public/vio
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

16:43 20_09

Browse Source
This commit is contained in:
gfuse
2021-09-20 16:44:03 +02:00
parent cb04e5485f
commit c8f942131e
6 changed files with 1001 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
GPU_version/vio/depth_filter_log.txt
+181
View File
@@ -0,0 +1,181 @@
[16:40:15.960] init depth filter
[16:40:43.554] init depth filter
[16:40:48.325] DepthFilter: RESET.
[16:41:03.100] add key frame
[16:41:03.100] update seed
[16:41:03.100] init seeds
[16:41:03.106] DepthFilter: Initialized 85 new seeds
[16:41:03.253] add new frame
[16:41:03.253] update seed
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.254] Z inverse min: inf, Z inverse max: inf
[16:41:03.254] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:41:03.255] If point is visible? 0.000019, 0.000000, 0.000403
[16:41:03.255] Z inverse min: inf, Z inverse max: inf
[16:42:35.541] DepthFilter stop thread invoked.
[16:42:35.541] DepthFilter interrupt and join thread
GPU_version/vio/frame_handler_log.txt
+810
View File
@@ -0,0 +1,810 @@
[16:40:48.426] Init: frame zero: 0.000000, 0.000000 0.000000
[16:40:48.426] Init: Selected first frame.
[16:40:48.532] Init: px average disparity is:0.180039 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:48.532] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:48.629] Init: px average disparity is:0.236903 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:48.629] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:48.725] Init: px average disparity is:0.247999 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:48.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:48.826] Init: px average disparity is:0.304020 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:48.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:48.926] Init: px average disparity is:0.458450 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:48.926] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:49.027] Init: px average disparity is:0.360611 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:49.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:49.126] Init: px average disparity is:0.501986 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:49.126] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:49.228] Init: px average disparity is:0.499503 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:49.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:49.326] Init: px average disparity is:0.496040 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:49.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:49.427] Init: px average disparity is:0.564079 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:49.428] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:49.526] Init: px average disparity is:0.635364 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:49.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:49.627] Init: px average disparity is:0.707101 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:49.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:49.727] Init: px average disparity is:0.692861 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:49.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:49.826] Init: px average disparity is:0.665708 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:49.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:49.925] Init: px average disparity is:0.725993 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:49.925] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:50.025] Init: px average disparity is:0.618970 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:50.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:50.124] Init: px average disparity is:0.643709 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:50.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:50.224] Init: px average disparity is:0.693985 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:50.225] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:50.325] Init: px average disparity is:0.760127 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:50.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:50.425] Init: px average disparity is:0.639421 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:50.425] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:50.526] Init: px average disparity is:0.675828 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:50.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:50.626] Init: px average disparity is:0.685111 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:50.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:50.726] Init: px average disparity is:0.635898 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:50.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:50.825] Init: px average disparity is:0.633533 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:50.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:50.926] Init: px average disparity is:0.687717 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:50.926] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:51.027] Init: px average disparity is:0.582819 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:51.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:51.126] Init: px average disparity is:0.701395 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:51.126] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:51.227] Init: px average disparity is:0.660810 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:51.227] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:51.325] Init: px average disparity is:0.634058 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:51.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:51.426] Init: px average disparity is:0.626220 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:51.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:51.526] Init: px average disparity is:0.691617 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:51.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:51.624] Init: px average disparity is:0.715179 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:51.624] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:51.724] Init: px average disparity is:0.595055 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:51.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:51.826] Init: px average disparity is:0.547822 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:51.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:51.924] Init: px average disparity is:0.633333 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:51.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:52.026] Init: px average disparity is:0.649269 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:52.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:52.124] Init: px average disparity is:0.606178 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:52.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:52.226] Init: px average disparity is:0.577103 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:52.226] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:52.325] Init: px average disparity is:0.703724 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:52.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:52.425] Init: px average disparity is:0.574262 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:52.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:52.525] Init: px average disparity is:0.688359 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:52.525] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:52.625] Init: px average disparity is:0.601962 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:52.625] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:52.726] Init: px average disparity is:0.674725 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:52.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:52.822] Init: px average disparity is:0.663489 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:52.822] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:52.924] Init: px average disparity is:0.709665 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:52.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:53.026] Init: px average disparity is:0.627627 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:53.026] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:53.125] Init: px average disparity is:0.703663 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:53.126] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:53.226] Init: px average disparity is:0.524369 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:53.226] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:53.325] Init: px average disparity is:0.723811 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:53.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:53.417] Init: px average disparity is:0.701386 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:53.417] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:53.529] Init: px average disparity is:0.695519 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:53.529] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:53.626] Init: px average disparity is:0.609904 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:53.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:53.730] Init: px average disparity is:0.655241 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:53.730] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:53.811] Odometry x=-0.000315, y=-0.012623, theta=0.058136
[16:40:53.826] Init: px average disparity is:0.640421 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:53.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:53.912] Odometry x=-0.000332, y=-0.012868, theta=0.060750
[16:40:53.926] Init: px average disparity is:0.594451 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:53.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:54.012] Odometry x=-0.000119, y=-0.009295, theta=0.063280
[16:40:54.026] Init: px average disparity is:0.661276 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:54.026] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:54.113] Odometry x=0.000084, y=-0.005195, theta=0.068812
[16:40:54.127] Init: px average disparity is:5.136573 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:54.127] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:54.206] Odometry x=0.000366, y=-0.001386, theta=0.065439
[16:40:54.227] Init: px average disparity is:9.975437 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:54.227] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:54.313] Odometry x=0.000708, y=0.002240, theta=0.056478
[16:40:54.327] Init: px average disparity is:9.444013 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:54.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:54.410] Odometry x=0.001111, y=0.006061, theta=0.052066
[16:40:54.431] Init: px average disparity is:10.911169 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:54.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:54.510] Odometry x=0.001409, y=0.009605, theta=0.050043
[16:40:54.527] Init: px average disparity is:13.731557 ,While minimum is: 40.000000 KLT tracked : 119
[16:40:54.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:54.611] Odometry x=0.001683, y=0.013238, theta=0.057282
[16:40:54.627] Init: px average disparity is:17.303048 ,While minimum is: 40.000000 KLT tracked : 118
[16:40:54.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:54.713] Odometry x=0.001832, y=0.017086, theta=0.052460
[16:40:54.726] Init: px average disparity is:18.739879 ,While minimum is: 40.000000 KLT tracked : 117
[16:40:54.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:54.806] Odometry x=0.002043, y=0.021056, theta=0.045945
[16:40:54.827] Init: px average disparity is:21.151078 ,While minimum is: 40.000000 KLT tracked : 116
[16:40:54.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:54.912] Odometry x=0.002232, y=0.024370, theta=0.043616
[16:40:54.926] Init: px average disparity is:23.304610 ,While minimum is: 40.000000 KLT tracked : 116
[16:40:54.926] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:55.007] Odometry x=0.002546, y=0.028455, theta=0.043675
[16:40:55.025] Init: px average disparity is:26.207851 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:55.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:55.107] Odometry x=0.002822, y=0.032469, theta=0.047318
[16:40:55.127] Init: px average disparity is:25.438680 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:55.127] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:55.209] Odometry x=0.003074, y=0.036344, theta=0.054030
[16:40:55.228] Init: px average disparity is:18.534907 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:55.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:55.310] Odometry x=0.003357, y=0.040194, theta=0.055921
[16:40:55.326] Init: px average disparity is:15.077748 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:55.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:55.411] Odometry x=0.003611, y=0.043838, theta=0.065643
[16:40:55.429] Init: px average disparity is:11.815838 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:55.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:55.522] Odometry x=0.003932, y=0.047392, theta=0.072628
[16:40:55.538] Init: px average disparity is:10.688229 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:55.538] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:55.609] Odometry x=0.001716, y=0.051009, theta=0.031218
[16:40:55.627] Init: px average disparity is:10.552707 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:55.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:55.715] Odometry x=0.001899, y=0.054656, theta=0.039747
[16:40:55.728] Init: px average disparity is:10.006608 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:55.728] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:55.809] Odometry x=0.001979, y=0.058412, theta=0.041135
[16:40:55.828] Init: px average disparity is:11.045814 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:55.829] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:55.912] Odometry x=0.002247, y=0.061833, theta=0.029103
[16:40:55.920] Init: px average disparity is:13.668932 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:55.920] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:56.011] Odometry x=0.002403, y=0.065548, theta=0.031268
[16:40:56.019] Init: px average disparity is:14.264462 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:56.019] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:56.114] Odometry x=0.002659, y=0.069365, theta=0.028181
[16:40:56.129] Init: px average disparity is:15.221798 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:56.130] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:56.213] Odometry x=0.002789, y=0.073027, theta=0.024692
[16:40:56.229] Init: px average disparity is:17.323704 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:56.229] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:56.312] Odometry x=0.003051, y=0.076732, theta=0.032107
[16:40:56.328] Init: px average disparity is:16.200760 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:56.328] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:56.411] Odometry x=0.003160, y=0.080513, theta=0.030296
[16:40:56.428] Init: px average disparity is:20.515656 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:56.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:56.511] Odometry x=0.003327, y=0.084393, theta=0.022000
[16:40:56.528] Init: px average disparity is:23.089232 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:56.528] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:56.615] Odometry x=0.003404, y=0.088202, theta=0.023823
[16:40:56.629] Init: px average disparity is:24.072324 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:56.629] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:56.715] Odometry x=0.003519, y=0.092207, theta=0.020137
[16:40:56.728] Init: px average disparity is:25.174151 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:56.728] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:56.815] Odometry x=0.003612, y=0.096067, theta=0.036275
[16:40:56.828] Init: px average disparity is:21.005192 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:56.828] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:56.915] Odometry x=0.003845, y=0.099987, theta=0.035974
[16:40:56.928] Init: px average disparity is:19.614601 ,While minimum is: 40.000000 KLT tracked : 115
[16:40:56.928] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:57.019] Odometry x=0.003956, y=0.103717, theta=0.054327
[16:40:57.032] Init: px average disparity is:14.279696 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:57.032] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:57.112] Odometry x=0.004271, y=0.107587, theta=0.071001
[16:40:57.119] Init: px average disparity is:12.346450 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:57.119] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:57.216] Odometry x=0.001902, y=0.111058, theta=0.046615
[16:40:57.230] Init: px average disparity is:13.402972 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:57.230] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:57.316] Odometry x=0.002116, y=0.114709, theta=0.062470
[16:40:57.324] Init: px average disparity is:15.987081 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:57.324] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:57.411] Odometry x=0.002313, y=0.118411, theta=0.055586
[16:40:57.425] Init: px average disparity is:13.758488 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:57.425] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:57.508] Odometry x=0.002491, y=0.122014, theta=0.058853
[16:40:57.526] Init: px average disparity is:16.116715 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:57.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:57.614] Odometry x=0.002759, y=0.125427, theta=0.048565
[16:40:57.630] Init: px average disparity is:14.145615 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:57.630] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:57.707] Odometry x=0.003106, y=0.129343, theta=0.044568
[16:40:57.729] Init: px average disparity is:14.043955 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:57.729] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:57.808] Odometry x=0.003291, y=0.132812, theta=0.041515
[16:40:57.828] Init: px average disparity is:15.604550 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:57.828] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:57.906] Odometry x=0.003610, y=0.136327, theta=0.037664
[16:40:57.930] Init: px average disparity is:16.592214 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:57.930] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:58.012] Odometry x=0.003757, y=0.140415, theta=0.019115
[16:40:58.037] Init: px average disparity is:23.449684 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:58.037] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:58.112] Odometry x=0.004231, y=0.144035, theta=0.021513
[16:40:58.125] Init: px average disparity is:22.574838 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:58.125] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:58.214] Odometry x=0.004405, y=0.148115, theta=0.027268
[16:40:58.220] Init: px average disparity is:21.461218 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:58.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:58.307] Odometry x=0.004593, y=0.151742, theta=0.040476
[16:40:58.319] Init: px average disparity is:19.463690 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:58.319] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:58.409] Odometry x=0.004767, y=0.155377, theta=0.039739
[16:40:58.418] Init: px average disparity is:20.382672 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:58.418] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:58.509] Odometry x=0.005056, y=0.159278, theta=0.042832
[16:40:58.520] Init: px average disparity is:20.760859 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:58.520] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:58.613] Odometry x=0.005304, y=0.163217, theta=0.051806
[16:40:58.619] Init: px average disparity is:19.600786 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:58.619] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:58.709] Odometry x=0.005658, y=0.167133, theta=0.049136
[16:40:58.721] Init: px average disparity is:22.187608 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:58.721] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:58.808] Odometry x=0.005931, y=0.170662, theta=0.067637
[16:40:58.830] Init: px average disparity is:21.528185 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:58.830] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:58.910] Odometry x=0.006430, y=0.174250, theta=0.084908
[16:40:58.935] Init: px average disparity is:21.330895 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:58.935] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:59.011] Odometry x=0.002889, y=0.178102, theta=0.046058
[16:40:59.030] Init: px average disparity is:22.620537 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:59.030] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:59.111] Odometry x=0.003216, y=0.181629, theta=0.046524
[16:40:59.132] Init: px average disparity is:23.454259 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:59.132] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:59.210] Odometry x=0.003419, y=0.185615, theta=0.044651
[16:40:59.222] Init: px average disparity is:22.501303 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:59.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:59.308] Odometry x=0.003729, y=0.189255, theta=0.040108
[16:40:59.332] Init: px average disparity is:22.572086 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:59.332] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:59.410] Odometry x=0.003957, y=0.192849, theta=0.038163
[16:40:59.430] Init: px average disparity is:22.058267 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:59.430] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:59.513] Odometry x=0.004314, y=0.196779, theta=0.036542
[16:40:59.531] Init: px average disparity is:23.511469 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:59.531] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:59.610] Odometry x=0.004520, y=0.200576, theta=0.037145
[16:40:59.631] Init: px average disparity is:24.454396 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:59.631] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:59.713] Odometry x=0.004730, y=0.204177, theta=0.033820
[16:40:59.729] Init: px average disparity is:26.548847 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:59.730] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:59.807] Odometry x=0.004890, y=0.207944, theta=0.028446
[16:40:59.829] Init: px average disparity is:26.675716 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:59.830] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:40:59.909] Odometry x=0.005107, y=0.211422, theta=0.024521
[16:40:59.932] Init: px average disparity is:25.631122 ,While minimum is: 40.000000 KLT tracked : 114
[16:40:59.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:00.010] Odometry x=0.005226, y=0.215226, theta=0.024664
[16:41:00.031] Init: px average disparity is:23.699713 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:00.031] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:00.111] Odometry x=0.005397, y=0.219032, theta=0.017836
[16:41:00.134] Init: px average disparity is:24.830997 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:00.134] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:00.212] Odometry x=0.005450, y=0.223002, theta=0.016897
[16:41:00.230] Init: px average disparity is:25.198499 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:00.230] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:00.308] Odometry x=0.005555, y=0.226792, theta=0.014357
[16:41:00.329] Init: px average disparity is:26.523793 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:00.329] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:00.407] Odometry x=0.005597, y=0.230661, theta=0.024656
[16:41:00.431] Init: px average disparity is:25.310277 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:00.431] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:00.511] Odometry x=0.005745, y=0.234389, theta=0.029864
[16:41:00.529] Init: px average disparity is:26.612717 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:00.529] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:00.609] Odometry x=0.005973, y=0.238292, theta=0.036818
[16:41:00.631] Init: px average disparity is:26.182313 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:00.631] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:00.715] Odometry x=0.006214, y=0.241917, theta=0.048429
[16:41:00.730] Init: px average disparity is:27.971842 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:00.730] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:00.812] Odometry x=0.006406, y=0.245896, theta=0.062426
[16:41:00.829] Init: px average disparity is:28.676399 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:00.830] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:00.907] Odometry x=0.006666, y=0.249598, theta=0.070973
[16:41:00.929] Init: px average disparity is:31.777546 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:00.929] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:01.011] Odometry x=0.002926, y=0.253044, theta=0.038818
[16:41:01.040] Init: px average disparity is:29.990076 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:01.040] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:01.111] Odometry x=0.003146, y=0.256823, theta=0.045919
[16:41:01.130] Init: px average disparity is:29.140964 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:01.130] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:01.211] Odometry x=0.003365, y=0.260711, theta=0.040166
[16:41:01.230] Init: px average disparity is:29.803489 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:01.230] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:01.310] Odometry x=0.003566, y=0.264469, theta=0.033378
[16:41:01.327] Init: px average disparity is:32.507392 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:01.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:01.408] Odometry x=0.003652, y=0.268052, theta=0.026469
[16:41:01.432] Init: px average disparity is:32.407136 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:01.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:01.511] Odometry x=0.003856, y=0.271809, theta=0.018313
[16:41:01.530] Init: px average disparity is:33.928681 ,While minimum is: 40.000000 KLT tracked : 114
[16:41:01.530] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:01.609] Odometry x=0.004018, y=0.275519, theta=0.016460
[16:41:01.640] Init: px average disparity is:36.186426 ,While minimum is: 40.000000 KLT tracked : 113
[16:41:01.640] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:01.708] Odometry x=0.004183, y=0.279105, theta=0.012329
[16:41:01.730] Init: px average disparity is:35.936952 ,While minimum is: 40.000000 KLT tracked : 113
[16:41:01.730] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:01.811] Odometry x=0.004277, y=0.282848, theta=0.022976
[16:41:01.829] Init: px average disparity is:32.570496 ,While minimum is: 40.000000 KLT tracked : 112
[16:41:01.829] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:01.909] Odometry x=0.004319, y=0.286603, theta=0.018003
[16:41:01.932] Init: px average disparity is:29.141144 ,While minimum is: 40.000000 KLT tracked : 110
[16:41:01.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:02.009] Odometry x=0.004424, y=0.290406, theta=0.026188
[16:41:02.030] Init: px average disparity is:29.042551 ,While minimum is: 40.000000 KLT tracked : 110
[16:41:02.030] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:02.114] Odometry x=0.004489, y=0.294297, theta=0.005679
[16:41:02.130] Init: px average disparity is:34.758604 ,While minimum is: 40.000000 KLT tracked : 110
[16:41:02.131] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:02.209] Odometry x=0.004590, y=0.298102, theta=0.011238
[16:41:02.230] Init: px average disparity is:34.776916 ,While minimum is: 40.000000 KLT tracked : 108
[16:41:02.230] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:02.309] Odometry x=0.004740, y=0.301677, theta=0.023448
[16:41:02.330] Init: px average disparity is:33.202363 ,While minimum is: 40.000000 KLT tracked : 107
[16:41:02.330] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:02.407] Odometry x=0.004927, y=0.305479, theta=0.040867
[16:41:02.420] Init: px average disparity is:31.464470 ,While minimum is: 40.000000 KLT tracked : 106
[16:41:02.420] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:02.514] Odometry x=0.005100, y=0.309191, theta=0.053331
[16:41:02.530] Init: px average disparity is:32.963785 ,While minimum is: 40.000000 KLT tracked : 106
[16:41:02.530] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:02.608] Odometry x=0.005267, y=0.313118, theta=0.062323
[16:41:02.633] Init: px average disparity is:33.661779 ,While minimum is: 40.000000 KLT tracked : 106
[16:41:02.633] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:02.708] Odometry x=0.005504, y=0.316635, theta=0.071985
[16:41:02.732] Init: px average disparity is:35.335995 ,While minimum is: 40.000000 KLT tracked : 106
[16:41:02.732] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:02.809] Odometry x=0.002469, y=0.320280, theta=0.031864
[16:41:02.834] Init: px average disparity is:37.231235 ,While minimum is: 40.000000 KLT tracked : 106
[16:41:02.834] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:02.910] Odometry x=0.002636, y=0.324018, theta=0.041816
[16:41:02.941] Init: px average disparity is:39.299241 ,While minimum is: 40.000000 KLT tracked : 106
[16:41:02.941] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[16:41:03.014] Odometry x=0.002846, y=0.327720, theta=0.050113
[16:41:03.100] Init finished: Homography RANSAC (inlier) is:52 ,While 30 inliers minimum required. px average disparity is:40.949818 ,While minimum is: 40.000000 KLT tracked: 105
[16:41:03.100] Init: distance between the first and current frame is x:0.002999 ,z=0.331347,angle between two frames: 0.050964
[16:41:03.100] Init: Selected Second frame. The number of features: 52
[16:41:03.114] Image Alignment failed 0
[16:41:03.115] Odometry x=0.002998, y=0.331318, theta=0.050086
[16:41:03.212] Odometry x=0.003178, y=0.334891, theta=0.032432
[16:41:03.253] After Reprojection Map nPoint:38 ,nCell:24 ,nMatches:24 ,distance between two frames x:-0.000001 ,z=-0.000030,angle between two frames:0.000879
[16:41:03.253] n deleted obs = 9 n obs with reprojection error less than 0.5 px =53 error init =0.182574 error end=0.182574
[16:41:03.253] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000030,angle between two frames:0.000879
[16:41:03.253] Update EKF and 3D points, distance between two frames x:0.000019 ,z=0.000403,angle between two frames:0.001942
[16:41:03.305] Odometry x=0.003142, y=0.334330, theta=0.045112
[16:41:03.413] After Reprojection Map nPoint:34 ,nCell:34 ,nMatches:0 ,distance between two frames x:0.000525 ,z=0.004026,angle between two frames:0.006513
[16:41:03.413] After pose optimization, distance between two frames x:0.000525 ,z=0.004026,angle between two frames:0.006513
[16:41:03.414] Odometry x=0.003394, y=0.337775, theta=0.044251
[16:41:03.417] Image Alignment failed 0
[16:41:03.486] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[16:41:03.508] Odometry x=0.003611, y=0.341740, theta=0.037063
[16:41:03.515] Image Alignment failed 0
[16:41:03.585] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000147 ,z=0.003662,angle between two frames:0.001606
[16:41:03.610] Odometry x=0.003766, y=0.345401, theta=0.031506
[16:41:03.615] Image Alignment failed 0
[16:41:03.687] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000022 ,z=-0.000005,angle between two frames:0.001389
[16:41:03.709] Odometry x=0.003864, y=0.349215, theta=0.024623
[16:41:03.714] Image Alignment failed 0
[16:41:03.786] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000005,angle between two frames:0.000765
[16:41:03.812] Odometry x=0.003978, y=0.353058, theta=0.026347
[16:41:03.814] Image Alignment failed 0
[16:41:03.886] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000017 ,z=0.000004,angle between two frames:0.001019
[16:41:03.909] Odometry x=0.004171, y=0.356864, theta=0.022003
[16:41:03.916] Image Alignment failed 0
[16:41:03.988] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000108 ,z=0.003779,angle between two frames:0.000953
[16:41:04.007] Odometry x=0.004339, y=0.360682, theta=0.034976
[16:41:04.018] Image Alignment failed 0
[16:41:04.087] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000158 ,z=0.003654,angle between two frames:0.001605
[16:41:04.107] Odometry x=0.004517, y=0.364261, theta=0.032785
[16:41:04.116] Image Alignment failed 0
[16:41:04.186] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000127 ,z=0.003816,angle between two frames:0.000309
[16:41:04.205] Odometry x=0.004692, y=0.368105, theta=0.043792
[16:41:04.220] Image Alignment failed 0
[16:41:04.307] Odometry x=0.004874, y=0.371884, theta=0.052060
[16:41:04.314] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000149 ,z=0.003821,angle between two frames:0.003652
[16:41:04.321] Image Alignment failed 0
[16:41:04.405] Odometry x=0.005102, y=0.375597, theta=0.061073
[16:41:04.411] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000006,angle between two frames:0.000287
[16:41:04.416] Image Alignment failed 0
[16:41:04.493] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000010,angle between two frames:0.000688
[16:41:04.507] Odometry x=0.005362, y=0.379337, theta=0.070961
[16:41:04.516] Image Alignment failed 0
[16:41:04.588] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000283 ,z=0.003803,angle between two frames:0.001094
[16:41:04.606] Odometry x=0.005657, y=0.383048, theta=0.078437
[16:41:04.615] Image Alignment failed 0
[16:41:04.692] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000344 ,z=0.003747,angle between two frames:0.001798
[16:41:04.704] Odometry x=0.006080, y=0.386722, theta=0.089769
[16:41:04.716] Image Alignment failed 0
[16:41:04.796] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000345 ,z=0.003834,angle between two frames:0.003505
[16:41:04.806] Odometry x=0.006464, y=0.390460, theta=0.103082
[16:41:04.817] Image Alignment failed 0
[16:41:04.894] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000417 ,z=0.003748,angle between two frames:0.001440
[16:41:04.908] Odometry x=0.006865, y=0.394087, theta=0.106206
[16:41:04.915] Image Alignment failed 0
[16:41:04.987] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000404 ,z=0.003780,angle between two frames:0.000694
[16:41:05.006] Odometry x=0.007290, y=0.397686, theta=0.092452
[16:41:05.016] Image Alignment failed 0
[16:41:05.086] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000373 ,z=0.003740,angle between two frames:0.002988
[16:41:05.108] Odometry x=0.007728, y=0.401310, theta=0.085697
[16:41:05.115] Image Alignment failed 0
[16:41:05.196] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000337 ,z=0.003759,angle between two frames:0.000055
[16:41:05.205] Odometry x=0.008147, y=0.404972, theta=0.078887
[16:41:05.216] Image Alignment failed 0
[16:41:05.291] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000345 ,z=0.003787,angle between two frames:0.002730
[16:41:05.309] Odometry x=0.008507, y=0.408685, theta=0.067839
[16:41:05.317] Image Alignment failed 0
[16:41:05.387] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000253 ,z=0.003790,angle between two frames:0.000672
[16:41:05.411] Odometry x=0.008839, y=0.412448, theta=0.069197
[16:41:05.415] Image Alignment failed 0
[16:41:05.485] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000021 ,z=-0.000022,angle between two frames:0.000721
[16:41:05.510] Odometry x=0.009098, y=0.416192, theta=0.070586
[16:41:05.516] Image Alignment failed 0
[16:41:05.585] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000265 ,z=0.003807,angle between two frames:0.001164
[16:41:05.607] Odometry x=0.009437, y=0.419999, theta=0.076013
[16:41:05.615] Image Alignment failed 0
[16:41:05.684] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000321 ,z=0.003831,angle between two frames:0.000637
[16:41:05.708] Odometry x=0.009786, y=0.423846, theta=0.073351
[16:41:05.721] Image Alignment failed 0
[16:41:05.794] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000281 ,z=0.003590,angle between two frames:0.000610
[16:41:05.810] Odometry x=0.010147, y=0.427342, theta=0.080186
[16:41:05.815] Image Alignment failed 0
[16:41:05.885] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000333 ,z=0.003944,angle between two frames:0.000986
[16:41:05.909] Odometry x=0.010501, y=0.431188, theta=0.083068
[16:41:05.914] Image Alignment failed 0
[16:41:05.984] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=-0.000023,angle between two frames:0.001765
[16:41:06.012] Odometry x=0.010875, y=0.435048, theta=0.094048
[16:41:06.024] Image Alignment failed 0
[16:41:06.095] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000410 ,z=0.003599,angle between two frames:0.003939
[16:41:06.115] Odometry x=0.011298, y=0.438600, theta=0.104877
[16:41:06.119] Image Alignment failed 0
[16:41:06.191] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000011,angle between two frames:0.001014
[16:41:06.215] Odometry x=0.011745, y=0.442774, theta=0.112955
[16:41:06.218] Image Alignment failed 0
[16:41:06.289] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000010 ,z=-0.000018,angle between two frames:0.001458
[16:41:06.313] Odometry x=0.012265, y=0.446623, theta=0.123348
[16:41:06.314] Image Alignment failed 0
[16:41:06.385] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000003,angle between two frames:0.002682
[16:41:06.411] Odometry x=0.012741, y=0.450260, theta=0.133346
[16:41:06.417] Image Alignment failed 0
[16:41:06.495] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000545 ,z=0.003677,angle between two frames:0.002680
[16:41:06.505] Odometry x=0.013301, y=0.453852, theta=0.141901
[16:41:06.514] Image Alignment failed 0
[16:41:06.584] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000497 ,z=0.003429,angle between two frames:0.000045
[16:41:06.609] Odometry x=0.013838, y=0.457124, theta=0.138035
[16:41:06.618] Image Alignment failed 0
[16:41:06.692] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000602 ,z=0.004023,angle between two frames:0.001456
[16:41:06.710] Odometry x=0.014452, y=0.461176, theta=0.138679
[16:41:06.715] Image Alignment failed 0
[16:41:06.787] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=0.000012,angle between two frames:0.001159
[16:41:06.810] Odometry x=0.015053, y=0.464635, theta=0.132568
[16:41:06.814] Image Alignment failed 0
[16:41:06.885] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000014 ,z=-0.000153,angle between two frames:0.004781
[16:41:06.911] Odometry x=0.015521, y=0.468243, theta=0.126682
[16:41:06.915] Image Alignment failed 0
[16:41:06.984] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000020,angle between two frames:0.000530
[16:41:07.011] Odometry x=0.016072, y=0.471823, theta=0.114125
[16:41:07.015] Image Alignment failed 0
[16:41:07.088] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000038 ,z=-0.000008,angle between two frames:0.005195
[16:41:07.111] Odometry x=0.016572, y=0.475654, theta=0.107308
[16:41:07.114] Image Alignment failed 0
[16:41:07.183] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000016,angle between two frames:0.000247
[16:41:07.211] Odometry x=0.017051, y=0.479236, theta=0.104180
[16:41:07.215] Image Alignment failed 0
[16:41:07.285] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000010 ,z=-0.000041,angle between two frames:0.002166
[16:41:07.305] Odometry x=0.017477, y=0.482985, theta=0.098889
[16:41:07.314] Image Alignment failed 0
[16:41:07.386] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000368 ,z=0.003586,angle between two frames:0.000478
[16:41:07.410] Odometry x=0.017951, y=0.486552, theta=0.109276
[16:41:07.415] Image Alignment failed 0
[16:41:07.485] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000031 ,z=-0.000012,angle between two frames:0.002789
[16:41:07.511] Odometry x=0.018436, y=0.490475, theta=0.118950
[16:41:07.515] Image Alignment failed 0
[16:41:07.584] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.000742
[16:41:07.606] Odometry x=0.018918, y=0.494437, theta=0.119369
[16:41:07.614] Image Alignment failed 0
[16:41:07.683] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000433 ,z=0.003391,angle between two frames:0.000187
[16:41:07.711] Odometry x=0.019418, y=0.497720, theta=0.116681
[16:41:07.715] Image Alignment failed 0
[16:41:07.784] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000013 ,z=-0.000038,angle between two frames:0.000501
[16:41:07.811] Odometry x=0.019960, y=0.501653, theta=0.124566
[16:41:07.814] Image Alignment failed 0
[16:41:07.884] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000032 ,z=-0.000013,angle between two frames:0.001940
[16:41:07.911] Odometry x=0.020540, y=0.505501, theta=0.131664
[16:41:07.914] Image Alignment failed 0
[16:41:07.985] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=-0.000019,angle between two frames:0.001578
[16:41:08.011] Odometry x=0.021064, y=0.509072, theta=0.142202
[16:41:08.015] Image Alignment failed 0
[16:41:08.087] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000013 ,z=-0.000017,angle between two frames:0.001917
[16:41:08.105] Odometry x=0.021685, y=0.512875, theta=0.151653
[16:41:08.115] Image Alignment failed 0
[16:41:08.184] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000540 ,z=0.003385,angle between two frames:0.002422
[16:41:08.211] Odometry x=0.022231, y=0.516172, theta=0.163425
[16:41:08.215] Image Alignment failed 0
[16:41:08.285] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000028,angle between two frames:0.001338
[16:41:08.310] Odometry x=0.022931, y=0.520141, theta=0.166677
[16:41:08.317] Image Alignment failed 0
[16:41:08.393] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000634 ,z=0.003725,angle between two frames:0.001016
[16:41:08.411] Odometry x=0.023624, y=0.523653, theta=0.176197
[16:41:08.415] Image Alignment failed 0
[16:41:08.484] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000017 ,z=-0.000014,angle between two frames:0.002266
[16:41:08.510] Odometry x=0.024375, y=0.527427, theta=0.181854
[16:41:08.514] Image Alignment failed 0
[16:41:08.584] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000000,angle between two frames:0.000375
[16:41:08.613] Odometry x=0.025160, y=0.530916, theta=0.179700
[16:41:08.614] Image Alignment failed 0
[16:41:08.684] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000043 ,z=-0.000116,angle between two frames:0.000034
[16:41:08.707] Odometry x=0.025843, y=0.534617, theta=0.171994
[16:41:08.715] Image Alignment failed 0
[16:41:08.784] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000612 ,z=0.003522,angle between two frames:0.001060
[16:41:08.813] Odometry x=0.026514, y=0.538024, theta=0.164075
[16:41:08.814] Image Alignment failed 0
[16:41:08.883] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000026 ,z=-0.000016,angle between two frames:0.003929
[16:41:08.909] Odometry x=0.027212, y=0.541916, theta=0.153731
[16:41:08.916] Image Alignment failed 0
[16:41:08.991] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000558 ,z=0.003632,angle between two frames:0.000160
[16:41:09.009] Odometry x=0.027856, y=0.545520, theta=0.151132
[16:41:09.021] Image Alignment failed 0
[16:41:09.107] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000591 ,z=0.003726,angle between two frames:0.005210
[16:41:09.109] Odometry x=0.028483, y=0.549214, theta=0.137817
[16:41:09.114] Image Alignment failed 0
[16:41:09.192] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[16:41:09.212] Odometry x=0.029115, y=0.553012, theta=0.152447
[16:41:09.214] Image Alignment failed 0
[16:41:09.288] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000028 ,z=0.000012,angle between two frames:0.002202
[16:41:09.311] Odometry x=0.029785, y=0.556850, theta=0.154216
[16:41:09.315] Image Alignment failed 0
[16:41:09.387] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000006,angle between two frames:0.000285
[16:41:09.411] Odometry x=0.030455, y=0.560632, theta=0.156378
[16:41:09.415] Image Alignment failed 0
[16:41:09.485] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000042 ,z=-0.000016,angle between two frames:0.001122
[16:41:09.511] Odometry x=0.031108, y=0.564312, theta=0.152442
[16:41:09.515] Image Alignment failed 0
[16:41:09.585] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000016 ,z=-0.000032,angle between two frames:0.000479
[16:41:09.613] Odometry x=0.031725, y=0.568080, theta=0.160670
[16:41:09.615] Image Alignment failed 0
[16:41:09.686] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000023 ,z=-0.000007,angle between two frames:0.001660
[16:41:09.710] Odometry x=0.032455, y=0.572015, theta=0.166407
[16:41:09.715] Image Alignment failed 0
[16:41:09.793] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000019 ,z=0.000002,angle between two frames:0.001500
[16:41:09.812] Odometry x=0.033119, y=0.575512, theta=0.175504
[16:41:09.815] Image Alignment failed 0
[16:41:09.887] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000014 ,z=-0.000018,angle between two frames:0.001150
[16:41:09.911] Odometry x=0.033887, y=0.579176, theta=0.187068
[16:41:09.915] Image Alignment failed 0
[16:41:09.998] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000013 ,z=-0.000008,angle between two frames:0.002628
[16:41:10.012] Odometry x=0.034640, y=0.582879, theta=0.196700
[16:41:10.016] Image Alignment failed 0
[16:41:10.093] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000018,angle between two frames:0.000941
[16:41:10.109] Odometry x=0.035421, y=0.586506, theta=0.205316
[16:41:10.116] Image Alignment failed 0
[16:41:10.206] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000753 ,z=0.003557,angle between two frames:0.002126
[16:41:10.215] Odometry x=0.036285, y=0.589933, theta=0.213844
[16:41:10.218] Image Alignment failed 0
[16:41:10.312] Odometry x=0.037188, y=0.593795, theta=0.222730
[16:41:10.319] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000003,angle between two frames:0.000356
[16:41:10.325] Image Alignment failed 0
[16:41:10.406] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=-0.000016,angle between two frames:0.000616
[16:41:10.414] Odometry x=0.038107, y=0.597326, theta=0.229352
[16:41:10.419] Image Alignment failed 0
[16:41:10.509] Odometry x=0.038976, y=0.601002, theta=0.226402
[16:41:10.510] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000006,angle between two frames:0.000096
[16:41:10.518] Image Alignment failed 0
[16:41:10.612] Odometry x=0.039821, y=0.604333, theta=0.220985
[16:41:10.622] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000826 ,z=0.003535,angle between two frames:0.000161
[16:41:10.629] Image Alignment failed 0
[16:41:10.705] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000012 ,z=-0.000020,angle between two frames:0.001332
[16:41:10.709] Odometry x=0.040734, y=0.608175, theta=0.209452
[16:41:10.717] Image Alignment failed 0
[16:41:10.796] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000762 ,z=0.003536,angle between two frames:0.000785
[16:41:10.806] Odometry x=0.041622, y=0.611590, theta=0.204948
[16:41:10.817] Image Alignment failed 0
[16:41:10.891] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000814 ,z=0.003694,angle between two frames:0.000818
[16:41:10.914] Image Alignment failed 0
[16:41:10.914] Odometry x=0.042470, y=0.615213, theta=0.196386
[16:41:10.988] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000007 ,z=-0.000022,angle between two frames:0.001272
[16:41:11.010] Odometry x=0.043350, y=0.619094, theta=0.192565
[16:41:11.017] Image Alignment failed 0
[16:41:11.089] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000721 ,z=0.003543,angle between two frames:0.001689
[16:41:11.112] Odometry x=0.044104, y=0.622602, theta=0.182484
[16:41:11.116] Image Alignment failed 0
[16:41:11.193] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000019 ,z=-0.000001,angle between two frames:0.003075
[16:41:11.209] Odometry x=0.044902, y=0.626519, theta=0.175720
[16:41:11.217] Image Alignment failed 0
[16:41:11.289] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000686 ,z=0.003629,angle between two frames:0.001087
[16:41:11.308] Odometry x=0.045630, y=0.630127, theta=0.164520
[16:41:11.314] Image Alignment failed 0
[16:41:11.388] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000647 ,z=0.003749,angle between two frames:0.004774
[16:41:11.410] Odometry x=0.046348, y=0.633901, theta=0.158542
[16:41:11.416] Image Alignment failed 0
[16:41:11.492] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000659 ,z=0.003807,angle between two frames:0.000335
[16:41:11.510] Odometry x=0.047062, y=0.637656, theta=0.154831
[16:41:11.515] Image Alignment failed 0
[16:41:11.590] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000627 ,z=0.003761,angle between two frames:0.000646
[16:41:11.607] Odometry x=0.047726, y=0.641400, theta=0.153521
[16:41:11.622] Image Alignment failed 0
[16:41:11.716] Odometry x=0.048347, y=0.644827, theta=0.151087
[16:41:11.723] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000567 ,z=0.003608,angle between two frames:0.001548
[16:41:11.730] Image Alignment failed 0
[16:41:11.814] Odometry x=0.049030, y=0.648938, theta=0.148716
[16:41:11.833] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000031,angle between two frames:0.000029
[16:41:11.839] Image Alignment failed 0
[16:41:11.913] Odometry x=0.049605, y=0.652504, theta=0.143937
[16:41:11.943] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000002,angle between two frames:0.000153
[16:41:11.950] Image Alignment failed 0
[16:41:12.010] Odometry x=0.050240, y=0.655942, theta=0.156352
[16:41:12.029] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000012 ,z=-0.000022,angle between two frames:0.001271
[16:41:12.036] Image Alignment failed 0
[16:41:12.110] Odometry x=0.050937, y=0.659223, theta=0.168604
[16:41:12.122] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000015,angle between two frames:0.000641
[16:41:12.127] Image Alignment failed 0
[16:41:12.203] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[16:41:12.209] Odometry x=0.051775, y=0.662548, theta=0.184004
[16:41:12.218] Image Alignment failed 0
[16:41:12.290] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000713 ,z=0.003879,angle between two frames:0.000938
[16:41:12.304] Odometry x=0.052465, y=0.666382, theta=0.186868
[16:41:12.318] Image Alignment failed 0
[16:41:12.394] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000596 ,z=0.003154,angle between two frames:0.000501
[16:41:12.411] Odometry x=0.053115, y=0.669436, theta=0.198398
[16:41:12.414] Image Alignment failed 0
[16:41:12.507] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000013,angle between two frames:0.002266
[16:41:12.512] Odometry x=0.054033, y=0.673830, theta=0.203255
[16:41:12.515] Image Alignment failed 0
[16:41:12.585] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[16:41:12.612] Odometry x=0.054883, y=0.677458, theta=0.201860
[16:41:12.615] Image Alignment failed 0
[16:41:12.686] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000045 ,z=-0.000051,angle between two frames:0.002298
[16:41:12.711] Odometry x=0.055776, y=0.680995, theta=0.223374
[16:41:12.715] Image Alignment failed 0
[16:41:12.786] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000009 ,z=-0.000038,angle between two frames:0.005473
[16:41:12.811] Odometry x=0.056567, y=0.684545, theta=0.252471
[16:41:12.819] Image Alignment failed 0
[16:41:12.891] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000964 ,z=0.003675,angle between two frames:0.007089
[16:41:12.913] Odometry x=0.057574, y=0.688125, theta=0.259044
[16:41:12.915] Image Alignment failed 0
[16:41:12.988] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000030,angle between two frames:0.000282
[16:41:13.012] Odometry x=0.058556, y=0.691858, theta=0.258583
[16:41:13.016] Image Alignment failed 0
[16:41:13.087] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000045,angle between two frames:0.000597
[16:41:13.111] Odometry x=0.059507, y=0.695214, theta=0.263690
[16:41:13.116] Image Alignment failed 0
[16:41:13.188] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000023,angle between two frames:0.001095
[16:41:13.211] Odometry x=0.060514, y=0.698753, theta=0.273499
[16:41:13.216] Image Alignment failed 0
[16:41:13.294] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000014 ,z=-0.000015,angle between two frames:0.001974
[16:41:13.311] Odometry x=0.061525, y=0.702309, theta=0.281696
[16:41:13.318] Image Alignment failed 0
[16:41:13.410] Odometry x=0.062638, y=0.705886, theta=0.283244
[16:41:13.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001049 ,z=0.003658,angle between two frames:0.000374
[16:41:13.422] Image Alignment failed 0
[16:41:13.510] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000009,angle between two frames:0.000626
[16:41:13.513] Odometry x=0.063741, y=0.709544, theta=0.293775
[16:41:13.515] Image Alignment failed 0
[16:41:13.591] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[16:41:13.612] Odometry x=0.064933, y=0.713356, theta=0.301878
[16:41:13.615] Image Alignment failed 0
[16:41:13.690] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000048,angle between two frames:0.001795
[16:41:13.710] Odometry x=0.066023, y=0.716729, theta=0.306838
[16:41:13.717] Image Alignment failed 0
[16:41:13.803] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001176 ,z=0.003670,angle between two frames:0.001591
[16:41:13.813] Odometry x=0.067261, y=0.720288, theta=0.313328
[16:41:13.822] Image Alignment failed 0
[16:41:13.894] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001239 ,z=0.003787,angle between two frames:0.000712
[16:41:13.913] Odometry x=0.068533, y=0.724134, theta=0.316083
[16:41:13.915] Image Alignment failed 0
[16:41:13.994] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000010 ,z=-0.000008,angle between two frames:0.000756
[16:41:14.011] Odometry x=0.069732, y=0.727379, theta=0.309405
[16:41:14.015] Image Alignment failed 0
[16:41:14.087] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=-0.000023,angle between two frames:0.001150
[16:41:14.115] Odometry x=0.070907, y=0.730985, theta=0.306835
[16:41:14.116] Image Alignment failed 0
[16:41:14.188] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000003,angle between two frames:0.000294
[16:41:14.208] Odometry x=0.072115, y=0.734431, theta=0.309474
[16:41:14.214] Image Alignment failed 0
[16:41:14.288] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001123 ,z=0.003406,angle between two frames:0.000606
[16:41:14.310] Odometry x=0.073213, y=0.737819, theta=0.300819
[16:41:14.315] Image Alignment failed 0
[16:41:14.390] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001153 ,z=0.003647,angle between two frames:0.002688
[16:41:14.410] Odometry x=0.074459, y=0.741355, theta=0.291844
[16:41:14.415] Image Alignment failed 0
[16:41:14.488] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000015 ,z=-0.000027,angle between two frames:0.000589
[16:41:14.509] Odometry x=0.075548, y=0.744813, theta=0.281905
[16:41:14.521] Image Alignment failed 0
[16:41:14.605] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001062 ,z=0.003605,angle between two frames:0.000043
[16:41:14.615] Image Alignment failed 0
[16:41:14.685] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000002,angle between two frames:0.000616
[16:41:14.714] Image Alignment failed 0
[16:41:14.783] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000020 ,z=-0.000023,angle between two frames:0.001479
[16:41:14.814] Image Alignment failed 0
[16:41:14.885] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=-0.000025,angle between two frames:0.003069
[16:41:14.914] Image Alignment failed 0
[16:41:14.985] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000046 ,z=-0.000040,angle between two frames:0.002128
[16:41:15.017] Image Alignment failed 0
[16:41:15.089] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000031 ,z=-0.000034,angle between two frames:0.002600
[16:41:15.119] Image Alignment failed 0
[16:41:15.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000022 ,z=0.000028,angle between two frames:0.002547
[16:41:15.224] Image Alignment failed 0
[16:41:15.322] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000005,angle between two frames:0.000753
[16:41:15.329] Image Alignment failed 0
[16:41:15.419] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000004,angle between two frames:0.000619
[16:41:15.426] Image Alignment failed 0
[16:41:15.531] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000027,angle between two frames:0.001312
[16:41:15.536] Image Alignment failed 0
[16:41:15.608] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[16:41:15.616] Image Alignment failed 0
[16:41:15.688] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000044,angle between two frames:0.000783
[16:41:15.715] Image Alignment failed 0
[16:41:15.786] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=-0.000001,angle between two frames:0.001032
[16:41:15.816] Image Alignment failed 0
[16:41:15.886] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000020 ,z=-0.000061,angle between two frames:0.000184
[16:41:15.915] Image Alignment failed 0
[16:41:16.002] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000044,angle between two frames:0.000748
[16:41:16.016] Image Alignment failed 0
[16:41:16.093] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000022,angle between two frames:0.000382
[16:41:16.115] Image Alignment failed 0
[16:41:16.187] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000028,angle between two frames:0.000526
[16:41:16.214] Image Alignment failed 0
[16:41:16.287] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000041,angle between two frames:0.000797
[16:41:16.315] Image Alignment failed 0
[16:41:16.386] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000034,angle between two frames:0.000643
[16:41:16.415] Image Alignment failed 0
[16:41:16.485] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000041,angle between two frames:0.000778
[16:41:16.516] Image Alignment failed 0
[16:41:16.597] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000015 ,z=-0.000054,angle between two frames:0.000791
[16:41:16.615] Image Alignment failed 0
[16:41:16.687] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000039,angle between two frames:0.000605
[16:41:16.715] Image Alignment failed 0
[16:41:16.789] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000047,angle between two frames:0.000743
[16:41:16.815] Image Alignment failed 0
[16:41:16.887] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000015 ,z=-0.000054,angle between two frames:0.000860
[16:41:16.915] Image Alignment failed 0
[16:41:16.986] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000027,angle between two frames:0.000527
[16:41:17.015] Image Alignment failed 0
[16:41:17.085] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=-0.000027,angle between two frames:0.000512
[16:41:17.115] Image Alignment failed 0
[16:41:17.185] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000012 ,z=-0.000041,angle between two frames:0.000785
[16:41:17.217] Image Alignment failed 0
[16:41:17.306] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000015 ,z=-0.000053,angle between two frames:0.000859
[16:41:17.315] Image Alignment failed 0
[16:41:17.385] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=-0.000013,angle between two frames:0.000263
[16:41:17.415] Image Alignment failed 0
[16:41:17.486] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000045,angle between two frames:0.000819
[16:41:17.514] Image Alignment failed 0
[16:41:17.585] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000036,angle between two frames:0.000667
[16:41:17.614] Image Alignment failed 0
[16:41:17.685] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000042,angle between two frames:0.000800
[16:41:17.715] Image Alignment failed 0
[16:41:17.791] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000017 ,z=-0.000054,angle between two frames:0.000785
[16:41:17.817] Image Alignment failed 0
[16:41:17.892] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000034,angle between two frames:0.000657
[16:41:17.918] Image Alignment failed 0
[16:41:17.987] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000036,angle between two frames:0.000581
[16:41:18.014] Image Alignment failed 0
[16:41:18.086] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000034,angle between two frames:0.000648
[16:41:18.115] Image Alignment failed 0
[16:41:18.184] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000020 ,z=-0.000060,angle between two frames:0.000913
[16:41:18.216] Image Alignment failed 0
[16:41:18.296] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000041,angle between two frames:0.000783
[16:41:18.315] Image Alignment failed 0
[16:41:18.386] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000027,angle between two frames:0.000527
GPU_version/vio/include/vio/cl_class.h
+1 -1
View File
@@ -165,7 +165,7 @@ public:
}else{
err=queue->enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x)/*Global*/, cl::NullRange/*local*/,NULL,&event);
};
if(err!=CL_SUCCESS)return -1;
assert(err==CL_SUCCESS);
event.wait();
if(queue->finish()==CL_OUT_OF_HOST_MEMORY){
std::cerr<<"GPU out of memory goodbye:)\n";
GPU_version/vio/param/vo_fast.yaml
+1 -1
View File
@@ -9,7 +9,7 @@ svo:
structureoptim_max_pts: 50
kfselect_mindist: 0.01
poseoptim_thresh: 8.0
init_min_inliers: 20
init_min_inliers: 30
ACC_noise: 0.5 #acc white noise in continuous in EKF
GYO_noise: 0.5 #gyro white noise in continuous in EKF
svo_ekf: 0.05 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
GPU_version/vio/src/depth_filter.cpp
+6 -1
View File
@@ -269,7 +269,6 @@ namespace vio {
#if VIO_DEBUG
fprintf(log_,"[%s] If point is visible? %f, %f, %f\n",vio::time_in_HH_MM_SS_MMM().c_str(),xyz_f.x(),xyz_f.y(),xyz_f.z());
#endif
if(!frame->cam_->isInFrame(frame->f2c(xyz_f).cast<int>())) {
++it; // point does not project in image
continue;
@@ -290,6 +289,9 @@ namespace vio {
++n_failed_matches;
continue;
}
#if VIO_DEBUG
fprintf(log_,"[%s] calculated Z= %f\n",vio::time_in_HH_MM_SS_MMM().c_str(),z);
#endif
double tau = computeTau(T_cur_ref.inverse(), (*it)->ftr->f, z, px_error_angle);
double tau_inverse = 0.5 * (1.0/max(0.0000001, z-tau) - 1.0/(z+tau));
@@ -299,6 +301,9 @@ namespace vio {
++n_failed_matches;
continue;
}
#if VIO_DEBUG
fprintf(log_,"[%s] update seeds \n",vio::time_in_HH_MM_SS_MMM().c_str());
#endif
++n_updates;
if(frame->isKeyframe())
GPU_version/vio/src/frame_handler_mono.cpp
+2 -2
View File
@@ -163,8 +163,8 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
double depth_mean, depth_min;
frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min);
depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min);
frame_utils::getSceneDepth(*klt_homography_init_->frame_ref_, depth_mean, depth_min);
depth_filter_->addKeyframe(klt_homography_init_->frame_ref_, depth_mean, 0.5*depth_min);
/* frame_utils::getSceneDepth(*klt_homography_init_->frame_ref_, depth_mean, depth_min);
depth_filter_->addKeyframe(klt_homography_init_->frame_ref_, depth_mean, 0.5*depth_min);*/
// add frame to map
map_.addKeyframe(new_frame_);
stage_ = STAGE_DEFAULT_FRAME;