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debug depth mines

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This commit is contained in:
gfuse
2021-10-13 19:30:20 +02:00
parent 84d227cdcd
commit cd4418eda9
5 changed files with 478 additions and 479 deletions
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GPU_version/vio/frame_handler_log.txt
+469 -472
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@@ -1,472 +1,469 @@
[18:43:55.691] Init: frame zero: 0.000000, 0.000000 0.000000
[18:43:55.691] Init: Selected first frame.
[18:43:55.691] frame process finished the id is: 0 the obs is:0
[18:43:55.709] Init: px average disparity is:0.032512 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:55.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:55.709] frame process finished the id is: 1 the obs is:0
[18:43:55.810] Init: px average disparity is:0.031284 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:55.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:55.810] frame process finished the id is: 2 the obs is:0
[18:43:55.908] Init: px average disparity is:0.036556 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:55.908] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:55.908] frame process finished the id is: 3 the obs is:0
[18:43:55.996] Init: px average disparity is:0.032202 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:55.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:55.996] frame process finished the id is: 4 the obs is:0
[18:43:56.095] Init: px average disparity is:0.041515 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:56.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:56.095] frame process finished the id is: 5 the obs is:0
[18:43:56.196] Init: px average disparity is:0.030973 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:56.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:56.197] frame process finished the id is: 6 the obs is:0
[18:43:56.293] Init: px average disparity is:0.031908 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:56.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:56.293] frame process finished the id is: 7 the obs is:0
[18:43:56.392] Init: px average disparity is:0.035828 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:56.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:56.392] frame process finished the id is: 8 the obs is:0
[18:43:56.492] Init: px average disparity is:0.031084 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:56.492] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:56.492] frame process finished the id is: 9 the obs is:0
[18:43:56.595] Init: px average disparity is:0.040163 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:56.595] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:56.595] frame process finished the id is: 10 the obs is:0
[18:43:56.693] Init: px average disparity is:0.036231 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:56.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:56.693] frame process finished the id is: 11 the obs is:0
[18:43:56.806] Init: px average disparity is:0.032094 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:56.807] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:56.807] frame process finished the id is: 12 the obs is:0
[18:43:56.904] Init: px average disparity is:0.039061 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:56.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:56.904] frame process finished the id is: 13 the obs is:0
[18:43:56.958] Odometry x=0.000000, y=0.000000, theta=-0.000000
[18:43:57.019] Init: px average disparity is:0.039995 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:57.019] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:57.019] frame process finished the id is: 14 the obs is:0
[18:43:57.090] Init: px average disparity is:0.032783 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:57.090] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:57.090] frame process finished the id is: 15 the obs is:0
[18:43:57.196] Odometry x=0.000002, y=0.019191, theta=0.000001
[18:43:57.210] Init: px average disparity is:0.152070 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:57.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:57.210] frame process finished the id is: 16 the obs is:0
[18:43:57.309] Init: px average disparity is:6.438189 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:57.309] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:57.309] frame process finished the id is: 17 the obs is:0
[18:43:57.414] Init: px average disparity is:4.621185 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:57.414] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:57.414] frame process finished the id is: 18 the obs is:0
[18:43:57.455] Odometry x=-0.000039, y=0.050966, theta=0.000774
[18:43:57.517] Init: px average disparity is:4.962524 ,While minimum is: 10.000000 KLT tracked : 896
[18:43:57.517] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:57.517] frame process finished the id is: 19 the obs is:0
[18:43:57.621] Init: px average disparity is:9.757717 ,While minimum is: 10.000000 KLT tracked : 895
[18:43:57.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:57.621] frame process finished the id is: 20 the obs is:0
[18:43:57.729] Odometry x=-0.000047, y=0.081718, theta=-0.000073
[18:43:57.819] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:12.627500 ,While minimum is: 10.000000 KLT tracked: 895
[18:43:57.819] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:57.819] frame process finished the id is: 21 the obs is:0
[18:43:57.926] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:15.604936 ,While minimum is: 10.000000 KLT tracked: 888
[18:43:57.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:57.927] frame process finished the id is: 22 the obs is:0
[18:43:57.937] Odometry x=0.000499, y=0.112048, theta=0.000644
[18:43:58.025] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:19.846154 ,While minimum is: 10.000000 KLT tracked: 888
[18:43:58.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:58.025] frame process finished the id is: 23 the obs is:0
[18:43:58.124] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:29.051805 ,While minimum is: 10.000000 KLT tracked: 888
[18:43:58.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:58.124] frame process finished the id is: 24 the obs is:0
[18:43:58.224] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:27.308837 ,While minimum is: 10.000000 KLT tracked: 888
[18:43:58.224] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:58.224] frame process finished the id is: 25 the obs is:0
[18:43:58.260] Odometry x=0.000038, y=0.140879, theta=0.004213
[18:43:58.326] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:28.646685 ,While minimum is: 10.000000 KLT tracked: 887
[18:43:58.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:58.326] frame process finished the id is: 26 the obs is:0
[18:43:58.428] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:34.191057 ,While minimum is: 10.000000 KLT tracked: 887
[18:43:58.428] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:58.428] frame process finished the id is: 27 the obs is:0
[18:43:58.469] Odometry x=-0.000233, y=0.169962, theta=0.010181
[18:43:58.533] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:41.345493 ,While minimum is: 10.000000 KLT tracked: 883
[18:43:58.533] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:58.533] frame process finished the id is: 28 the obs is:0
[18:43:58.643] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:46.447236 ,While minimum is: 10.000000 KLT tracked: 881
[18:43:58.643] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:58.643] frame process finished the id is: 29 the obs is:0
[18:43:58.706] Odometry x=-0.000432, y=0.199032, theta=0.008526
[18:43:58.764] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:45.750816 ,While minimum is: 10.000000 KLT tracked: 831
[18:43:58.764] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:58.764] frame process finished the id is: 30 the obs is:0
[18:43:58.871] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:43.552221 ,While minimum is: 10.000000 KLT tracked: 786
[18:43:58.871] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:58.871] frame process finished the id is: 31 the obs is:0
[18:43:58.965] Odometry x=-0.000654, y=0.228022, theta=0.007607
[18:43:58.977] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:47.016770 ,While minimum is: 10.000000 KLT tracked: 760
[18:43:58.977] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:58.977] frame process finished the id is: 32 the obs is:0
[18:43:59.086] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:49.538279 ,While minimum is: 10.000000 KLT tracked: 753
[18:43:59.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:59.086] frame process finished the id is: 33 the obs is:0
[18:43:59.191] Odometry x=-0.001126, y=0.256460, theta=0.017068
[18:43:59.196] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:54.298697 ,While minimum is: 10.000000 KLT tracked: 746
[18:43:59.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:59.196] frame process finished the id is: 34 the obs is:0
[18:43:59.305] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required. px average disparity is:50.945217 ,While minimum is: 10.000000 KLT tracked: 737
[18:43:59.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:59.305] frame process finished the id is: 35 the obs is:0
[18:43:59.413] Init: Homography RANSAC (inlier) is:26 ,While 40 inliers minimum required. px average disparity is:45.043521 ,While minimum is: 10.000000 KLT tracked: 737
[18:43:59.413] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:59.413] frame process finished the id is: 36 the obs is:0
[18:43:59.425] Odometry x=-0.001252, y=0.297173, theta=0.012082
[18:43:59.522] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:42.852949 ,While minimum is: 10.000000 KLT tracked: 734
[18:43:59.522] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:59.522] frame process finished the id is: 37 the obs is:0
[18:43:59.680] Odometry x=-0.000807, y=0.317767, theta=0.015953
[18:43:59.691] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:84.759117 ,While minimum is: 10.000000 KLT tracked: 718
[18:43:59.691] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:59.691] frame process finished the id is: 38 the obs is:0
[18:43:59.805] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:41.534758 ,While minimum is: 10.000000 KLT tracked: 698
[18:43:59.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:59.805] frame process finished the id is: 39 the obs is:0
[18:43:59.912] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:41.889841 ,While minimum is: 10.000000 KLT tracked: 694
[18:43:59.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:43:59.912] frame process finished the id is: 40 the obs is:0
[18:43:59.934] Odometry x=-0.001043, y=0.342362, theta=0.011934
[18:44:00.022] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:50.036754 ,While minimum is: 10.000000 KLT tracked: 694
[18:44:00.022] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:00.022] frame process finished the id is: 41 the obs is:0
[18:44:00.130] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:50.460992 ,While minimum is: 10.000000 KLT tracked: 694
[18:44:00.130] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:00.130] frame process finished the id is: 42 the obs is:0
[18:44:00.236] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.866771 ,While minimum is: 10.000000 KLT tracked: 694
[18:44:00.236] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:00.236] frame process finished the id is: 43 the obs is:0
[18:44:00.267] Odometry x=-0.000298, y=0.366852, theta=0.015156
[18:44:00.342] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.873498 ,While minimum is: 10.000000 KLT tracked: 694
[18:44:00.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:00.342] frame process finished the id is: 44 the obs is:0
[18:44:00.437] Odometry x=0.000646, y=0.390576, theta=0.033252
[18:44:00.447] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:54.897271 ,While minimum is: 10.000000 KLT tracked: 692
[18:44:00.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:00.447] frame process finished the id is: 45 the obs is:0
[18:44:00.552] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:59.465025 ,While minimum is: 10.000000 KLT tracked: 687
[18:44:00.552] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:00.552] frame process finished the id is: 46 the obs is:0
[18:44:00.656] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:59.022030 ,While minimum is: 10.000000 KLT tracked: 686
[18:44:00.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:00.656] frame process finished the id is: 47 the obs is:0
[18:44:00.686] Odometry x=-0.000726, y=0.414747, theta=0.042948
[18:44:00.760] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:63.374557 ,While minimum is: 10.000000 KLT tracked: 683
[18:44:00.760] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:00.760] frame process finished the id is: 48 the obs is:0
[18:44:00.864] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:64.334452 ,While minimum is: 10.000000 KLT tracked: 682
[18:44:00.864] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:00.864] frame process finished the id is: 49 the obs is:0
[18:44:00.929] Odometry x=-0.003032, y=0.438028, theta=0.033404
[18:44:00.968] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:61.895825 ,While minimum is: 10.000000 KLT tracked: 681
[18:44:00.968] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:00.969] frame process finished the id is: 50 the obs is:0
[18:44:01.074] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:61.954572 ,While minimum is: 10.000000 KLT tracked: 681
[18:44:01.074] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:01.074] frame process finished the id is: 51 the obs is:0
[18:44:01.181] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:63.552660 ,While minimum is: 10.000000 KLT tracked: 679
[18:44:01.181] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:01.181] frame process finished the id is: 52 the obs is:0
[18:44:01.209] Odometry x=-0.003750, y=0.462662, theta=0.042577
[18:44:01.285] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:61.025470 ,While minimum is: 10.000000 KLT tracked: 567
[18:44:01.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:01.285] frame process finished the id is: 53 the obs is:0
[18:44:01.386] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:62.655230 ,While minimum is: 10.000000 KLT tracked: 552
[18:44:01.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:01.386] frame process finished the id is: 54 the obs is:0
[18:44:01.432] Odometry x=-0.004331, y=0.479101, theta=0.046856
[18:44:01.487] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:66.216194 ,While minimum is: 10.000000 KLT tracked: 540
[18:44:01.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:01.488] frame process finished the id is: 55 the obs is:0
[18:44:01.587] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:67.097597 ,While minimum is: 10.000000 KLT tracked: 540
[18:44:01.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:01.587] frame process finished the id is: 56 the obs is:0
[18:44:01.688] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:62.105247 ,While minimum is: 10.000000 KLT tracked: 540
[18:44:01.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:01.688] frame process finished the id is: 57 the obs is:0
[18:44:01.693] Odometry x=-0.005289, y=0.496097, theta=0.049716
[18:44:01.794] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:59.361343 ,While minimum is: 10.000000 KLT tracked: 540
[18:44:01.794] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:01.794] frame process finished the id is: 58 the obs is:0
[18:44:01.895] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:57.242792 ,While minimum is: 10.000000 KLT tracked: 540
[18:44:01.895] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:01.895] frame process finished the id is: 59 the obs is:0
[18:44:01.945] Odometry x=-0.006040, y=0.513883, theta=0.043223
[18:44:01.995] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:56.919297 ,While minimum is: 10.000000 KLT tracked: 540
[18:44:01.995] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:01.995] frame process finished the id is: 60 the obs is:0
[18:44:02.095] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:57.749509 ,While minimum is: 10.000000 KLT tracked: 540
[18:44:02.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:02.095] frame process finished the id is: 61 the obs is:0
[18:44:02.196] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:59.171287 ,While minimum is: 10.000000 KLT tracked: 540
[18:44:02.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:02.196] frame process finished the id is: 62 the obs is:0
[18:44:02.249] Odometry x=-0.008370, y=0.533132, theta=0.053679
[18:44:02.300] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:60.963264 ,While minimum is: 10.000000 KLT tracked: 540
[18:44:02.300] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:02.300] frame process finished the id is: 63 the obs is:0
[18:44:02.405] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:66.259251 ,While minimum is: 10.000000 KLT tracked: 538
[18:44:02.405] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:02.405] frame process finished the id is: 64 the obs is:0
[18:44:02.424] Odometry x=-0.009464, y=0.554440, theta=0.064358
[18:44:02.512] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:66.516626 ,While minimum is: 10.000000 KLT tracked: 538
[18:44:02.512] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:02.512] frame process finished the id is: 65 the obs is:0
[18:44:02.620] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:59.705831 ,While minimum is: 10.000000 KLT tracked: 538
[18:44:02.620] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:02.620] frame process finished the id is: 66 the obs is:0
[18:44:02.709] Odometry x=-0.010209, y=0.572925, theta=0.045810
[18:44:02.722] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:57.802720 ,While minimum is: 10.000000 KLT tracked: 538
[18:44:02.722] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:02.723] frame process finished the id is: 67 the obs is:0
[18:44:02.827] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:56.110475 ,While minimum is: 10.000000 KLT tracked: 538
[18:44:02.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:02.827] frame process finished the id is: 68 the obs is:0
[18:44:02.920] Odometry x=-0.010320, y=0.592247, theta=0.041359
[18:44:02.944] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:57.525921 ,While minimum is: 10.000000 KLT tracked: 537
[18:44:02.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:02.944] frame process finished the id is: 69 the obs is:0
[18:44:03.059] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:60.403340 ,While minimum is: 10.000000 KLT tracked: 537
[18:44:03.059] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:03.059] frame process finished the id is: 70 the obs is:0
[18:44:03.179] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:61.333779 ,While minimum is: 10.000000 KLT tracked: 537
[18:44:03.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:03.179] frame process finished the id is: 71 the obs is:0
[18:44:03.180] Odometry x=-0.011090, y=0.610443, theta=0.042326
[18:44:03.294] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:66.747909 ,While minimum is: 10.000000 KLT tracked: 534
[18:44:03.294] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:03.294] frame process finished the id is: 72 the obs is:0
[18:44:03.404] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:68.837536 ,While minimum is: 10.000000 KLT tracked: 534
[18:44:03.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:03.404] frame process finished the id is: 73 the obs is:0
[18:44:03.444] Odometry x=-0.012010, y=0.628767, theta=0.050163
[18:44:03.512] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:67.015109 ,While minimum is: 10.000000 KLT tracked: 534
[18:44:03.512] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:03.512] frame process finished the id is: 74 the obs is:0
[18:44:03.622] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:68.414476 ,While minimum is: 10.000000 KLT tracked: 533
[18:44:03.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:03.622] frame process finished the id is: 75 the obs is:0
[18:44:03.674] Odometry x=-0.013076, y=0.647027, theta=0.049776
[18:44:03.735] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:67.421060 ,While minimum is: 10.000000 KLT tracked: 533
[18:44:03.735] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:03.735] frame process finished the id is: 76 the obs is:0
[18:44:03.841] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:68.500216 ,While minimum is: 10.000000 KLT tracked: 533
[18:44:03.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:03.841] frame process finished the id is: 77 the obs is:0
[18:44:03.926] Odometry x=-0.013565, y=0.666979, theta=0.060852
[18:44:03.948] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:69.755903 ,While minimum is: 10.000000 KLT tracked: 533
[18:44:03.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:03.948] frame process finished the id is: 78 the obs is:0
[18:44:04.064] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:69.363787 ,While minimum is: 10.000000 KLT tracked: 533
[18:44:04.064] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:04.064] frame process finished the id is: 79 the obs is:0
[18:44:04.171] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:74.502750 ,While minimum is: 10.000000 KLT tracked: 533
[18:44:04.171] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:04.171] frame process finished the id is: 80 the obs is:0
[18:44:04.255] Odometry x=-0.014746, y=0.685934, theta=0.062709
[18:44:04.279] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:71.887873 ,While minimum is: 10.000000 KLT tracked: 533
[18:44:04.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:04.279] frame process finished the id is: 81 the obs is:0
[18:44:04.380] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:72.958960 ,While minimum is: 10.000000 KLT tracked: 533
[18:44:04.380] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:04.380] frame process finished the id is: 82 the obs is:0
[18:44:04.421] Odometry x=-0.015977, y=0.704969, theta=0.065162
[18:44:04.481] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:73.652213 ,While minimum is: 10.000000 KLT tracked: 532
[18:44:04.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:04.481] frame process finished the id is: 83 the obs is:0
[18:44:04.582] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:78.190707 ,While minimum is: 10.000000 KLT tracked: 531
[18:44:04.582] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:04.582] frame process finished the id is: 84 the obs is:0
[18:44:04.684] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:79.204154 ,While minimum is: 10.000000 KLT tracked: 529
[18:44:04.684] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:04.684] frame process finished the id is: 85 the obs is:0
[18:44:04.726] Odometry x=-0.017033, y=0.724034, theta=0.070960
[18:44:04.784] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:87.795534 ,While minimum is: 10.000000 KLT tracked: 508
[18:44:04.784] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:04.784] frame process finished the id is: 86 the obs is:0
[18:44:04.885] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:89.313496 ,While minimum is: 10.000000 KLT tracked: 503
[18:44:04.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:04.885] frame process finished the id is: 87 the obs is:0
[18:44:04.926] Odometry x=-0.018922, y=0.742870, theta=0.078247
[18:44:04.986] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:92.037097 ,While minimum is: 10.000000 KLT tracked: 501
[18:44:04.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:04.986] frame process finished the id is: 88 the obs is:0
[18:44:05.084] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:87.494338 ,While minimum is: 10.000000 KLT tracked: 498
[18:44:05.084] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:05.084] frame process finished the id is: 89 the obs is:0
[18:44:05.177] Odometry x=-0.020178, y=0.762759, theta=0.085316
[18:44:05.183] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:85.709740 ,While minimum is: 10.000000 KLT tracked: 498
[18:44:05.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:05.183] frame process finished the id is: 90 the obs is:0
[18:44:05.285] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:84.084772 ,While minimum is: 10.000000 KLT tracked: 498
[18:44:05.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:05.285] frame process finished the id is: 91 the obs is:0
[18:44:05.383] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:85.905853 ,While minimum is: 10.000000 KLT tracked: 498
[18:44:05.383] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:05.383] frame process finished the id is: 92 the obs is:0
[18:44:05.430] Odometry x=-0.021667, y=0.781776, theta=0.077609
[18:44:05.483] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.907759 ,While minimum is: 10.000000 KLT tracked: 498
[18:44:05.483] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:05.483] frame process finished the id is: 93 the obs is:0
[18:44:05.585] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:82.192528 ,While minimum is: 10.000000 KLT tracked: 498
[18:44:05.585] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:05.585] frame process finished the id is: 94 the obs is:0
[18:44:05.661] Odometry x=-0.023119, y=0.801038, theta=0.079648
[18:44:05.719] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.814438 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:05.719] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:05.719] frame process finished the id is: 95 the obs is:0
[18:44:05.829] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.546939 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:05.829] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:05.829] frame process finished the id is: 96 the obs is:0
[18:44:05.916] Odometry x=-0.024886, y=0.819996, theta=0.088929
[18:44:05.952] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:84.416801 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:05.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:05.952] frame process finished the id is: 97 the obs is:0
[18:44:06.067] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:79.159363 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:06.068] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:06.068] frame process finished the id is: 98 the obs is:0
[18:44:06.176] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:77.842426 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:06.176] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:06.176] frame process finished the id is: 99 the obs is:0
[18:44:06.280] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.825120 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:06.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:06.280] frame process finished the id is: 100 the obs is:0
[18:44:06.386] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.682399 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:06.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:06.386] frame process finished the id is: 101 the obs is:0
[18:44:06.499] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.249066 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:06.499] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:06.499] frame process finished the id is: 102 the obs is:0
[18:44:06.608] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.278565 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:06.608] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:06.608] frame process finished the id is: 103 the obs is:0
[18:44:06.718] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.291165 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:06.718] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:06.718] frame process finished the id is: 104 the obs is:0
[18:44:06.826] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.305568 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:06.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:06.826] frame process finished the id is: 105 the obs is:0
[18:44:06.931] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.277216 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:06.931] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:06.931] frame process finished the id is: 106 the obs is:0
[18:44:07.036] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.215424 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:07.036] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:07.036] frame process finished the id is: 107 the obs is:0
[18:44:07.139] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.296530 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:07.139] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:07.139] frame process finished the id is: 108 the obs is:0
[18:44:07.238] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.259232 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:07.238] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:07.238] frame process finished the id is: 109 the obs is:0
[18:44:07.337] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.371327 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:07.338] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:07.338] frame process finished the id is: 110 the obs is:0
[18:44:07.436] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.282695 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:07.436] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:07.436] frame process finished the id is: 111 the obs is:0
[18:44:07.536] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.209178 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:07.536] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:07.536] frame process finished the id is: 112 the obs is:0
[18:44:07.635] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.226372 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:07.635] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:07.635] frame process finished the id is: 113 the obs is:0
[18:44:07.690] Odometry x=-0.024742, y=0.819510, theta=0.082229
[18:44:07.733] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.231785 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:07.733] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:07.733] frame process finished the id is: 114 the obs is:0
[18:44:07.832] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.266204 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:07.832] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:07.832] frame process finished the id is: 115 the obs is:0
[18:44:07.931] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.271810 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:07.931] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:07.931] frame process finished the id is: 116 the obs is:0
[18:44:07.946] Odometry x=-0.024750, y=0.819570, theta=0.071607
[18:44:08.030] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.166279 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.030] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.030] frame process finished the id is: 117 the obs is:0
[18:44:08.130] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:83.228068 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.130] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.130] frame process finished the id is: 118 the obs is:0
[18:44:08.228] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:80.210761 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.228] frame process finished the id is: 119 the obs is:0
[18:44:08.252] Odometry x=-0.024739, y=0.819708, theta=0.014334
[18:44:08.327] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:72.799543 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.328] frame process finished the id is: 120 the obs is:0
[18:44:08.430] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:59.758386 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.430] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.430] frame process finished the id is: 121 the obs is:0
[18:44:08.439] Odometry x=-0.024762, y=0.819704, theta=-0.115063
[18:44:08.533] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:45.123949 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.533] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.533] frame process finished the id is: 122 the obs is:0
[18:44:08.635] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:34.898259 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.635] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.635] frame process finished the id is: 123 the obs is:0
[18:44:08.683] Odometry x=-0.024779, y=0.819797, theta=-0.254018
[18:44:08.737] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:33.247118 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.737] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.737] frame process finished the id is: 124 the obs is:0
[18:44:08.838] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:49.569852 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.838] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.838] frame process finished the id is: 125 the obs is:0
[18:44:08.938] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.040054 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:08.938] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:08.938] frame process finished the id is: 126 the obs is:0
[18:44:09.041] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:64.907437 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.041] frame process finished the id is: 127 the obs is:0
[18:44:09.141] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.341845 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.141] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.141] frame process finished the id is: 128 the obs is:0
[18:44:09.240] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.202244 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.240] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.240] frame process finished the id is: 129 the obs is:0
[18:44:09.339] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.192144 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.339] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.339] frame process finished the id is: 130 the obs is:0
[18:44:09.438] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.921301 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.438] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.438] frame process finished the id is: 131 the obs is:0
[18:44:09.539] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.828723 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.539] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.539] frame process finished the id is: 132 the obs is:0
[18:44:09.642] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.803860 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.642] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.642] frame process finished the id is: 133 the obs is:0
[18:44:09.742] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.814957 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.742] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.742] frame process finished the id is: 134 the obs is:0
[18:44:09.841] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.861349 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.841] frame process finished the id is: 135 the obs is:0
[18:44:09.931] Odometry x=-0.024774, y=0.819817, theta=-0.304459
[18:44:09.956] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.891217 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:09.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:09.956] frame process finished the id is: 136 the obs is:0
[18:44:10.056] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.793371 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:10.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:10.056] frame process finished the id is: 137 the obs is:0
[18:44:10.157] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.883318 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:10.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:10.157] frame process finished the id is: 138 the obs is:0
[18:44:10.246] Odometry x=-0.024489, y=0.820717, theta=-0.303075
[18:44:10.310] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.906476 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:10.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:10.310] frame process finished the id is: 139 the obs is:0
[18:44:10.429] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:65.308425 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:10.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:10.429] frame process finished the id is: 140 the obs is:0
[18:44:10.460] Odometry x=-0.022005, y=0.828790, theta=-0.296761
[18:44:10.547] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:61.403862 ,While minimum is: 10.000000 KLT tracked: 497
[18:44:10.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[18:44:10.547] frame process finished the id is: 141 the obs is:0
[18:44:10.651] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimu
[19:28:00.544] Init: frame zero: 0.000000, 0.000000 0.000000
[19:28:00.544] Init: Selected first frame.
[19:28:00.544] frame process finished the id is: 0 the obs is:0
[19:28:00.571] Init: px average disparity is:0.028000 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:00.571] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:00.571] frame process finished the id is: 1 the obs is:0
[19:28:00.665] Init: px average disparity is:0.028622 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:00.665] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:00.665] frame process finished the id is: 2 the obs is:0
[19:28:00.778] Init: px average disparity is:0.030451 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:00.778] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:00.778] frame process finished the id is: 3 the obs is:0
[19:28:00.879] Init: px average disparity is:0.032691 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:00.879] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:00.879] frame process finished the id is: 4 the obs is:0
[19:28:00.979] Init: px average disparity is:0.024697 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:00.979] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:00.979] frame process finished the id is: 5 the obs is:0
[19:28:01.077] Init: px average disparity is:0.038583 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:01.077] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:01.077] frame process finished the id is: 6 the obs is:0
[19:28:01.167] Init: px average disparity is:0.028484 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:01.167] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:01.167] frame process finished the id is: 7 the obs is:0
[19:28:01.261] Init: px average disparity is:0.035371 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:01.261] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:01.261] frame process finished the id is: 8 the obs is:0
[19:28:01.363] Init: px average disparity is:0.033589 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:01.363] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:01.363] frame process finished the id is: 9 the obs is:0
[19:28:01.464] Init: px average disparity is:0.034850 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:01.464] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:01.464] frame process finished the id is: 10 the obs is:0
[19:28:01.564] Init: px average disparity is:0.040350 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:01.564] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:01.564] frame process finished the id is: 11 the obs is:0
[19:28:01.673] Init: px average disparity is:0.032975 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:01.674] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:01.674] frame process finished the id is: 12 the obs is:0
[19:28:01.777] Init: px average disparity is:0.031391 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:01.777] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:01.777] frame process finished the id is: 13 the obs is:0
[19:28:01.862] Init: px average disparity is:0.039691 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:01.862] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:01.862] frame process finished the id is: 14 the obs is:0
[19:28:01.931] Odometry x=0.000000, y=0.000000, theta=-0.000000
[19:28:01.973] Init: px average disparity is:0.042275 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:01.973] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:01.973] frame process finished the id is: 15 the obs is:0
[19:28:02.059] Init: px average disparity is:0.031575 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:02.059] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:02.059] frame process finished the id is: 16 the obs is:0
[19:28:02.154] Odometry x=0.000002, y=0.019216, theta=0.000001
[19:28:02.166] Init: px average disparity is:0.146645 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:02.166] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:02.166] frame process finished the id is: 17 the obs is:0
[19:28:02.263] Init: px average disparity is:6.448189 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:02.263] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:02.263] frame process finished the id is: 18 the obs is:0
[19:28:02.367] Init: px average disparity is:4.621130 ,While minimum is: 10.000000 KLT tracked : 910
[19:28:02.367] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:02.367] frame process finished the id is: 19 the obs is:0
[19:28:02.422] Odometry x=-0.000092, y=0.051782, theta=0.000771
[19:28:02.470] Init: px average disparity is:4.932254 ,While minimum is: 10.000000 KLT tracked : 909
[19:28:02.470] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:02.470] frame process finished the id is: 20 the obs is:0
[19:28:02.567] Init: px average disparity is:9.764128 ,While minimum is: 10.000000 KLT tracked : 908
[19:28:02.567] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:02.567] frame process finished the id is: 21 the obs is:0
[19:28:02.698] Odometry x=-0.000100, y=0.082531, theta=-0.000075
[19:28:02.743] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:12.609737 ,While minimum is: 10.000000 KLT tracked: 908
[19:28:02.743] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:02.743] frame process finished the id is: 22 the obs is:0
[19:28:02.840] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:15.638974 ,While minimum is: 10.000000 KLT tracked: 900
[19:28:02.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:02.840] frame process finished the id is: 23 the obs is:0
[19:28:02.906] Odometry x=0.000308, y=0.112369, theta=0.001281
[19:28:02.942] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:19.774255 ,While minimum is: 10.000000 KLT tracked: 900
[19:28:02.942] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:02.942] frame process finished the id is: 24 the obs is:0
[19:28:03.045] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:29.046910 ,While minimum is: 10.000000 KLT tracked: 900
[19:28:03.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:03.045] frame process finished the id is: 25 the obs is:0
[19:28:03.147] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:27.210892 ,While minimum is: 10.000000 KLT tracked: 900
[19:28:03.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:03.147] frame process finished the id is: 26 the obs is:0
[19:28:03.211] Odometry x=-0.000121, y=0.141403, theta=0.004267
[19:28:03.258] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:28.408077 ,While minimum is: 10.000000 KLT tracked: 899
[19:28:03.258] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:03.258] frame process finished the id is: 27 the obs is:0
[19:28:03.360] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:33.824593 ,While minimum is: 10.000000 KLT tracked: 899
[19:28:03.360] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:03.360] frame process finished the id is: 28 the obs is:0
[19:28:03.438] Odometry x=-0.000330, y=0.170477, theta=0.008711
[19:28:03.467] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:40.868326 ,While minimum is: 10.000000 KLT tracked: 896
[19:28:03.467] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:03.467] frame process finished the id is: 29 the obs is:0
[19:28:03.576] Init: Homography RANSAC (inlier) is:25 ,While 40 inliers minimum required. px average disparity is:45.785459 ,While minimum is: 10.000000 KLT tracked: 892
[19:28:03.576] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:03.576] frame process finished the id is: 30 the obs is:0
[19:28:03.675] Odometry x=-0.000366, y=0.177713, theta=0.005982
[19:28:03.687] Init: Homography RANSAC (inlier) is:11 ,While 40 inliers minimum required. px average disparity is:45.251712 ,While minimum is: 10.000000 KLT tracked: 839
[19:28:03.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:03.687] frame process finished the id is: 31 the obs is:0
[19:28:03.795] Init: Homography RANSAC (inlier) is:4 ,While 40 inliers minimum required. px average disparity is:42.530751 ,While minimum is: 10.000000 KLT tracked: 795
[19:28:03.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:03.795] frame process finished the id is: 32 the obs is:0
[19:28:03.903] Init: Homography RANSAC (inlier) is:4 ,While 40 inliers minimum required. px average disparity is:46.245754 ,While minimum is: 10.000000 KLT tracked: 770
[19:28:03.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:03.903] frame process finished the id is: 33 the obs is:0
[19:28:03.933] Odometry x=-0.000601, y=0.199063, theta=0.017318
[19:28:04.007] Init: Homography RANSAC (inlier) is:4 ,While 40 inliers minimum required. px average disparity is:44.117241 ,While minimum is: 10.000000 KLT tracked: 765
[19:28:04.007] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:04.007] frame process finished the id is: 34 the obs is:0
[19:28:04.115] Init: Homography RANSAC (inlier) is:4 ,While 40 inliers minimum required. px average disparity is:48.767037 ,While minimum is: 10.000000 KLT tracked: 764
[19:28:04.115] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:04.115] frame process finished the id is: 35 the obs is:0
[19:28:04.160] Odometry x=-0.000269, y=0.225524, theta=0.018765
[19:28:04.224] Init: Homography RANSAC (inlier) is:4 ,While 40 inliers minimum required. px average disparity is:54.185746 ,While minimum is: 10.000000 KLT tracked: 759
[19:28:04.224] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:04.224] frame process finished the id is: 36 the obs is:0
[19:28:04.337] Init: Homography RANSAC (inlier) is:4 ,While 40 inliers minimum required. px average disparity is:50.618221 ,While minimum is: 10.000000 KLT tracked: 749
[19:28:04.337] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:04.337] frame process finished the id is: 37 the obs is:0
[19:28:04.395] Odometry x=-0.000756, y=0.252870, theta=0.019000
[19:28:04.448] Init: Homography RANSAC (inlier) is:4 ,While 40 inliers minimum required. px average disparity is:44.350941 ,While minimum is: 10.000000 KLT tracked: 749
[19:28:04.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:04.448] frame process finished the id is: 38 the obs is:0
[19:28:04.649] Odometry x=-0.000665, y=0.279803, theta=0.010190
[19:28:04.674] Init: Homography RANSAC (inlier) is:4 ,While 40 inliers minimum required. px average disparity is:84.088275 ,While minimum is: 10.000000 KLT tracked: 735
[19:28:04.674] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:04.674] frame process finished the id is: 39 the obs is:0
[19:28:04.793] Init: Homography RANSAC (inlier) is:4 ,While 40 inliers minimum required. px average disparity is:41.635177 ,While minimum is: 10.000000 KLT tracked: 713
[19:28:04.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:04.793] frame process finished the id is: 40 the obs is:0
[19:28:04.905] Odometry x=-0.000737, y=0.305987, theta=-0.005496
[19:28:04.905] Init: Homography RANSAC (inlier) is:4 ,While 40 inliers minimum required. px average disparity is:41.988194 ,While minimum is: 10.000000 KLT tracked: 710
[19:28:04.905] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:04.905] frame process finished the id is: 41 the obs is:0
[19:28:05.022] Init: Homography RANSAC (inlier) is:4 ,While 40 inliers minimum required. px average disparity is:49.899800 ,While minimum is: 10.000000 KLT tracked: 710
[19:28:05.022] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:05.022] frame process finished the id is: 42 the obs is:0
[19:28:05.131] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:50.357418 ,While minimum is: 10.000000 KLT tracked: 710
[19:28:05.131] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:05.131] frame process finished the id is: 43 the obs is:0
[19:28:05.240] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.648548 ,While minimum is: 10.000000 KLT tracked: 710
[19:28:05.240] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:05.240] frame process finished the id is: 44 the obs is:0
[19:28:05.241] Odometry x=-0.000167, y=0.330327, theta=-0.005820
[19:28:05.349] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.862093 ,While minimum is: 10.000000 KLT tracked: 710
[19:28:05.349] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:05.349] frame process finished the id is: 45 the obs is:0
[19:28:05.406] Odometry x=-0.000024, y=0.354016, theta=-0.010826
[19:28:05.459] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:54.817687 ,While minimum is: 10.000000 KLT tracked: 708
[19:28:05.459] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:28:05.459] frame process finished the id is: 46 the obs is:0
[19:28:05.567] Init finished: Homography RANSAC (inlier) is:120 ,While 40 inliers minimum required. px average disparity is:58.916648 ,While minimum is: 10.000000 KLT tracked: 702
[19:28:05.567] Init: distance between the first and current frame is x:0.000584 ,z=0.398551,angle between two frames: -0.011914
[19:28:05.567] Init: Selected Second frame. The number of features: 120 depth mean:0.804117 min:0.661109
[19:28:05.567] frame process finished the id is: 47 the obs is:120
[19:28:05.655] Odometry x=0.000584, y=0.398551, theta=-0.011914
[19:28:05.711] After Reprojection Map nMatches:66 ,distance between ekf and vo x:-0.002691 ,z=0.003572,angle between two frames:0.000513
[19:28:05.711] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =63 error init =0.011675 error end=0.011675
[19:28:05.711] After pose optimization, distance between ekf and vo x:-0.002691 ,z=0.003572,angle between two frames:0.000513
[19:28:05.711] Update EKF and 3D points the number of feature in the new frame: 63 and number of obs: 63
[19:28:05.898] Odometry x=-0.000766, y=0.414196, theta=-0.012251
[19:28:06.174] Odometry x=-0.000364, y=0.431910, theta=-0.003348
[19:28:06.406] Odometry x=-0.000691, y=0.448232, theta=0.007339
[19:28:06.662] Odometry x=-0.000780, y=0.464876, theta=0.014807
[19:28:06.914] Odometry x=-0.000127, y=0.482724, theta=0.011744
[19:28:07.218] Odometry x=-0.000576, y=0.502591, theta=0.027849
[19:28:07.391] Odometry x=-0.001454, y=0.523798, theta=0.040468
[19:28:07.678] Odometry x=-0.001476, y=0.542960, theta=0.005678
[19:28:07.889] Odometry x=-0.003230, y=0.560989, theta=0.006729
[19:28:08.149] Odometry x=-0.003342, y=0.579302, theta=0.009044
[19:28:08.413] Odometry x=-0.003707, y=0.596976, theta=0.011482
[19:28:08.643] Odometry x=-0.004269, y=0.615413, theta=0.032369
[19:28:08.895] Odometry x=-0.004637, y=0.633564, theta=0.035104
[19:28:09.225] Odometry x=-0.005352, y=0.652689, theta=0.039644
[19:28:09.390] Odometry x=-0.007499, y=0.671212, theta=0.053890
[19:28:09.695] Odometry x=-0.009178, y=0.689845, theta=0.062627
[19:28:09.895] Odometry x=-0.010367, y=0.708597, theta=0.055109
[19:28:10.146] Odometry x=-0.011561, y=0.728879, theta=0.050021
[19:28:10.399] Odometry x=-0.012552, y=0.748496, theta=0.059955
[19:28:10.633] Odometry x=-0.013460, y=0.767621, theta=0.048468
[19:28:10.885] Odometry x=-0.014374, y=0.786664, theta=0.048389
[19:28:12.659] Odometry x=-0.014732, y=0.786784, theta=0.037265
[19:28:12.916] Odometry x=-0.014735, y=0.786846, theta=0.026595
[19:28:13.221] Odometry x=-0.014714, y=0.786984, theta=-0.030655
[19:28:13.409] Odometry x=-0.014734, y=0.786983, theta=-0.160037
[19:28:13.652] Odometry x=-0.014741, y=0.787062, theta=-0.299563
[19:28:14.901] Odometry x=-0.014792, y=0.787197, theta=-0.346805
[19:28:15.215] Odometry x=-0.014477, y=0.788070, theta=-0.345217
[19:28:15.429] Odometry x=-0.011778, y=0.795802, theta=-0.338574
[19:28:15.653] Odometry x=-0.007457, y=0.808514, theta=-0.329329
[19:28:15.897] Odometry x=-0.003635, y=0.820711, theta=-0.326451
[19:28:16.189] Odometry x=0.000603, y=0.833130, theta=-0.317569
[19:28:16.407] Odometry x=0.005390, y=0.844615, theta=-0.314413
[19:28:16.693] Odometry x=0.009433, y=0.857543, theta=-0.302888
[19:28:16.926] Odometry x=0.013032, y=0.870798, theta=-0.312776
[19:28:17.229] Odometry x=0.016872, y=0.883927, theta=-0.316553
[19:28:17.390] Odometry x=0.021508, y=0.897179, theta=-0.328496
[19:28:17.646] Odometry x=0.025985, y=0.910147, theta=-0.318655
[19:28:17.933] Odometry x=0.030748, y=0.922831, theta=-0.315343
[19:28:18.159] Odometry x=0.035317, y=0.936243, theta=-0.303064
[19:28:18.411] Odometry x=0.039357, y=0.949135, theta=-0.309195
[19:28:18.650] Odometry x=0.043743, y=0.962085, theta=-0.325061
[19:28:18.902] Odometry x=0.048119, y=0.974893, theta=-0.345218
[19:28:19.195] Odometry x=0.052601, y=0.987858, theta=-0.356850
[19:28:19.428] Odometry x=0.057320, y=1.000638, theta=-0.354128
[19:28:19.657] Odometry x=0.061888, y=1.013320, theta=-0.353560
[19:28:19.889] Odometry x=0.066644, y=1.026206, theta=-0.356728
[19:28:20.155] Odometry x=0.071662, y=1.039174, theta=-0.366122
[19:28:20.410] Odometry x=0.076973, y=1.052373, theta=-0.370361
[19:28:20.662] Odometry x=0.082032, y=1.065729, theta=-0.373116
[19:28:20.884] Odometry x=0.087619, y=1.079151, theta=-0.378385
[19:28:21.248] Odometry x=0.092936, y=1.094327, theta=-0.386139
[19:28:21.422] Odometry x=0.098607, y=1.107631, theta=-0.381366
[19:28:21.659] Odometry x=0.104053, y=1.121403, theta=-0.372236
[19:28:21.896] Odometry x=0.109874, y=1.134898, theta=-0.379703
[19:28:22.146] Odometry x=0.115295, y=1.148567, theta=-0.374574
[19:28:22.405] Odometry x=0.120648, y=1.162361, theta=-0.369529
[19:28:22.659] Odometry x=0.126082, y=1.176216, theta=-0.368293
[19:28:22.885] Odometry x=0.131391, y=1.189967, theta=-0.374319
[19:28:23.229] Odometry x=0.136677, y=1.203786, theta=-0.364843
[19:28:23.403] Odometry x=0.141930, y=1.218030, theta=-0.362463
[19:28:23.651] Odometry x=0.147572, y=1.233043, theta=-0.361216
[19:28:23.926] Odometry x=0.154003, y=1.248341, theta=-0.313484
[19:28:24.152] Odometry x=0.158614, y=1.262592, theta=-0.315226
[19:28:24.401] Odometry x=0.163060, y=1.276930, theta=-0.301021
[19:28:24.661] Odometry x=0.166992, y=1.291585, theta=-0.288658
[19:28:24.912] Odometry x=0.170845, y=1.306514, theta=-0.240399
[19:28:25.191] Odometry x=0.174033, y=1.321038, theta=-0.232312
[19:28:25.392] Odometry x=0.177123, y=1.335206, theta=-0.240145
[19:28:25.641] Odometry x=0.180709, y=1.350492, theta=-0.218356
[19:28:25.906] Odometry x=0.184205, y=1.364361, theta=-0.214896
[19:28:26.133] Odometry x=0.186993, y=1.379151, theta=-0.189682
[19:28:26.380] Odometry x=0.189694, y=1.393789, theta=-0.185329
[19:28:26.679] Odometry x=0.192811, y=1.408335, theta=-0.228904
[19:28:26.901] Odometry x=0.191781, y=1.421861, theta=-0.203093
[19:28:27.211] Odometry x=0.194976, y=1.437897, theta=-0.214666
[19:28:27.402] Odometry x=0.198044, y=1.451559, theta=-0.229617
[19:28:27.643] Odometry x=0.200726, y=1.466107, theta=-0.214323
[19:28:27.921] Odometry x=0.203811, y=1.480816, theta=-0.206791
[19:28:28.155] Odometry x=0.207169, y=1.496071, theta=-0.223921
[19:28:28.388] Odometry x=0.210049, y=1.510738, theta=-0.237984
[19:28:29.653] Odometry x=0.210087, y=1.510743, theta=-0.247993
[19:28:29.927] Odometry x=0.210000, y=1.514475, theta=-0.246545
[19:28:30.167] Odometry x=0.211973, y=1.522375, theta=-0.245826
[19:28:30.394] Odometry x=0.214072, y=1.531986, theta=-0.237065
[19:28:30.633] Odometry x=0.216158, y=1.542894, theta=-0.225563
[19:28:30.902] Odometry x=0.218587, y=1.553608, theta=-0.225004
[19:28:31.224] Odometry x=0.221011, y=1.564216, theta=-0.228020
[19:28:31.407] Odometry x=0.222366, y=1.574235, theta=-0.196647
[19:28:31.656] Odometry x=0.224289, y=1.585029, theta=-0.194526
[19:28:31.921] Odometry x=0.226309, y=1.595703, theta=-0.187830
[19:28:32.163] Odometry x=0.227605, y=1.608178, theta=-0.183067
[19:28:32.418] Odometry x=0.229415, y=1.618849, theta=-0.169605
[19:28:32.636] Odometry x=0.230368, y=1.628843, theta=-0.137587
[19:28:32.908] Odometry x=0.231606, y=1.639556, theta=-0.125349
[19:28:33.179] Odometry x=0.233059, y=1.652080, theta=-0.121847
[19:28:33.409] Odometry x=0.234187, y=1.662956, theta=-0.114440
[19:28:33.667] Odometry x=0.235171, y=1.673324, theta=-0.136917
[19:28:33.883] Odometry x=0.236728, y=1.684191, theta=-0.142717
[19:28:34.153] Odometry x=0.237815, y=1.695215, theta=-0.100672
[19:28:34.383] Odometry x=0.238603, y=1.706758, theta=-0.101466
[19:28:34.641] Odometry x=0.239792, y=1.718095, theta=-0.112099
[19:28:35.920] Odometry x=0.239833, y=1.718140, theta=-0.125450
[19:28:36.159] Odometry x=0.239488, y=1.718355, theta=-0.127166
[19:28:36.415] Odometry x=0.239361, y=1.718448, theta=-0.224161
[19:28:36.663] Odometry x=0.239195, y=1.718872, theta=-0.373897
[19:28:36.912] Odometry x=0.239237, y=1.719014, theta=-0.544599
[19:28:37.216] Odometry x=0.239480, y=1.720055, theta=-0.734177
[19:28:38.655] Odometry x=0.238943, y=1.720580, theta=-0.803106
[19:28:38.895] Odometry x=0.238823, y=1.721126, theta=-0.804011
[19:28:39.231] Odometry x=0.238228, y=1.722126, theta=-0.858758
[19:28:39.407] Odometry x=0.238277, y=1.722357, theta=-0.958938
[19:28:39.683] Odometry x=0.238307, y=1.722417, theta=-1.059725
[19:28:41.206] Odometry x=0.237733, y=1.723751, theta=-1.090408
[19:28:41.396] Odometry x=0.237754, y=1.723762, theta=-1.131277
[19:28:41.642] Odometry x=0.238097, y=1.723718, theta=-1.220012
[19:28:41.908] Odometry x=0.239357, y=1.723813, theta=-1.341413
[19:28:42.142] Odometry x=0.239392, y=1.723794, theta=-1.442040
[19:28:42.421] Odometry x=0.239415, y=1.723773, theta=-1.526152
[19:28:42.659] Odometry x=0.239430, y=1.723764, theta=-1.607645
[19:28:43.648] Odometry x=0.239486, y=1.723747, theta=-1.608620
[19:28:43.903] Odometry x=0.244950, y=1.723509, theta=-1.606985
[19:28:44.132] Odometry x=0.262781, y=1.722148, theta=-1.602667
[19:28:44.410] Odometry x=0.281349, y=1.721493, theta=-1.597822
[19:28:44.652] Odometry x=0.303581, y=1.719717, theta=-1.599067
[19:28:44.884] Odometry x=0.321272, y=1.718737, theta=-1.607693
[19:28:46.654] Odometry x=0.321436, y=1.718799, theta=-1.612539
[19:28:46.899] Odometry x=0.325319, y=1.718548, theta=-1.610964
[19:28:47.235] Odometry x=0.332118, y=1.718182, theta=-1.607124
[19:28:47.388] Odometry x=0.339926, y=1.717895, theta=-1.601370
[19:28:47.657] Odometry x=0.348256, y=1.717657, theta=-1.597223
[19:28:47.924] Odometry x=0.356664, y=1.717313, theta=-1.593348
[19:28:48.168] Odometry x=0.365785, y=1.717055, theta=-1.591662
[19:28:48.417] Odometry x=0.375346, y=1.716916, theta=-1.583399
[19:28:48.644] Odometry x=0.385377, y=1.716756, theta=-1.587950
[19:28:48.894] Odometry x=0.395415, y=1.716624, theta=-1.583451
[19:28:49.228] Odometry x=0.405535, y=1.716468, theta=-1.576180
[19:28:49.434] Odometry x=0.415751, y=1.716081, theta=-1.572911
[19:28:49.650] Odometry x=0.425919, y=1.716107, theta=-1.570970
[19:28:49.919] Odometry x=0.436125, y=1.715945, theta=-1.566519
[19:28:50.166] Odometry x=0.446212, y=1.715814, theta=-1.563718
[19:28:51.429] Odometry x=0.446222, y=1.715772, theta=-1.567230
[19:28:51.663] Odometry x=0.446246, y=1.715595, theta=-1.632858
[19:28:51.888] Odometry x=0.445570, y=1.715420, theta=-1.758229
[19:28:52.163] Odometry x=0.445561, y=1.715432, theta=-1.921413
[19:28:52.409] Odometry x=0.445520, y=1.715335, theta=-2.087786
[19:28:53.391] Odometry x=0.445495, y=1.715303, theta=-2.125200
[19:28:53.650] Odometry x=0.445354, y=1.715210, theta=-2.190091
[19:28:53.896] Odometry x=0.445283, y=1.715201, theta=-2.292684
[19:28:54.153] Odometry x=0.445289, y=1.715179, theta=-2.424233
[19:28:54.394] Odometry x=0.445267, y=1.715167, theta=-2.562918
[19:28:54.647] Odometry x=0.445228, y=1.715033, theta=-2.717609
[19:28:54.934] Odometry x=0.445247, y=1.715108, theta=-2.872435
[19:28:56.170] Odometry x=0.445224, y=1.715229, theta=-2.910317
[19:28:56.390] Odometry x=0.445193, y=1.715239, theta=-2.966280
[19:28:56.643] Odometry x=0.445051, y=1.715200, theta=-3.066409
[19:28:56.907] Odometry x=0.444973, y=1.715165, theta=3.075742
[19:28:57.207] Odometry x=0.444943, y=1.715173, theta=2.927180
[19:28:57.396] Odometry x=0.444909, y=1.715131, theta=2.783938
[19:28:59.917] Odometry x=0.444899, y=1.715137, theta=2.744467
[19:29:00.171] Odometry x=0.444880, y=1.715132, theta=2.737634
[19:29:00.390] Odometry x=0.444766, y=1.715166, theta=2.719073
[19:29:00.652] Odometry x=0.444696, y=1.715152, theta=2.689612
[19:29:00.904] Odometry x=0.444774, y=1.715183, theta=2.653217
[19:29:02.171] Odometry x=0.444757, y=1.715192, theta=2.639585
[19:29:02.436] Odometry x=0.444454, y=1.714721, theta=2.640932
[19:29:02.666] Odometry x=0.440164, y=1.706880, theta=2.642633
[19:29:02.929] Odometry x=0.435566, y=1.698418, theta=2.645858
[19:29:03.205] Odometry x=0.430625, y=1.689575, theta=2.642823
[19:29:03.374] Odometry x=0.426099, y=1.681197, theta=2.640165
[19:29:03.653] Odometry x=0.421173, y=1.672484, theta=2.639435
[19:29:03.889] Odometry x=0.416519, y=1.663981, theta=2.641450
[19:29:04.159] Odometry x=0.411638, y=1.655204, theta=2.642112
[19:29:04.578] Odometry x=0.406835, y=1.646409, theta=2.643765
[19:29:04.798] Odometry x=0.402110, y=1.637642, theta=2.647367
[19:29:04.933] Odometry x=0.397948, y=1.629750, theta=2.645253
[19:29:05.381] Odometry x=0.393685, y=1.621931, theta=2.643799
[19:29:05.515] Odometry x=0.389223, y=1.613848, theta=2.645269
[19:29:05.648] Odometry x=0.384653, y=1.605402, theta=2.647015
[19:29:05.899] Odometry x=0.379694, y=1.596602, theta=2.653622
[19:29:06.157] Odometry x=0.375136, y=1.587831, theta=2.663124
[19:29:06.414] Odometry x=0.370407, y=1.578472, theta=2.666334
[19:29:06.640] Odometry x=0.365229, y=1.568246, theta=2.667225
[19:29:06.928] Odometry x=0.360063, y=1.558183, theta=2.668942
[19:29:07.220] Odometry x=0.354127, y=1.547042, theta=2.665148
[19:29:07.421] Odometry x=0.348378, y=1.536061, theta=2.663640
[19:29:07.655] Odometry x=0.342581, y=1.524774, theta=2.667248
[19:29:07.936] Odometry x=0.336560, y=1.513388, theta=2.668075
[19:29:08.154] Odometry x=0.330393, y=1.501995, theta=2.669562
[19:29:08.401] Odometry x=0.324402, y=1.490332, theta=2.667345
[19:29:08.661] Odometry x=0.317957, y=1.478899, theta=2.662252
[19:29:08.908] Odometry x=0.311731, y=1.467213, theta=2.657220
[19:29:09.191] Odometry x=0.305478, y=1.455296, theta=2.658412
[19:29:09.401] Odometry x=0.298877, y=1.442676, theta=2.667856
[19:29:09.668] Odometry x=0.292655, y=1.430670, theta=2.673542
[19:29:09.897] Odometry x=0.287106, y=1.418476, theta=2.704272
[19:29:10.141] Odometry x=0.281612, y=1.406264, theta=2.709624
[19:29:10.411] Odometry x=0.275924, y=1.394141, theta=2.706107
[19:29:10.648] Odometry x=0.269690, y=1.381378, theta=2.705283
[19:29:10.936] Odometry x=0.263852, y=1.368974, theta=2.701928
[19:29:11.245] Odometry x=0.257900, y=1.356386, theta=2.690355
[19:29:11.397] Odometry x=0.251886, y=1.343950, theta=2.689020
[19:29:11.664] Odometry x=0.245908, y=1.331579, theta=2.691845
[19:29:11.888] Odometry x=0.240087, y=1.319124, theta=2.704179
[19:29:12.160] Odometry x=0.234241, y=1.306696, theta=2.701732
[19:29:12.392] Odometry x=0.228394, y=1.294438, theta=2.709111
[19:29:12.639] Odometry x=0.222484, y=1.281788, theta=2.715148
[19:29:12.913] Odometry x=0.216713, y=1.269128, theta=2.712927
[19:29:13.198] Odometry x=0.210645, y=1.256566, theta=2.712614
[19:29:13.402] Odometry x=0.204880, y=1.243939, theta=2.713311
[19:29:13.634] Odometry x=0.198848, y=1.230409, theta=2.719594
[19:29:13.893] Odometry x=0.192984, y=1.217237, theta=2.725188
[19:29:14.158] Odometry x=0.187184, y=1.204425, theta=2.732636
[19:29:14.402] Odometry x=0.181455, y=1.191146, theta=2.736384
[19:29:14.658] Odometry x=0.175501, y=1.177658, theta=2.735344
[19:29:14.915] Odometry x=0.169538, y=1.164905, theta=2.728483
[19:29:15.202] Odometry x=0.163516, y=1.151816, theta=2.725221
[19:29:15.400] Odometry x=0.158422, y=1.137702, theta=2.725131
[19:29:15.640] Odometry x=0.152746, y=1.124690, theta=2.727443
[19:29:15.946] Odometry x=0.146930, y=1.111764, theta=2.719784
[19:29:16.144] Odometry x=0.141504, y=1.098928, theta=2.741038
[19:29:16.416] Odometry x=0.136201, y=1.086280, theta=2.735635
[19:29:16.661] Odometry x=0.130600, y=1.073478, theta=2.732905
[19:29:16.905] Odometry x=0.125103, y=1.060574, theta=2.738787
[19:29:17.216] Odometry x=0.119684, y=1.047590, theta=2.744390
[19:29:17.399] Odometry x=0.113918, y=1.034846, theta=2.730387
[19:29:17.659] Odometry x=0.108256, y=1.021862, theta=2.734787
[19:29:17.924] Odometry x=0.102686, y=1.008870, theta=2.736415
[19:29:18.165] Odometry x=0.097243, y=0.995954, theta=2.741127
[19:29:18.390] Odometry x=0.091747, y=0.983053, theta=2.738523
[19:29:18.648] Odometry x=0.086279, y=0.970060, theta=2.743501
[19:29:18.930] Odometry x=0.080347, y=0.957033, theta=2.741328
[19:29:19.194] Odometry x=0.074783, y=0.944089, theta=2.740127
[19:29:19.423] Odometry x=0.069323, y=0.931139, theta=2.743463
[19:29:19.652] Odometry x=0.063864, y=0.917994, theta=2.745760
[19:29:19.911] Odometry x=0.058542, y=0.904525, theta=2.740760
[19:29:20.161] Odometry x=0.053013, y=0.891427, theta=2.744472
[19:29:20.418] Odometry x=0.047749, y=0.878487, theta=2.753071
[19:29:20.644] Odometry x=0.042462, y=0.865500, theta=2.761823
[19:29:20.898] Odometry x=0.037219, y=0.852112, theta=2.767593
[19:29:21.235] Odometry x=0.031805, y=0.838930, theta=2.767083
[19:29:21.395] Odometry x=0.026711, y=0.825441, theta=2.770711
[19:29:21.663] Odometry x=0.021623, y=0.812380, theta=2.773240
[19:29:21.907] Odometry x=0.016355, y=0.798865, theta=2.773339
[19:29:22.135] Odometry x=0.011048, y=0.785080, theta=2.779453
[19:29:22.404] Odometry x=0.006092, y=0.772254, theta=2.774434
[19:29:22.638] Odometry x=0.001465, y=0.759948, theta=2.775338
[19:29:22.875] Odometry x=-0.003133, y=0.747995, theta=2.790778
[19:29:23.196] Odometry x=-0.008373, y=0.733966, theta=2.793456
[19:29:23.418] Odometry x=-0.012932, y=0.720877, theta=2.785861
[19:29:23.665] Odometry x=-0.016563, y=0.708399, theta=2.784269
[19:29:23.904] Odometry x=-0.021314, y=0.694951, theta=2.789763
[19:29:24.139] Odometry x=-0.026803, y=0.681760, theta=2.794226
[19:29:24.398] Odometry x=-0.031685, y=0.668235, theta=2.802450
[19:29:24.646] Odometry x=-0.036390, y=0.654923, theta=2.803530
[19:29:24.899] Odometry x=-0.041646, y=0.641878, theta=2.807101
[19:29:25.199] Odometry x=-0.046442, y=0.628699, theta=2.792306
[19:29:25.412] Odometry x=-0.051449, y=0.615475, theta=2.781790
[19:29:25.657] Odometry x=-0.056524, y=0.602835, theta=2.768012
[19:29:25.916] Odometry x=-0.061833, y=0.589668, theta=2.766766
[19:29:26.155] Odometry x=-0.066933, y=0.576320, theta=2.779456
[19:29:26.421] Odometry x=-0.072251, y=0.562552, theta=2.798615
[19:29:26.658] Odometry x=-0.076959, y=0.549341, theta=2.801250
[19:29:26.933] Odometry x=-0.081865, y=0.536204, theta=2.783543
[19:29:27.184] Odometry x=-0.086717, y=0.523137, theta=2.784366
[19:29:27.400] Odometry x=-0.091470, y=0.509967, theta=2.795234
[19:29:27.665] Odometry x=-0.095977, y=0.495217, theta=2.789212
[19:29:27.904] Odometry x=-0.101120, y=0.481830, theta=2.782832
[19:29:28.142] Odometry x=-0.105566, y=0.467503, theta=2.802691
[19:29:28.399] Odometry x=-0.110411, y=0.452792, theta=2.817963
[19:29:28.666] Odometry x=-0.115394, y=0.439266, theta=2.843214
[19:29:28.893] Odometry x=-0.119829, y=0.425379, theta=2.832439
[19:29:29.202] Odometry x=-0.124626, y=0.411452, theta=2.829129
[19:29:31.904] Odometry x=-0.124514, y=0.411472, theta=2.820791
[19:29:32.141] Odometry x=-0.124589, y=0.411377, theta=2.818854
[19:29:32.423] Odometry x=-0.124770, y=0.411145, theta=2.782132
[19:29:32.645] Odometry x=-0.124775, y=0.411148, theta=2.682080
[19:29:32.935] Odometry x=-0.124775, y=0.411148, theta=2.592207
[19:29:33.195] Odometry x=-0.125276, y=0.410837, theta=2.496015
[19:29:33.397] Odometry x=-0.125355, y=0.410849, theta=2.397310
[19:29:33.664] Odometry x=-0.125356, y=0.410852, theta=2.302898
[19:29:33.932] Odometry x=-0.127305, y=0.411108, theta=2.188875
[19:29:34.162] Odometry x=-0.127512, y=0.411138, theta=2.104344
[19:29:34.419] Odometry x=-0.127994, y=0.411149, theta=2.001819
[19:29:34.639] Odometry x=-0.127999, y=0.411164, theta=1.915370
[19:29:34.894] Odometry x=-0.128087, y=0.411360, theta=1.816559
[19:29:35.215] Odometry x=-0.128086, y=0.411365, theta=1.723761
[19:29:35.397] Odometry x=-0.128631, y=0.411238, theta=1.640108
[19:29:35.659] Odometry x=-0.128812, y=0.411348, theta=1.546111
[19:29:36.433] Odometry x=-0.128814, y=0.411347, theta=1.530331
[19:29:36.649] Odometry x=-0.129122, y=0.411552, theta=1.526894
[19:29:36.891] Odometry x=-0.129124, y=0.411556, theta=1.510568
[19:29:37.229] Odometry x=-0.129236, y=0.411459, theta=1.449949
[19:29:38.639] Odometry x=-0.129237, y=0.411457, theta=1.433626
[19:29:38.900] Odometry x=-0.129469, y=0.411525, theta=1.435202
[19:29:39.240] Odometry x=-0.136076, y=0.413897, theta=1.436634
[19:29:39.392] Odometry x=-0.143052, y=0.414910, theta=1.439434
[19:29:39.660] Odometry x=-0.155794, y=0.416621, theta=1.437243
[19:29:39.916] Odometry x=-0.169720, y=0.418497, theta=1.436650
[19:29:40.169] Odometry x=-0.184451, y=0.420550, theta=1.427823
[19:29:40.404] Odometry x=-0.198455, y=0.422198, theta=1.454526
[19:29:40.646] Odometry x=-0.212474, y=0.423627, theta=1.469421
[19:29:40.914] Odometry x=-0.226357, y=0.424988, theta=1.476364
[19:29:41.658] Odometry x=-
GPU_version/vio/include/vio/frame.h
+1 -1
View File
@@ -189,7 +189,7 @@ namespace vio {
void createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& pyr);
/// Get the average depth of the features in the image.
bool getSceneDepth(vio::Map& map, double& depth_mean, double& depth_min);
bool getSceneDepth(vio::Map& map,double& depth_mean, double& depth_min);
};
GPU_version/vio/launch/Px30.launch
+1 -1
View File
@@ -1,6 +1,6 @@
<launch>
<node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" />
<!-- node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" / -->
<!-- Camera topic to subscribe to -->
<param name="vio/cam_topic" value="/CoreNode/grey_img" type="str" />
GPU_version/vio/src/frame.cpp
+4 -2
View File
@@ -15,13 +15,13 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#include <stdexcept>
#include <vio/map.h>
#include <vio/frame.h>
#include <vio/feature.h>
#include <vio/point.h>
#include <vio/config.h>
#include <vio/math_utils.h>
#include <vio/vision.h>
#include <vio/map.h>
namespace vio {
@@ -166,7 +166,7 @@ void Frame::createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& p
}
}
bool Frame::getSceneDepth(vio::Map& map, double& depth_mean, double& depth_min)
bool Frame::getSceneDepth(vio::Map& map,double& depth_mean, double& depth_min)
{
vector<double> depth_vec;
for(auto it=fts_.begin(); it!=fts_.end();)
@@ -180,7 +180,9 @@ bool Frame::getSceneDepth(vio::Map& map, double& depth_mean, double& depth_min)
continue;
}
depth_vec.push_back(z);
++it;
}
++it;
}
if(depth_vec.empty())
{
GPU_version/vio/src/frame_handler_mono.cpp
+3 -3
View File
@@ -122,12 +122,12 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
return RESULT_FAILURE;
}
new_frame_->setKeyframe();
double depth_mean, depth_min;
new_frame_->getSceneDepth(map_, depth_mean, depth_min);
// add frame to map
map_.addKeyframe(new_frame_);
stage_ = STAGE_DEFAULT_FRAME;
klt_homography_init_->reset();
double depth_mean, depth_min;
new_frame_->getSceneDepth(map_,depth_mean, depth_min);
// add frame to map
#if VIO_DEBUG
fprintf(log_,"[%s] Init: Selected Second frame. \t The number of features: %d depth mean:%f min:%f\n",
vio::time_in_HH_MM_SS_MMM().c_str(),new_frame_->fts_.size(),depth_mean,depth_min);