:0 -[19:40:54.369] Odometry x=0.006597, y=-0.248221, theta=0.014510 -[19:40:54.389] Init: px average disparity is:22.564942 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:54.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:54.389] frame process finished the id is: 110 the obs is:0 -[19:40:54.470] Odometry x=0.006553, y=-0.253348, theta=0.025609 -[19:40:54.488] Init: px average disparity is:22.065385 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:54.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:54.489] frame process finished the id is: 111 the obs is:0 -[19:40:54.575] Odometry x=0.007294, y=-0.258979, theta=0.025879 -[19:40:54.589] Init: px average disparity is:23.496199 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:54.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:54.589] frame process finished the id is: 112 the obs is:0 -[19:40:54.671] Odometry x=0.007141, y=-0.264397, theta=0.029866 -[19:40:54.689] Init: px average disparity is:24.472010 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:54.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:54.689] frame process finished the id is: 113 the obs is:0 -[19:40:54.774] Odometry x=0.007066, y=-0.269621, theta=0.026950 -[19:40:54.789] Init: px average disparity is:26.532810 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:54.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:54.789] frame process finished the id is: 114 the obs is:0 -[19:40:54.869] Odometry x=0.006991, y=-0.275086, theta=0.029674 -[19:40:54.889] Init: px average disparity is:26.731810 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:54.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:54.889] frame process finished the id is: 115 the obs is:0 -[19:40:54.971] Odometry x=0.006979, y=-0.279211, theta=0.021568 -[19:40:54.990] Init: px average disparity is:25.747171 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:54.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:54.990] frame process finished the id is: 116 the obs is:0 -[19:40:55.070] Odometry x=0.006915, y=-0.284567, theta=0.028297 -[19:40:55.091] Init: px average disparity is:23.708194 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:55.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:55.091] frame process finished the id is: 117 the obs is:0 -[19:40:55.172] Odometry x=0.006854, y=-0.289901, theta=0.024761 -[19:40:55.196] Init: px average disparity is:24.848067 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:55.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:55.196] frame process finished the id is: 118 the obs is:0 -[19:40:55.271] Odometry x=0.006706, y=-0.295830, theta=0.025422 -[19:40:55.291] Init: px average disparity is:25.290622 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:55.291] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:55.291] frame process finished the id is: 119 the obs is:0 -[19:40:55.369] Odometry x=0.006633, y=-0.301094, theta=0.028687 -[19:40:55.379] Init: px average disparity is:26.621214 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:55.379] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:55.379] frame process finished the id is: 120 the obs is:0 -[19:40:55.466] Odometry x=0.006562, y=-0.306555, theta=0.033285 -[19:40:55.491] Init: px average disparity is:25.389881 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:55.491] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:55.492] frame process finished the id is: 121 the obs is:0 -[19:40:55.572] Odometry x=0.006469, y=-0.311980, theta=0.031109 -[19:40:55.588] Init: px average disparity is:26.713312 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:55.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:55.589] frame process finished the id is: 122 the obs is:0 -[19:40:55.669] Odometry x=0.006409, y=-0.317424, theta=0.032267 -[19:40:55.689] Init: px average disparity is:26.284566 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:55.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:55.689] frame process finished the id is: 123 the obs is:0 -[19:40:55.773] Odometry x=0.006524, y=-0.322619, theta=0.029345 -[19:40:55.790] Init: px average disparity is:28.212458 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:55.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:55.790] frame process finished the id is: 124 the obs is:0 -[19:40:55.873] Odometry x=0.006426, y=-0.328254, theta=0.036128 -[19:40:55.889] Init: px average disparity is:28.812336 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:55.890] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:55.890] frame process finished the id is: 125 the obs is:0 -[19:40:55.968] Odometry x=0.006324, y=-0.333624, theta=0.033339 -[19:40:55.989] Init: px average disparity is:31.977450 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:55.989] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:55.989] frame process finished the id is: 126 the obs is:0 -[19:40:56.071] Odometry x=0.006257, y=-0.338262, theta=0.034483 -[19:40:56.101] Init: px average disparity is:30.321090 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:56.101] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:56.101] frame process finished the id is: 127 the obs is:0 -[19:40:56.171] Odometry x=0.006285, y=-0.343484, theta=0.029085 -[19:40:56.190] Init: px average disparity is:29.649238 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:56.190] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:56.190] frame process finished the id is: 128 the obs is:0 -[19:40:56.271] Odometry x=0.006204, y=-0.349026, theta=0.030626 -[19:40:56.290] Init: px average disparity is:30.315056 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:56.290] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:56.290] frame process finished the id is: 129 the obs is:0 -[19:40:56.367] Odometry x=0.006124, y=-0.354410, theta=0.021334 -[19:40:56.390] Init: px average disparity is:32.984059 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:56.390] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:56.390] frame process finished the id is: 130 the obs is:0 -[19:40:56.467] Odometry x=0.006070, y=-0.359045, theta=0.025534 -[19:40:56.490] Init: px average disparity is:33.114110 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:56.491] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:56.491] frame process finished the id is: 131 the obs is:0 -[19:40:56.571] Odometry x=0.006116, y=-0.364408, theta=0.020173 -[19:40:56.589] Init: px average disparity is:35.714657 ,While minimum is: 40.000000 KLT tracked : 112 -[19:40:56.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:56.589] frame process finished the id is: 132 the obs is:0 -[19:40:56.671] Odometry x=0.006053, y=-0.369814, theta=0.029226 -[19:40:56.698] Init: px average disparity is:36.133503 ,While minimum is: 40.000000 KLT tracked : 110 -[19:40:56.698] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:56.698] frame process finished the id is: 133 the obs is:0 -[19:40:56.772] Odometry x=0.006041, y=-0.373946, theta=0.026799 -[19:40:56.791] Init: px average disparity is:37.112664 ,While minimum is: 40.000000 KLT tracked : 110 -[19:40:56.791] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:56.791] frame process finished the id is: 134 the obs is:0 -[19:40:56.871] Odometry x=0.005958, y=-0.379568, theta=0.038925 -[19:40:56.890] Init: px average disparity is:32.054235 ,While minimum is: 40.000000 KLT tracked : 108 -[19:40:56.890] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:56.891] frame process finished the id is: 135 the obs is:0 -[19:40:56.971] Odometry x=0.005850, y=-0.384582, theta=0.035163 -[19:40:56.990] Init: px average disparity is:28.552922 ,While minimum is: 40.000000 KLT tracked : 106 -[19:40:56.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:56.991] frame process finished the id is: 136 the obs is:0 -[19:40:57.071] Odometry x=0.005759, y=-0.389936, theta=0.038738 -[19:40:57.091] Init: px average disparity is:28.441995 ,While minimum is: 40.000000 KLT tracked : 106 -[19:40:57.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:57.091] frame process finished the id is: 137 the obs is:0 -[19:40:57.175] Odometry x=0.005701, y=-0.395211, theta=0.027675 -[19:40:57.191] Init: px average disparity is:34.457979 ,While minimum is: 40.000000 KLT tracked : 106 -[19:40:57.191] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:57.191] frame process finished the id is: 138 the obs is:0 -[19:40:57.271] Odometry x=0.005654, y=-0.399450, theta=0.025763 -[19:40:57.291] Init: px average disparity is:34.148071 ,While minimum is: 40.000000 KLT tracked : 104 -[19:40:57.291] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:57.291] frame process finished the id is: 139 the obs is:0 -[19:40:57.372] Odometry x=0.005569, y=-0.404348, theta=0.048449 -[19:40:57.390] Init: px average disparity is:31.703826 ,While minimum is: 40.000000 KLT tracked : 103 -[19:40:57.390] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:57.390] frame process finished the id is: 140 the obs is:0 -[19:40:57.472] Odometry x=0.005450, y=-0.409599, theta=0.049617 -[19:40:57.490] Init: px average disparity is:30.224320 ,While minimum is: 40.000000 KLT tracked : 102 -[19:40:57.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:57.490] frame process finished the id is: 141 the obs is:0 -[19:40:57.577] Odometry x=0.005286, y=-0.414677, theta=0.045192 -[19:40:57.590] Init: px average disparity is:31.572699 ,While minimum is: 40.000000 KLT tracked : 102 -[19:40:57.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:57.590] frame process finished the id is: 142 the obs is:0 -[19:40:57.670] Odometry x=0.005134, y=-0.420564, theta=0.043830 -[19:40:57.684] Init: px average disparity is:32.290828 ,While minimum is: 40.000000 KLT tracked : 102 -[19:40:57.684] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:57.684] frame process finished the id is: 143 the obs is:0 -[19:40:57.768] Odometry x=0.005028, y=-0.425235, theta=0.042664 -[19:40:57.790] Init: px average disparity is:34.361833 ,While minimum is: 40.000000 KLT tracked : 102 -[19:40:57.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:57.790] frame process finished the id is: 144 the obs is:0 -[19:40:57.869] Odometry x=0.004892, y=-0.430581, theta=0.041959 -[19:40:57.891] Init: px average disparity is:36.412778 ,While minimum is: 40.000000 KLT tracked : 102 -[19:40:57.891] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:57.891] frame process finished the id is: 145 the obs is:0 -[19:40:57.970] Odometry x=0.004776, y=-0.435690, theta=0.044619 -[19:40:57.996] Init: px average disparity is:38.582458 ,While minimum is: 40.000000 KLT tracked : 102 -[19:40:57.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:57.996] frame process finished the id is: 146 the obs is:0 -[19:40:58.074] Odometry x=0.004713, y=-0.439962, theta=0.041850 -[19:40:58.159] Init: Homography RANSAC (inlier) is:0 ,While 20 inliers minimum required. px average disparity is:40.027571 ,While minimum is: 40.000000 KLT tracked: 101 -[19:40:58.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:58.159] frame process finished the id is: 147 the obs is:0 -[19:40:58.175] Odometry x=0.004625, y=-0.445162, theta=0.039462 -[19:40:58.249] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required. px average disparity is:41.648672 ,While minimum is: 40.000000 KLT tracked: 101 -[19:40:58.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:58.249] frame process finished the id is: 148 the obs is:0 -[19:40:58.273] Odometry x=0.004562, y=-0.449919, theta=0.024453 -[19:40:58.283] Init: px average disparity is:39.513608 ,While minimum is: 40.000000 KLT tracked : 100 -[19:40:58.283] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:58.283] frame process finished the id is: 149 the obs is:0 -[19:40:58.365] Odometry x=0.004633, y=-0.455260, theta=0.031059 -[19:40:58.445] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:41.505918 ,While minimum is: 40.000000 KLT tracked: 100 -[19:40:58.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:58.445] frame process finished the id is: 150 the obs is:0 -[19:40:58.474] Odometry x=0.004659, y=-0.459424, theta=0.032329 -[19:40:58.481] Init: px average disparity is:37.469068 ,While minimum is: 40.000000 KLT tracked : 98 -[19:40:58.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:58.481] frame process finished the id is: 151 the obs is:0 -[19:40:58.570] Odometry x=0.004582, y=-0.465063, theta=0.030571 -[19:40:58.592] Init: px average disparity is:35.433600 ,While minimum is: 40.000000 KLT tracked : 97 -[19:40:58.592] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:58.592] frame process finished the id is: 152 the obs is:0 -[19:40:58.670] Odometry x=0.004505, y=-0.470214, theta=0.031151 -[19:40:58.693] Init: px average disparity is:32.654778 ,While minimum is: 40.000000 KLT tracked : 96 -[19:40:58.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:58.693] frame process finished the id is: 153 the obs is:0 -[19:40:58.774] Odometry x=0.004429, y=-0.475615, theta=0.026974 -[19:40:58.780] Init: px average disparity is:33.264641 ,While minimum is: 40.000000 KLT tracked : 96 -[19:40:58.780] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:58.780] frame process finished the id is: 154 the obs is:0 -[19:40:58.871] Odometry x=0.004344, y=-0.481120, theta=0.035351 -[19:40:58.891] Init: px average disparity is:35.161410 ,While minimum is: 40.000000 KLT tracked : 96 -[19:40:58.891] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:58.891] frame process finished the id is: 155 the obs is:0 -[19:40:58.972] Odometry x=0.004280, y=-0.486224, theta=0.030029 -[19:40:58.993] Init: px average disparity is:36.382789 ,While minimum is: 40.000000 KLT tracked : 95 -[19:40:58.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:58.993] frame process finished the id is: 156 the obs is:0 -[19:40:59.068] Odometry x=0.004191, y=-0.491541, theta=0.038293 -[19:40:59.095] Init: px average disparity is:33.777953 ,While minimum is: 40.000000 KLT tracked : 94 -[19:40:59.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:59.095] frame process finished the id is: 157 the obs is:0 -[19:40:59.169] Odometry x=0.004240, y=-0.496540, theta=0.029706 -[19:40:59.193] Init: px average disparity is:35.307063 ,While minimum is: 40.000000 KLT tracked : 94 -[19:40:59.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:59.193] frame process finished the id is: 158 the obs is:0 -[19:40:59.268] Odometry x=0.004154, y=-0.501788, theta=0.033515 -[19:40:59.293] Init: px average disparity is:35.190033 ,While minimum is: 40.000000 KLT tracked : 94 -[19:40:59.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:59.293] frame process finished the id is: 159 the obs is:0 -[19:40:59.368] Odometry x=0.004076, y=-0.507145, theta=0.034369 -[19:40:59.392] Init: px average disparity is:36.634610 ,While minimum is: 40.000000 KLT tracked : 94 -[19:40:59.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:59.392] frame process finished the id is: 160 the obs is:0 -[19:40:59.468] Odometry x=0.003986, y=-0.512411, theta=0.032426 -[19:40:59.492] Init: px average disparity is:38.185946 ,While minimum is: 40.000000 KLT tracked : 94 -[19:40:59.492] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:59.492] frame process finished the id is: 161 the obs is:0 -[19:40:59.569] Odometry x=0.003909, y=-0.517601, theta=0.036122 -[19:40:59.660] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:40.077656 ,While minimum is: 40.000000 KLT tracked: 94 -[19:40:59.661] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:59.661] frame process finished the id is: 162 the obs is:0 -[19:40:59.666] Odometry x=0.003692, y=-0.522927, theta=0.034158 -[19:40:59.746] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:43.379333 ,While minimum is: 40.000000 KLT tracked: 94 -[19:40:59.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:59.746] frame process finished the id is: 163 the obs is:0 -[19:40:59.769] Odometry x=0.003858, y=-0.528039, theta=0.033753 -[19:40:59.857] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:43.867539 ,While minimum is: 40.000000 KLT tracked: 94 -[19:40:59.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:59.857] frame process finished the id is: 164 the obs is:0 -[19:40:59.866] Odometry x=0.003773, y=-0.533229, theta=0.036903 -[19:40:59.945] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:47.381344 ,While minimum is: 40.000000 KLT tracked: 93 -[19:40:59.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:40:59.945] frame process finished the id is: 165 the obs is:0 -[19:40:59.969] Odometry x=0.003680, y=-0.537988, theta=0.033646 -[19:41:00.046] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:50.780715 ,While minimum is: 40.000000 KLT tracked: 92 -[19:41:00.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:00.046] frame process finished the id is: 166 the obs is:0 -[19:41:00.067] Odometry x=0.003644, y=-0.541942, theta=0.021524 -[19:41:00.146] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:53.410648 ,While minimum is: 40.000000 KLT tracked: 92 -[19:41:00.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:00.146] frame process finished the id is: 167 the obs is:0 -[19:41:00.164] Odometry x=0.003670, y=-0.547278, theta=0.025434 -[19:41:00.245] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:51.492800 ,While minimum is: 40.000000 KLT tracked: 90 -[19:41:00.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:00.245] frame process finished the id is: 168 the obs is:0 -[19:41:00.268] Odometry x=0.003600, y=-0.552627, theta=0.028985 -[19:41:00.345] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:47.546651 ,While minimum is: 40.000000 KLT tracked: 89 -[19:41:00.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:00.345] frame process finished the id is: 169 the obs is:0 -[19:41:00.370] Odometry x=0.003537, y=-0.557923, theta=0.019935 -[19:41:00.446] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:47.897267 ,While minimum is: 40.000000 KLT tracked: 87 -[19:41:00.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:00.446] frame process finished the id is: 170 the obs is:0 -[19:41:00.468] Odometry x=0.003479, y=-0.563276, theta=0.025159 -[19:41:00.544] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:49.139325 ,While minimum is: 40.000000 KLT tracked: 87 -[19:41:00.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:00.544] frame process finished the id is: 171 the obs is:0 -[19:41:00.571] Odometry x=0.003409, y=-0.568622, theta=0.026647 -[19:41:00.645] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:47.541373 ,While minimum is: 40.000000 KLT tracked: 87 -[19:41:00.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:00.645] frame process finished the id is: 172 the obs is:0 -[19:41:00.670] Odometry x=0.003332, y=-0.573934, theta=0.028764 -[19:41:00.744] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:41.183032 ,While minimum is: 40.000000 KLT tracked: 86 -[19:41:00.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:00.744] frame process finished the id is: 173 the obs is:0 -[19:41:00.768] Odometry x=0.003355, y=-0.579328, theta=0.021805 -[19:41:00.851] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:43.649691 ,While minimum is: 40.000000 KLT tracked: 86 -[19:41:00.851] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:00.851] frame process finished the id is: 174 the obs is:0 -[19:41:00.870] Odometry x=0.003292, y=-0.584319, theta=0.028369 -[19:41:00.944] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:43.539901 ,While minimum is: 40.000000 KLT tracked: 85 -[19:41:00.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:00.944] frame process finished the id is: 175 the obs is:0 -[19:41:00.966] Odometry x=0.003223, y=-0.589868, theta=0.025468 -[19:41:01.042] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:43.818694 ,While minimum is: 40.000000 KLT tracked: 85 -[19:41:01.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:01.043] frame process finished the id is: 176 the obs is:0 -[19:41:01.073] Odometry x=0.003136, y=-0.595366, theta=0.030533 -[19:41:01.157] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:43.182689 ,While minimum is: 40.000000 KLT tracked: 85 -[19:41:01.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:01.157] frame process finished the id is: 177 the obs is:0 -[19:41:01.176] Odometry x=0.003058, y=-0.600422, theta=0.026400 -[19:41:01.248] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:44.076407 ,While minimum is: 40.000000 KLT tracked: 85 -[19:41:01.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:01.249] frame process finished the id is: 178 the obs is:0 -[19:41:01.270] Odometry x=0.002942, y=-0.606353, theta=0.027184 -[19:41:01.349] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:45.603789 ,While minimum is: 40.000000 KLT tracked: 85 -[19:41:01.349] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:01.349] frame process finished the id is: 179 the obs is:0 -[19:41:01.373] Odometry x=0.002905, y=-0.611515, theta=0.024860 -[19:41:01.443] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:46.897005 ,While minimum is: 40.000000 KLT tracked: 85 -[19:41:01.443] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:01.443] frame process finished the id is: 180 the obs is:0 -[19:41:01.471] Odometry x=0.002067, y=-0.659816, theta=0.000082 -[19:41:01.546] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:48.273424 ,While minimum is: 40.000000 KLT tracked: 85 -[19:41:01.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:01.546] frame process finished the id is: 181 the obs is:0 -[19:41:01.565] Odometry x=0.002158, y=-0.665473, theta=-0.000096 -[19:41:01.643] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:50.801805 ,While minimum is: 40.000000 KLT tracked: 85 -[19:41:01.643] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:01.643] frame process finished the id is: 182 the obs is:0 -[19:41:01.670] Odometry x=0.002167, y=-0.670405, theta=-0.007600 -[19:41:01.744] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:50.883861 ,While minimum is: 40.000000 KLT tracked: 85 -[19:41:01.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:01.744] frame process finished the id is: 183 the obs is:0 -[19:41:01.770] Odometry x=0.002203, y=-0.676167, theta=-0.006344 -[19:41:01.845] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:54.275297 ,While minimum is: 40.000000 KLT tracked: 85 -[19:41:01.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:01.845] frame process finished the id is: 184 the obs is:0 -[19:41:01.871] Odometry x=0.002216, y=-0.681560, theta=-0.003668 -[19:41:01.945] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:58.988292 ,While minimum is: 40.000000 KLT tracked: 84 -[19:41:01.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:01.945] frame process finished the id is: 185 the obs is:0 -[19:41:01.971] Odometry x=0.002223, y=-0.683129, theta=-0.008231 -[19:41:02.045] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:51.696542 ,While minimum is: 40.000000 KLT tracked: 83 -[19:41:02.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:02.045] frame process finished the id is: 186 the obs is:0 -[19:41:02.071] Odometry x=0.002261, y=-0.688245, theta=-0.011308 -[19:41:02.145] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:48.399246 ,While minimum is: 40.000000 KLT tracked: 83 -[19:41:02.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:02.145] frame process finished the id is: 187 the obs is:0 -[19:41:02.171] Odometry x=0.002290, y=-0.693184, theta=-0.009568 -[19:41:02.254] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:46.792650 ,While minimum is: 40.000000 KLT tracked: 82 -[19:41:02.254] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:02.254] frame process finished the id is: 188 the obs is:0 -[19:41:02.271] Odometry x=0.002454, y=-0.698354, theta=-0.008124 -[19:41:02.344] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:46.935610 ,While minimum is: 40.000000 KLT tracked: 82 -[19:41:02.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:02.344] frame process finished the id is: 189 the obs is:0 -[19:41:02.365] Odometry x=0.002484, y=-0.703661, theta=-0.011288 -[19:41:02.444] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:47.876634 ,While minimum is: 40.000000 KLT tracked: 82 -[19:41:02.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:02.444] frame process finished the id is: 190 the obs is:0 -[19:41:02.471] Odometry x=0.002545, y=-0.708708, theta=-0.002657 -[19:41:02.545] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:47.525093 ,While minimum is: 40.000000 KLT tracked: 82 -[19:41:02.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:02.545] frame process finished the id is: 191 the obs is:0 -[19:41:02.571] Odometry x=0.002545, y=-0.714793, theta=0.000468 -[19:41:02.644] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:46.883112 ,While minimum is: 40.000000 KLT tracked: 81 -[19:41:02.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:02.644] frame process finished the id is: 192 the obs is:0 -[19:41:02.666] Odometry x=0.002545, y=-0.720448, theta=-0.004051 -[19:41:02.744] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:47.369053 ,While minimum is: 40.000000 KLT tracked: 80 -[19:41:02.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:02.744] frame process finished the id is: 193 the obs is:0 -[19:41:02.770] Odometry x=0.002601, y=-0.725237, theta=-0.006792 -[19:41:02.844] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:49.885112 ,While minimum is: 40.000000 KLT tracked: 80 -[19:41:02.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:02.844] frame process finished the id is: 194 the obs is:0 -[19:41:02.871] Odometry x=0.002598, y=-0.730891, theta=0.001425 -[19:41:02.943] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:49.204924 ,While minimum is: 40.000000 KLT tracked: 80 -[19:41:02.943] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:02.943] frame process finished the id is: 195 the obs is:0 -[19:41:02.971] Odometry x=0.002601, y=-0.736445, theta=0.000540 -[19:41:03.044] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:49.882219 ,While minimum is: 40.000000 KLT tracked: 80 -[19:41:03.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:03.044] frame process finished the id is: 196 the obs is:0 -[19:41:03.071] Odometry x=0.002595, y=-0.741594, theta=0.000846 -[19:41:03.143] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:50.538318 ,While minimum is: 40.000000 KLT tracked: 80 -[19:41:03.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:03.144] frame process finished the id is: 197 the obs is:0 -[19:41:03.166] Odometry x=0.002592, y=-0.746994, theta=0.002271 -[19:41:03.243] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:51.119686 ,While minimum is: 40.000000 KLT tracked: 80 -[19:41:03.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:03.243] frame process finished the id is: 198 the obs is:0 -[19:41:03.271] Odometry x=0.002577, y=-0.751820, theta=0.002147 -[19:41:03.344] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:52.449873 ,While minimum is: 40.000000 KLT tracked: 80 -[19:41:03.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:03.344] frame process finished the id is: 199 the obs is:0 -[19:41:03.371] Odometry x=0.002594, y=-0.757521, theta=-0.003749 -[19:41:03.444] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:54.549349 ,While minimum is: 40.000000 KLT tracked: 80 -[19:41:03.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:03.444] frame process finished the id is: 200 the obs is:0 -[19:41:03.471] Odometry x=0.002771, y=-0.758405, theta=0.002581 -[19:41:03.544] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:53.360961 ,While minimum is: 40.000000 KLT tracked: 79 -[19:41:03.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:03.544] frame process finished the id is: 201 the obs is:0 -[19:41:03.571] Odometry x=0.002787, y=-0.763762, theta=0.002394 -[19:41:03.644] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:55.062292 ,While minimum is: 40.000000 KLT tracked: 79 -[19:41:03.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:03.644] frame process finished the id is: 202 the obs is:0 -[19:41:03.671] Odometry x=0.002806, y=-0.768771, theta=-0.003207 -[19:41:03.743] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:60.436133 ,While minimum is: 40.000000 KLT tracked: 79 -[19:41:03.743] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:03.743] frame process finished the id is: 203 the obs is:0 -[19:41:03.767] Odometry x=0.002818, y=-0.773197, theta=-0.004505 -[19:41:03.844] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:53.934931 ,While minimum is: 40.000000 KLT tracked: 77 -[19:41:03.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:03.844] frame process finished the id is: 204 the obs is:0 -[19:41:03.870] Odometry x=0.002823, y=-0.776455, theta=-0.001144 -[19:41:03.943] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:51.083417 ,While minimum is: 40.000000 KLT tracked: 77 -[19:41:03.943] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:03.943] frame process finished the id is: 205 the obs is:0 -[19:41:03.972] Odometry x=0.002857, y=-0.782084, theta=-0.007496 -[19:41:04.044] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:49.456241 ,While minimum is: 40.000000 KLT tracked: 77 -[19:41:04.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:04.044] frame process finished the id is: 206 the obs is:0 -[19:41:04.070] Odometry x=0.003012, y=-0.787298, theta=0.009202 -[19:41:04.149] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:48.703453 ,While minimum is: 40.000000 KLT tracked: 77 -[19:41:04.149] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:04.149] frame process finished the id is: 207 the obs is:0 -[19:41:04.170] Odometry x=0.003016, y=-0.792604, theta=-0.003963 -[19:41:04.243] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:51.299803 ,While minimum is: 40.000000 KLT tracked: 76 -[19:41:04.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:04.243] frame process finished the id is: 208 the obs is:0 -[19:41:04.273] Odometry x=0.003008, y=-0.797993, theta=0.014259 -[19:41:04.344] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:55.131634 ,While minimum is: 40.000000 KLT tracked: 76 -[19:41:04.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:04.344] frame process finished the id is: 209 the obs is:0 -[19:41:04.374] Odometry x=0.003224, y=-0.803636, theta=0.010491 -[19:41:04.445] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:54.731732 ,While minimum is: 40.000000 KLT tracked: 76 -[19:41:04.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:04.445] frame process finished the id is: 210 the obs is:0 -[19:41:04.473] Odometry x=0.003189, y=-0.809259, theta=0.013248 -[19:41:04.545] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:56.393642 ,While minimum is: 40.000000 KLT tracked: 76 -[19:41:04.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:04.545] frame process finished the id is: 211 the obs is:0 -[19:41:04.571] Odometry x=0.003220, y=-0.814327, theta=0.007489 -[19:41:04.644] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:58.254943 ,While minimum is: 40.000000 KLT tracked: 76 -[19:41:04.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:04.644] frame process finished the id is: 212 the obs is:0 -[19:41:04.671] Odometry x=0.002958, y=-0.819714, theta=0.013963 -[19:41:04.758] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:58.728432 ,While minimum is: 40.000000 KLT tracked: 76 -[19:41:04.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:04.758] frame process finished the id is: 213 the obs is:0 -[19:41:04.770] Odometry x=0.003013, y=-0.825077, theta=0.013676 -[19:41:04.845] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:59.160493 ,While minimum is: 40.000000 KLT tracked: 76 -[19:41:04.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:04.845] frame process finished the id is: 214 the obs is:0 -[19:41:04.871] Odometry x=0.002974, y=-0.830311, theta=0.012931 -[19:41:04.944] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:58.321910 ,While minimum is: 40.000000 KLT tracked: 75 -[19:41:04.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:04.945] frame process finished the id is: 215 the obs is:0 -[19:41:04.972] Odometry x=0.002972, y=-0.835547, theta=0.015056 -[19:41:05.045] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:58.457062 ,While minimum is: 40.000000 KLT tracked: 75 -[19:41:05.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:05.045] frame process finished the id is: 216 the obs is:0 -[19:41:05.072] Odometry x=0.002926, y=-0.840904, theta=0.014659 -[19:41:05.146] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:60.119849 ,While minimum is: 40.000000 KLT tracked: 75 -[19:41:05.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:05.146] frame process finished the id is: 217 the obs is:0 -[19:41:05.170] Odometry x=0.002925, y=-0.845957, theta=0.013796 -[19:41:05.261] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:60.821224 ,While minimum is: 40.000000 KLT tracked: 75 -[19:41:05.262] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:05.262] frame process finished the id is: 218 the obs is:0 -[19:41:05.273] Odometry x=0.002953, y=-0.851090, theta=0.013442 -[19:41:05.345] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:62.833775 ,While minimum is: 40.000000 KLT tracked: 75 -[19:41:05.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:05.345] frame process finished the id is: 219 the obs is:0 -[19:41:05.376] Odometry x=0.002939, y=-0.856699, theta=0.012433 -[19:41:05.445] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:63.667912 ,While minimum is: 40.000000 KLT tracked: 75 -[19:41:05.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:05.445] frame process finished the id is: 220 the obs is:0 -[19:41:05.474] Odometry x=0.001162, y=-0.906021, theta=0.000337 -[19:41:05.546] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:63.942436 ,While minimum is: 40.000000 KLT tracked: 75 -[19:41:05.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:05.546] frame process finished the id is: 221 the obs is:0 -[19:41:05.571] Odometry x=0.001160, y=-0.912481, theta=-0.009602 -[19:41:05.646] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:64.130494 ,While minimum is: 40.000000 KLT tracked: 75 -[19:41:05.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:05.646] frame process finished the id is: 222 the obs is:0 -[19:41:05.675] Odometry x=0.001182, y=-0.917569, theta=-0.006586 -[19:41:05.747] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:64.248782 ,While minimum is: 40.000000 KLT tracked: 75 -[19:41:05.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:05.747] frame process finished the id is: 223 the obs is:0 -[19:41:05.772] Odometry x=0.001216, y=-0.923193, theta=-0.015231 -[19:41:05.846] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:63.261276 ,While minimum is: 40.000000 KLT tracked: 75 -[19:41:05.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:05.846] frame process finished the id is: 224 the obs is:0 -[19:41:05.871] Odometry x=0.001380, y=-0.928404, theta=-0.010885 -[19:41:05.946] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:64.724416 ,While minimum is: 40.000000 KLT tracked: 75 -[19:41:05.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:05.946] frame process finished the id is: 225 the obs is:0 -[19:41:05.975] Odometry x=0.001485, y=-0.933385, theta=-0.010700 -[19:41:06.044] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:71.657108 ,While minimum is: 40.000000 KLT tracked: 75 -[19:41:06.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:06.044] frame process finished the id is: 226 the obs is:0 -[19:41:06.076] Odometry x=0.001666, y=-0.938279, theta=-0.007935 -[19:41:06.146] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:72.246189 ,While minimum is: 40.000000 KLT tracked: 74 -[19:41:06.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:06.146] frame process finished the id is: 227 the obs is:0 -[19:41:06.174] Odometry x=0.001696, y=-0.943905, theta=-0.011433 -[19:41:06.245] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:67.169009 ,While minimum is: 40.000000 KLT tracked: 72 -[19:41:06.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:06.245] frame process finished the id is: 228 the obs is:0 -[19:41:06.272] Odometry x=0.001745, y=-0.948983, theta=-0.015052 -[19:41:06.345] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:66.135621 ,While minimum is: 40.000000 KLT tracked: 72 -[19:41:06.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:06.345] frame process finished the id is: 229 the obs is:0 -[19:41:06.370] Odometry x=0.001811, y=-0.954427, theta=-0.010604 -[19:41:06.445] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:70.878605 ,While minimum is: 40.000000 KLT tracked: 72 -[19:41:06.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:06.445] frame process finished the id is: 230 the obs is:0 -[19:41:06.469] Odometry x=0.001845, y=-0.959516, theta=-0.011219 -[19:41:06.546] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:72.985927 ,While minimum is: 40.000000 KLT tracked: 72 -[19:41:06.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:06.546] frame process finished the id is: 231 the obs is:0 -[19:41:06.572] Odometry x=0.001927, y=-0.964919, theta=-0.008855 -[19:41:06.646] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:76.910455 ,While minimum is: 40.000000 KLT tracked: 70 -[19:41:06.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:06.646] frame process finished the id is: 232 the obs is:0 -[19:41:06.670] Odometry x=0.001948, y=-0.970332, theta=-0.004849 -[19:41:06.750] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:81.764548 ,While minimum is: 40.000000 KLT tracked: 70 -[19:41:06.750] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:06.750] frame process finished the id is: 233 the obs is:0 -[19:41:06.776] Odometry x=0.001967, y=-0.975687, theta=-0.006776 -[19:41:06.846] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:85.882410 ,While minimum is: 40.000000 KLT tracked: 70 -[19:41:06.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:06.846] frame process finished the id is: 234 the obs is:0 -[19:41:06.874] Odometry x=0.002014, y=-0.980285, theta=-0.005224 -[19:41:06.946] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:86.225662 ,While minimum is: 40.000000 KLT tracked: 70 -[19:41:06.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:06.946] frame process finished the id is: 235 the obs is:0 -[19:41:06.973] Odometry x=0.002033, y=-0.985280, theta=-0.008483 -[19:41:07.046] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:90.013520 ,While minimum is: 40.000000 KLT tracked: 70 -[19:41:07.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:07.046] frame process finished the id is: 236 the obs is:0 -[19:41:07.076] Odometry x=0.002179, y=-0.990052, theta=-0.004436 -[19:41:07.147] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:90.076082 ,While minimum is: 40.000000 KLT tracked: 69 -[19:41:07.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:07.147] frame process finished the id is: 237 the obs is:0 -[19:41:07.170] Odometry x=0.002372, y=-0.991597, theta=0.002348 -[19:41:07.243] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:84.571464 ,While minimum is: 40.000000 KLT tracked: 69 -[19:41:07.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:07.243] frame process finished the id is: 238 the obs is:0 -[19:41:07.270] Odometry x=0.002357, y=-0.996370, theta=0.004012 -[19:41:07.347] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:79.305290 ,While minimum is: 40.000000 KLT tracked: 69 -[19:41:07.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:07.347] frame process finished the id is: 239 the obs is:0 -[19:41:07.364] Odometry x=0.002345, y=-1.001882, theta=0.000307 -[19:41:07.447] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:78.866095 ,While minimum is: 40.000000 KLT tracked: 69 -[19:41:07.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:07.447] frame process finished the id is: 240 the obs is:0 -[19:41:07.471] Odometry x=0.002344, y=-1.006384, theta=0.001017 -[19:41:07.544] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:80.524792 ,While minimum is: 40.000000 KLT tracked: 69 -[19:41:07.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:07.544] frame process finished the id is: 241 the obs is:0 -[19:41:07.573] Odometry x=0.002333, y=-1.012824, theta=0.003549 -[19:41:07.646] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:81.711968 ,While minimum is: 40.000000 KLT tracked: 69 -[19:41:07.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:07.646] frame process finished the id is: 242 the obs is:0 -[19:41:07.673] Odometry x=0.002333, y=-1.018429, theta=-0.005177 -[19:41:07.744] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:82.037246 ,While minimum is: 40.000000 KLT tracked: 69 -[19:41:07.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:07.744] frame process finished the id is: 243 the obs is:0 -[19:41:07.771] Odometry x=0.002479, y=-1.023309, theta=0.011480 -[19:41:07.844] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:80.930680 ,While minimum is: 40.000000 KLT tracked: 69 -[19:41:07.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:07.844] frame process finished the id is: 244 the obs is:0 -[19:41:07.871] Odometry x=0.002425, y=-1.027758, theta=0.013211 -[19:41:07.948] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:82.274263 ,While minimum is: 40.000000 KLT tracked: 69 -[19:41:07.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:07.948] frame process finished the id is: 245 the obs is:0 -[19:41:07.971] Odometry x=0.002737, y=-1.032732, theta=0.001977 -[19:41:08.044] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:77.848624 ,While minimum is: 40.000000 KLT tracked: 67 -[19:41:08.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:08.044] frame process finished the id is: 246 the obs is:0 -[19:41:08.071] Odometry x=0.002739, y=-1.037934, theta=-0.004323 -[19:41:08.145] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:76.965251 ,While minimum is: 40.000000 KLT tracked: 67 -[19:41:08.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:08.145] frame process finished the id is: 247 the obs is:0 -[19:41:08.171] Odometry x=0.002781, y=-1.042959, theta=0.000772 -[19:41:08.246] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:75.920588 ,While minimum is: 40.000000 KLT tracked: 67 -[19:41:08.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:08.246] frame process finished the id is: 248 the obs is:0 -[19:41:08.271] Odometry x=0.002790, y=-1.048297, theta=-0.001900 -[19:41:08.345] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:74.324589 ,While minimum is: 40.000000 KLT tracked: 67 -[19:41:08.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:08.345] frame process finished the id is: 249 the obs is:0 -[19:41:08.371] Odometry x=0.002863, y=-1.053657, theta=0.001742 -[19:41:08.446] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:72.395837 ,While minimum is: 40.000000 KLT tracked: 67 -[19:41:08.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:08.446] frame process finished the id is: 250 the obs is:0 -[19:41:08.471] Odometry x=0.002945, y=-1.059018, theta=-0.005368 -[19:41:08.545] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:74.424309 ,While minimum is: 40.000000 KLT tracked: 67 -[19:41:08.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:08.545] frame process finished the id is: 251 the obs is:0 -[19:41:08.570] Odometry x=0.002966, y=-1.064376, theta=-0.002615 -[19:41:08.644] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:69.706275 ,While minimum is: 40.000000 KLT tracked: 66 -[19:41:08.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:08.644] frame process finished the id is: 252 the obs is:0 -[19:41:08.674] Odometry x=0.002985, y=-1.069858, theta=-0.002648 -[19:41:08.744] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:72.270429 ,While minimum is: 40.000000 KLT tracked: 66 -[19:41:08.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:08.744] frame process finished the id is: 253 the obs is:0 -[19:41:08.772] Odometry x=0.002988, y=-1.075417, theta=-0.002484 -[19:41:08.844] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:71.166135 ,While minimum is: 40.000000 KLT tracked: 66 -[19:41:08.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:08.844] frame process finished the id is: 254 the obs is:0 -[19:41:08.872] Odometry x=0.002997, y=-1.080612, theta=-0.004403 -[19:41:08.951] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:74.125175 ,While minimum is: 40.000000 KLT tracked: 66 -[19:41:08.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:08.951] frame process finished the id is: 255 the obs is:0 -[19:41:08.975] Odometry x=0.003002, y=-1.086206, theta=-0.000112 -[19:41:09.045] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:75.892983 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:09.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:09.045] frame process finished the id is: 256 the obs is:0 -[19:41:09.070] Odometry x=0.003251, y=-1.088097, theta=-0.009986 -[19:41:09.144] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:76.075064 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:09.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:09.144] frame process finished the id is: 257 the obs is:0 -[19:41:09.170] Odometry x=0.003271, y=-1.093421, theta=-0.009348 -[19:41:09.244] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:76.186763 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:09.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:09.244] frame process finished the id is: 258 the obs is:0 -[19:41:09.271] Odometry x=0.003293, y=-1.098775, theta=-0.006326 -[19:41:09.344] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:75.058829 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:09.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:09.344] frame process finished the id is: 259 the obs is:0 -[19:41:09.370] Odometry x=0.003319, y=-1.103751, theta=-0.014269 -[19:41:09.445] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:75.071646 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:09.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:09.445] frame process finished the id is: 260 the obs is:0 -[19:41:09.471] Odometry x=0.003369, y=-1.109092, theta=-0.014127 -[19:41:09.545] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:76.717813 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:09.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:09.545] frame process finished the id is: 261 the obs is:0 -[19:41:09.569] Odometry x=0.003459, y=-1.114406, theta=-0.018336 -[19:41:09.648] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:76.595332 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:09.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:09.648] frame process finished the id is: 262 the obs is:0 -[19:41:09.744] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required. px average disparity is:75.870237 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:09.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:09.744] frame process finished the id is: 263 the obs is:0 -[19:41:09.843] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required. px average disparity is:76.206211 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:09.843] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:09.843] frame process finished the id is: 264 the obs is:0 -[19:41:09.943] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required. px average disparity is:75.532084 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:09.943] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:09.943] frame process finished the id is: 265 the obs is:0 -[19:41:10.044] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:76.404789 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:10.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:10.044] frame process finished the id is: 266 the obs is:0 -[19:41:10.146] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:75.115590 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:10.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:10.146] frame process finished the id is: 267 the obs is:0 -[19:41:10.247] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:74.439096 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:10.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:10.247] frame process finished the id is: 268 the obs is:0 -[19:41:10.344] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:76.678308 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:10.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:10.344] frame process finished the id is: 269 the obs is:0 -[19:41:10.444] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:76.969031 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:10.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:10.444] frame process finished the id is: 270 the obs is:0 -[19:41:10.544] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:78.480797 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:10.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:10.544] frame process finished the id is: 271 the obs is:0 -[19:41:10.645] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:80.448019 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:10.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:10.645] frame process finished the id is: 272 the obs is:0 -[19:41:10.746] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.590493 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:10.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:10.746] frame process finished the id is: 273 the obs is:0 -[19:41:10.846] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.287902 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:10.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:10.846] frame process finished the id is: 274 the obs is:0 -[19:41:10.946] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.132668 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:10.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:10.946] frame process finished the id is: 275 the obs is:0 -[19:41:11.045] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.956922 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:11.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:11.045] frame process finished the id is: 276 the obs is:0 -[19:41:11.146] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.977326 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:11.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:11.146] frame process finished the id is: 277 the obs is:0 -[19:41:11.246] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.909074 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:11.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:11.246] frame process finished the id is: 278 the obs is:0 -[19:41:11.345] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.847158 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:11.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:11.345] frame process finished the id is: 279 the obs is:0 -[19:41:11.446] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.820092 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:11.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:11.446] frame process finished the id is: 280 the obs is:0 -[19:41:11.546] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.969920 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:11.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:11.546] frame process finished the id is: 281 the obs is:0 -[19:41:11.647] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.024493 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:11.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:11.647] frame process finished the id is: 282 the obs is:0 -[19:41:11.746] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.228966 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:11.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:11.746] frame process finished the id is: 283 the obs is:0 -[19:41:11.846] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.073650 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:11.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:11.846] frame process finished the id is: 284 the obs is:0 -[19:41:11.945] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.980951 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:11.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:11.946] frame process finished the id is: 285 the obs is:0 -[19:41:12.048] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.048380 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:12.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:12.048] frame process finished the id is: 286 the obs is:0 -[19:41:12.146] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.288833 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:12.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:12.146] frame process finished the id is: 287 the obs is:0 -[19:41:12.245] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.098728 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:12.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:12.245] frame process finished the id is: 288 the obs is:0 -[19:41:12.345] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.989991 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:12.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:12.345] frame process finished the id is: 289 the obs is:0 -[19:41:12.445] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.920108 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:12.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:12.445] frame process finished the id is: 290 the obs is:0 -[19:41:12.546] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.242796 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:12.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:12.546] frame process finished the id is: 291 the obs is:0 -[19:41:12.645] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.221516 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:12.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:12.645] frame process finished the id is: 292 the obs is:0 -[19:41:12.746] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.954688 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:12.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:12.746] frame process finished the id is: 293 the obs is:0 -[19:41:12.845] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.137832 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:12.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:12.845] frame process finished the id is: 294 the obs is:0 -[19:41:12.957] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.114056 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:12.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:41:12.957] frame process finished the id is: 295 the obs is:0 -[19:41:13.047] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.818391 ,While minimum is: 40.000000 KLT tracked: 65 -[19:41:13.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0. \ No newline at end of file +[11:02:52.333] Init: frame zero: 0.000000, 0.000000 0.000000 +[11:02:52.333] Init: Selected first frame. +[11:02:52.333] frame process finished the id is: 0 the obs is:0 +[11:02:52.434] Init: px average disparity is:0.187281 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:52.434] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:52.434] frame process finished the id is: 1 the obs is:0 +[11:02:52.527] Init: px average disparity is:0.218041 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:52.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:52.527] frame process finished the id is: 2 the obs is:0 +[11:02:52.628] Init: px average disparity is:0.232766 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:52.628] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:52.628] frame process finished the id is: 3 the obs is:0 +[11:02:52.729] Init: px average disparity is:0.255164 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:52.729] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:52.729] frame process finished the id is: 4 the obs is:0 +[11:02:52.828] Init: px average disparity is:0.223722 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:52.828] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:52.828] frame process finished the id is: 5 the obs is:0 +[11:02:52.928] Init: px average disparity is:0.228289 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:52.928] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:52.928] frame process finished the id is: 6 the obs is:0 +[11:02:53.031] Init: px average disparity is:0.238544 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:53.031] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:53.031] frame process finished the id is: 7 the obs is:0 +[11:02:53.132] Init: px average disparity is:0.229526 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:53.132] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:53.132] frame process finished the id is: 8 the obs is:0 +[11:02:53.228] Init: px average disparity is:0.252443 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:53.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:53.229] frame process finished the id is: 9 the obs is:0 +[11:02:53.327] Init: px average disparity is:0.220686 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:53.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:53.327] frame process finished the id is: 10 the obs is:0 +[11:02:53.429] Init: px average disparity is:0.234342 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:53.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:53.429] frame process finished the id is: 11 the obs is:0 +[11:02:53.527] Init: px average disparity is:0.239405 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:53.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:53.527] frame process finished the id is: 12 the obs is:0 +[11:02:53.628] Init: px average disparity is:0.226341 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:53.628] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:53.628] frame process finished the id is: 13 the obs is:0 +[11:02:53.727] Init: px average disparity is:0.246785 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:53.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:53.727] frame process finished the id is: 14 the obs is:0 +[11:02:53.827] Init: px average disparity is:0.224909 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:53.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:53.827] frame process finished the id is: 15 the obs is:0 +[11:02:53.918] Init: px average disparity is:0.234867 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:53.918] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:53.918] frame process finished the id is: 16 the obs is:0 +[11:02:54.019] Init: px average disparity is:0.251769 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:54.019] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:54.019] frame process finished the id is: 17 the obs is:0 +[11:02:54.127] Init: px average disparity is:0.241222 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:54.127] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:54.127] frame process finished the id is: 18 the obs is:0 +[11:02:54.227] Init: px average disparity is:0.216469 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:54.227] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:54.227] frame process finished the id is: 19 the obs is:0 +[11:02:54.328] Init: px average disparity is:0.229117 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:54.329] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:54.329] frame process finished the id is: 20 the obs is:0 +[11:02:54.428] Init: px average disparity is:0.250748 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:54.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:54.429] frame process finished the id is: 21 the obs is:0 +[11:02:54.518] Init: px average disparity is:0.251933 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:54.518] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:54.518] frame process finished the id is: 22 the obs is:0 +[11:02:54.628] Init: px average disparity is:0.232130 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:54.628] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:54.628] frame process finished the id is: 23 the obs is:0 +[11:02:54.726] Init: px average disparity is:0.217840 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:54.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:54.726] frame process finished the id is: 24 the obs is:0 +[11:02:54.826] Init: px average disparity is:0.250590 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:54.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:54.827] frame process finished the id is: 25 the obs is:0 +[11:02:54.932] Init: px average disparity is:0.237456 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:54.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:54.932] frame process finished the id is: 26 the obs is:0 +[11:02:55.028] Init: px average disparity is:0.219125 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:55.028] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:55.028] frame process finished the id is: 27 the obs is:0 +[11:02:55.130] Init: px average disparity is:0.254428 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:55.131] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:55.131] frame process finished the id is: 28 the obs is:0 +[11:02:55.228] Init: px average disparity is:0.224679 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:55.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:55.228] frame process finished the id is: 29 the obs is:0 +[11:02:55.265] Odometry x=0.000000, y=0.000000, theta=0.000000 +[11:02:55.327] Init: px average disparity is:0.225306 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:55.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:55.327] frame process finished the id is: 30 the obs is:0 +[11:02:55.363] Odometry x=0.000000, y=0.000000, theta=0.000000 +[11:02:55.428] Init: px average disparity is:0.206806 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:55.428] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:55.428] frame process finished the id is: 31 the obs is:0 +[11:02:55.463] Odometry x=0.000083, y=0.006159, theta=0.001621 +[11:02:55.527] Init: px average disparity is:1.709012 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:55.528] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:55.528] frame process finished the id is: 32 the obs is:0 +[11:02:55.564] Odometry x=0.000315, y=0.014506, theta=0.001673 +[11:02:55.628] Init: px average disparity is:5.939196 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:55.628] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:55.628] frame process finished the id is: 33 the obs is:0 +[11:02:55.665] Odometry x=0.000437, y=0.019936, theta=0.004526 +[11:02:55.726] Init: px average disparity is:7.664276 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:55.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:55.726] frame process finished the id is: 34 the obs is:0 +[11:02:55.764] Odometry x=0.000458, y=0.027376, theta=-0.000143 +[11:02:55.832] Init: px average disparity is:4.997190 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:55.832] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:55.832] frame process finished the id is: 35 the obs is:0 +[11:02:55.863] Odometry x=0.000508, y=0.032786, theta=0.001808 +[11:02:55.919] Init: px average disparity is:5.373949 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:55.919] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:55.919] frame process finished the id is: 36 the obs is:0 +[11:02:55.966] Odometry x=0.002184, y=0.040555, theta=0.000013 +[11:02:56.027] Init: px average disparity is:4.380394 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:56.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:56.027] frame process finished the id is: 37 the obs is:0 +[11:02:56.064] Odometry x=0.002111, y=0.045147, theta=0.007648 +[11:02:56.129] Init: px average disparity is:5.839307 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:56.129] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:56.129] frame process finished the id is: 38 the obs is:0 +[11:02:56.163] Odometry x=0.002136, y=0.051563, theta=-0.006108 +[11:02:56.220] Init: px average disparity is:4.598785 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:56.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:56.220] frame process finished the id is: 39 the obs is:0 +[11:02:56.266] Odometry x=0.002164, y=0.056924, theta=0.004808 +[11:02:56.326] Init: px average disparity is:6.456587 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:56.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:56.326] frame process finished the id is: 40 the obs is:0 +[11:02:56.364] Odometry x=0.002975, y=0.063283, theta=0.003612 +[11:02:56.430] Init: px average disparity is:7.801657 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:56.430] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:56.430] frame process finished the id is: 41 the obs is:0 +[11:02:56.468] Odometry x=0.002964, y=0.068472, theta=-0.000431 +[11:02:56.527] Init: px average disparity is:9.395217 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:56.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:56.527] frame process finished the id is: 42 the obs is:0 +[11:02:56.563] Odometry x=0.003136, y=0.075450, theta=-0.000288 +[11:02:56.621] Init: px average disparity is:12.697550 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:56.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:56.621] frame process finished the id is: 43 the obs is:0 +[11:02:56.664] Odometry x=0.003154, y=0.080847, theta=0.009618 +[11:02:56.721] Init: px average disparity is:15.611704 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:56.721] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:56.721] frame process finished the id is: 44 the obs is:0 +[11:02:56.768] Odometry x=0.003682, y=0.086671, theta=0.000076 +[11:02:56.820] Init: px average disparity is:13.822195 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:56.820] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:56.820] frame process finished the id is: 45 the obs is:0 +[11:02:56.864] Odometry x=0.003457, y=0.092265, theta=-0.006009 +[11:02:56.921] Init: px average disparity is:13.052692 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:56.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:56.922] frame process finished the id is: 46 the obs is:0 +[11:02:56.963] Odometry x=0.003712, y=0.098480, theta=-0.005355 +[11:02:57.021] Init: px average disparity is:11.466963 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:57.021] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:57.021] frame process finished the id is: 47 the obs is:0 +[11:02:57.067] Odometry x=0.003680, y=0.103995, theta=-0.008898 +[11:02:57.120] Init: px average disparity is:12.922224 ,While minimum is: 40.000000 KLT tracked : 133 +[11:02:57.120] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:57.120] frame process finished the id is: 48 the obs is:0 +[11:02:57.164] Odometry x=0.003768, y=0.109887, theta=-0.010883 +[11:02:57.220] Init: px average disparity is:13.055056 ,While minimum is: 40.000000 KLT tracked : 132 +[11:02:57.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:57.220] frame process finished the id is: 49 the obs is:0 +[11:02:57.267] Odometry x=0.003971, y=0.116057, theta=-0.003634 +[11:02:57.320] Init: px average disparity is:19.206657 ,While minimum is: 40.000000 KLT tracked : 132 +[11:02:57.320] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:57.320] frame process finished the id is: 50 the obs is:0 +[11:02:57.375] Odometry x=0.003984, y=0.126878, theta=-0.010992 +[11:02:57.428] Init: px average disparity is:13.867391 ,While minimum is: 40.000000 KLT tracked : 132 +[11:02:57.428] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:57.428] frame process finished the id is: 51 the obs is:0 +[11:02:57.465] Odometry x=0.006282, y=0.133190, theta=-0.002551 +[11:02:57.529] Init: px average disparity is:13.631560 ,While minimum is: 40.000000 KLT tracked : 132 +[11:02:57.529] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:57.529] frame process finished the id is: 52 the obs is:0 +[11:02:57.566] Odometry x=0.006054, y=0.150077, theta=-0.005795 +[11:02:57.630] Init: px average disparity is:8.895854 ,While minimum is: 40.000000 KLT tracked : 132 +[11:02:57.630] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:57.630] frame process finished the id is: 53 the obs is:0 +[11:02:57.666] Odometry x=0.009420, y=0.155250, theta=-0.000685 +[11:02:57.719] Init: px average disparity is:9.468409 ,While minimum is: 40.000000 KLT tracked : 132 +[11:02:57.719] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:57.719] frame process finished the id is: 54 the obs is:0 +[11:02:57.763] Odometry x=0.010250, y=0.160812, theta=0.004575 +[11:02:57.828] Init: px average disparity is:9.281379 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:57.828] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:57.828] frame process finished the id is: 55 the obs is:0 +[11:02:57.869] Odometry x=0.011656, y=0.166044, theta=0.005583 +[11:02:57.928] Init: px average disparity is:10.252091 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:57.928] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:57.928] frame process finished the id is: 56 the obs is:0 +[11:02:57.971] Odometry x=0.011738, y=0.171452, theta=0.004541 +[11:02:58.031] Init: px average disparity is:11.171103 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:58.031] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:58.031] frame process finished the id is: 57 the obs is:0 +[11:02:58.072] Odometry x=0.020211, y=0.176784, theta=-0.002113 +[11:02:58.129] Init: px average disparity is:9.216175 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:58.129] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:58.129] frame process finished the id is: 58 the obs is:0 +[11:02:58.172] Odometry x=0.020186, y=0.182495, theta=-0.013019 +[11:02:58.229] Init: px average disparity is:11.718446 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:58.229] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:58.229] frame process finished the id is: 59 the obs is:0 +[11:02:58.272] Odometry x=0.020271, y=0.187943, theta=-0.000381 +[11:02:58.329] Init: px average disparity is:14.178261 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:58.329] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:58.329] frame process finished the id is: 60 the obs is:0 +[11:02:58.367] Odometry x=0.020261, y=0.193889, theta=-0.005366 +[11:02:58.429] Init: px average disparity is:15.136591 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:58.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:58.429] frame process finished the id is: 61 the obs is:0 +[11:02:58.467] Odometry x=0.022108, y=0.199369, theta=-0.001681 +[11:02:58.531] Init: px average disparity is:16.247625 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:58.531] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:58.531] frame process finished the id is: 62 the obs is:0 +[11:02:58.567] Odometry x=0.022092, y=0.205193, theta=-0.006756 +[11:02:58.629] Init: px average disparity is:16.698938 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:58.630] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:58.630] frame process finished the id is: 63 the obs is:0 +[11:02:58.666] Odometry x=0.022191, y=0.210769, theta=-0.001404 +[11:02:58.730] Init: px average disparity is:17.081662 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:58.730] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:58.730] frame process finished the id is: 64 the obs is:0 +[11:02:58.765] Odometry x=0.022150, y=0.216182, theta=-0.006130 +[11:02:58.831] Init: px average disparity is:19.191017 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:58.831] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:58.831] frame process finished the id is: 65 the obs is:0 +[11:02:58.865] Odometry x=0.022600, y=0.221975, theta=0.005325 +[11:02:58.930] Init: px average disparity is:22.069938 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:58.930] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:58.930] frame process finished the id is: 66 the obs is:0 +[11:02:58.965] Odometry x=0.022613, y=0.227483, theta=0.000197 +[11:02:59.030] Init: px average disparity is:19.974698 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:59.030] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:59.030] frame process finished the id is: 67 the obs is:0 +[11:02:59.065] Odometry x=0.022678, y=0.235399, theta=-0.010260 +[11:02:59.132] Init: px average disparity is:19.313530 ,While minimum is: 40.000000 KLT tracked : 131 +[11:02:59.132] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:59.132] frame process finished the id is: 68 the obs is:0 +[11:02:59.167] Odometry x=0.022481, y=0.242622, theta=0.003881 +[11:02:59.230] Init: px average disparity is:19.038896 ,While minimum is: 40.000000 KLT tracked : 130 +[11:02:59.231] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:59.231] frame process finished the id is: 69 the obs is:0 +[11:02:59.266] Odometry x=0.022628, y=0.248044, theta=-0.011295 +[11:02:59.323] Init: px average disparity is:19.331162 ,While minimum is: 40.000000 KLT tracked : 130 +[11:02:59.323] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:59.323] frame process finished the id is: 70 the obs is:0 +[11:02:59.365] Odometry x=0.023183, y=0.254114, theta=0.001542 +[11:02:59.432] Init: px average disparity is:21.714218 ,While minimum is: 40.000000 KLT tracked : 130 +[11:02:59.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:59.432] frame process finished the id is: 71 the obs is:0 +[11:02:59.471] Odometry x=0.023758, y=0.259705, theta=-0.012768 +[11:02:59.532] Init: px average disparity is:21.140279 ,While minimum is: 40.000000 KLT tracked : 130 +[11:02:59.532] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:59.532] frame process finished the id is: 72 the obs is:0 +[11:02:59.566] Odometry x=0.023847, y=0.266068, theta=0.012340 +[11:02:59.632] Init: px average disparity is:21.731932 ,While minimum is: 40.000000 KLT tracked : 126 +[11:02:59.632] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:59.632] frame process finished the id is: 73 the obs is:0 +[11:02:59.665] Odometry x=0.023291, y=0.275696, theta=0.012209 +[11:02:59.732] Init: px average disparity is:22.202050 ,While minimum is: 40.000000 KLT tracked : 126 +[11:02:59.732] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:59.733] frame process finished the id is: 74 the obs is:0 +[11:02:59.766] Odometry x=0.023332, y=0.281054, theta=0.017046 +[11:02:59.831] Init: px average disparity is:20.604003 ,While minimum is: 40.000000 KLT tracked : 126 +[11:02:59.832] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:59.832] frame process finished the id is: 75 the obs is:0 +[11:02:59.866] Odometry x=0.023455, y=0.286541, theta=0.025195 +[11:02:59.932] Init: px average disparity is:21.489386 ,While minimum is: 40.000000 KLT tracked : 126 +[11:02:59.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:02:59.932] frame process finished the id is: 76 the obs is:0 +[11:02:59.966] Odometry x=0.023538, y=0.292210, theta=0.022804 +[11:03:00.033] Init: px average disparity is:21.235379 ,While minimum is: 40.000000 KLT tracked : 126 +[11:03:00.033] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:00.033] frame process finished the id is: 77 the obs is:0 +[11:03:00.066] Odometry x=0.016740, y=0.299317, theta=0.009760 +[11:03:00.132] Init: px average disparity is:23.308874 ,While minimum is: 40.000000 KLT tracked : 126 +[11:03:00.132] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:00.133] frame process finished the id is: 78 the obs is:0 +[11:03:00.167] Odometry x=0.016776, y=0.304860, theta=0.013052 +[11:03:00.232] Init: px average disparity is:21.758660 ,While minimum is: 40.000000 KLT tracked : 126 +[11:03:00.232] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:00.232] frame process finished the id is: 79 the obs is:0 +[11:03:00.270] Odometry x=0.016814, y=0.311205, theta=0.001266 +[11:03:00.332] Init: px average disparity is:22.844221 ,While minimum is: 40.000000 KLT tracked : 126 +[11:03:00.332] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:00.333] frame process finished the id is: 80 the obs is:0 +[11:03:00.369] Odometry x=0.016842, y=0.316692, theta=0.008555 +[11:03:00.421] Init: px average disparity is:21.768674 ,While minimum is: 40.000000 KLT tracked : 126 +[11:03:00.421] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:00.421] frame process finished the id is: 81 the obs is:0 +[11:03:00.467] Odometry x=0.016867, y=0.322709, theta=-0.001106 +[11:03:00.532] Init: px average disparity is:23.868591 ,While minimum is: 40.000000 KLT tracked : 126 +[11:03:00.532] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:00.532] frame process finished the id is: 82 the obs is:0 +[11:03:00.566] Odometry x=0.016945, y=0.327379, theta=0.015800 +[11:03:00.633] Init: px average disparity is:22.181142 ,While minimum is: 40.000000 KLT tracked : 126 +[11:03:00.633] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:00.633] frame process finished the id is: 83 the obs is:0 +[11:03:00.670] Odometry x=0.017665, y=0.332335, theta=-0.005166 +[11:03:00.732] Init: px average disparity is:23.537503 ,While minimum is: 40.000000 KLT tracked : 126 +[11:03:00.733] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:00.733] frame process finished the id is: 84 the obs is:0 +[11:03:00.765] Odometry x=0.018206, y=0.337937, theta=0.025456 +[11:03:00.832] Init: px average disparity is:22.125601 ,While minimum is: 40.000000 KLT tracked : 126 +[11:03:00.832] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:00.832] frame process finished the id is: 85 the obs is:0 +[11:03:00.868] Odometry x=0.012156, y=0.365885, theta=-0.010050 +[11:03:00.932] Init: px average disparity is:23.702301 ,While minimum is: 40.000000 KLT tracked : 123 +[11:03:00.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:00.932] frame process finished the id is: 86 the obs is:0 +[11:03:00.969] Odometry x=0.012678, y=0.371539, theta=0.005735 +[11:03:01.032] Init: px average disparity is:24.065722 ,While minimum is: 40.000000 KLT tracked : 123 +[11:03:01.033] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:01.033] frame process finished the id is: 87 the obs is:0 +[11:03:01.070] Odometry x=0.010710, y=0.384798, theta=0.007864 +[11:03:01.132] Init: px average disparity is:26.328054 ,While minimum is: 40.000000 KLT tracked : 123 +[11:03:01.132] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:01.132] frame process finished the id is: 88 the obs is:0 +[11:03:01.167] Odometry x=0.010730, y=0.390094, theta=-0.004779 +[11:03:01.234] Init: px average disparity is:27.827415 ,While minimum is: 40.000000 KLT tracked : 123 +[11:03:01.234] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:01.234] frame process finished the id is: 89 the obs is:0 +[11:03:01.272] Odometry x=0.012398, y=0.401092, theta=0.007053 +[11:03:01.332] Init: px average disparity is:27.677239 ,While minimum is: 40.000000 KLT tracked : 123 +[11:03:01.332] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:01.332] frame process finished the id is: 90 the obs is:0 +[11:03:01.370] Odometry x=0.006292, y=0.406508, theta=0.017974 +[11:03:01.432] Init: px average disparity is:27.149284 ,While minimum is: 40.000000 KLT tracked : 123 +[11:03:01.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:01.432] frame process finished the id is: 91 the obs is:0 +[11:03:01.466] Odometry x=0.006568, y=0.411926, theta=0.010232 +[11:03:01.535] Init: px average disparity is:26.373919 ,While minimum is: 40.000000 KLT tracked : 123 +[11:03:01.535] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:01.535] frame process finished the id is: 92 the obs is:0 +[11:03:01.570] Odometry x=0.005705, y=0.417080, theta=0.020980 +[11:03:01.624] Init: px average disparity is:25.921560 ,While minimum is: 40.000000 KLT tracked : 123 +[11:03:01.624] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:01.624] frame process finished the id is: 93 the obs is:0 +[11:03:01.674] Odometry x=0.005848, y=0.423478, theta=0.012587 +[11:03:01.735] Init: px average disparity is:25.482353 ,While minimum is: 40.000000 KLT tracked : 123 +[11:03:01.735] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:01.735] frame process finished the id is: 94 the obs is:0 +[11:03:01.772] Odometry x=0.005057, y=0.428930, theta=0.022381 +[11:03:01.835] Init: px average disparity is:26.348932 ,While minimum is: 40.000000 KLT tracked : 123 +[11:03:01.835] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:01.835] frame process finished the id is: 95 the obs is:0 +[11:03:01.867] Odometry x=0.005130, y=0.434362, theta=0.016239 +[11:03:01.933] Init: px average disparity is:26.062399 ,While minimum is: 40.000000 KLT tracked : 123 +[11:03:01.933] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:01.933] frame process finished the id is: 96 the obs is:0 +[11:03:01.968] Odometry x=0.005190, y=0.440132, theta=-0.000189 +[11:03:02.034] Init: px average disparity is:27.211787 ,While minimum is: 40.000000 KLT tracked : 123 +[11:03:02.035] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:02.035] frame process finished the id is: 97 the obs is:0 +[11:03:02.072] Odometry x=0.005243, y=0.445621, theta=0.015265 +[11:03:02.137] Init: px average disparity is:26.394847 ,While minimum is: 40.000000 KLT tracked : 123 +[11:03:02.138] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:02.138] frame process finished the id is: 98 the obs is:0 +[11:03:02.172] Odometry x=0.005153, y=0.466592, theta=0.004247 +[11:03:02.234] Init: px average disparity is:27.573927 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:02.235] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:02.235] frame process finished the id is: 99 the obs is:0 +[11:03:02.265] Odometry x=0.005166, y=0.471973, theta=0.013182 +[11:03:02.333] Init: px average disparity is:27.468371 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:02.333] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:02.333] frame process finished the id is: 100 the obs is:0 +[11:03:02.372] Odometry x=-0.000551, y=0.487879, theta=0.019204 +[11:03:02.434] Init: px average disparity is:28.337235 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:02.434] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:02.434] frame process finished the id is: 101 the obs is:0 +[11:03:02.469] Odometry x=-0.000329, y=0.493464, theta=0.016802 +[11:03:02.534] Init: px average disparity is:30.123460 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:02.534] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:02.534] frame process finished the id is: 102 the obs is:0 +[11:03:02.566] Odometry x=-0.000279, y=0.499013, theta=0.019071 +[11:03:02.633] Init: px average disparity is:29.524101 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:02.634] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:02.634] frame process finished the id is: 103 the obs is:0 +[11:03:02.670] Odometry x=-0.000161, y=0.504402, theta=0.019509 +[11:03:02.723] Init: px average disparity is:32.223485 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:02.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:02.723] frame process finished the id is: 104 the obs is:0 +[11:03:02.772] Odometry x=-0.000112, y=0.510880, theta=-0.001845 +[11:03:02.833] Init: px average disparity is:31.141180 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:02.834] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:02.834] frame process finished the id is: 105 the obs is:0 +[11:03:02.869] Odometry x=-0.006639, y=0.523239, theta=0.027717 +[11:03:02.933] Init: px average disparity is:35.133772 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:02.933] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:02.933] frame process finished the id is: 106 the obs is:0 +[11:03:02.966] Odometry x=-0.006344, y=0.528556, theta=0.025556 +[11:03:03.035] Init: px average disparity is:32.187850 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:03.035] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:03.035] frame process finished the id is: 107 the obs is:0 +[11:03:03.067] Odometry x=-0.015072, y=0.537231, theta=0.031466 +[11:03:03.133] Init: px average disparity is:34.733862 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:03.133] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:03.133] frame process finished the id is: 108 the obs is:0 +[11:03:03.171] Odometry x=-0.014890, y=0.543870, theta=0.018380 +[11:03:03.234] Init: px average disparity is:33.824026 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:03.234] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:03.235] frame process finished the id is: 109 the obs is:0 +[11:03:03.267] Odometry x=-0.023402, y=0.549631, theta=0.035850 +[11:03:03.334] Init: px average disparity is:33.438455 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:03.334] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:03.334] frame process finished the id is: 110 the obs is:0 +[11:03:03.368] Odometry x=-0.022159, y=0.560346, theta=0.015077 +[11:03:03.433] Init: px average disparity is:32.210106 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:03.433] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:03.433] frame process finished the id is: 111 the obs is:0 +[11:03:03.468] Odometry x=-0.022143, y=0.567450, theta=0.027750 +[11:03:03.533] Init: px average disparity is:32.441085 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:03.533] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:03.533] frame process finished the id is: 112 the obs is:0 +[11:03:03.566] Odometry x=-0.022051, y=0.573310, theta=0.026050 +[11:03:03.633] Init: px average disparity is:32.143786 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:03.633] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:03.633] frame process finished the id is: 113 the obs is:0 +[11:03:03.667] Odometry x=-0.021972, y=0.578446, theta=0.020929 +[11:03:03.733] Init: px average disparity is:32.892638 ,While minimum is: 40.000000 KLT tracked : 122 +[11:03:03.733] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:03.733] frame process finished the id is: 114 the obs is:0 +[11:03:03.768] Odometry x=-0.021117, y=0.589333, theta=0.027272 +[11:03:03.837] Init: px average disparity is:33.639554 ,While minimum is: 40.000000 KLT tracked : 117 +[11:03:03.837] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:03.837] frame process finished the id is: 115 the obs is:0 +[11:03:03.867] Odometry x=-0.020642, y=0.594882, theta=0.011236 +[11:03:03.924] Init: px average disparity is:33.377052 ,While minimum is: 40.000000 KLT tracked : 117 +[11:03:03.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:03.924] frame process finished the id is: 116 the obs is:0 +[11:03:03.966] Odometry x=-0.019565, y=0.601024, theta=0.026266 +[11:03:04.035] Init: px average disparity is:34.554567 ,While minimum is: 40.000000 KLT tracked : 115 +[11:03:04.035] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:04.035] frame process finished the id is: 117 the obs is:0 +[11:03:04.067] Odometry x=-0.019539, y=0.605789, theta=0.012467 +[11:03:04.135] Init: px average disparity is:34.269280 ,While minimum is: 40.000000 KLT tracked : 115 +[11:03:04.135] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:04.135] frame process finished the id is: 118 the obs is:0 +[11:03:04.167] Odometry x=-0.017677, y=0.612450, theta=0.018356 +[11:03:04.235] Init: px average disparity is:35.397759 ,While minimum is: 40.000000 KLT tracked : 115 +[11:03:04.235] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:04.235] frame process finished the id is: 119 the obs is:0 +[11:03:04.267] Odometry x=-0.015115, y=0.617586, theta=0.005500 +[11:03:04.335] Init: px average disparity is:37.887405 ,While minimum is: 40.000000 KLT tracked : 114 +[11:03:04.335] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:04.335] frame process finished the id is: 120 the obs is:0 +[11:03:04.367] Odometry x=-0.013924, y=0.623699, theta=0.013295 +[11:03:04.435] Init: px average disparity is:38.332232 ,While minimum is: 40.000000 KLT tracked : 114 +[11:03:04.435] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:04.435] frame process finished the id is: 121 the obs is:0 +[11:03:04.468] Odometry x=-0.013894, y=0.629015, theta=0.012137 +[11:03:04.567] Odometry x=-0.011413, y=0.634500, theta=0.008947 +[11:03:04.603] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:41.218393 ,While minimum is: 40.000000 KLT tracked: 113 +[11:03:04.603] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:04.603] frame process finished the id is: 122 the obs is:0 +[11:03:04.664] Odometry x=-0.011677, y=0.641597, theta=0.038688 +[11:03:04.687] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:41.195391 ,While minimum is: 40.000000 KLT tracked: 113 +[11:03:04.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:04.687] frame process finished the id is: 123 the obs is:0 +[11:03:04.768] Odometry x=-0.011403, y=0.647214, theta=0.025053 +[11:03:04.786] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:42.722102 ,While minimum is: 40.000000 KLT tracked: 113 +[11:03:04.786] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:04.786] frame process finished the id is: 124 the obs is:0 +[11:03:04.865] Odometry x=-0.011369, y=0.652569, theta=0.036870 +[11:03:04.887] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:40.319349 ,While minimum is: 40.000000 KLT tracked: 113 +[11:03:04.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:04.887] frame process finished the id is: 125 the obs is:0 +[11:03:04.968] Odometry x=-0.011248, y=0.658042, theta=0.026782 +[11:03:04.988] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:42.245823 ,While minimum is: 40.000000 KLT tracked: 113 +[11:03:04.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:04.988] frame process finished the id is: 126 the obs is:0 +[11:03:05.033] Init: px average disparity is:38.518667 ,While minimum is: 40.000000 KLT tracked : 112 +[11:03:05.033] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:05.033] frame process finished the id is: 127 the obs is:0 +[11:03:05.066] Odometry x=-0.011542, y=0.663369, theta=0.031685 +[11:03:05.135] Init: px average disparity is:39.570623 ,While minimum is: 40.000000 KLT tracked : 112 +[11:03:05.135] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:05.135] frame process finished the id is: 128 the obs is:0 +[11:03:05.166] Odometry x=-0.011331, y=0.669998, theta=0.037778 +[11:03:05.235] Init: px average disparity is:38.586085 ,While minimum is: 40.000000 KLT tracked : 112 +[11:03:05.235] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:05.235] frame process finished the id is: 129 the obs is:0 +[11:03:05.271] Odometry x=-0.010700, y=0.675520, theta=0.020633 +[11:03:05.369] Odometry x=-0.010446, y=0.680991, theta=0.049580 +[11:03:05.403] Init: Homography RANSAC (inlier) is:2 ,While 20 inliers minimum required. px average disparity is:41.296120 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:05.403] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:05.403] frame process finished the id is: 130 the obs is:0 +[11:03:05.462] Odometry x=-0.010190, y=0.686274, theta=0.030969 +[11:03:05.487] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:40.458279 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:05.487] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:05.487] frame process finished the id is: 131 the obs is:0 +[11:03:05.565] Odometry x=-0.010276, y=0.688495, theta=0.051522 +[11:03:05.587] Init: Homography RANSAC (inlier) is:3 ,While 20 inliers minimum required. px average disparity is:42.293274 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:05.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:05.587] frame process finished the id is: 132 the obs is:0 +[11:03:05.662] Odometry x=-0.010130, y=0.693849, theta=0.045501 +[11:03:05.687] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:41.567467 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:05.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:05.687] frame process finished the id is: 133 the obs is:0 +[11:03:05.771] Odometry x=-0.010092, y=0.695879, theta=0.047658 +[11:03:05.787] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:43.467940 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:05.787] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:05.787] frame process finished the id is: 134 the obs is:0 +[11:03:05.867] Odometry x=-0.007471, y=0.702103, theta=0.043175 +[11:03:05.888] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:42.433396 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:05.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:05.888] frame process finished the id is: 135 the obs is:0 +[11:03:05.968] Odometry x=-0.007367, y=0.707149, theta=0.040700 +[11:03:05.987] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:41.126205 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:05.987] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:05.987] frame process finished the id is: 136 the obs is:0 +[11:03:06.066] Odometry x=-0.007057, y=0.712752, theta=0.040741 +[11:03:06.086] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:42.465372 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:06.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:06.086] frame process finished the id is: 137 the obs is:0 +[11:03:06.165] Odometry x=-0.015328, y=0.721063, theta=0.049688 +[11:03:06.185] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:42.047963 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:06.185] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:06.185] frame process finished the id is: 138 the obs is:0 +[11:03:06.264] Odometry x=-0.015046, y=0.726319, theta=0.040543 +[11:03:06.286] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:45.164152 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:06.286] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:06.286] frame process finished the id is: 139 the obs is:0 +[11:03:06.364] Odometry x=-0.014737, y=0.739561, theta=0.048452 +[11:03:06.387] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:45.117426 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:06.387] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:06.387] frame process finished the id is: 140 the obs is:0 +[11:03:06.468] Odometry x=-0.013985, y=0.744977, theta=0.047674 +[11:03:06.486] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:47.132869 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:06.486] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:06.486] frame process finished the id is: 141 the obs is:0 +[11:03:06.565] Odometry x=-0.013426, y=0.750693, theta=0.057522 +[11:03:06.587] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:48.879078 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:06.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:06.587] frame process finished the id is: 142 the obs is:0 +[11:03:06.669] Odometry x=-0.012264, y=0.755954, theta=0.046884 +[11:03:06.690] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:49.255546 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:06.690] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:06.690] frame process finished the id is: 143 the obs is:0 +[11:03:06.766] Odometry x=-0.012134, y=0.761382, theta=0.049299 +[11:03:06.787] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:48.362779 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:06.787] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:06.787] frame process finished the id is: 144 the obs is:0 +[11:03:06.870] Odometry x=-0.011855, y=0.767258, theta=0.060195 +[11:03:06.886] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:47.118736 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:06.886] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:06.886] frame process finished the id is: 145 the obs is:0 +[11:03:06.963] Odometry x=-0.011698, y=0.772906, theta=0.048467 +[11:03:06.999] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:46.644525 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:06.999] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:06.999] frame process finished the id is: 146 the obs is:0 +[11:03:07.066] Odometry x=-0.011323, y=0.778536, theta=0.068853 +[11:03:07.086] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:45.759854 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:07.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:07.086] frame process finished the id is: 147 the obs is:0 +[11:03:07.163] Odometry x=-0.011147, y=0.783860, theta=0.059476 +[11:03:07.188] Init: Homography RANSAC (inlier) is:2 ,While 20 inliers minimum required. px average disparity is:45.704030 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:07.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:07.188] frame process finished the id is: 148 the obs is:0 +[11:03:07.266] Odometry x=-0.010980, y=0.789127, theta=0.076273 +[11:03:07.287] Init: Homography RANSAC (inlier) is:2 ,While 20 inliers minimum required. px average disparity is:45.452652 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:07.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:07.287] frame process finished the id is: 149 the obs is:0 +[11:03:07.368] Odometry x=-0.010574, y=0.794679, theta=0.049723 +[11:03:07.387] Init: Homography RANSAC (inlier) is:2 ,While 20 inliers minimum required. px average disparity is:46.400881 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:07.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:07.388] frame process finished the id is: 150 the obs is:0 +[11:03:07.466] Odometry x=-0.010406, y=0.800120, theta=0.058801 +[11:03:07.492] Init: Homography RANSAC (inlier) is:2 ,While 20 inliers minimum required. px average disparity is:45.682349 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:07.492] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:07.492] frame process finished the id is: 151 the obs is:0 +[11:03:07.568] Odometry x=-0.010239, y=0.805510, theta=0.060229 +[11:03:07.588] Init: Homography RANSAC (inlier) is:2 ,While 20 inliers minimum required. px average disparity is:47.110682 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:07.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:07.588] frame process finished the id is: 152 the obs is:0 +[11:03:07.665] Odometry x=-0.010548, y=0.814035, theta=0.049214 +[11:03:07.688] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:46.760269 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:07.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:07.688] frame process finished the id is: 153 the obs is:0 +[11:03:07.768] Odometry x=-0.010389, y=0.819882, theta=0.054367 +[11:03:07.789] Init: Homography RANSAC (inlier) is:3 ,While 20 inliers minimum required. px average disparity is:49.851755 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:07.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:07.789] frame process finished the id is: 154 the obs is:0 +[11:03:07.871] Odometry x=-0.011054, y=0.826154, theta=0.043035 +[11:03:07.888] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:47.310004 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:07.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:07.888] frame process finished the id is: 155 the obs is:0 +[11:03:07.963] Odometry x=-0.010928, y=0.831629, theta=0.052732 +[11:03:08.002] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:48.539425 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:08.002] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:08.002] frame process finished the id is: 156 the obs is:0 +[11:03:08.063] Odometry x=-0.010785, y=0.837462, theta=0.042921 +[11:03:08.092] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:47.506489 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:08.092] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:08.092] frame process finished the id is: 157 the obs is:0 +[11:03:08.171] Odometry x=-0.010661, y=0.843118, theta=0.051876 +[11:03:08.187] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:48.876590 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:08.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:08.187] frame process finished the id is: 158 the obs is:0 +[11:03:08.264] Odometry x=-0.010770, y=0.849715, theta=0.049747 +[11:03:08.287] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:49.170987 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:08.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:08.287] frame process finished the id is: 159 the obs is:0 +[11:03:08.368] Odometry x=-0.010635, y=0.854985, theta=0.052750 +[11:03:08.388] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:50.125004 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:08.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:08.388] frame process finished the id is: 160 the obs is:0 +[11:03:08.481] Odometry x=-0.010444, y=0.862393, theta=0.046582 +[11:03:08.488] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:51.907976 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:08.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:08.488] frame process finished the id is: 161 the obs is:0 +[11:03:08.564] Odometry x=-0.010298, y=0.868297, theta=0.054079 +[11:03:08.587] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:54.008200 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:08.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:08.587] frame process finished the id is: 162 the obs is:0 +[11:03:08.677] Odometry x=-0.010159, y=0.873236, theta=0.053327 +[11:03:08.686] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:53.818434 ,While minimum is: 40.000000 KLT tracked: 111 +[11:03:08.686] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:08.686] frame process finished the id is: 163 the obs is:0 +[11:03:08.770] Odometry x=-0.010001, y=0.879012, theta=0.054592 +[11:03:08.787] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:52.808492 ,While minimum is: 40.000000 KLT tracked: 109 +[11:03:08.787] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:08.787] frame process finished the id is: 164 the obs is:0 +[11:03:08.869] Odometry x=-0.009842, y=0.884348, theta=0.052012 +[11:03:08.887] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:53.914693 ,While minimum is: 40.000000 KLT tracked: 109 +[11:03:08.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:08.888] frame process finished the id is: 165 the obs is:0 +[11:03:08.966] Odometry x=-0.009703, y=0.889545, theta=0.054234 +[11:03:08.987] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:54.417571 ,While minimum is: 40.000000 KLT tracked: 109 +[11:03:08.987] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:08.987] frame process finished the id is: 166 the obs is:0 +[11:03:09.066] Odometry x=-0.009546, y=0.894939, theta=0.058561 +[11:03:09.087] Init: Homography RANSAC (inlier) is:17 ,While 20 inliers minimum required. px average disparity is:52.191031 ,While minimum is: 40.000000 KLT tracked: 108 +[11:03:09.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:09.087] frame process finished the id is: 167 the obs is:0 +[11:03:09.162] Odometry x=-0.009327, y=0.901923, theta=0.055967 +[11:03:09.186] Init: Homography RANSAC (inlier) is:18 ,While 20 inliers minimum required. px average disparity is:49.807962 ,While minimum is: 40.000000 KLT tracked: 107 +[11:03:09.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:09.186] frame process finished the id is: 168 the obs is:0 +[11:03:09.267] Odometry x=-0.009042, y=0.907240, theta=0.055283 +[11:03:09.286] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required. px average disparity is:49.693112 ,While minimum is: 40.000000 KLT tracked: 107 +[11:03:09.286] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:09.286] frame process finished the id is: 169 the obs is:0 +[11:03:09.365] Odometry x=-0.008748, y=0.915547, theta=0.047248 +[11:03:09.389] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:50.033757 ,While minimum is: 40.000000 KLT tracked: 107 +[11:03:09.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:09.389] frame process finished the id is: 170 the obs is:0 +[11:03:09.468] Odometry x=-0.008593, y=0.922144, theta=0.047851 +[11:03:09.489] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:49.406152 ,While minimum is: 40.000000 KLT tracked: 106 +[11:03:09.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:09.489] frame process finished the id is: 171 the obs is:0 +[11:03:09.567] Odometry x=-0.008362, y=0.927370, theta=0.051931 +[11:03:09.587] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required. px average disparity is:51.218692 ,While minimum is: 40.000000 KLT tracked: 106 +[11:03:09.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:09.588] frame process finished the id is: 172 the obs is:0 +[11:03:09.666] Odometry x=-0.008225, y=0.933161, theta=0.041309 +[11:03:09.687] Init: Homography RANSAC (inlier) is:18 ,While 20 inliers minimum required. px average disparity is:48.195876 ,While minimum is: 40.000000 KLT tracked: 105 +[11:03:09.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:09.687] frame process finished the id is: 173 the obs is:0 +[11:03:09.770] Odometry x=-0.008080, y=0.939442, theta=0.043880 +[11:03:09.788] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:48.283068 ,While minimum is: 40.000000 KLT tracked: 105 +[11:03:09.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:09.788] frame process finished the id is: 174 the obs is:0 +[11:03:09.867] Odometry x=-0.007954, y=0.944982, theta=0.048161 +[11:03:09.907] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:48.372559 ,While minimum is: 40.000000 KLT tracked: 105 +[11:03:09.907] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:09.907] frame process finished the id is: 175 the obs is:0 +[11:03:09.966] Odometry x=-0.007826, y=0.950582, theta=0.043458 +[11:03:09.987] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:49.124700 ,While minimum is: 40.000000 KLT tracked: 105 +[11:03:09.987] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:09.987] frame process finished the id is: 176 the obs is:0 +[11:03:10.065] Odometry x=-0.007734, y=0.956004, theta=0.043297 +[11:03:10.087] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:50.209028 ,While minimum is: 40.000000 KLT tracked: 105 +[11:03:10.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:10.088] frame process finished the id is: 177 the obs is:0 +[11:03:10.165] Odometry x=-0.007618, y=0.961438, theta=0.043784 +[11:03:10.187] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:50.940630 ,While minimum is: 40.000000 KLT tracked: 105 +[11:03:10.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:10.187] frame process finished the id is: 178 the obs is:0 +[11:03:10.265] Odometry x=-0.007491, y=0.966915, theta=0.046996 +[11:03:10.288] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:52.211970 ,While minimum is: 40.000000 KLT tracked: 105 +[11:03:10.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:10.288] frame process finished the id is: 179 the obs is:0 +[11:03:10.365] Odometry x=-0.007330, y=0.973437, theta=0.048817 +[11:03:10.388] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:54.080479 ,While minimum is: 40.000000 KLT tracked: 105 +[11:03:10.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:10.388] frame process finished the id is: 180 the obs is:0 +[11:03:10.465] Odometry x=-0.007160, y=0.978952, theta=0.055861 +[11:03:10.488] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:57.006023 ,While minimum is: 40.000000 KLT tracked: 105 +[11:03:10.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:10.488] frame process finished the id is: 181 the obs is:0 +[11:03:10.566] Odometry x=-0.006979, y=0.984633, theta=0.053283 +[11:03:10.588] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:53.613168 ,While minimum is: 40.000000 KLT tracked: 104 +[11:03:10.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:10.588] frame process finished the id is: 182 the obs is:0 +[11:03:10.669] Odometry x=-0.006801, y=0.990951, theta=0.059873 +[11:03:10.690] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:53.910388 ,While minimum is: 40.000000 KLT tracked: 104 +[11:03:10.690] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:10.690] frame process finished the id is: 183 the obs is:0 +[11:03:10.767] Odometry x=-0.006567, y=0.997666, theta=0.057365 +[11:03:10.790] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:55.384658 ,While minimum is: 40.000000 KLT tracked: 104 +[11:03:10.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:10.790] frame process finished the id is: 184 the obs is:0 +[11:03:10.865] Odometry x=-0.006404, y=1.003065, theta=0.055888 +[11:03:10.890] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:55.248705 ,While minimum is: 40.000000 KLT tracked: 104 +[11:03:10.890] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:10.890] frame process finished the id is: 185 the obs is:0 +[11:03:10.968] Odometry x=-0.006249, y=1.008641, theta=0.049581 +[11:03:10.990] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:56.258386 ,While minimum is: 40.000000 KLT tracked: 104 +[11:03:10.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:10.991] frame process finished the id is: 186 the obs is:0 +[11:03:11.067] Odometry x=-0.006116, y=1.014321, theta=0.043516 +[11:03:11.091] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:55.203830 ,While minimum is: 40.000000 KLT tracked: 104 +[11:03:11.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:11.091] frame process finished the id is: 187 the obs is:0 +[11:03:11.166] Odometry x=-0.005961, y=1.020364, theta=0.050607 +[11:03:11.189] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:55.990681 ,While minimum is: 40.000000 KLT tracked: 104 +[11:03:11.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:11.189] frame process finished the id is: 188 the obs is:0 +[11:03:11.267] Odometry x=-0.005811, y=1.025738, theta=0.042076 +[11:03:11.287] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:49.936530 ,While minimum is: 40.000000 KLT tracked: 101 +[11:03:11.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:11.287] frame process finished the id is: 189 the obs is:0 +[11:03:11.366] Odometry x=-0.005705, y=1.030787, theta=0.044619 +[11:03:11.389] Init: Homography RANSAC (inlier) is:17 ,While 20 inliers minimum required. px average disparity is:48.804547 ,While minimum is: 40.000000 KLT tracked: 101 +[11:03:11.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:11.389] frame process finished the id is: 190 the obs is:0 +[11:03:11.462] Odometry x=-0.005584, y=1.036575, theta=0.041572 +[11:03:11.489] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:48.015571 ,While minimum is: 40.000000 KLT tracked: 101 +[11:03:11.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:11.489] frame process finished the id is: 191 the obs is:0 +[11:03:11.566] Odometry x=-0.005457, y=1.043033, theta=0.043915 +[11:03:11.589] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:48.039038 ,While minimum is: 40.000000 KLT tracked: 101 +[11:03:11.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:11.589] frame process finished the id is: 192 the obs is:0 +[11:03:11.670] Odometry x=-0.005325, y=1.049233, theta=0.042089 +[11:03:11.688] Init: Homography RANSAC (inlier) is:17 ,While 20 inliers minimum required. px average disparity is:47.615663 ,While minimum is: 40.000000 KLT tracked: 101 +[11:03:11.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:11.688] frame process finished the id is: 193 the obs is:0 +[11:03:11.765] Odometry x=-0.005193, y=1.055549, theta=0.043127 +[11:03:11.788] Init: Homography RANSAC (inlier) is:17 ,While 20 inliers minimum required. px average disparity is:48.731978 ,While minimum is: 40.000000 KLT tracked: 101 +[11:03:11.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:11.789] frame process finished the id is: 194 the obs is:0 +[11:03:11.861] Odometry x=-0.005082, y=1.060680, theta=0.044481 +[11:03:11.888] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required. px average disparity is:49.198888 ,While minimum is: 40.000000 KLT tracked: 101 +[11:03:11.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[11:03:11.889] frame process finished the id is: 195 the obs is:0 +[11:03:11.967] Odometry x=-0.004953, y=1.066698, theta=0.041184 +[11:03:11 \ No newline at end of file diff --git a/GPU_version/vio/include/vio/initialization.h b/GPU_version/vio/include/vio/initialization.h index b928e27..03d32c3 100644 --- a/GPU_version/vio/include/vio/initialization.h +++ b/GPU_version/vio/include/vio/initialization.h @@ -84,6 +84,12 @@ protected: vector outliers_hom, inlier_hom; vector outliers_ekf,inlier_ekf; assert(ukf_!= nullptr); +/*#if VIO_DEBUG + for(int i=0;iinterrupt(); usleep(5000); @@ -322,7 +311,7 @@ namespace vio { if(sqrt((*it)->sigma2) < (*it)->z_range/options_.seed_convergence_sigma2_thresh) { assert((*it)->ftr->point == NULL); // TODO this should not happen anymore - Vector3d xyz_world((*it)->ftr->frame->getSE3Inv() * ((*it)->ftr->f/(*it)->mu)); + Vector3d xyz_world((*it)->ftr->frame->se3() * ((*it)->ftr->f/(*it)->mu)); std::shared_ptr point = std::make_shared(xyz_world, (*it)->ftr); (*it)->ftr->point = point; seed_converged_cb_(point, (*it)->sigma2); // put in candidate list diff --git a/GPU_version/vio/src/feature_detection.cpp b/GPU_version/vio/src/feature_detection.cpp index 1a60ca5..125950f 100644 --- a/GPU_version/vio/src/feature_detection.cpp +++ b/GPU_version/vio/src/feature_detection.cpp @@ -98,7 +98,7 @@ void FastDetector::detect( } for(uint i=0;iimg_pyr[L].cols || fast_corners[i].y>img_pyr[L].rows || fast_corners[i].y<0){ + if(fast_corners[i].x<1 || fast_corners[i].x>img_pyr[L].cols || fast_corners[i].y>img_pyr[L].rows || fast_corners[i].y<1){ continue; } const int k = static_cast((fast_corners[i].y*scale)/cell_size_)*grid_n_cols_ @@ -115,6 +115,10 @@ void FastDetector::detect( } } } + if(fts.size()<1){ + ROS_ERROR("GPU Driver crash try again!"); + exit(0); + } if(descriptors){ cv::Ptr extractor = cv::xfeatures2d::FREAK::create(true, true, 22.0f, 4); extractor->compute(frame->img(), keypoints, *descriptors); diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index aa08917..ea61df7 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -173,6 +173,8 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() fprintf(log_,"[%s] Init: Selected Second frame. \t The number of features: %d depth mean:%f min:%f\n", vio::time_in_HH_MM_SS_MMM().c_str(),new_frame_->fts_.size(),depth_mean,depth_min); #endif + ROS_INFO("VIO initialized :)"); + ROS_INFO("Running ..."); return RESULT_IS_KEYFRAME; } diff --git a/GPU_version/vio/src/initialization.cpp b/GPU_version/vio/src/initialization.cpp index cacc4f0..593d7ef 100644 --- a/GPU_version/vio/src/initialization.cpp +++ b/GPU_version/vio/src/initialization.cpp @@ -100,12 +100,12 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur) if(frame_cur->cam_->isInFrame(Vector2d(px_cur_.at(id).x,px_cur_.at(id).y).cast(), 10) && frame_ref_->cam_->isInFrame((*first)->px.cast(), 10)){ Vector3d pos = frame_cur->se3() * (xyz_in_cur_.at(id)/* *scale */); -#if VIO_DEBUG +/*#if VIO_DEBUG fprintf(log_,"[%s] inlier: x=%f, y=%f, z=%f pos: x=%f y=%f z=%f\n", vio::time_in_HH_MM_SS_MMM().c_str(), xyz_in_cur_.at(id).x(),xyz_in_cur_.at(id).y(),xyz_in_cur_.at(id).z(), pos.x(),pos.y(),pos.z()); -#endif +#endif*/ std::shared_ptr new_point = std::make_shared(pos); std::shared_ptr ftr_cur=std::make_shared(frame_cur, new_point, Vector2d(px_cur_.at(id).x,px_cur_.at(id).y), frame_cur->c2f(px_cur_.at(id).x,px_cur_.at(id).y), (*first)->level); diff --git a/GPU_version/vio/src/math_utils.cpp b/GPU_version/vio/src/math_utils.cpp index 84af97b..da57e05 100644 --- a/GPU_version/vio/src/math_utils.cpp +++ b/GPU_version/vio/src/math_utils.cpp @@ -64,10 +64,10 @@ reprojError(const Vector3d& f1, } double -computeInliers(const vector& features1, // c1 - const vector& features2, // c2 - const Matrix3d& R, // R_c1_c2 - const Vector3d& t, // c1_t +computeInliers(const vector& features1, // c2 + const vector& features2, // c1 + const Matrix3d& R, // R_c1_to_c2 + const Vector3d& t, // T_c1_to_c2 const double reproj_thresh, double error_multiplier2, vector& xyz_vec, // in frame c1 @@ -81,21 +81,17 @@ computeInliers(const vector& features1, // c1 //triangulate all features and compute reprojection errors and inliers for(size_t j=0; j0.0){ + if(t.z()>0.0) xyz_vec.push_back(triangulateFeatureNonLin(R, t, features1[j], features2[j] )); double e1 = reprojError(features1[j], xyz_vec.back(), error_multiplier2); double e2 = reprojError(features2[j], R.transpose()*(xyz_vec.back()-t), error_multiplier2); - if(e1 > reproj_thresh || e2 > reproj_thresh) + if(e1 > reproj_thresh || e2 > reproj_thresh || xyz_vec.back().z()<0.0) outliers.push_back(j); else { inliers.push_back(j); tot_error += e1+e2; } - }else{ - ROS_ERROR("Backward motion is not supported for initialization, the robot needs to start its motion with a forward maneuver"); - } - } return tot_error; } diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp index edcb49b..12abfd6 100644 --- a/GPU_version/vio/src/reprojector.cpp +++ b/GPU_version/vio/src/reprojector.cpp @@ -116,10 +116,13 @@ namespace vio { assert(grid_.cells.at(k) != nullptr); Vector2d px((int) (*point)->px.x(), (int) (*point)->px.y()); + SE3 T_ref_cur=it_frame.item.first->getSE3Inv()*frame->se3(); + Vector3d new_point=vk::triangulateFeatureNonLin(T_ref_cur.rotation_matrix(),T_ref_cur.translation(), + frame->c2f(px),f.item->f); + if(new_point.z()<0.0)break; frame->fts_.push_back(std::make_shared(it_frame.item.first, - std::make_shared(it_frame.item.first->cam_->cam2world(f.item->px.x(), f.item->px.y()),f.item), - px, - it_frame.item.first->cam_->cam2world(f.item->px),(*point)->level)); + std::make_shared(frame->se3()*new_point,f.item), + px,f.item->f,(*point)->level)); frame->fts_.back()->point->last_frame_overlap_id_=it_frame.item.first->id_; grid_.cells.at(k)->push_back(Candidate(frame->fts_.back()->point, px)); overlap_kfs.back().second++;