From cb04e5485f56b3c6d930d6fdaca96646450caded Mon Sep 17 00:00:00 2001 From: gfuse Date: Mon, 20 Sep 2021 15:37:25 +0200 Subject: [PATCH] solve stack smashing crash --- GPU_version/vio/depth_filter_log.txt | 115 --- GPU_version/vio/frame_handler_log.txt | 726 ------------------ .../vio/include/vio/nlls_solver_impl.hpp | 6 +- GPU_version/vio/src/sparse_img_align_gpu.cpp | 1 + 4 files changed, 2 insertions(+), 846 deletions(-) diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt index ac11523..e69de29 100755 --- a/GPU_version/vio/depth_filter_log.txt +++ b/GPU_version/vio/depth_filter_log.txt @@ -1,115 +0,0 @@ -[14:06:56.296] init depth filter -[14:07:01.370] init depth filter -[14:07:16.943] DepthFilter: RESET. -[14:07:34.231] add key frame -[14:07:34.231] add key frame -[14:07:34.231] update seed -[14:07:34.231] init seeds -[14:07:34.238] DepthFilter: Initialized 95 new seeds -[14:07:35.473] add new frame -[14:07:35.473] add key frame -[14:07:35.473] update seed -[14:07:35.473] init seeds -[14:07:35.476] DepthFilter: Initialized 47 new seeds -[14:07:36.123] add new frame -[14:07:36.123] add key frame -[14:07:36.123] update seed -[14:07:36.123] init seeds -[14:07:36.129] DepthFilter: Initialized 29 new seeds -[14:07:36.277] add new frame -[14:07:36.277] add key frame -[14:07:36.277] update seed -[14:07:36.277] init seeds -[14:07:36.280] DepthFilter: Initialized 26 new seeds -[14:07:36.614] add new frame -[14:07:36.614] add key frame -[14:07:36.614] update seed -[14:07:36.614] init seeds -[14:07:36.618] DepthFilter: Initialized 19 new seeds -[14:07:36.778] add new frame -[14:07:36.778] add key frame -[14:07:36.778] update seed -[14:07:36.778] init seeds -[14:07:36.781] DepthFilter: Initialized 25 new seeds -[14:07:36.944] add new frame -[14:07:36.944] add key frame -[14:07:36.944] update seed -[14:07:36.944] init seeds -[14:07:36.948] DepthFilter: Initialized 19 new seeds -[14:07:37.118] add new frame -[14:07:37.118] update seed -[14:07:37.118] add key frame -[14:07:37.118] If point is visible? 0.602088, -0.856687, -1.786847 -[14:07:37.118] Z inverse min: 6.180357, Z inverse max: 0.000000 -[14:07:37.118] init seeds -[14:07:37.118] update seed -[14:07:37.118] init seeds -[14:07:37.121] DepthFilter: Initialized 10 new seeds -[14:07:37.123] DepthFilter: Initialized 82 new seeds -[14:07:37.292] add new frame -[14:07:37.292] add key frame -[14:07:37.292] update seed -[14:07:37.292] init seeds -[14:07:37.295] DepthFilter: Initialized 8 new seeds -[14:07:39.896] add new frame -[14:07:39.896] update seed -[14:07:39.896] add key frame -[14:07:39.896] If point is visible? 0.166845, -0.249207, -1.139570 -[14:07:39.896] Z inverse min: 5.592818, Z inverse max: 0.000000 -[14:07:39.896] init seeds -[14:07:39.896] update seed -[14:07:39.896] init seeds -[14:07:39.899] DepthFilter: Initialized 9 new seeds -[14:07:39.901] DepthFilter: Initialized 93 new seeds -[14:07:40.082] add new frame -[14:07:40.082] update seed -[14:07:40.082] If point is visible? 0.165491, -0.249207, -1.142916 -[14:07:40.082] Z inverse min: 5.592818, Z inverse max: 0.000000 -[14:07:40.082] add key frame -[14:07:40.083] init seeds -[14:07:40.083] update seed -[14:07:40.083] init seeds -[14:07:40.086] DepthFilter: Initialized 8 new seeds -[14:07:40.088] DepthFilter: Initialized 103 new seeds -[14:07:40.274] add new frame -[14:07:40.274] add key frame -[14:07:40.274] update seed -[14:07:40.274] init seeds -[14:07:40.277] DepthFilter: Initialized 7 new seeds -[14:07:40.483] add new frame -[14:07:40.483] add key frame -[14:07:40.483] update seed -[14:07:40.483] init seeds -[14:07:40.483] update seed -[14:07:40.483] init seeds -[14:07:40.486] DepthFilter: Initialized 2 new seeds -[14:07:40.488] DepthFilter: Initialized 83 new seeds -[14:07:40.705] add new frame -[14:07:40.705] add key frame -[14:07:40.705] update seed -[14:07:40.705] init seeds -[14:07:40.705] update seed -[14:07:40.705] init seeds -[14:07:40.708] DepthFilter: Initialized 11 new seeds -[14:07:40.711] DepthFilter: Initialized 112 new seeds -[14:07:40.937] add new frame -[14:07:40.937] add key frame -[14:07:40.937] update seed -[14:07:40.937] init seeds -[14:07:40.937] update seed -[14:07:40.937] init seeds -[14:07:40.940] DepthFilter: Initialized 6 new seeds -[14:07:40.944] DepthFilter: Initialized 105 new seeds -[14:07:41.164] add new frame -[14:07:41.164] update seed -[14:07:41.164] If point is visible? 0.163373, -0.249207, -1.155817 -[14:07:41.164] Z inverse min: 5.592818, Z inverse max: 0.000000 -[14:07:41.164] add key frame -[14:07:41.164] init seeds -[14:07:41.164] update seed -[14:07:41.164] init seeds -[14:07:41.168] DepthFilter: Initialized 9 new seeds -[14:07:41.171] DepthFilter: Initialized 100 new seeds -[14:07:41.409] add new frame -[14:07:41.409] update seed -[14:07:41.409] If point is visible? 0.16276 \ No newline at end of file diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index 2c97aa3..e69de29 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,726 +0,0 @@ -[14:07:16.956] Init: frame zero: 0.000000, 0.000000 0.000000 -[14:07:16.956] Init: Selected first frame. -[14:07:17.056] Init: px average disparity is:0.186308 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:17.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:17.151] Init: px average disparity is:0.210131 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:17.151] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:17.247] Init: px average disparity is:0.228369 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:17.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:17.341] Init: px average disparity is:0.244745 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:17.341] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:17.448] Init: px average disparity is:0.216765 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:17.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:17.539] Init: px average disparity is:0.219299 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:17.539] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:17.650] Init: px average disparity is:0.229392 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:17.650] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:17.751] Init: px average disparity is:0.225345 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:17.751] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:17.847] Init: px average disparity is:0.243641 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:17.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:17.944] Init: px average disparity is:0.212792 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:17.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:18.043] Init: px average disparity is:0.223278 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:18.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:18.141] Init: px average disparity is:0.233835 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:18.141] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:18.238] Init: px average disparity is:0.222076 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:18.238] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:18.338] Init: px average disparity is:0.238755 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:18.338] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:18.438] Init: px average disparity is:0.217350 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:18.438] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:18.538] Init: px average disparity is:0.229835 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:18.538] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:18.640] Init: px average disparity is:0.242322 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:18.640] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:18.738] Init: px average disparity is:0.233349 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:18.738] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:18.838] Init: px average disparity is:0.212077 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:18.838] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:18.938] Init: px average disparity is:0.224591 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:18.938] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:19.047] Init: px average disparity is:0.246524 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:19.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:19.148] Init: px average disparity is:0.249124 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:19.149] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:19.245] Init: px average disparity is:0.222193 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:19.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:19.340] Init: px average disparity is:0.209856 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:19.340] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:19.444] Init: px average disparity is:0.242199 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:19.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:19.541] Init: px average disparity is:0.232119 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:19.541] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:19.639] Init: px average disparity is:0.208059 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:19.639] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:19.740] Init: px average disparity is:0.243849 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:19.740] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:19.851] Init: px average disparity is:0.221520 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:19.851] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:19.884] Odometry x=0.001704, y=-0.001797, theta=0.046318 -[14:07:19.948] Init: px average disparity is:0.215142 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:19.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:19.981] Odometry x=0.001807, y=-0.001856, theta=0.049086 -[14:07:20.038] Init: px average disparity is:0.203561 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:20.038] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:20.082] Odometry x=0.001770, y=-0.005449, theta=0.052198 -[14:07:20.148] Init: px average disparity is:1.690053 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:20.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:20.183] Odometry x=0.001667, y=-0.009814, theta=0.055466 -[14:07:20.241] Init: px average disparity is:5.902607 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:20.241] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:20.283] Odometry x=0.001576, y=-0.013881, theta=0.063985 -[14:07:20.342] Init: px average disparity is:7.619709 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:20.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:20.385] Odometry x=0.001426, y=-0.017995, theta=0.065606 -[14:07:20.440] Init: px average disparity is:4.920587 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:20.440] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:20.482] Odometry x=0.001304, y=-0.021873, theta=0.065896 -[14:07:20.539] Init: px average disparity is:5.267831 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:20.539] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:20.585] Odometry x=0.001224, y=-0.025898, theta=0.068271 -[14:07:20.639] Init: px average disparity is:4.271955 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:20.640] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:20.682] Odometry x=0.000535, y=-0.029733, theta=0.030148 -[14:07:20.740] Init: px average disparity is:5.675237 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:20.740] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:20.786] Odometry x=0.000534, y=-0.033787, theta=0.023029 -[14:07:20.840] Init: px average disparity is:4.531932 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:20.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:20.886] Odometry x=0.000533, y=-0.037615, theta=0.040705 -[14:07:20.942] Init: px average disparity is:6.412728 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:20.942] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:20.985] Odometry x=0.000557, y=-0.041647, theta=0.040991 -[14:07:21.043] Init: px average disparity is:7.845203 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:21.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:21.092] Odometry x=0.000573, y=-0.045339, theta=0.057479 -[14:07:21.140] Init: px average disparity is:9.298257 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:21.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:21.185] Odometry x=0.000366, y=-0.049732, theta=0.058803 -[14:07:21.240] Init: px average disparity is:12.624860 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:21.240] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:21.282] Odometry x=0.000129, y=-0.053211, theta=0.037612 -[14:07:21.349] Init: px average disparity is:15.332627 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:21.349] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:21.387] Odometry x=0.000227, y=-0.057188, theta=0.040199 -[14:07:21.448] Init: px average disparity is:13.618225 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:21.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:21.486] Odometry x=-0.000092, y=-0.061163, theta=0.045417 -[14:07:21.548] Init: px average disparity is:12.867934 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:21.548] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:21.587] Odometry x=-0.000025, y=-0.065318, theta=0.041644 -[14:07:21.648] Init: px average disparity is:11.294902 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:21.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:21.686] Odometry x=-0.000103, y=-0.069481, theta=0.039022 -[14:07:21.747] Init: px average disparity is:12.672997 ,While minimum is: 40.000000 KLT tracked : 141 -[14:07:21.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:21.783] Odometry x=-0.000097, y=-0.073449, theta=0.029111 -[14:07:21.847] Init: px average disparity is:12.824220 ,While minimum is: 40.000000 KLT tracked : 140 -[14:07:21.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:21.886] Odometry x=-0.000001, y=-0.077567, theta=0.017643 -[14:07:21.949] Init: px average disparity is:19.002454 ,While minimum is: 40.000000 KLT tracked : 140 -[14:07:21.949] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:21.995] Odometry x=0.000075, y=-0.081978, theta=0.000559 -[14:07:22.048] Init: px average disparity is:13.792500 ,While minimum is: 40.000000 KLT tracked : 140 -[14:07:22.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:22.087] Odometry x=0.000337, y=-0.086250, theta=-0.003597 -[14:07:22.147] Init: px average disparity is:13.585175 ,While minimum is: 40.000000 KLT tracked : 140 -[14:07:22.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:22.185] Odometry x=0.000450, y=-0.090090, theta=0.008341 -[14:07:22.248] Init: px average disparity is:9.011747 ,While minimum is: 40.000000 KLT tracked : 140 -[14:07:22.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:22.285] Odometry x=0.000584, y=-0.093961, theta=0.006044 -[14:07:22.346] Init: px average disparity is:9.603389 ,While minimum is: 40.000000 KLT tracked : 140 -[14:07:22.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:22.381] Odometry x=0.000832, y=-0.097949, theta=0.021544 -[14:07:22.449] Init: px average disparity is:9.798194 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:22.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:22.485] Odometry x=0.001006, y=-0.101723, theta=0.024392 -[14:07:22.539] Init: px average disparity is:10.795797 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:22.539] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:22.587] Odometry x=0.001052, y=-0.105614, theta=0.048538 -[14:07:22.650] Init: px average disparity is:12.108316 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:22.650] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:22.690] Odometry x=0.001140, y=-0.109671, theta=0.052856 -[14:07:22.748] Init: px average disparity is:10.445341 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:22.748] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:22.789] Odometry x=0.000988, y=-0.113575, theta=0.055079 -[14:07:22.848] Init: px average disparity is:12.829260 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:22.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:22.888] Odometry x=0.000903, y=-0.117640, theta=0.060385 -[14:07:22.946] Init: px average disparity is:15.338665 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:22.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:22.987] Odometry x=0.000649, y=-0.121695, theta=0.070053 -[14:07:23.047] Init: px average disparity is:16.478011 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:23.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:23.085] Odometry x=0.000246, y=-0.125591, theta=0.032197 -[14:07:23.148] Init: px average disparity is:17.421666 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:23.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:23.183] Odometry x=0.000135, y=-0.129623, theta=0.033879 -[14:07:23.247] Init: px average disparity is:17.937269 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:23.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:23.281] Odometry x=0.000125, y=-0.133483, theta=0.040136 -[14:07:23.351] Init: px average disparity is:18.471984 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:23.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:23.383] Odometry x=-0.000029, y=-0.137483, theta=0.041012 -[14:07:23.450] Init: px average disparity is:20.930525 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:23.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:23.487] Odometry x=-0.000070, y=-0.141434, theta=0.048818 -[14:07:23.549] Init: px average disparity is:22.488663 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:23.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:23.587] Odometry x=-0.000280, y=-0.145476, theta=0.049187 -[14:07:23.649] Init: px average disparity is:20.409773 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:23.650] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:23.685] Odometry x=-0.000337, y=-0.149549, theta=0.032231 -[14:07:23.752] Init: px average disparity is:19.592048 ,While minimum is: 40.000000 KLT tracked : 139 -[14:07:23.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:23.783] Odometry x=-0.000447, y=-0.153480, theta=0.037378 -[14:07:23.850] Init: px average disparity is:19.132099 ,While minimum is: 40.000000 KLT tracked : 137 -[14:07:23.850] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:23.886] Odometry x=-0.000621, y=-0.157459, theta=0.023260 -[14:07:23.941] Init: px average disparity is:19.396815 ,While minimum is: 40.000000 KLT tracked : 137 -[14:07:23.941] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:23.984] Odometry x=-0.000476, y=-0.161472, theta=0.016999 -[14:07:24.049] Init: px average disparity is:21.800067 ,While minimum is: 40.000000 KLT tracked : 137 -[14:07:24.049] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:24.087] Odometry x=-0.000584, y=-0.165524, theta=0.013926 -[14:07:24.152] Init: px average disparity is:21.351160 ,While minimum is: 40.000000 KLT tracked : 137 -[14:07:24.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:24.185] Odometry x=-0.000502, y=-0.169622, theta=0.004417 -[14:07:24.250] Init: px average disparity is:22.077866 ,While minimum is: 40.000000 KLT tracked : 132 -[14:07:24.250] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:24.283] Odometry x=-0.000539, y=-0.173599, theta=0.013319 -[14:07:24.352] Init: px average disparity is:22.384986 ,While minimum is: 40.000000 KLT tracked : 132 -[14:07:24.352] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:24.386] Odometry x=-0.000479, y=-0.177584, theta=0.016283 -[14:07:24.450] Init: px average disparity is:20.880609 ,While minimum is: 40.000000 KLT tracked : 132 -[14:07:24.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:24.484] Odometry x=-0.000549, y=-0.181586, theta=0.041398 -[14:07:24.553] Init: px average disparity is:21.709923 ,While minimum is: 40.000000 KLT tracked : 132 -[14:07:24.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:24.582] Odometry x=-0.000537, y=-0.185394, theta=0.046071 -[14:07:24.654] Init: px average disparity is:21.499765 ,While minimum is: 40.000000 KLT tracked : 132 -[14:07:24.654] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:24.685] Odometry x=-0.000776, y=-0.189355, theta=0.055462 -[14:07:24.752] Init: px average disparity is:22.993774 ,While minimum is: 40.000000 KLT tracked : 131 -[14:07:24.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:24.783] Odometry x=-0.000923, y=-0.193240, theta=0.061887 -[14:07:24.851] Init: px average disparity is:21.814151 ,While minimum is: 40.000000 KLT tracked : 131 -[14:07:24.851] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:24.887] Odometry x=-0.001214, y=-0.197334, theta=0.064332 -[14:07:24.953] Init: px average disparity is:22.912268 ,While minimum is: 40.000000 KLT tracked : 131 -[14:07:24.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:24.990] Odometry x=-0.001335, y=-0.201251, theta=0.067416 -[14:07:25.053] Init: px average disparity is:21.897452 ,While minimum is: 40.000000 KLT tracked : 131 -[14:07:25.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:25.086] Odometry x=-0.001757, y=-0.205484, theta=0.070127 -[14:07:25.150] Init: px average disparity is:23.837346 ,While minimum is: 40.000000 KLT tracked : 131 -[14:07:25.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:25.184] Odometry x=-0.000736, y=-0.209365, theta=0.032589 -[14:07:25.250] Init: px average disparity is:22.238326 ,While minimum is: 40.000000 KLT tracked : 131 -[14:07:25.251] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:25.287] Odometry x=-0.001022, y=-0.213382, theta=0.018916 -[14:07:25.342] Init: px average disparity is:23.503218 ,While minimum is: 40.000000 KLT tracked : 131 -[14:07:25.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:25.384] Odometry x=-0.000846, y=-0.217247, theta=0.029731 -[14:07:25.450] Init: px average disparity is:22.161154 ,While minimum is: 40.000000 KLT tracked : 131 -[14:07:25.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:25.486] Odometry x=-0.001053, y=-0.221320, theta=0.016919 -[14:07:25.550] Init: px average disparity is:23.863438 ,While minimum is: 40.000000 KLT tracked : 128 -[14:07:25.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:25.589] Odometry x=-0.001010, y=-0.225429, theta=0.002085 -[14:07:25.650] Init: px average disparity is:24.225636 ,While minimum is: 40.000000 KLT tracked : 128 -[14:07:25.650] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:25.688] Odometry x=-0.000902, y=-0.229632, theta=0.003132 -[14:07:25.753] Init: px average disparity is:26.493342 ,While minimum is: 40.000000 KLT tracked : 128 -[14:07:25.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:25.786] Odometry x=-0.001045, y=-0.233377, theta=-0.009274 -[14:07:25.854] Init: px average disparity is:28.030907 ,While minimum is: 40.000000 KLT tracked : 128 -[14:07:25.854] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:25.890] Odometry x=-0.000775, y=-0.237332, theta=-0.017014 -[14:07:25.953] Init: px average disparity is:27.824162 ,While minimum is: 40.000000 KLT tracked : 128 -[14:07:25.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:25.988] Odometry x=-0.000815, y=-0.241287, theta=0.000658 -[14:07:26.053] Init: px average disparity is:27.140103 ,While minimum is: 40.000000 KLT tracked : 128 -[14:07:26.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:26.086] Odometry x=-0.000615, y=-0.245434, theta=-0.002720 -[14:07:26.155] Init: px average disparity is:26.370981 ,While minimum is: 40.000000 KLT tracked : 128 -[14:07:26.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:26.189] Odometry x=-0.000773, y=-0.249172, theta=0.023564 -[14:07:26.252] Init: px average disparity is:25.655531 ,While minimum is: 40.000000 KLT tracked : 128 -[14:07:26.252] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:26.288] Odometry x=-0.000762, y=-0.253364, theta=0.025575 -[14:07:26.356] Init: px average disparity is:25.172057 ,While minimum is: 40.000000 KLT tracked : 128 -[14:07:26.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:26.389] Odometry x=-0.000914, y=-0.257269, theta=0.048586 -[14:07:26.455] Init: px average disparity is:25.975015 ,While minimum is: 40.000000 KLT tracked : 128 -[14:07:26.455] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:26.484] Odometry x=-0.001062, y=-0.261150, theta=0.054004 -[14:07:26.552] Init: px average disparity is:25.733713 ,While minimum is: 40.000000 KLT tracked : 128 -[14:07:26.552] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:26.584] Odometry x=-0.001330, y=-0.264975, theta=0.053194 -[14:07:26.653] Init: px average disparity is:26.812948 ,While minimum is: 40.000000 KLT tracked : 128 -[14:07:26.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:26.689] Odometry x=-0.001440, y=-0.268950, theta=0.054323 -[14:07:26.746] Init: px average disparity is:26.505263 ,While minimum is: 40.000000 KLT tracked : 128 -[14:07:26.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:26.788] Odometry x=-0.001682, y=-0.273013, theta=0.055073 -[14:07:26.853] Init: px average disparity is:27.586202 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:26.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:26.886] Odometry x=-0.001791, y=-0.276915, theta=0.048228 -[14:07:26.949] Init: px average disparity is:27.563989 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:26.950] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:26.989] Odometry x=-0.002098, y=-0.280884, theta=0.049451 -[14:07:27.054] Init: px average disparity is:28.449933 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:27.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:27.086] Odometry x=-0.002184, y=-0.284963, theta=0.041910 -[14:07:27.155] Init: px average disparity is:30.210971 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:27.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:27.189] Odometry x=-0.002416, y=-0.288856, theta=0.046166 -[14:07:27.252] Init: px average disparity is:29.542940 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:27.252] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:27.288] Odometry x=-0.002625, y=-0.292773, theta=0.046481 -[14:07:27.354] Init: px average disparity is:32.313975 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:27.354] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:27.389] Odometry x=-0.002664, y=-0.296661, theta=0.034284 -[14:07:27.450] Init: px average disparity is:31.282492 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:27.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:27.487] Odometry x=-0.002937, y=-0.300744, theta=0.031052 -[14:07:27.549] Init: px average disparity is:35.157737 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:27.549] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:27.584] Odometry x=-0.002860, y=-0.304482, theta=0.031204 -[14:07:27.656] Init: px average disparity is:32.293870 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:27.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:27.684] Odometry x=-0.003164, y=-0.308476, theta=0.041101 -[14:07:27.753] Init: px average disparity is:34.697006 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:27.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:27.789] Odometry x=-0.003185, y=-0.312397, theta=0.034830 -[14:07:27.854] Init: px average disparity is:33.720682 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:27.854] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:27.886] Odometry x=-0.003476, y=-0.316562, theta=0.052339 -[14:07:27.942] Init: px average disparity is:33.322738 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:27.942] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:27.986] Odometry x=-0.003612, y=-0.320415, theta=0.047023 -[14:07:28.043] Init: px average disparity is:31.970493 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:28.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:28.085] Odometry x=-0.003857, y=-0.324357, theta=0.065825 -[14:07:28.141] Init: px average disparity is:32.009687 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:28.141] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:28.184] Odometry x=-0.001561, y=-0.328287, theta=0.032316 -[14:07:28.252] Init: px average disparity is:31.563341 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:28.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:28.284] Odometry x=-0.001732, y=-0.332058, theta=0.048697 -[14:07:28.352] Init: px average disparity is:32.141384 ,While minimum is: 40.000000 KLT tracked : 127 -[14:07:28.352] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:28.387] Odometry x=-0.001716, y=-0.336240, theta=0.057422 -[14:07:28.456] Init: px average disparity is:32.874081 ,While minimum is: 40.000000 KLT tracked : 122 -[14:07:28.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:28.485] Odometry x=-0.001990, y=-0.340223, theta=0.057173 -[14:07:28.556] Init: px average disparity is:32.658726 ,While minimum is: 40.000000 KLT tracked : 122 -[14:07:28.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:28.588] Odometry x=-0.002014, y=-0.344312, theta=0.067262 -[14:07:28.646] Init: px average disparity is:33.826563 ,While minimum is: 40.000000 KLT tracked : 120 -[14:07:28.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:28.685] Odometry x=-0.002334, y=-0.348275, theta=0.063129 -[14:07:28.755] Init: px average disparity is:33.540872 ,While minimum is: 40.000000 KLT tracked : 120 -[14:07:28.755] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:28.785] Odometry x=-0.002388, y=-0.352150, theta=0.068718 -[14:07:28.856] Init: px average disparity is:34.668541 ,While minimum is: 40.000000 KLT tracked : 120 -[14:07:28.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:28.885] Odometry x=-0.002733, y=-0.355998, theta=0.064180 -[14:07:28.946] Init: px average disparity is:36.988765 ,While minimum is: 40.000000 KLT tracked : 119 -[14:07:28.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:28.988] Odometry x=-0.002735, y=-0.359907, theta=0.052866 -[14:07:29.051] Init: px average disparity is:37.509024 ,While minimum is: 40.000000 KLT tracked : 119 -[14:07:29.051] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:29.085] Odometry x=-0.002973, y=-0.364005, theta=0.058711 -[14:07:29.183] Odometry x=-0.002967, y=-0.367773, theta=0.034578 -[14:07:29.222] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required. px average disparity is:40.307415 ,While minimum is: 40.000000 KLT tracked: 118 -[14:07:29.223] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:29.285] Odometry x=-0.003175, y=-0.371664, theta=0.046612 -[14:07:29.311] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required. px average disparity is:40.257541 ,While minimum is: 40.000000 KLT tracked: 118 -[14:07:29.311] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:29.388] Odometry x=-0.003272, y=-0.375519, theta=0.044583 -[14:07:29.412] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required. px average disparity is:41.731431 ,While minimum is: 40.000000 KLT tracked: 118 -[14:07:29.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:29.443] Init: px average disparity is:39.318676 ,While minimum is: 40.000000 KLT tracked : 118 -[14:07:29.443] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:29.487] Odometry x=-0.003516, y=-0.379505, theta=0.063620 -[14:07:29.584] Odometry x=-0.003579, y=-0.383409, theta=0.059441 -[14:07:29.614] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required. px average disparity is:41.101330 ,While minimum is: 40.000000 KLT tracked: 118 -[14:07:29.614] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:29.644] Init: px average disparity is:37.958214 ,While minimum is: 40.000000 KLT tracked : 117 -[14:07:29.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:29.687] Odometry x=-0.003869, y=-0.387380, theta=0.082233 -[14:07:29.755] Init: px average disparity is:38.733453 ,While minimum is: 40.000000 KLT tracked : 117 -[14:07:29.755] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:29.785] Odometry x=-0.001648, y=-0.391225, theta=0.041768 -[14:07:29.847] Init: px average disparity is:37.656649 ,While minimum is: 40.000000 KLT tracked : 117 -[14:07:29.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:29.889] Odometry x=-0.001957, y=-0.395270, theta=0.036613 -[14:07:29.986] Odometry x=-0.001911, y=-0.399135, theta=0.051248 -[14:07:30.014] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:40.314487 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:30.014] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:30.044] Init: px average disparity is:39.400091 ,While minimum is: 40.000000 KLT tracked : 116 -[14:07:30.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:30.083] Odometry x=-0.002045, y=-0.403115, theta=0.037010 -[14:07:30.181] Odometry x=-0.002066, y=-0.406761, theta=0.046360 -[14:07:30.228] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:41.162116 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:30.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:30.283] Odometry x=-0.002142, y=-0.410723, theta=0.039389 -[14:07:30.312] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:40.400423 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:30.312] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:30.390] Odometry x=-0.002288, y=-0.414565, theta=0.047648 -[14:07:30.413] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:42.242729 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:30.413] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:30.487] Odometry x=-0.002314, y=-0.418775, theta=0.049208 -[14:07:30.510] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:41.045794 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:30.510] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:30.588] Odometry x=-0.002565, y=-0.422545, theta=0.047491 -[14:07:30.610] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:40.094156 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:30.610] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:30.685] Odometry x=-0.002467, y=-0.426400, theta=0.038001 -[14:07:30.709] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:41.430990 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:30.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:30.784] Odometry x=-0.002708, y=-0.430568, theta=0.038206 -[14:07:30.810] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:40.922971 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:30.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:30.884] Odometry x=-0.002719, y=-0.434460, theta=0.019565 -[14:07:30.912] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:44.114567 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:30.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:30.984] Odometry x=-0.002822, y=-0.438359, theta=0.024857 -[14:07:31.009] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:44.033919 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:31.009] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:31.086] Odometry x=-0.002851, y=-0.442242, theta=0.025753 -[14:07:31.108] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:46.255813 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:31.108] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:31.183] Odometry x=-0.002861, y=-0.446229, theta=0.039796 -[14:07:31.214] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:47.634991 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:31.214] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:31.286] Odometry x=-0.002927, y=-0.450179, theta=0.035105 -[14:07:31.313] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:48.097492 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:31.313] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:31.388] Odometry x=-0.003004, y=-0.454071, theta=0.042045 -[14:07:31.410] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:47.196586 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:31.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:31.486] Odometry x=-0.003034, y=-0.458113, theta=0.050825 -[14:07:31.511] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:45.864176 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:31.511] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:31.583] Odometry x=-0.003336, y=-0.461946, theta=0.064594 -[14:07:31.609] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:45.369021 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:31.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:31.681] Odometry x=-0.003460, y=-0.465771, theta=0.082736 -[14:07:31.711] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:44.422196 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:31.711] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:31.783] Odometry x=-0.003811, y=-0.469548, theta=0.082108 -[14:07:31.809] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:44.311373 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:31.809] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:31.886] Odometry x=-0.004037, y=-0.473465, theta=0.100346 -[14:07:31.913] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:44.118834 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:31.913] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:31.984] Odometry x=-0.004366, y=-0.477400, theta=0.090479 -[14:07:32.010] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:45.087658 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:32.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:32.086] Odometry x=-0.004755, y=-0.481468, theta=0.095321 -[14:07:32.112] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:43.739692 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:32.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:32.184] Odometry x=-0.005047, y=-0.485378, theta=0.097385 -[14:07:32.212] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:45.120172 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:32.212] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:32.286] Odometry x=-0.005449, y=-0.489343, theta=0.094308 -[14:07:32.310] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:44.734251 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:32.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:32.383] Odometry x=-0.005752, y=-0.493221, theta=0.096839 -[14:07:32.411] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:47.811017 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:32.411] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:32.485] Odometry x=-0.006138, y=-0.497220, theta=0.086857 -[14:07:32.514] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:45.007725 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:32.514] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:32.582] Odometry x=-0.006424, y=-0.501090, theta=0.088696 -[14:07:32.613] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:46.251437 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:32.613] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:32.683] Odometry x=-0.006750, y=-0.504959, theta=0.082914 -[14:07:32.710] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:45.099173 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:32.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:32.790] Odometry x=-0.007045, y=-0.508908, theta=0.078055 -[14:07:32.811] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:46.427156 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:32.811] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:32.885] Odometry x=-0.007451, y=-0.513127, theta=0.076912 -[14:07:32.912] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:46.686660 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:32.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:32.988] Odometry x=-0.007695, y=-0.516908, theta=0.074130 -[14:07:33.014] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required. px average disparity is:47.716938 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:33.014] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:33.100] Odometry x=-0.007955, y=-0.521133, theta=0.071412 -[14:07:33.110] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:49.514684 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:33.111] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:33.183] Odometry x=-0.001970, y=-0.572056, theta=0.034498 -[14:07:33.211] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:51.637581 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:33.211] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:33.296] Odometry x=-0.002085, y=-0.575487, theta=0.041365 -[14:07:33.309] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:51.731420 ,While minimum is: 40.000000 KLT tracked: 116 -[14:07:33.309] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:33.390] Odometry x=-0.002245, y=-0.579711, theta=0.047590 -[14:07:33.410] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:50.788891 ,While minimum is: 40.000000 KLT tracked: 114 -[14:07:33.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:33.488] Odometry x=-0.002417, y=-0.583564, theta=0.048858 -[14:07:33.514] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:51.781613 ,While minimum is: 40.000000 KLT tracked: 114 -[14:07:33.514] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:33.586] Odometry x=-0.002541, y=-0.587206, theta=0.061519 -[14:07:33.609] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:52.237198 ,While minimum is: 40.000000 KLT tracked: 114 -[14:07:33.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:33.685] Odometry x=-0.002728, y=-0.591237, theta=0.079656 -[14:07:33.709] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:50.125379 ,While minimum is: 40.000000 KLT tracked: 113 -[14:07:33.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:33.782] Odometry x=-0.002984, y=-0.595289, theta=0.088657 -[14:07:33.811] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:48.837982 ,While minimum is: 40.000000 KLT tracked: 113 -[14:07:33.811] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:33.886] Odometry x=-0.003261, y=-0.598952, theta=0.099903 -[14:07:33.911] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:48.802147 ,While minimum is: 40.000000 KLT tracked: 113 -[14:07:33.911] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:33.984] Odometry x=-0.003630, y=-0.603275, theta=0.098414 -[14:07:34.012] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:49.079908 ,While minimum is: 40.000000 KLT tracked: 113 -[14:07:34.012] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:34.087] Odometry x=-0.003992, y=-0.607134, theta=0.108886 -[14:07:34.112] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:48.534619 ,While minimum is: 40.000000 KLT tracked: 112 -[14:07:34.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[14:07:34.187] Odometry x=-0.004240, y=-0.610851, theta=0.111126 -[14:07:34.231] Init finished: Homography RANSAC (inlier) is:30 ,While 30 inliers minimum required. px average disparity is:50.784218 ,While minimum is: 40.000000 KLT tracked: 112 -[14:07:34.231] Init: distance between the first and current frame is x:0.005473 ,z=-0.663943,angle between two frames: 0.006226 -[14:07:34.231] Init: Selected Second frame. The number of features: 30 -[14:07:34.285] Odometry x=0.001550, y=-0.645329, theta=0.039911 -[14:07:34.387] Odometry x=0.001452, y=-0.649183, theta=0.033368 -[14:07:34.391] After Reprojection Map nPoint:26 ,nCell:14 ,nMatches:7 ,distance between two frames x:-0.003593 ,z=0.018880,angle between two frames:0.038109 -[14:07:34.391] n deleted obs = 19 n obs with reprojection error less than 0.5 px =6 error init =2.150601 error end=2.150601 -[14:07:34.391] After pose optimization, distance between two frames x:-0.003593 ,z=0.018880,angle between two frames:0.038109 -[14:07:34.485] Odometry x=0.001326, y=-0.653274, theta=0.033306 -[14:07:34.542] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:10 ,distance between two frames x:-0.010471 ,z=-0.000113,angle between two frames:0.003383 -[14:07:34.543] n deleted obs = 4 n obs with reprojection error less than 0.5 px =18 error init =1.910441 error end=0.350277 -[14:07:34.543] After pose optimization, distance between two frames x:0.045986 ,z=0.263269,angle between two frames:0.053292 -[14:07:34.585] Odometry x=0.001262, y=-0.657210, theta=0.027912 -[14:07:34.684] Odometry x=0.001226, y=-0.661144, theta=0.019454 -[14:07:34.692] After Reprojection Map nPoint:29 ,nCell:26 ,nMatches:10 ,distance between two frames x:-0.001976 ,z=-0.000190,angle between two frames:0.000912 -[14:07:34.692] n deleted obs = 16 n obs with reprojection error less than 0.5 px =5 error init =3.748787 error end=3.748787 -[14:07:34.692] After pose optimization, distance between two frames x:-0.001976 ,z=-0.000190,angle between two frames:0.000912 -[14:07:34.784] Odometry x=0.001182, y=-0.665110, theta=0.012737 -[14:07:34.865] After Reprojection Map nPoint:27 ,nCell:19 ,nMatches:9 ,distance between two frames x:0.000130 ,z=-0.000862,angle between two frames:0.000637 -[14:07:34.866] n deleted obs = 24 n obs with reprojection error less than 0.5 px =0 error init =8.690944 error end=3.402679 -[14:07:34.866] After pose optimization, distance between two frames x:-2.830675 ,z=-0.201849,angle between two frames:1.570595 -[14:07:34.871] Image Alignment failed 0 -[14:07:34.884] Odometry x=0.001252, y=-0.669067, theta=0.011434 -[14:07:34.987] Odometry x=0.001226, y=-0.673049, theta=0.014980 -[14:07:35.013] After Reprojection Map nPoint:27 ,nCell:12 ,nMatches:10 ,distance between two frames x:0.000033 ,z=-0.000071,angle between two frames:0.000254 -[14:07:35.013] n deleted obs = 29 n obs with reprojection error less than 0.5 px =1 error init =9.035811 error end=2.129624 -[14:07:35.013] After pose optimization, distance between two frames x:-0.047688 ,z=-0.058753,angle between two frames:0.020680 -[14:07:35.085] Odometry x=0.001192, y=-0.676964, theta=0.028883 -[14:07:35.173] After Reprojection Map nPoint:15 ,nCell:11 ,nMatches:11 ,distance between two frames x:-2.167576 ,z=1.806037,angle between two frames:2.999252 -[14:07:35.173] n deleted obs = 25 n obs with reprojection error less than 0.5 px =0 error init =8.632206 error end=7.932133 -[14:07:35.173] After pose optimization, distance between two frames x:-2.177365 ,z=1.822302,angle between two frames:3.006420 -[14:07:35.178] Image Alignment failed 0 -[14:07:35.185] Odometry x=0.001128, y=-0.680879, theta=0.039201 -[14:07:35.287] Odometry x=0.000971, y=-0.684748, theta=0.059568 -[14:07:35.323] After Reprojection Map nPoint:28 ,nCell:15 ,nMatches:11 ,distance between two frames x:0.000002 ,z=-0.000004,angle between two frames:0.000526 -[14:07:35.323] n deleted obs = 31 n obs with reprojection error less than 0.5 px =0 error init =44.141755 error end=24.446833 -[14:07:35.323] After pose optimization, distance between two frames x:-2.683741 ,z=0.987341,angle between two frames:1.743753 -[14:07:35.328] Image Alignment failed 0 -[14:07:35.385] Odometry x=0.000789, y=-0.688826, theta=0.070787 -[14:07:35.472] After Reprojection Map nPoint:28 ,nCell:18 ,nMatches:15 ,distance between two frames x:0.000003 ,z=-0.000002,angle between two frames:0.000679 -[14:07:35.473] n deleted obs = 24 n obs with reprojection error less than 0.5 px =11 error init =5.230961 error end=5.230961 -[14:07:35.473] After pose optimization, distance between two frames x:0.000003 ,z=-0.000002,angle between two frames:0.000679 -[14:07:35.473] Update EKF and 3D points, distance between two frames x:-0.000008 ,z=-0.000225,angle between two frames:0.001655 -[14:07:35.473] Choose frame as a key frame Scene Depth mean:0.666695 ,depth min:0.234683 -[14:07:35.482] Odometry x=0.000691, y=-0.690420, theta=0.072291 -[14:07:35.585] Odometry x=0.000487, y=-0.694258, theta=0.073163 -[14:07:35.631] After Reprojection Map nPoint:40 ,nCell:21 ,nMatches:13 ,distance between two frames x:0.000120 ,z=0.000252,angle between two frames:0.000083 -[14:07:35.631] n deleted obs = 33 n obs with reprojection error less than 0.5 px =8 error init =5.334910 error end=5.334910 -[14:07:35.631] After pose optimization, distance between two frames x:0.000120 ,z=0.000252,angle between two frames:0.000083 -[14:07:35.687] Odometry x=0.000236, y=-0.698253, theta=0.071015 -[14:07:35.785] Odometry x=0.000038, y=-0.702267, theta=0.074627 -[14:07:35.791] After Reprojection Map nPoint:50 ,nCell:25 ,nMatches:15 ,distance between two frames x:0.005800 ,z=0.000869,angle between two frames:0.002321 -[14:07:35.793] n deleted obs = 41 n obs with reprojection error less than 0.5 px =6 error init =6.323809 error end=0.992111 -[14:07:35.793] After pose optimization, distance between two frames x:0.215971 ,z=0.352969,angle between two frames:0.371401 -[14:07:35.886] Odometry x=-0.000205, y=-0.706065, theta=0.071202 -[14:07:35.960] After Reprojection Map nPoint:49 ,nCell:26 ,nMatches:18 ,distance between two frames x:0.017087 ,z=0.005376,angle between two frames:0.007503 -[14:07:35.960] n deleted obs = 37 n obs with reprojection error less than 0.5 px =17 error init =4.188469 error end=4.188469 -[14:07:35.960] After pose optimization, distance between two frames x:0.017087 ,z=0.005376,angle between two frames:0.007503 -[14:07:35.984] Odometry x=-0.000475, y=-0.709762, theta=0.069920 -[14:07:36.081] Odometry x=-0.000760, y=-0.713990, theta=0.066605 -[14:07:36.123] After Reprojection Map nPoint:56 ,nCell:30 ,nMatches:18 ,distance between two frames x:0.001265 ,z=0.000307,angle between two frames:0.000417 -[14:07:36.123] n deleted obs = 38 n obs with reprojection error less than 0.5 px =13 error init =4.047970 error end=4.047970 -[14:07:36.123] After pose optimization, distance between two frames x:0.001265 ,z=0.000307,angle between two frames:0.000417 -[14:07:36.123] Update EKF and 3D points, distance between two frames x:0.001162 ,z=-0.000180,angle between two frames:0.000168 -[14:07:36.123] Choose frame as a key frame Scene Depth mean:0.317853 ,depth min:0.135816 -[14:07:36.185] Odometry x=0.000039, y=-0.712973, theta=0.066060 -[14:07:36.277] After Reprojection Map nPoint:68 ,nCell:23 ,nMatches:15 ,distance between two frames x:-0.000139 ,z=0.000077,angle between two frames:0.000017 -[14:07:36.277] n deleted obs = 50 n obs with reprojection error less than 0.5 px =15 error init =3.439873 error end=3.439873 -[14:07:36.277] After pose optimization, distance between two frames x:-0.000139 ,z=0.000077,angle between two frames:0.000017 -[14:07:36.277] Update EKF and 3D points, distance between two frames x:-0.000183 ,z=-0.000345,angle between two frames:0.000288 -[14:07:36.277] Choose frame as a key frame Scene Depth mean:0.355169 ,depth min:0.173057 -[14:07:36.289] Odometry x=0.000219, y=-0.712887, theta=0.068528 -[14:07:36.384] Odometry x=-0.000021, y=-0.716898, theta=0.066463 -[14:07:36.436] After Reprojection Map nPoint:95 ,nCell:27 ,nMatches:19 ,distance between two frames x:-0.001152 ,z=-0.002858,angle between two frames:0.002158 -[14:07:36.439] n deleted obs = 61 n obs with reprojection error less than 0.5 px =28 error init =2.538854 error end=0.705190 -[14:07:36.439] After pose optimization, distance between two frames x:0.110055 ,z=0.410090,angle between two frames:0.352584 -[14:07:36.482] Odometry x=-0.000257, y=-0.720692, theta=0.064974 -[14:07:36.585] Odometry x=-0.000499, y=-0.724314, theta=0.061456 -[14:07:36.614] After Reprojection Map nPoint:107 ,nCell:31 ,nMatches:21 ,distance between two frames x:0.003309 ,z=0.001450,angle between two frames:0.001552 -[14:07:36.614] n deleted obs = 59 n obs with reprojection error less than 0.5 px =34 error init =1.794712 error end=1.794712 -[14:07:36.614] After pose optimization, distance between two frames x:0.003309 ,z=0.001450,angle between two frames:0.001552 -[14:07:36.614] Update EKF and 3D points, distance between two frames x:0.003089 ,z=0.000908,angle between two frames:0.001194 -[14:07:36.614] Choose frame as a key frame Scene Depth mean:0.361521 ,depth min:0.218501 -[14:07:36.682] Odometry x=0.001457, y=-0.723174, theta=0.061570 -[14:07:36.777] After Reprojection Map nPoint:126 ,nCell:46 ,nMatches:23 ,distance between two frames x:-0.001573 ,z=-0.003394,angle between two frames:0.002338 -[14:07:36.778] n deleted obs = 80 n obs with reprojection error less than 0.5 px =29 error init =1.849706 error end=1.849706 -[14:07:36.778] After pose optimization, distance between two frames x:-0.001573 ,z=-0.003394,angle between two frames:0.002338 -[14:07:36.778] Update EKF and 3D points, distance between two frames x:-0.001572 ,z=-0.003620,angle between two frames:0.002610 -[14:07:36.778] Choose frame as a key frame Scene Depth mean:0.476194 ,depth min:0.223259 -[14:07:36.785] Odometry x=0.001257, y=-0.724727, theta=0.062520 -[14:07:36.887] Odometry x=0.001055, y=-0.728648, theta=0.066999 -[14:07:36.944] After Reprojection Map nPoint:165 ,nCell:44 ,nMatches:23 ,distance between two frames x:-0.000076 ,z=-0.001315,angle between two frames:0.001479 -[14:07:36.944] n deleted obs = 100 n obs with reprojection error less than 0.5 px =31 error init =2.127054 error end=2.127054 -[14:07:36.944] After pose optimization, distance between two frames x:-0.000076 ,z=-0.001315,angle between two frames:0.001479 -[14:07:36.944] Update EKF and 3D points, distance between two frames x:-0.000095 ,z=-0.001772,angle between two frames:0.001117 -[14:07:36.944] Choose frame as a key frame Scene Depth mean:0.342304 ,depth min:0.161374 -[14:07:36.985] Odometry x=0.001045, y=-0.727941, theta=0.066117 -[14:07:37.087] Odometry x=0.000783, y=-0.731773, theta=0.069941 -[14:07:37.117] After Reprojection Map nPoint:186 ,nCell:38 ,nMatches:26 ,distance between two frames x:-0.000169 ,z=-0.002931,angle between two frames:0.002222 -[14:07:37.117] n deleted obs = 115 n obs with reprojection error less than 0.5 px =38 error init =2.070357 error end=2.070357 -[14:07:37.117] After pose optimization, distance between two frames x:-0.000169 ,z=-0.002931,angle between two frames:0.002222 -[14:07:37.117] Update EKF and 3D points, distance between two frames x:-0.000195 ,z=-0.003370,angle between two frames:0.002918 -[14:07:37.118] Choose frame as a key frame Scene Depth mean:0.351874 ,depth min:0.154473 -[14:07:37.185] Odometry x=0.000795, y=-0.731191, theta=0.080726 -[14:07:37.287] Odometry x=0.000520, y=-0.735085, theta=0.095825 -[14:07:37.292] After Reprojection Map nPoint:252 ,nCell:48 ,nMatches:32 ,distance between two frames x:-0.000233 ,z=-0.002751,angle between two frames:0.004885 -[14:07:37.292] n deleted obs = 167 n obs with reprojection error less than 0.5 px =40 error init =1.874719 error end=1.874719 -[14:07:37.292] After pose optimization, distance between two frames x:-0.000233 ,z=-0.002751,angle between two frames:0.004885 -[14:07:37.292] Update EKF and 3D points, distance between two frames x:-0.000295 ,z=-0.003555,angle between two frames:0.006350 -[14:07:37.292] Choose frame as a key frame Scene Depth mean:0.452367 ,depth min:0.129730 -[14:07:37.385] Odometry x=0.000297, y=-0.737099, theta=0.093642 -[14:07:37.472] After Reprojection Map nPoint:291 ,nCell:41 ,nMatches:30 ,distance between two frames x:-0.000699 ,z=-0.004964,angle between two frames:0.009621 -[14:07:37.472] n deleted obs = 193 n obs with reprojection error less than 0.5 px =45 error init =2.530888 error end=2.530888 -[14:07:37.472] After pose optimization, distance between two frames x:-0.000699 ,z=-0.004964,angle between two frames:0.009621 -[14:07:37.484] Odometry x=-0.000001, y=-0.741037, theta=0.103997 -[14:07:37.581] Odometry x=-0.000321, y=-0.744965, theta=0.104880 -[14:07:37.651] After Reprojection Map nPoint:287 ,nCell:46 ,nMatches:36 ,distance between two frames x:-0.000809 ,z=-0.000175,angle between two frames:0.000088 -[14:07:37.652] n deleted obs = 189 n obs with reprojection error less than 0.5 px =54 error init =9.332674 error end=1.050956 -[14:07:37.652] After pose optimization, distance between two frames x:387.511638 ,z=-263.954982,angle between two frames:0.105518 -[14:07:37.683] Odometry x=-0.000617, y=-0.748800, theta=0.105452 -[14:07:37.786] Odometry x=-0.001011, y=-0.752770, theta=0.105773 -[14:07:37.857] After Reprojection Map nPoint:306 ,nCell:55 ,nMatches:36 ,distance between two frames x:0.004854 ,z=0.001228,angle between two frames:0.001863 -[14:07:37.858] n deleted obs = 246 n obs with reprojection error less than 0.5 px =0 error init =2.629571 error end=2.468263 -[14:07:37.858] After pose optimization, distance between two frames x:22.204589 ,z=8.577705,angle between two frames:1.752362 -[14:07:37.863] Image Alignment failed 0 -[14:07:37.883] Odometry x=-0.001386, y=-0.756805, theta=0.102889 -[14:07:37.985] Odometry x=-0.001756, y=-0.760781, theta=0.097330 -[14:07:38.035] After Reprojection Map nPoint:303 ,nCell:40 ,nMatches:38 ,distance between two frames x:0.000004 ,z=-0.000009,angle between two frames:0.000203 -[14:07:38.036] n deleted obs = 101 n obs with reprojection error less than 0.5 px =158 error init =3.332092 error end=0.455807 -[14:07:38.036] After pose optimization, distance between two frames x:17.681009 ,z=-25.888994,angle between two frames:1.238257 -[14:07:38.082] Odometry x=-0.002085, y=-0.764794, theta=0.095969 -[14:07:38.180] Odometry x=-0.002435, y=-0.768734, theta=0.095239 -[14:07:38.217] After Reprojection Map nPoint:297 ,nCell:65 ,nMatches:34 ,distance between two frames x:-0.000573 ,z=-0.000072,angle between two frames:0.000414 -[14:07:38.220] n deleted obs = 35 n obs with reprojection error less than 0.5 px =191 error init =6.759875 error end=0.331055 -[14:07:38.220] After pose optimization, distance between two frames x:294.447339 ,z=-1614.995800,angle between two frames:2.715539 -[14:07:38.284] Odometry x=-0.002761, y=-0.772625, theta=0.092345 -[14:07:38.386] Odometry x=-0.003091, y=-0.776735, theta=0.087243 -[14:07:38.401] After Reprojection Map nPoint:310 ,nCell:77 ,nMatches:31 ,distance between two frames x:-0.000975 ,z=-0.000089,angle between two frames:0.000302 -[14:07:38.401] n deleted obs = 212 n obs with reprojection error less than 0.5 px =0 error init =5.583048 error end=2.463758 -[14:07:38.401] After pose optimization, distance between two frames x:21.660915 ,z=9.053396,angle between two frames:1.896019 -[14:07:38.406] Image Alignment failed 0 -[14:07:38.483] Odometry x=-0.003393, y=-0.780635, theta=0.082627 -[14:07:38.575] After Reprojection Map nPoint:299 ,nCell:42 ,nMatches:35 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[14:07:38.576] n deleted obs = 251 n obs with reprojection error less than 0.5 px =0 error init =4.188147 error end=2.586231 -[14:07:38.576] After pose optimization, distance between two frames x:22.029502 ,z=8.005621,angle between two frames:1.439498 -[14:07:38.581] Image Alignment failed 0 -[14:07:38.582] Odometry x=-0.003699, y=-0.784607, theta=0.080858 -[14:07:38.680] Odometry x=-0.003916, y=-0.788520, theta=0.091325 -[14:07:38.751] After Reprojection Map nPoint:292 ,nCell:38 ,nMatches:35 ,distance between two frames x:0.000004 ,z=-0.000014,angle between two frames:0.000078 -[14:07:38.761] n deleted obs = 94 n obs with reprojection error less than 0.5 px =158 error init =6.713588 error end=0.528681 -[14:07:38.761] After pose optimization, distance between two frames x:-1.506036 ,z=-7.612926,angle between two frames:0.847485 -[14:07:38.783] Odometry x=-0.004258, y=-0.792546, theta=0.100554 -[14:07:38.886] Odometry x=-0.004563, y=-0.796562, theta=0.109353 -[14:07:38.941] After Reprojection Map nPoint:311 ,nCell:66 ,nMatches:38 ,distance between two frames x:-0.000164 ,z=-0.000012,angle between two frames:0.000678 -[14:07:38.942] n deleted obs = 220 n obs with reprojection error less than 0.5 px =17 error init =6.284615 error end=1.661577 -[14:07:38.942] After pose optimization, distance between two frames x:-1.101553 ,z=-0.774759,angle between two frames:0.009347 -[14:07:38.984] Odometry x=-0.004965, y=-0.800576, theta=0.121214 -[14:07:39.083] Odometry x=-0.005275, y=-0.804387, theta=0.121565 -[14:07:39.135] After Reprojection Map nPoint:284 ,nCell:30 ,nMatches:27 ,distance between two frames x:0.006542 ,z=0.000768,angle between two frames:0.003177 -[14:07:39.135] n deleted obs = 195 n obs with reprojection error less than 0.5 px =41 error init =5.384884 error end=5.384884 -[14:07:39.135] After pose optimization, distance between two frames x:0.006542 ,z=0.000768,angle between two frames:0.003177 -[14:07:39.194] Odometry x=-0.005741, y=-0.808240, theta=0.136198 -[14:07:39.284] Odometry x=-0.006270, y=-0.812423, theta=0.144841 -[14:07:39.315] After Reprojection Map nPoint:276 ,nCell:45 ,nMatches:31 ,distance between two frames x:-0.000649 ,z=-0.000078,angle between two frames:0.000775 -[14:07:39.315] n deleted obs = 231 n obs with reprojection error less than 0.5 px =1 error init =7.666648 error end=1.798288 -[14:07:39.315] After pose optimization, distance between two frames x:4.385542 ,z=-1.621966,angle between two frames:1.409351 -[14:07:39.388] Odometry x=-0.006763, y=-0.816118, theta=0.163606 -[14:07:39.488] Odometry x=-0.007318, y=-0.820143, theta=0.169764 -[14:07:39.505] After Reprojection Map nPoint:285 ,nCell:45 ,nMatches:36 ,distance between two frames x:-0.004686 ,z=-0.001044,angle between two frames:0.000011 -[14:07:39.514] n deleted obs = 99 n obs with reprojection error less than 0.5 px =142 error init =6.110991 error end=0.431364 -[14:07:39.514] After pose optimization, distance between two frames x:2.551720 ,z=-6.248114,angle between two frames:1.660742 -[14:07:39.586] Odometry x=-0.008008, y=-0.824271, theta=0.181398 -[14:07:39.680] Odometry x=-0.008543, y=-0.828114, theta=0.188682 -[14:07:39.694] After Reprojection Map nPoint:316 ,nCell:72 ,nMatches:36 ,distance between two frames x:-0.000443 ,z=-0.000091,angle between two frames:0.000164 -[14:07:39.695] n deleted obs = 107 n obs with reprojection error less than 0.5 px =131 error init =6.660632 error end=0.570909 -[14:07:39.695] After pose optimization, distance between two frames x:92.778968 ,z=228.417375,angle between two frames:0.029684 -[14:07:39.781] Odometry x=-0.009243, y=-0.831826, theta=0.187810 -[14:07:39.883] Odometry x=-0.009942, y=-0.835853, theta=0.182747 -[14:07:39.895] After Reprojection Map nPoint:304 ,nCell:70 ,nMatches:35 ,distance between two frames x:0.001371 ,z=0.000525,angle between two frames:0.000957 -[14:07:39.896] n deleted obs = 189 n obs with reprojection error less than 0.5 px =36 error init =51.664399 error end=51.664399 -[14:07:39.896] After pose optimization, distance between two frames x:0.001371 ,z=0.000525,angle between two frames:0.000957 -[14:07:39.896] Update EKF and 3D points, distance between two frames x:0.001209 ,z=0.000031,angle between two frames:0.000557 -[14:07:39.896] Choose frame as a key frame Scene Depth mean:0.211592 ,depth min:0.065968 -[14:07:39.986] Odometry x=-0.009035, y=-0.834845, theta=0.184506 -[14:07:40.082] After Reprojection Map nPoint:332 ,nCell:42 ,nMatches:34 ,distance between two frames x:-0.001333 ,z=-0.003112,angle between two frames:0.002663 -[14:07:40.082] n deleted obs = 239 n obs with reprojection error less than 0.5 px =42 error init =5.336352 error end=5.336352 -[14:07:40.082] After pose optimization, distance between two frames x:-0.001333 ,z=-0.003112,angle between two frames:0.002663 -[14:07:40.082] Update EKF and 3D points, distance between two frames x:-0.001353 ,z=-0.003347,angle between two frames:0.003716 -[14:07:40.082] Choose frame as a key frame Scene Depth mean:0.238118 ,depth min:0.100946 -[14:07:40.086] Odometry x=-0.009375, y=-0.835038, theta=0.185602 -[14:07:40.189] Odometry x=-0.010318, y=-0.839986, theta=0.171996 -[14:07:40.273] After Reprojection Map nPoint:365 ,nCell:35 ,nMatches:31 ,distance between two frames x:0.000045 ,z=0.000133,angle between two frames:0.000057 -[14:07:40.274] n deleted obs = 262 n obs with reprojection error less than 0.5 px =47 error init =5.677106 error end=5.677106 -[14:07:40.274] After pose optimization, distance between two frames x:0.000045 ,z=0.000133,angle between two frames:0.000057 -[14:07:40.274] Update EKF and 3D points, distance between two frames x:-0.000048 ,z=-0.000395,angle between two frames:0.001253 -[14:07:40.274] Choose frame as a key frame Scene Depth mean:0.223874 ,depth min:0.113174 -[14:07:40.286] Odometry x=-0.010000, y=-0.838718, theta=0.175969 -[14:07:40.384] Odometry x=-0.010602, y=-0.842449, theta=0.173152 -[14:07:40.482] After Reprojection Map nPoint:397 ,nCell:34 ,nMatches:32 ,distance between two frames x:-0.000591 ,z=-0.003185,angle between two frames:0.008196 -[14:07:40.483] n deleted obs = 311 n obs with reprojection error less than 0.5 px =34 error init =5.766113 error end=5.766113 -[14:07:40.483] After pose optimization, distance between two frames x:-0.000591 ,z=-0.003185,angle between two frames:0.008196 -[14:07:40.483] Update EKF and 3D points, distance between two frames x:-0.000664 ,z=-0.003634,angle between two frames:0.008362 -[14:07:40.483] Choose frame as a key frame Scene Depth mean:0.352797 ,depth min:0.083907 -[14:07:40.486] Odometry x=-0.010087, y=-0.839067, theta=0.175987 -[14:07:40.584] Odometry x=-0.010829, y=-0.843844, theta=0.171574 -[14:07:40.686] Odometry x=-0.011434, y=-0.847671, theta=0.165395 -[14:07:40.704] After Reprojection Map nPoint:468 ,nCell:36 ,nMatches:36 ,distance between two frames x:0.000137 ,z=0.000053,angle between two frames:0.000073 -[14:07:40.705] n deleted obs = 377 n obs with reprojection error less than 0.5 px =38 error init =5.841745 error end=5.841745 -[14:07:40.705] After pose optimization, distance between two frames x:0.000137 ,z=0.000053,angle between two frames:0.000073 -[14:07:40.705] Update EKF and 3D points, distance between two frames x:0.000015 ,z=-0.000673,angle between two frames:0.000420 -[14:07:40.705] Choose frame as a key frame Scene Depth mean:0.200222 ,depth min:0.074546 -[14:07:40.782] Odometry x=-0.010792, y=-0.844273, theta=0.175130 -[14:07:40.885] Odometry x=-0.011416, y=-0.848102, theta=0.180143 -[14:07:40.936] After Reprojection Map nPoint:515 ,nCell:47 ,nMatches:42 ,distance between two frames x:-0.000737 ,z=-0.004571,angle between two frames:0.002882 -[14:07:40.937] n deleted obs = 413 n obs with reprojection error less than 0.5 px =47 error init =4.803257 error end=4.803257 -[14:07:40.937] After pose optimization, distance between two frames x:-0.000737 ,z=-0.004571,angle between two frames:0.002882 -[14:07:40.937] Update EKF and 3D points, distance between two frames x:-0.000809 ,z=-0.005017,angle between two frames:0.002458 -[14:07:40.937] Choose frame as a key frame Scene Depth mean:0.312093 ,depth min:0.093718 -[14:07:40.987] Odometry x=-0.011305, y=-0.847581, theta=0.174172 -[14:07:41.089] Odometry x=-0.011994, y=-0.851615, theta=0.173914 -[14:07:41.163] After Reprojection Map nPoint:553 ,nCell:44 ,nMatches:39 ,distance between two frames x:-0.000542 ,z=-0.002709,angle between two frames:0.002402 -[14:07:41.164] n deleted obs = 456 n obs with reprojection error less than 0.5 px =47 error init =4.759021 error end=4.759021 -[14:07:41.164] After pose optimization, distance between two frames x:-0.000542 ,z=-0.002709,angle between two frames:0.002402 -[14:07:41.164] Update EKF and 3D points, distance between two frames x:-0.000612 ,z=-0.003182,angle between two frames:0.002755 -[14:07:41.164] Choose frame as a key frame Scene Depth mean:0.197962 ,depth min:0.075029 -[14:07:41.187] Odometry x=-0.011915, y=-0.850933, theta=0.181922 -[14:07:41.281] Odometry x=-0.012561, y=-0.854900, theta=0.189079 -[14:07:41.384] Odometry x=-0.013219, y=-0.858462, theta=0.194845 -[14:07:41.408] After Reprojection Map nPoint:618 ,nCell:42 ,nMatches:39 ,distance between two frames x:-0.000494 ,z=-0.002875,angle between two frames:0.002650 -[14:07:41.409] n deleted obs = 501 n obs with reprojection error less than 0.5 px =55 error init =4.825200 error end=4.825200 -[14:07:41.409] After pose optimization, distance between two frames x:-0.000494 ,z=-0.002875,angle between two frames:0.002650 -[14:07:41.409] Update EKF and 3D points, distance between two frames x:-0.000605 ,z=-0.003543,angle between two frames:0.003847 -[14:07:41.409] Choose frame as a key frame Scene Depth mean:0.244865 ,depth min:0.085695 -[14:07:41.485] Odometry x=-0.012790, y=-0.855764, theta=0.194440 -[14:07:41.587] Odometry x=-0.013550, y=-0.859805, theta=0.206277 -[14:07:41.665] After Reprojection Map nPoint:622 ,nCell:45 ,nMatches:42 ,distance between two frames x:-0.000571 ,z=-0.004433,angle between two frames:0.007697 -[14:07:41.669] n deleted obs = 131 n obs with reprojection error less than 0.5 px =440 error init =23.159184 error end=0.417837 -[14:07:41.669] After \ No newline at end of file diff --git a/GPU_version/vio/include/vio/nlls_solver_impl.hpp b/GPU_version/vio/include/vio/nlls_solver_impl.hpp index 1725ea3..55d8ac7 100644 --- a/GPU_version/vio/include/vio/nlls_solver_impl.hpp +++ b/GPU_version/vio/include/vio/nlls_solver_impl.hpp @@ -33,15 +33,13 @@ void vk::NLLSSolver::optimizeGaussNewton() rho_ = 0; n_meas_ = 0; double new_chi2 = computeResiduals(true, false); - std::cerr<<"36\t"; // solve the linear system if(!solve()) { // matrix was singular and could not be computed - std::cout << "Matrix is close to singular! Stop Optimizing." << std::endl; + if(verbose_)std::cout << "Matrix is close to singular! Stop Optimizing." << std::endl; stop_ = true; } - std::cerr<<"43\t"; // check if error increased since last optimization if((iter_ > 0 && new_chi2 > chi2_) || stop_) { @@ -54,10 +52,8 @@ void vk::NLLSSolver::optimizeGaussNewton() } break; } - std::cerr<<"57\t"; // update the model update(); - std::cerr<<"60\n"; chi2_ = new_chi2; if(verbose_) { diff --git a/GPU_version/vio/src/sparse_img_align_gpu.cpp b/GPU_version/vio/src/sparse_img_align_gpu.cpp index a278d49..aea39f4 100644 --- a/GPU_version/vio/src/sparse_img_align_gpu.cpp +++ b/GPU_version/vio/src/sparse_img_align_gpu.cpp @@ -52,6 +52,7 @@ size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame, FILE* log) features[feature_counter_].z=xyz_ref(2); featue_px[feature_counter_].x=(*it)->px(0); featue_px[feature_counter_].y=(*it)->px(1); + if(feature_counter_>299)break; ++feature_counter_; } if(!feature_counter_) // more than 10