From cf15e3fa15bdd3b24d67754bed63e275ad31a097 Mon Sep 17 00:00:00 2001 From: gfuse Date: Wed, 6 Oct 2021 22:33:54 +0200 Subject: [PATCH] apply some calibration --- GPU_version/vio/depth_filter_log.txt | 912 ++- GPU_version/vio/frame_handler_log.txt | 7862 +++++++++++++++++++--- GPU_version/vio/include/vio/ukf.h | 28 +- GPU_version/vio/param/vo_fast.yaml | 6 +- GPU_version/vio/src/frame.cpp | 4 +- GPU_version/vio/src/global_optimizer.cpp | 3 +- GPU_version/vio/src/math_utils.cpp | 4 +- GPU_version/vio/src/pose_optimizer.cpp | 4 + 8 files changed, 7558 insertions(+), 1265 deletions(-) diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt index 8628c9c..78f8001 100755 --- a/GPU_version/vio/depth_filter_log.txt +++ b/GPU_version/vio/depth_filter_log.txt @@ -1,276 +1,636 @@ -[17:32:11.529] New key frame -[17:32:11.529] BA loop run -[17:32:11.530] init error: 293.060009 -[17:32:11.531] end error: 0.543081 -[17:32:11.639] New key frame -[17:32:11.639] BA loop run -[17:32:11.640] init error: 224.561716 -[17:32:11.642] end error: 0.334719 -[17:32:11.744] New key frame -[17:32:11.744] BA loop run -[17:32:11.744] init error: 283.721961 -[17:32:11.746] end error: 0.053318 -[17:32:11.850] New key frame -[17:32:11.850] BA loop run -[17:32:11.851] init error: 2717.912828 -[17:32:11.852] end error: 0.285626 -[17:32:11.954] New key frame -[17:32:11.954] BA loop run -[17:32:11.954] init error: 142.272482 -[17:32:11.955] end error: 0.000000 -[17:32:12.056] New key frame -[17:32:12.056] BA loop run -[17:32:12.057] init error: 3968.874603 -[17:32:12.058] end error: 0.003010 -[17:32:12.171] New key frame -[17:32:12.171] BA loop run -[17:32:12.171] init error: 1849.367846 -[17:32:12.173] end error: 4.401303 -[17:32:12.300] New key frame -[17:32:12.300] BA loop run -[17:32:12.301] init error: 4652.019044 -[17:32:12.302] end error: 0.032062 -[17:32:12.567] New key frame -[17:32:12.567] BA loop run -[17:32:12.568] init error: 804.137531 -[17:32:12.569] end error: 0.275732 -[17:32:12.823] New key frame -[17:32:12.823] BA loop run -[17:32:12.824] init error: 6970.014359 -[17:32:12.826] end error: 15.113604 -[17:32:12.964] New key frame -[17:32:12.964] BA loop run -[17:32:12.965] init error: 643.455749 -[17:32:12.967] end error: 1.007424 -[17:32:13.113] New key frame -[17:32:13.113] BA loop run -[17:32:13.113] init error: 8491.377665 -[17:32:13.115] end error: 0.375816 -[17:32:13.287] New key frame -[17:32:13.287] BA loop run -[17:32:13.288] init error: 3617.932648 -[17:32:13.292] end error: 1.034106 -[17:32:13.687] New key frame -[17:32:13.687] BA loop run -[17:32:13.688] init error: 1383.953109 -[17:32:13.690] end error: 1.024390 -[17:32:13.883] New key frame -[17:32:13.883] BA loop run -[17:32:13.884] init error: 311.152471 -[17:32:13.887] end error: 0.004976 -[17:32:14.067] New key frame -[17:32:14.067] BA loop run -[17:32:14.068] init error: 1239.284135 -[17:32:14.072] end error: 1.718622 -[17:32:14.239] New key frame -[17:32:14.239] BA loop run -[17:32:14.240] init error: 1349261.364619 -[17:32:14.243] end error: 152.918265 -[17:32:14.417] New key frame -[17:32:14.417] BA loop run -[17:32:14.419] init error: 2033.144800 -[17:32:14.423] end error: 2.082554 -[17:32:14.596] New key frame -[17:32:14.596] BA loop run -[17:32:14.598] init error: 6505.652947 -[17:32:14.604] end error: 1.967117 -[17:32:14.804] New key frame -[17:32:14.804] BA loop run -[17:32:14.806] init error: 1904287.761586 -[17:32:14.812] end error: 15.865157 -[17:32:14.991] New key frame -[17:32:14.991] BA loop run -[17:32:14.993] init error: 16132.101134 -[17:32:15.000] end error: 5.016863 -[17:32:15.208] New key frame -[17:32:15.208] BA loop run -[17:32:15.212] init error: 2506.817955 -[17:32:15.222] end error: 5.123682 -[17:32:15.406] New key frame -[17:32:15.406] BA loop run -[17:32:15.410] init error: 3976.237385 -[17:32:15.422] end error: 12.122728 -[17:32:15.605] New key frame -[17:32:15.605] BA loop run -[17:32:15.610] init error: 2581.216779 -[17:32:15.621] end error: 4.309618 -[17:32:15.797] New key frame -[17:32:15.797] BA loop run -[17:32:15.802] init error: 2637.769728 -[17:32:15.817] end error: 5.058419 -[17:32:15.980] New key frame -[17:32:15.980] BA loop run -[17:32:15.985] init error: 2772.109789 -[17:32:16.296] end error: 3.235702 -[17:32:16.303] New key frame -[17:32:16.303] BA loop run -[17:32:16.310] init error: 5181.702313 -[17:32:16.699] end error: 4.064365 -[17:32:16.827] New key frame -[17:32:16.827] BA loop run -[17:32:16.837] init error: 6619.680182 -[17:32:16.939] end error: 7.017861 -[17:32:17.120] New key frame -[17:32:17.120] BA loop run -[17:32:17.126] init error: 39376.077673 -[17:32:17.449] end error: 48.584416 -[17:32:17.464] New key frame -[17:32:17.464] BA loop run -[17:32:17.470] init error: 19683.568233 -[17:32:17.740] end error: 21.834902 -[17:32:17.933] New key frame -[17:32:17.933] BA loop run -[17:32:17.938] init error: 5263.330444 -[17:32:18.044] end error: 1.357237 -[17:32:18.171] New key frame -[17:32:18.173] BA loop run -[17:32:18.188] init error: 17287.022363 -[17:32:18.457] end error: 1.674178 -[17:32:18.588] New key frame -[17:32:18.588] BA loop run -[17:32:18.596] init error: 3164.369889 -[17:32:18.613] end error: 0.498000 -[17:32:18.780] New key frame -[17:32:18.780] BA loop run -[17:32:18.785] init error: 8751.263701 -[17:32:18.801] end error: 7.103909 -[17:32:18.954] New key frame -[17:32:18.954] BA loop run -[17:32:18.958] init error: 22295055.418845 -[17:32:19.034] end error: 324.929904 -[17:32:19.269] New key frame -[17:32:19.269] BA loop run -[17:32:19.274] init error: 20596.294474 -[17:32:19.286] end error: 3.395402 -[17:32:19.466] New key frame -[17:32:19.466] BA loop run -[17:32:19.470] init error: 2759.294857 -[17:32:19.479] end error: 1.836850 -[17:32:19.667] New key frame -[17:32:19.667] BA loop run -[17:32:19.671] init error: 3714.527072 -[17:32:19.680] end error: 1.254689 -[17:32:19.816] New key frame -[17:32:19.816] BA loop run -[17:32:19.820] init error: 41857486.042550 -[17:32:19.828] end error: 1218.151315 -[17:32:20.010] New key frame -[17:32:20.010] BA loop run -[17:32:20.014] init error: 14315.691767 -[17:32:20.022] end error: 380.350427 -[17:32:20.181] New key frame -[17:32:20.181] BA loop run -[17:32:20.185] init error: 86439.023961 -[17:32:20.193] end error: 2.281035 -[17:32:20.435] New key frame -[17:32:20.435] BA loop run -[17:32:20.438] init error: 28823.595790 -[17:32:20.446] end error: 8.216698 -[17:32:22.021] New key frame -[17:32:22.021] BA loop run -[17:32:22.025] init error: 236619.348348 -[17:32:22.032] end error: 26.177452 -[17:32:23.624] New key frame -[17:32:23.624] BA loop run -[17:32:23.628] init error: 1552.034153 -[17:32:23.635] end error: 0.011546 -[17:32:24.528] New key frame -[17:32:24.528] BA loop run -[17:32:24.531] init error: 81402.950193 -[17:32:24.537] end error: 19.790299 -[17:32:24.681] New key frame -[17:32:24.681] BA loop run -[17:32:24.685] init error: 3855.940068 -[17:32:24.693] end error: 13.655187 -[17:32:29.191] New key frame -[17:32:29.192] BA loop run -[17:32:29.195] init error: 4251.679417 -[17:32:29.203] end error: 0.296954 -[17:32:29.405] New key frame -[17:32:29.405] BA loop run -[17:32:29.409] init error: 31645.590982 -[17:32:29.415] end error: 0.556847 -[17:32:29.547] New key frame -[17:32:29.547] BA loop run -[17:32:29.550] init error: 1671.085976 -[17:32:29.557] end error: 9.806177 -[17:32:29.665] New key frame -[17:32:29.665] BA loop run -[17:32:29.668] init error: 1920.278503 -[17:32:29.675] end error: 0.320177 -[17:32:29.824] New key frame -[17:32:29.824] BA loop run -[17:32:29.828] init error: 7311.655583 -[17:32:29.835] end error: 10.265470 -[17:32:30.194] New key frame -[17:32:30.194] BA loop run -[17:32:30.197] init error: 41972.080368 -[17:32:30.205] end error: 9.416607 -[17:32:30.366] New key frame -[17:32:30.366] BA loop run -[17:32:30.369] init error: 62419.997316 -[17:32:30.377] end error: 38.380967 -[17:32:30.584] New key frame -[17:32:30.584] BA loop run -[17:32:30.588] init error: 2563.682632 -[17:32:30.597] end error: 14.959473 -[17:32:30.750] New key frame -[17:32:30.750] BA loop run -[17:32:30.754] init error: 78368.203596 -[17:32:30.762] end error: 22.649769 -[17:32:30.913] New key frame -[17:32:30.913] BA loop run -[17:32:30.917] init error: 11021.290664 -[17:32:30.925] end error: 32.896074 -[17:32:31.091] New key frame -[17:32:31.091] BA loop run -[17:32:31.096] init error: 33605.372423 -[17:32:31.105] end error: 65.482499 -[17:32:31.260] New key frame -[17:32:31.261] BA loop run -[17:32:31.265] init error: 256897.283445 -[17:32:31.274] end error: 36.913688 -[17:32:31.496] New key frame -[17:32:31.496] BA loop run -[17:32:31.501] init error: 3842.942916 -[17:32:31.515] end error: 41.974868 -[17:32:31.711] New key frame -[17:32:31.711] BA loop run -[17:32:31.717] init error: 1383337.492819 -[17:32:31.729] end error: 214.810498 -[17:32:31.979] New key frame -[17:32:31.979] BA loop run -[17:32:31.986] init error: 2013.300387 -[17:32:32.006] end error: 52.197859 -[17:32:32.247] New key frame -[17:32:32.247] BA loop run -[17:32:32.254] init error: 35168027.265287 -[17:32:32.270] end error: 586.151334 -[17:32:32.512] New key frame -[17:32:32.512] BA loop run -[17:32:32.519] init error: 1994.403783 -[17:32:32.543] end error: 28.194066 -[17:32:32.790] New key frame -[17:32:32.790] BA loop run -[17:32:32.798] init error: 56523.834756 -[17:32:32.819] end error: 38.142485 -[17:32:33.090] New key frame -[17:32:33.090] BA loop run -[17:32:33.098] init error: 21871.686605 -[17:32:33.118] end error: 52.627613 -[17:32:33.348] New key frame -[17:32:33.348] BA loop run -[17:32:33.356] init error: 1575.851870 -[17:32:33.377] end error: 134.901043 -[17:32:34.377] New key frame -[17:32:34.377] BA loop run -[17:32:34.384] init error: 2308.296904 -[17:32:34.405] end error: 9.879097 -[17:32:34.696] New key frame -[17:32:34.696] BA loop run -[17:32:34.705] init error: 909450.535239 -[17:32:34.721] end error: 84.911328 -[17:32:35.003] New key frame -[17:32:35.003] BA loop run -[17:32:35.010] init error: 20285.744194 -[17:32:35.031] end error: 42.106149 +[22:29:46.549] New key frame +[22:29:46.550] BA loop run +[22:29:46.552] init error: -nan +[22:29:46.557] end error: -nan +[22:29:46.660] New key frame +[22:29:46.660] BA loop run +[22:29:46.662] init error: -nan +[22:29:46.667] end error: -nan +[22:29:46.763] New key frame +[22:29:46.763] BA loop run +[22:29:46.766] init error: -nan +[22:29:46.771] end error: -nan +[22:29:46.865] New key frame +[22:29:46.865] BA loop run +[22:29:46.867] init error: -nan +[22:29:46.872] end error: -nan +[22:29:46.962] New key frame +[22:29:46.962] BA loop run +[22:29:46.964] init error: -nan +[22:29:46.969] end error: -nan +[22:29:47.066] New key frame +[22:29:47.066] BA loop run +[22:29:47.068] init error: -nan +[22:29:47.072] end error: -nan +[22:29:47.159] New key frame +[22:29:47.159] BA loop run +[22:29:47.161] init error: -nan +[22:29:47.165] end error: -nan +[22:29:47.254] New key frame +[22:29:47.254] BA loop run +[22:29:47.256] init error: -nan +[22:29:47.259] end error: -nan +[22:29:47.352] New key frame +[22:29:47.353] BA loop run +[22:29:47.355] init error: -nan +[22:29:47.367] end error: -nan +[22:29:47.517] New key frame +[22:29:47.517] BA loop run +[22:29:47.518] init error: -nan +[22:29:47.527] end error: -nan +[22:29:47.693] New key frame +[22:29:47.693] BA loop run +[22:29:47.695] init error: -nan +[22:29:47.720] end error: -nan +[22:29:47.868] New key frame +[22:29:47.868] BA loop run +[22:29:47.869] init error: -nan +[22:29:47.903] end error: -nan +[22:29:48.044] New key frame +[22:29:48.044] BA loop run +[22:29:48.046] init error: -nan +[22:29:48.081] end error: -nan +[22:29:48.309] New key frame +[22:29:48.309] BA loop run +[22:29:48.310] init error: -nan +[22:29:48.611] end error: -nan +[22:29:48.612] New key frame +[22:29:48.612] BA loop run +[22:29:48.613] init error: 15.914324 +[22:29:49.243] end error: 0.029411 +[22:29:49.245] New key frame +[22:29:49.245] BA loop run +[22:29:49.246] init error: 11.262837 +[22:29:49.655] end error: 0.003359 +[22:29:50.503] New key frame +[22:29:50.504] BA loop run +[22:29:50.504] init error: 3.479064 +[22:29:50.505] end error: 0.000004 +[22:31:18.793] New key frame +[22:31:18.793] BA loop run +[22:31:18.794] init error: 11696.693108 +[22:31:18.794] end error: 2.302663 +[22:31:18.888] New key frame +[22:31:18.888] BA loop run +[22:31:18.888] init error: 1239.227021 +[22:31:18.889] end error: 0.000000 +[22:31:19.000] New key frame +[22:31:19.000] BA loop run +[22:31:19.000] init error: 4602.244432 +[22:31:19.001] end error: 0.000004 +[22:31:19.097] New key frame +[22:31:19.097] BA loop run +[22:31:19.097] init error: 753.876451 +[22:31:19.097] end error: 0.364979 +[22:31:19.187] New key frame +[22:31:19.188] BA loop run +[22:31:19.188] init error: 489.018266 +[22:31:19.188] end error: 0.000001 +[22:31:19.385] New key frame +[22:31:19.385] BA loop run +[22:31:19.385] init error: 4919.827797 +[22:31:19.386] end error: 1.670606 +[22:31:19.504] New key frame +[22:31:19.504] BA loop run +[22:31:19.504] init error: 1674659.415647 +[22:31:19.505] end error: 89.302075 +[22:31:19.590] New key frame +[22:31:19.590] BA loop run +[22:31:19.591] init error: 3310.529731 +[22:31:19.591] end error: 10.137941 +[22:31:19.694] New key frame +[22:31:19.694] BA loop run +[22:31:19.694] init error: 1774.557852 +[22:31:19.694] end error: 0.001622 +[22:31:19.879] New key frame +[22:31:19.879] BA loop run +[22:31:19.879] init error: 11939.450031 +[22:31:19.880] end error: 3.465171 +[22:31:19.988] New key frame +[22:31:19.988] BA loop run +[22:31:19.989] init error: 16959.020042 +[22:31:19.989] end error: 7.031975 +[22:31:20.087] New key frame +[22:31:20.087] BA loop run +[22:31:20.087] init error: 1291.617951 +[22:31:20.088] end error: 0.535589 +[22:31:20.174] New key frame +[22:31:20.174] BA loop run +[22:31:20.174] init error: 1090.877340 +[22:31:20.175] end error: 0.000000 +[22:31:20.308] New key frame +[22:31:20.308] BA loop run +[22:31:20.308] init error: 514.202902 +[22:31:20.308] end error: 0.000000 +[22:31:20.375] New key frame +[22:31:20.375] BA loop run +[22:31:20.375] init error: 55999.137403 +[22:31:20.376] end error: 0.292111 +[22:31:20.577] New key frame +[22:31:20.577] BA loop run +[22:31:20.578] init error: 457.175767 +[22:31:20.578] end error: 0.000000 +[22:31:20.806] New key frame +[22:31:20.806] BA loop run +[22:31:20.806] init error: 70.463540 +[22:31:20.806] end error: 0.000000 +[22:31:20.869] New key frame +[22:31:20.869] BA loop run +[22:31:20.870] init error: 96.801227 +[22:31:20.870] end error: 0.000000 +[22:31:21.020] New key frame +[22:31:21.020] BA loop run +[22:31:21.021] init error: 79.855318 +[22:31:21.022] end error: 0.000000 +[22:31:21.140] New key frame +[22:31:21.140] BA loop run +[22:31:21.141] init error: 66.740565 +[22:31:21.142] end error: 0.000000 +[22:31:21.242] New key frame +[22:31:21.242] BA loop run +[22:31:21.242] init error: 506.780274 +[22:31:21.243] end error: 0.000000 +[22:31:21.341] New key frame +[22:31:21.341] BA loop run +[22:31:21.341] init error: 54.567235 +[22:31:21.342] end error: 0.000000 +[22:31:21.447] New key frame +[22:31:21.447] BA loop run +[22:31:21.448] init error: 1.458657 +[22:31:21.448] end error: 0.000000 +[22:31:21.697] New key frame +[22:31:21.697] BA loop run +[22:31:21.697] init error: 11.303527 +[22:31:21.698] end error: 0.000000 +[22:31:21.804] New key frame +[22:31:21.804] BA loop run +[22:31:21.805] init error: 2.341826 +[22:31:21.805] end error: 0.000000 +[22:31:22.017] New key frame +[22:31:22.017] BA loop run +[22:31:22.017] init error: 0.283735 +[22:31:22.017] end error: 0.000000 +[22:31:22.106] New key frame +[22:31:22.106] BA loop run +[22:31:22.106] init error: 0.335039 +[22:31:22.106] end error: 0.000000 +[22:31:22.205] New key frame +[22:31:22.205] BA loop run +[22:31:22.205] init error: 1.167879 +[22:31:22.206] end error: 0.000000 +[22:31:22.332] New key frame +[22:31:22.332] BA loop run +[22:31:22.332] init error: 4.548102 +[22:31:22.333] end error: 0.000000 +[22:31:22.438] New key frame +[22:31:22.438] BA loop run +[22:31:22.439] init error: 81.310648 +[22:31:22.440] end error: 0.000000 +[22:31:22.557] New key frame +[22:31:22.557] BA loop run +[22:31:22.558] init error: 68.456043 +[22:31:22.559] end error: 0.000000 +[22:31:22.658] New key frame +[22:31:22.658] BA loop run +[22:31:22.659] init error: 153.170832 +[22:31:22.660] end error: 0.000000 +[22:31:22.753] New key frame +[22:31:22.753] BA loop run +[22:31:22.754] init error: 332.802449 +[22:31:22.755] end error: 0.000000 +[22:31:22.846] New key frame +[22:31:22.846] BA loop run +[22:31:22.847] init error: 75.240345 +[22:31:22.848] end error: 0.000000 +[22:31:22.934] New key frame +[22:31:22.934] BA loop run +[22:31:22.935] init error: 104.424590 +[22:31:22.935] end error: 0.000000 +[22:31:23.027] New key frame +[22:31:23.027] BA loop run +[22:31:23.028] init error: 284.629228 +[22:31:23.029] end error: 0.000000 +[22:31:23.133] New key frame +[22:31:23.133] BA loop run +[22:31:23.134] init error: 13.221286 +[22:31:23.134] end error: 0.000000 +[22:31:23.221] New key frame +[22:31:23.221] BA loop run +[22:31:23.222] init error: 15.573307 +[22:31:23.222] end error: 0.000000 +[22:31:23.313] New key frame +[22:31:23.313] BA loop run +[22:31:23.313] init error: 11.081408 +[22:31:23.314] end error: 0.000000 +[22:31:23.426] New key frame +[22:31:23.426] BA loop run +[22:31:23.427] init error: 155.448072 +[22:31:23.428] end error: 0.000000 +[22:31:23.520] New key frame +[22:31:23.520] BA loop run +[22:31:23.520] init error: 312.553095 +[22:31:23.521] end error: 0.000000 +[22:31:23.709] New key frame +[22:31:23.709] BA loop run +[22:31:23.709] init error: 65.996668 +[22:31:23.710] end error: 0.000000 +[22:31:23.809] New key frame +[22:31:23.809] BA loop run +[22:31:23.809] init error: 4739.644774 +[22:31:23.810] end error: 0.000000 +[22:31:23.911] New key frame +[22:31:23.911] BA loop run +[22:31:23.912] init error: 140.378159 +[22:31:23.912] end error: 0.000000 +[22:31:24.016] New key frame +[22:31:24.016] BA loop run +[22:31:24.017] init error: 56.065433 +[22:31:24.018] end error: 0.000000 +[22:31:24.111] New key frame +[22:31:24.111] BA loop run +[22:31:24.111] init error: 115.625364 +[22:31:24.112] end error: 0.000000 +[22:31:24.208] New key frame +[22:31:24.208] BA loop run +[22:31:24.208] init error: 501.796825 +[22:31:24.209] end error: 0.000000 +[22:31:24.311] New key frame +[22:31:24.311] BA loop run +[22:31:24.312] init error: 491.890705 +[22:31:24.312] end error: 0.000000 +[22:31:24.425] New key frame +[22:31:24.425] BA loop run +[22:31:24.426] init error: 212.894163 +[22:31:24.426] end error: 0.000000 +[22:31:24.517] New key frame +[22:31:24.517] BA loop run +[22:31:24.518] init error: 1748.696713 +[22:31:24.519] end error: 0.000000 +[22:31:24.609] New key frame +[22:31:24.609] BA loop run +[22:31:24.609] init error: 38.487453 +[22:31:24.610] end error: 0.000000 +[22:31:24.715] New key frame +[22:31:24.715] BA loop run +[22:31:24.716] init error: 117.109507 +[22:31:24.717] end error: 0.000000 +[22:31:24.834] New key frame +[22:31:24.835] BA loop run +[22:31:24.835] init error: 126.315516 +[22:31:24.836] end error: 0.000000 +[22:31:24.940] New key frame +[22:31:24.941] BA loop run +[22:31:24.941] init error: 2278.071738 +[22:31:24.942] end error: 0.000000 +[22:31:25.032] New key frame +[22:31:25.032] BA loop run +[22:31:25.033] init error: 292.094638 +[22:31:25.034] end error: 0.000000 +[22:31:25.131] New key frame +[22:31:25.131] BA loop run +[22:31:25.131] init error: 18.046504 +[22:31:25.132] end error: 0.000000 +[22:31:25.221] New key frame +[22:31:25.222] BA loop run +[22:31:25.222] init error: 15.136323 +[22:31:25.223] end error: 0.000000 +[22:31:25.320] New key frame +[22:31:25.320] BA loop run +[22:31:25.320] init error: 29.173001 +[22:31:25.321] end error: 0.000000 +[22:31:25.600] New key frame +[22:31:25.600] BA loop run +[22:31:25.601] init error: 310.140433 +[22:31:25.602] end error: 0.000000 +[22:31:25.721] New key frame +[22:31:25.721] BA loop run +[22:31:25.721] init error: 333.454276 +[22:31:25.723] end error: 0.000000 +[22:31:25.804] New key frame +[22:31:25.804] BA loop run +[22:31:25.805] init error: 35.690842 +[22:31:25.805] end error: 0.000000 +[22:31:26.052] New key frame +[22:31:26.052] BA loop run +[22:31:26.053] init error: 908.831586 +[22:31:26.054] end error: 0.000000 +[22:31:26.240] New key frame +[22:31:26.241] BA loop run +[22:31:26.241] init error: 3100.573611 +[22:31:26.242] end error: 0.000000 +[22:31:26.337] New key frame +[22:31:26.337] BA loop run +[22:31:26.338] init error: 7.552827 +[22:31:26.339] end error: 0.000000 +[22:31:26.423] New key frame +[22:31:26.423] BA loop run +[22:31:26.424] init error: 49.923934 +[22:31:26.424] end error: 0.000000 +[22:31:26.532] New key frame +[22:31:26.532] BA loop run +[22:31:26.533] init error: 56.848491 +[22:31:26.533] end error: 0.000000 +[22:31:26.656] New key frame +[22:31:26.657] BA loop run +[22:31:26.657] init error: 79.941534 +[22:31:26.658] end error: 0.000000 +[22:31:26.767] New key frame +[22:31:26.767] BA loop run +[22:31:26.768] init error: 122.897459 +[22:31:26.769] end error: 0.000000 +[22:31:26.875] New key frame +[22:31:26.875] BA loop run +[22:31:26.875] init error: 156.469338 +[22:31:26.876] end error: 0.000000 +[22:31:27.006] New key frame +[22:31:27.006] BA loop run +[22:31:27.007] init error: 156.802705 +[22:31:27.008] end error: 0.000000 +[22:31:27.109] New key frame +[22:31:27.109] BA loop run +[22:31:27.110] init error: 164.251649 +[22:31:27.111] end error: 0.000000 +[22:31:27.216] New key frame +[22:31:27.216] BA loop run +[22:31:27.217] init error: 131.059494 +[22:31:27.217] end error: 0.000000 +[22:31:27.325] New key frame +[22:31:27.325] BA loop run +[22:31:27.326] init error: 23.877881 +[22:31:27.326] end error: 0.000000 +[22:31:27.437] New key frame +[22:31:27.437] BA loop run +[22:31:27.437] init error: 4.858615 +[22:31:27.438] end error: 0.000000 +[22:31:27.565] New key frame +[22:31:27.565] BA loop run +[22:31:27.566] init error: 9.295936 +[22:31:27.566] end error: 0.000000 +[22:31:27.717] New key frame +[22:31:27.717] BA loop run +[22:31:27.718] init error: 18.324338 +[22:31:27.719] end error: 0.000000 +[22:31:27.877] New key frame +[22:31:27.877] BA loop run +[22:31:27.878] init error: 65.885126 +[22:31:27.879] end error: 0.000000 +[22:31:28.029] New key frame +[22:31:28.029] BA loop run +[22:31:28.030] init error: 1293.317479 +[22:31:28.031] end error: 0.000000 +[22:31:28.185] New key frame +[22:31:28.185] BA loop run +[22:31:28.185] init error: 99.517714 +[22:31:28.186] end error: 0.000000 +[22:31:28.334] New key frame +[22:31:28.334] BA loop run +[22:31:28.335] init error: 93.715354 +[22:31:28.336] end error: 0.000000 +[22:31:28.453] New key frame +[22:31:28.453] BA loop run +[22:31:28.453] init error: 110.644783 +[22:31:28.455] end error: 0.000000 +[22:31:28.569] New key frame +[22:31:28.569] BA loop run +[22:31:28.570] init error: 226.273434 +[22:31:28.571] end error: 0.000000 +[22:31:28.694] New key frame +[22:31:28.694] BA loop run +[22:31:28.695] init error: 103.323064 +[22:31:28.696] end error: 0.000000 +[22:31:28.813] New key frame +[22:31:28.814] BA loop run +[22:31:28.814] init error: 96.069307 +[22:31:28.815] end error: 0.000000 +[22:31:28.938] New key frame +[22:31:28.938] BA loop run +[22:31:28.939] init error: 121.023193 +[22:31:28.940] end error: 0.000000 +[22:31:29.050] New key frame +[22:31:29.050] BA loop run +[22:31:29.050] init error: 158.295558 +[22:31:29.051] end error: 0.000000 +[22:31:29.179] New key frame +[22:31:29.179] BA loop run +[22:31:29.180] init error: 277.136099 +[22:31:29.181] end error: 0.000000 +[22:31:29.300] New key frame +[22:31:29.300] BA loop run +[22:31:29.301] init error: 607.852927 +[22:31:29.302] end error: 0.000000 +[22:31:29.458] New key frame +[22:31:29.458] BA loop run +[22:31:29.458] init error: 63.952124 +[22:31:29.459] end error: 0.000000 +[22:31:29.594] New key frame +[22:31:29.594] BA loop run +[22:31:29.595] init error: 37.939308 +[22:31:29.596] end error: 0.000000 +[22:31:29.765] New key frame +[22:31:29.765] BA loop run +[22:31:29.766] init error: 24.319269 +[22:31:29.767] end error: 0.000000 +[22:31:30.086] New key frame +[22:31:30.086] BA loop run +[22:31:30.086] init error: 22.954792 +[22:31:30.088] end error: 0.000000 +[22:31:30.217] New key frame +[22:31:30.217] BA loop run +[22:31:30.217] init error: 39.346060 +[22:31:30.218] end error: 0.000000 +[22:31:30.368] New key frame +[22:31:30.368] BA loop run +[22:31:30.368] init error: 23.493694 +[22:31:30.370] end error: 0.000000 +[22:31:30.523] New key frame +[22:31:30.523] BA loop run +[22:31:30.523] init error: 42.977544 +[22:31:30.524] end error: 0.000000 +[22:31:30.846] New key frame +[22:31:30.846] BA loop run +[22:31:30.847] init error: 2383.585825 +[22:31:30.848] end error: 0.000000 +[22:31:31.004] New key frame +[22:31:31.004] BA loop run +[22:31:31.004] init error: 244.533693 +[22:31:31.005] end error: 0.000000 +[22:31:31.151] New key frame +[22:31:31.151] BA loop run +[22:31:31.151] init error: 131.799398 +[22:31:31.152] end error: 0.000000 +[22:31:31.314] New key frame +[22:31:31.314] BA loop run +[22:31:31.314] init error: 106.001946 +[22:31:31.315] end error: 0.000000 +[22:31:31.454] New key frame +[22:31:31.454] BA loop run +[22:31:31.455] init error: 254.228714 +[22:31:31.456] end error: 0.000000 +[22:31:31.610] New key frame +[22:31:31.610] BA loop run +[22:31:31.610] init error: 219.203953 +[22:31:31.611] end error: 0.000000 +[22:31:31.776] New key frame +[22:31:31.776] BA loop run +[22:31:31.777] init error: 332.295279 +[22:31:31.778] end error: 0.000000 +[22:31:31.915] New key frame +[22:31:31.915] BA loop run +[22:31:31.915] init error: 388.566147 +[22:31:31.916] end error: 0.000000 +[22:31:32.033] New key frame +[22:31:32.033] BA loop run +[22:31:32.033] init error: 226.490780 +[22:31:32.034] end error: 0.000000 +[22:31:32.168] New key frame +[22:31:32.168] BA loop run +[22:31:32.168] init error: 497.479135 +[22:31:32.169] end error: 0.000000 +[22:31:32.318] New key frame +[22:31:32.318] BA loop run +[22:31:32.319] init error: 181.703451 +[22:31:32.320] end error: 0.000000 +[22:31:32.454] New key frame +[22:31:32.454] BA loop run +[22:31:32.455] init error: 225.129429 +[22:31:32.456] end error: 0.000000 +[22:31:32.592] New key frame +[22:31:32.592] BA loop run +[22:31:32.593] init error: 309.249447 +[22:31:32.594] end error: 0.000000 +[22:31:32.725] New key frame +[22:31:32.725] BA loop run +[22:31:32.725] init error: 251.550786 +[22:31:32.726] end error: 0.000000 +[22:31:32.847] New key frame +[22:31:32.847] BA loop run +[22:31:32.847] init error: 263.837745 +[22:31:32.848] end error: 0.000000 +[22:31:32.968] New key frame +[22:31:32.968] BA loop run +[22:31:32.968] init error: 315.848235 +[22:31:32.969] end error: 0.000000 +[22:31:33.113] New key frame +[22:31:33.113] BA loop run +[22:31:33.114] init error: 240.650402 +[22:31:33.115] end error: 0.000000 +[22:31:33.252] New key frame +[22:31:33.252] BA loop run +[22:31:33.252] init error: 362.639353 +[22:31:33.254] end error: 0.000000 +[22:31:33.396] New key frame +[22:31:33.396] BA loop run +[22:31:33.396] init error: 317.858584 +[22:31:33.397] end error: 0.000000 +[22:31:33.528] New key frame +[22:31:33.528] BA loop run +[22:31:33.528] init error: 379.217499 +[22:31:33.529] end error: 0.000000 +[22:31:33.669] New key frame +[22:31:33.669] BA loop run +[22:31:33.669] init error: 159.891671 +[22:31:33.670] end error: 0.000000 +[22:31:33.791] New key frame +[22:31:33.791] BA loop run +[22:31:33.791] init error: 152.547726 +[22:31:33.792] end error: 0.000000 +[22:31:33.924] New key frame +[22:31:33.924] BA loop run +[22:31:33.925] init error: 470.502243 +[22:31:33.925] end error: 0.000000 +[22:31:34.374] New key frame +[22:31:34.374] BA loop run +[22:31:34.375] init error: 836.765949 +[22:31:34.376] end error: 0.000000 +[22:31:34.612] New key frame +[22:31:34.612] BA loop run +[22:31:34.612] init error: 618.659793 +[22:31:34.613] end error: 0.000000 +[22:31:34.858] New key frame +[22:31:34.858] BA loop run +[22:31:34.858] init error: 14268.603933 +[22:31:34.859] end error: 0.000000 +[22:31:35.073] New key frame +[22:31:35.073] BA loop run +[22:31:35.073] init error: 759.093617 +[22:31:35.074] end error: 0.000000 +[22:31:35.196] New key frame +[22:31:35.196] BA loop run +[22:31:35.197] init error: 399.800171 +[22:31:35.197] end error: 0.000000 +[22:31:35.316] New key frame +[22:31:35.316] BA loop run +[22:31:35.316] init error: 380.208476 +[22:31:35.317] end error: 0.000000 +[22:31:35.574] New key frame +[22:31:35.574] BA loop run +[22:31:35.574] init error: 359.733781 +[22:31:35.575] end error: 0.000000 +[22:31:35.682] New key frame +[22:31:35.682] BA loop run +[22:31:35.683] init error: 413.198884 +[22:31:35.684] end error: 0.000000 +[22:31:35.805] New key frame +[22:31:35.806] BA loop run +[22:31:35.806] init error: 476.467141 +[22:31:35.807] end error: 0.000000 +[22:31:35.930] New key frame +[22:31:35.930] BA loop run +[22:31:35.931] init error: 376.075532 +[22:31:35.932] end error: 0.000000 +[22:31:36.046] New key frame +[22:31:36.046] BA loop run +[22:31:36.046] init error: 490.398950 +[22:31:36.047] end error: 0.000000 +[22:31:36.337] New key frame +[22:31:36.337] BA loop run +[22:31:36.337] init error: 270.851463 +[22:31:36.338] end error: 0.000000 +[22:31:36.465] New key frame +[22:31:36.465] BA loop run +[22:31:36.466] init error: 265.473990 +[22:31:36.467] end error: 0.000000 +[22:31:36.566] New key frame +[22:31:36.566] BA loop run +[22:31:36.566] init error: 1090.064832 +[22:31:36.567] end error: 0.000000 +[22:31:36.764] New key frame +[22:31:36.764] BA loop run +[22:31:36.765] init error: 225.202629 +[22:31:36.765] end error: 0.000000 +[22:31:36.907] New key frame +[22:31:36.907] BA loop run +[22:31:36.907] init error: 18.103024 +[22:31:36.908] end error: 0.000000 +[22:31:37.038] New key frame +[22:31:37.039] BA loop run +[22:31:37.039] init error: 31.446433 +[22:31:37.040] end error: 0.000000 +[22:31:37.203] New key frame +[22:31:37.203] BA loop run +[22:31:37.204] init error: 22.914176 +[22:31:37.205] end error: 0.000000 +[22:31:37.345] New key frame +[22:31:37.345] BA loop run +[22:31:37.345] init error: 8.200829 +[22:31:37.346] end error: 0.000000 +[22:31:37.513] New key frame +[22:31:37.513] BA loop run +[22:31:37.514] init error: 19.818339 +[22:31:37.515] end error: 0.002712 +[22:31:37.651] New key frame +[22:31:37.651] BA loop run +[22:31:37.652] init error: 44.120608 +[22:31:37.652] end error: 0.000000 +[22:31:37.766] New key frame +[22:31:37.766] BA loop run +[22:31:37.766] init error: 25.558753 +[22:31:37.767] end error: 0.000000 +[22:31:37.884] New key frame +[22:31:37.884] BA loop run +[22:31:37.884] init error: 4.360590 +[22:31:37.885] end error: 0.000000 +[22:32:21.678] New key frame +[22:32:21.678] BA loop run +[22:32:21.678] init error: 0.650481 +[22:32:21.679] end error: 0.000000 diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index 14e9ee4..3421bf1 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,967 +1,6895 @@ -[17:32:05.762] frame process finished the id is: 0 the obs is:0 -[17:32:05.835] frame process finished the id is: 1 the obs is:0 -[17:32:05.925] Init: frame zero: 0.000000, 0.000000 0.000000 -[17:32:05.925] Init: Selected first frame. -[17:32:05.925] frame process finished the id is: 2 the obs is:0 -[17:32:05.961] Init: px average disparity is:0.152753 ,While minimum is: 10.000000 KLT tracked : 109 -[17:32:05.961] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:05.961] frame process finished the id is: 3 the obs is:0 -[17:32:06.058] Init: px average disparity is:0.221920 ,While minimum is: 10.000000 KLT tracked : 109 -[17:32:06.058] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:06.058] frame process finished the id is: 4 the obs is:0 -[17:32:06.166] Init: px average disparity is:0.152235 ,While minimum is: 10.000000 KLT tracked : 109 -[17:32:06.166] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:06.166] frame process finished the id is: 5 the obs is:0 -[17:32:06.267] Init: px average disparity is:0.197958 ,While minimum is: 10.000000 KLT tracked : 109 -[17:32:06.267] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:06.267] frame process finished the id is: 6 the obs is:0 -[17:32:06.367] Init: px average disparity is:0.221111 ,While minimum is: 10.000000 KLT tracked : 109 -[17:32:06.367] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:06.367] frame process finished the id is: 7 the obs is:0 -[17:32:06.461] Init: px average disparity is:0.224726 ,While minimum is: 10.000000 KLT tracked : 109 -[17:32:06.461] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:06.461] frame process finished the id is: 8 the obs is:0 -[17:32:06.567] Init: px average disparity is:0.158653 ,While minimum is: 10.000000 KLT tracked : 109 -[17:32:06.567] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:06.567] frame process finished the id is: 9 the obs is:0 -[17:32:06.660] Odometry x=0.000000, y=0.000000, theta=-0.000000 -[17:32:06.672] Init: px average disparity is:0.179287 ,While minimum is: 10.000000 KLT tracked : 109 -[17:32:06.673] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:06.673] frame process finished the id is: 10 the obs is:0 -[17:32:06.745] Odometry x=0.000001, y=0.000004, theta=-0.030125 -[17:32:06.767] Init: px average disparity is:0.148421 ,While minimum is: 10.000000 KLT tracked : 109 -[17:32:06.767] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:06.767] frame process finished the id is: 11 the obs is:0 -[17:32:06.847] Odometry x=0.000003, y=0.000010, theta=-0.051668 -[17:32:06.866] Init: px average disparity is:0.137330 ,While minimum is: 10.000000 KLT tracked : 109 -[17:32:06.867] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:06.867] frame process finished the id is: 12 the obs is:0 -[17:32:06.948] Odometry x=0.000005, y=0.000016, theta=-0.068727 -[17:32:06.967] Init: px average disparity is:4.945143 ,While minimum is: 10.000000 KLT tracked : 109 -[17:32:06.967] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:06.967] frame process finished the id is: 13 the obs is:0 -[17:32:07.049] Odometry x=0.000005, y=0.000025, theta=-0.091272 -[17:32:07.138] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:11.912397 ,While minimum is: 10.000000 KLT tracked: 109 -[17:32:07.138] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:07.138] frame process finished the id is: 14 the obs is:0 -[17:32:07.145] Odometry x=0.000004, y=0.000026, theta=-0.110610 -[17:32:07.222] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:19.121424 ,While minimum is: 10.000000 KLT tracked: 109 -[17:32:07.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:07.222] frame process finished the id is: 15 the obs is:0 -[17:32:07.249] Odometry x=0.000014, y=0.000024, theta=-0.138994 -[17:32:07.322] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:29.212896 ,While minimum is: 10.000000 KLT tracked: 109 -[17:32:07.323] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:07.323] frame process finished the id is: 16 the obs is:0 -[17:32:07.347] Odometry x=0.000010, y=0.000038, theta=-0.168732 -[17:32:07.425] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:40.866547 ,While minimum is: 10.000000 KLT tracked: 109 -[17:32:07.425] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:07.425] frame process finished the id is: 17 the obs is:0 -[17:32:07.447] Odometry x=0.000011, y=0.000049, theta=-0.197802 -[17:32:07.524] Init: Homography RANSAC (inlier) is:43 ,While 50 inliers minimum required. px average disparity is:51.065260 ,While minimum is: 10.000000 KLT tracked: 109 -[17:32:07.524] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:07.524] frame process finished the id is: 18 the obs is:0 -[17:32:07.548] Odometry x=0.000024, y=0.003043, theta=-0.071688 -[17:32:07.625] Init: Homography RANSAC (inlier) is:43 ,While 50 inliers minimum required. px average disparity is:58.238817 ,While minimum is: 10.000000 KLT tracked: 108 -[17:32:07.625] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:07.625] frame process finished the id is: 19 the obs is:0 -[17:32:07.648] Odometry x=0.000019, y=0.003055, theta=-0.097881 -[17:32:07.741] Init: Homography RANSAC (inlier) is:40 ,While 50 inliers minimum required. px average disparity is:68.778966 ,While minimum is: 10.000000 KLT tracked: 106 -[17:32:07.741] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:07.741] frame process finished the id is: 20 the obs is:0 -[17:32:07.749] Odometry x=0.000024, y=0.003061, theta=-0.128233 -[17:32:07.823] Init: Homography RANSAC (inlier) is:40 ,While 50 inliers minimum required. px average disparity is:79.322258 ,While minimum is: 10.000000 KLT tracked: 105 -[17:32:07.823] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:07.823] frame process finished the id is: 21 the obs is:0 -[17:32:07.846] Odometry x=0.000034, y=0.003063, theta=-0.157578 -[17:32:07.926] Init: Homography RANSAC (inlier) is:44 ,While 50 inliers minimum required. px average disparity is:90.575691 ,While minimum is: 10.000000 KLT tracked: 105 -[17:32:07.926] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:07.926] frame process finished the id is: 22 the obs is:0 -[17:32:07.946] Odometry x=0.000034, y=0.003070, theta=-0.184600 -[17:32:08.027] Init: Homography RANSAC (inlier) is:37 ,While 50 inliers minimum required. px average disparity is:101.646358 ,While minimum is: 10.000000 KLT tracked: 104 -[17:32:08.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:08.028] frame process finished the id is: 23 the obs is:0 -[17:32:08.047] Odometry x=0.000038, y=0.003076, theta=-0.211574 -[17:32:08.125] Init: Homography RANSAC (inlier) is:31 ,While 50 inliers minimum required. px average disparity is:115.901875 ,While minimum is: 10.000000 KLT tracked: 104 -[17:32:08.125] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:08.125] frame process finished the id is: 24 the obs is:0 -[17:32:08.146] Odometry x=0.000042, y=0.003090, theta=-0.239401 -[17:32:08.225] Init: Homography RANSAC (inlier) is:33 ,While 50 inliers minimum required. px average disparity is:121.174280 ,While minimum is: 10.000000 KLT tracked: 103 -[17:32:08.225] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:08.225] frame process finished the id is: 25 the obs is:0 -[17:32:08.246] Odometry x=0.000048, y=0.003099, theta=-0.266627 -[17:32:08.326] Init: Homography RANSAC (inlier) is:37 ,While 50 inliers minimum required. px average disparity is:135.744790 ,While minimum is: 10.000000 KLT tracked: 103 -[17:32:08.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:08.326] frame process finished the id is: 26 the obs is:0 -[17:32:08.346] Odometry x=0.000048, y=0.003109, theta=-0.292876 -[17:32:08.443] Init: Homography RANSAC (inlier) is:37 ,While 50 inliers minimum required. px average disparity is:141.685505 ,While minimum is: 10.000000 KLT tracked: 102 -[17:32:08.443] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:08.443] frame process finished the id is: 27 the obs is:0 -[17:32:08.446] Odometry x=0.000055, y=0.003107, theta=-0.316412 -[17:32:08.525] Init: Homography RANSAC (inlier) is:37 ,While 50 inliers minimum required. px average disparity is:151.099823 ,While minimum is: 10.000000 KLT tracked: 102 -[17:32:08.525] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:08.525] frame process finished the id is: 28 the obs is:0 -[17:32:08.547] Odometry x=0.000058, y=0.003118, theta=-0.342521 -[17:32:08.627] Init: Homography RANSAC (inlier) is:31 ,While 50 inliers minimum required. px average disparity is:159.553238 ,While minimum is: 10.000000 KLT tracked: 102 -[17:32:08.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:08.627] frame process finished the id is: 29 the obs is:0 -[17:32:08.646] Odometry x=0.000060, y=0.003128, theta=-0.368280 -[17:32:08.740] Init: Homography RANSAC (inlier) is:22 ,While 50 inliers minimum required. px average disparity is:178.872500 ,While minimum is: 10.000000 KLT tracked: 102 -[17:32:08.740] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:08.740] frame process finished the id is: 30 the obs is:0 -[17:32:08.746] Odometry x=0.000069, y=0.003127, theta=-0.390923 -[17:32:08.825] Init: Homography RANSAC (inlier) is:21 ,While 50 inliers minimum required. px average disparity is:191.000517 ,While minimum is: 10.000000 KLT tracked: 101 -[17:32:08.825] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:08.825] frame process finished the id is: 31 the obs is:0 -[17:32:08.846] Odometry x=0.000074, y=0.003131, theta=-0.414854 -[17:32:08.936] Init: Homography RANSAC (inlier) is:21 ,While 50 inliers minimum required. px average disparity is:190.982027 ,While minimum is: 10.000000 KLT tracked: 98 -[17:32:08.936] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:08.936] frame process finished the id is: 32 the obs is:0 -[17:32:08.946] Odometry x=0.000081, y=0.003138, theta=-0.439592 -[17:32:09.041] Init: Homography RANSAC (inlier) is:22 ,While 50 inliers minimum required. px average disparity is:201.653377 ,While minimum is: 10.000000 KLT tracked: 98 -[17:32:09.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:09.041] frame process finished the id is: 33 the obs is:0 -[17:32:09.046] Odometry x=0.000080, y=0.003157, theta=-0.466499 -[17:32:09.127] Init: Homography RANSAC (inlier) is:20 ,While 50 inliers minimum required. px average disparity is:213.852735 ,While minimum is: 10.000000 KLT tracked: 98 -[17:32:09.127] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:09.127] frame process finished the id is: 34 the obs is:0 -[17:32:09.146] Odometry x=0.000084, y=0.003171, theta=-0.492001 -[17:32:09.227] Init: Homography RANSAC (inlier) is:20 ,While 50 inliers minimum required. px average disparity is:222.662937 ,While minimum is: 10.000000 KLT tracked: 98 -[17:32:09.227] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:09.227] frame process finished the id is: 35 the obs is:0 -[17:32:09.246] Odometry x=0.000101, y=0.003188, theta=-0.518748 -[17:32:09.327] Init: Homography RANSAC (inlier) is:22 ,While 50 inliers minimum required. px average disparity is:232.091599 ,While minimum is: 10.000000 KLT tracked: 98 -[17:32:09.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:09.327] frame process finished the id is: 36 the obs is:0 -[17:32:09.346] Odometry x=0.000109, y=0.003189, theta=-0.543954 -[17:32:09.425] Init: Homography RANSAC (inlier) is:22 ,While 50 inliers minimum required. px average disparity is:241.563295 ,While minimum is: 10.000000 KLT tracked: 94 -[17:32:09.425] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:09.425] frame process finished the id is: 37 the obs is:0 -[17:32:09.450] Odometry x=0.000112, y=0.003196, theta=-0.566107 -[17:32:09.525] Init: Homography RANSAC (inlier) is:21 ,While 50 inliers minimum required. px average disparity is:247.953897 ,While minimum is: 10.000000 KLT tracked: 94 -[17:32:09.525] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:09.525] frame process finished the id is: 38 the obs is:0 -[17:32:09.548] Odometry x=0.000119, y=0.003204, theta=-0.588449 -[17:32:09.626] Init: Homography RANSAC (inlier) is:22 ,While 50 inliers minimum required. px average disparity is:254.517706 ,While minimum is: 10.000000 KLT tracked: 94 -[17:32:09.626] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:09.626] frame process finished the id is: 39 the obs is:0 -[17:32:09.646] Odometry x=0.000129, y=0.003204, theta=-0.612274 -[17:32:09.728] Init: Homography RANSAC (inlier) is:20 ,While 50 inliers minimum required. px average disparity is:263.023597 ,While minimum is: 10.000000 KLT tracked: 94 -[17:32:09.728] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:09.728] frame process finished the id is: 40 the obs is:0 -[17:32:09.746] Odometry x=0.000138, y=0.003213, theta=-0.634545 -[17:32:09.826] Init: Homography RANSAC (inlier) is:25 ,While 50 inliers minimum required. px average disparity is:269.556180 ,While minimum is: 10.000000 KLT tracked: 94 -[17:32:09.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:09.826] frame process finished the id is: 41 the obs is:0 -[17:32:09.847] Odometry x=0.000146, y=0.003215, theta=-0.657284 -[17:32:09.924] Init: Homography RANSAC (inlier) is:23 ,While 50 inliers minimum required. px average disparity is:280.810031 ,While minimum is: 10.000000 KLT tracked: 93 -[17:32:09.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:09.924] frame process finished the id is: 42 the obs is:0 -[17:32:09.946] Odometry x=0.000170, y=0.003210, theta=-0.677788 -[17:32:10.025] Init: Homography RANSAC (inlier) is:24 ,While 50 inliers minimum required. px average disparity is:285.756343 ,While minimum is: 10.000000 KLT tracked: 93 -[17:32:10.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:10.025] frame process finished the id is: 43 the obs is:0 -[17:32:10.047] Odometry x=0.000173, y=0.003210, theta=-0.699287 -[17:32:10.125] Init: Homography RANSAC (inlier) is:27 ,While 50 inliers minimum required. px average disparity is:292.868765 ,While minimum is: 10.000000 KLT tracked: 93 -[17:32:10.125] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:10.125] frame process finished the id is: 44 the obs is:0 -[17:32:10.147] Odometry x=0.000183, y=0.003218, theta=-0.722549 -[17:32:10.225] Init: Homography RANSAC (inlier) is:27 ,While 50 inliers minimum required. px average disparity is:301.587215 ,While minimum is: 10.000000 KLT tracked: 93 -[17:32:10.225] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:10.225] frame process finished the id is: 45 the obs is:0 -[17:32:10.242] Odometry x=0.000194, y=0.003224, theta=-0.746783 -[17:32:10.323] Init: Homography RANSAC (inlier) is:25 ,While 50 inliers minimum required. px average disparity is:308.788017 ,While minimum is: 10.000000 KLT tracked: 92 -[17:32:10.323] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:10.323] frame process finished the id is: 46 the obs is:0 -[17:32:10.338] Odometry x=0.000202, y=0.003231, theta=-0.773341 -[17:32:10.433] Init: Homography RANSAC (inlier) is:26 ,While 50 inliers minimum required. px average disparity is:316.913778 ,While minimum is: 10.000000 KLT tracked: 92 -[17:32:10.433] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:10.433] frame process finished the id is: 47 the obs is:0 -[17:32:10.441] Odometry x=0.000218, y=0.003251, theta=-0.794471 -[17:32:10.525] Init: Homography RANSAC (inlier) is:36 ,While 50 inliers minimum required. px average disparity is:320.707907 ,While minimum is: 10.000000 KLT tracked: 92 -[17:32:10.525] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:10.525] frame process finished the id is: 48 the obs is:0 -[17:32:10.545] Odometry x=0.000223, y=0.003259, theta=-0.817517 -[17:32:10.625] Init: Homography RANSAC (inlier) is:31 ,While 50 inliers minimum required. px average disparity is:327.761482 ,While minimum is: 10.000000 KLT tracked: 90 -[17:32:10.625] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:10.625] frame process finished the id is: 49 the obs is:0 -[17:32:10.648] Odometry x=0.000228, y=0.003271, theta=-0.846998 -[17:32:10.728] Init: Homography RANSAC (inlier) is:44 ,While 50 inliers minimum required. px average disparity is:338.733100 ,While minimum is: 10.000000 KLT tracked: 89 -[17:32:10.728] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:10.728] frame process finished the id is: 50 the obs is:0 -[17:32:10.741] Odometry x=0.000251, y=0.003265, theta=-0.873866 -[17:32:10.826] Init: Homography RANSAC (inlier) is:45 ,While 50 inliers minimum required. px average disparity is:345.525905 ,While minimum is: 10.000000 KLT tracked: 88 -[17:32:10.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:10.826] frame process finished the id is: 51 the obs is:0 -[17:32:10.839] Odometry x=0.000271, y=0.003261, theta=-0.899974 -[17:32:10.927] Init: Homography RANSAC (inlier) is:46 ,While 50 inliers minimum required. px average disparity is:353.145703 ,While minimum is: 10.000000 KLT tracked: 87 -[17:32:10.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:10.927] frame process finished the id is: 52 the obs is:0 -[17:32:10.942] Odometry x=0.000274, y=0.003264, theta=-0.926400 -[17:32:11.028] Init: Homography RANSAC (inlier) is:46 ,While 50 inliers minimum required. px average disparity is:363.581982 ,While minimum is: 10.000000 KLT tracked: 87 -[17:32:11.028] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:11.028] frame process finished the id is: 53 the obs is:0 -[17:32:11.045] Odometry x=0.000289, y=0.003267, theta=-0.956025 -[17:32:11.136] Init: Homography RANSAC (inlier) is:41 ,While 50 inliers minimum required. px average disparity is:373.606969 ,While minimum is: 10.000000 KLT tracked: 87 -[17:32:11.136] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:11.136] frame process finished the id is: 54 the obs is:0 -[17:32:11.141] Odometry x=0.000308, y=0.003266, theta=-0.983453 -[17:32:11.239] Odometry x=0.000333, y=0.003254, theta=-1.011123 -[17:32:11.248] Init: Homography RANSAC (inlier) is:43 ,While 50 inliers minimum required. px average disparity is:381.937031 ,While minimum is: 10.000000 KLT tracked: 83 -[17:32:11.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:11.248] frame process finished the id is: 55 the obs is:0 -[17:32:11.328] Init: Homography RANSAC (inlier) is:41 ,While 50 inliers minimum required. px average disparity is:395.385367 ,While minimum is: 10.000000 KLT tracked: 76 -[17:32:11.328] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:11.328] frame process finished the id is: 56 the obs is:0 -[17:32:11.341] Odometry x=0.000342, y=0.003258, theta=-1.036503 -[17:32:11.436] Init: Homography RANSAC (inlier) is:46 ,While 50 inliers minimum required. px average disparity is:406.554093 ,While minimum is: 10.000000 KLT tracked: 74 -[17:32:11.436] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:32:11.436] frame process finished the id is: 57 the obs is:0 -[17:32:11.441] Odometry x=0.000353, y=0.003249, theta=-1.059721 -[17:32:11.529] Init finished: Homography RANSAC (inlier) is:50 ,While 50 inliers minimum required. px average disparity is:414.205379 ,While minimum is: 10.000000 KLT tracked: 74 -[17:32:11.529] Init: distance between the first and current frame is x:0.000362 ,z=0.003239,angle between two frames: -1.084930 -[17:32:11.529] Init: Selected Second frame. The number of features: 50 depth mean:-6.934260 min:-8.631389 -[17:32:11.529] frame process finished the id is: 58 the obs is:50 -[17:32:11.539] Odometry x=0.000362, y=0.003239, theta=-1.084930 -[17:32:11.639] After Reprojection Map nMatches:38 ,distance between ekf and vo x:-0.000001 ,z=-0.000003,angle between two frames:0.000000 -[17:32:11.639] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.053502 error end=0.053502 -[17:32:11.639] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000003,angle between two frames:0.000000 -[17:32:11.639] Update EKF and 3D points the number of feature in the new frame: 31 and number of obs: 31 -[17:32:11.639] need key frame pitch dis: 1.092971 translation dif:0.003265 -[17:32:11.639] Choose frame as a key frame Scene Depth mean:-7.292116 ,depth min:-10.833004 -[17:32:11.639] frame process finished the id is: 59 the obs is:31 -[17:32:11.641] Odometry x=0.000383, y=0.003243, theta=-1.092971 -[17:32:11.739] Odometry x=0.000394, y=0.003241, theta=-1.111419 -[17:32:11.743] After Reprojection Map nMatches:31 ,distance between ekf and vo x:-0.000001 ,z=-0.000004,angle between two frames:0.000002 -[17:32:11.743] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.076324 error end=0.076324 -[17:32:11.743] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000004,angle between two frames:0.000002 -[17:32:11.744] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 -[17:32:11.744] need key frame pitch dis: 1.129225 translation dif:0.003263 -[17:32:11.744] Choose frame as a key frame Scene Depth mean:-4.212911 ,depth min:-12.462684 -[17:32:11.744] frame process finished the id is: 60 the obs is:25 -[17:32:11.842] Odometry x=0.000403, y=0.003240, theta=-1.141736 -[17:32:11.850] After Reprojection Map nMatches:25 ,distance between ekf and vo x:-0.000002 ,z=-0.000002,angle between two frames:0.000000 -[17:32:11.850] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.249135 error end=0.249135 -[17:32:11.850] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000002,angle between two frames:0.000000 -[17:32:11.850] Update EKF and 3D points the number of feature in the new frame: 14 and number of obs: 14 -[17:32:11.850] need key frame pitch dis: 1.152761 translation dif:0.003262 -[17:32:11.850] Choose frame as a key frame Scene Depth mean:-3.104719 ,depth min:-9.183324 -[17:32:11.850] frame process finished the id is: 61 the obs is:14 -[17:32:11.941] Odometry x=0.000408, y=0.003237, theta=-1.168269 -[17:32:11.954] After Reprojection Map nMatches:30 ,distance between ekf and vo x:-0.000001 ,z=-0.000008,angle between two frames:0.000000 -[17:32:11.954] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.023743 error end=0.023743 -[17:32:11.954] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000008,angle between two frames:0.000000 -[17:32:11.954] Update EKF and 3D points the number of feature in the new frame: 19 and number of obs: 19 -[17:32:11.954] need key frame pitch dis: 1.073533 translation dif:12.276219 -[17:32:11.954] Choose frame as a key frame Scene Depth mean:-12.496156 ,depth min:-41.841548 -[17:32:11.954] frame process finished the id is: 62 the obs is:19 -[17:32:12.039] Odometry x=0.000415, y=0.003243, theta=-1.199000 -[17:32:12.056] After Reprojection Map nMatches:46 ,distance between ekf and vo x:-0.000716 ,z=0.001096,angle between two frames:0.000053 -[17:32:12.056] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.013482 error end=0.013481 -[17:32:12.056] After pose optimization, distance between ekf and vo x:-0.000731 ,z=0.001286,angle between two frames:0.000051 -[17:32:12.056] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 -[17:32:12.056] need key frame pitch dis: 0.770620 translation dif:12.425222 -[17:32:12.056] Choose frame as a key frame Scene Depth mean:-1.026197 ,depth min:-42.130421 -[17:32:12.056] frame process finished the id is: 63 the obs is:35 -[17:32:12.141] Odometry x=-0.000082, y=0.004125, theta=-1.194216 -[17:32:12.170] After Reprojection Map nMatches:47 ,distance between ekf and vo x:-0.000167 ,z=0.000038,angle between two frames:0.000003 -[17:32:12.170] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.026073 error end=0.026073 -[17:32:12.170] After pose optimization, distance between ekf and vo x:-0.000167 ,z=0.000038,angle between two frames:0.000003 -[17:32:12.170] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29 -[17:32:12.171] need key frame pitch dis: 0.523215 translation dif:9.069848 -[17:32:12.171] Choose frame as a key frame Scene Depth mean:3.112485 ,depth min:-41.795374 -[17:32:12.171] frame process finished the id is: 64 the obs is:29 -[17:32:12.239] Odometry x=-0.000172, y=0.004144, theta=-1.202964 -[17:32:12.299] After Reprojection Map nMatches:50 ,distance between ekf and vo x:-0.000070 ,z=-0.000976,angle between two frames:0.000050 -[17:32:12.300] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =42 error init =0.019965 error end=0.019965 -[17:32:12.300] After pose optimization, distance between ekf and vo x:-0.000070 ,z=-0.000976,angle between two frames:0.000050 -[17:32:12.300] Update EKF and 3D points the number of feature in the new frame: 42 and number of obs: 42 -[17:32:12.300] need key frame pitch dis: 0.160079 translation dif:8.941593 -[17:32:12.300] Choose frame as a key frame Scene Depth mean:-2.137575 ,depth min:-42.459187 -[17:32:12.300] frame process finished the id is: 65 the obs is:42 -[17:32:12.341] Odometry x=-0.000215, y=0.003473, theta=-1.213642 -[17:32:12.435] After Reprojection Map nMatches:64 ,distance between ekf and vo x:-0.000153 ,z=-0.000399,angle between two frames:0.000025 -[17:32:12.435] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =49 error init =0.891823 error end=0.076616 -[17:32:12.435] After pose optimization, distance between ekf and vo x:-25.630635 ,z=597.842842,angle between two frames:1.151649 -[17:32:12.435] frame process finished the id is: 65 the obs is:42 -[17:32:12.439] Odometry x=-0.000206, y=0.003480, theta=-1.238314 -[17:32:12.541] Odometry x=-0.000198, y=0.003488, theta=-1.269552 -[17:32:12.566] After Reprojection Map nMatches:52 ,distance between ekf and vo x:0.000732 ,z=-0.002942,angle between two frames:0.000125 -[17:32:12.567] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =43 error init =0.006693 error end=0.006693 -[17:32:12.567] After pose optimization, distance between ekf and vo x:0.000732 ,z=-0.002942,angle between two frames:0.000125 -[17:32:12.567] Update EKF and 3D points the number of feature in the new frame: 43 and number of obs: 43 -[17:32:12.567] need key frame pitch dis: 0.021435 translation dif:5.914019 -[17:32:12.567] Choose frame as a key frame Scene Depth mean:-17.374046 ,depth min:-69.848962 -[17:32:12.567] frame process finished the id is: 67 the obs is:43 -[17:32:12.644] Odometry x=0.000308, y=0.001472, theta=-1.256399 -[17:32:12.695] After Reprojection Map nMatches:64 ,distance between ekf and vo x:-0.000098 ,z=-0.000032,angle between two frames:0.000001 -[17:32:12.696] n deleted obs = 42 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =1.062887 error end=0.424674 -[17:32:12.696] After pose optimization, distance between ekf and vo x:-0.262230 ,z=-0.947907,angle between two frames:0.028537 -[17:32:12.696] frame process finished the id is: 67 the obs is:43 -[17:32:12.742] Odometry x=0.000308, y=0.001474, theta=-1.280738 -[17:32:12.822] After Reprojection Map nMatches:84 ,distance between ekf and vo x:-0.000133 ,z=0.000002,angle between two frames:0.000000 -[17:32:12.823] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =71 error init =0.023053 error end=0.022975 -[17:32:12.823] After pose optimization, distance between ekf and vo x:0.001707 ,z=0.002897,angle between two frames:0.000000 -[17:32:12.823] Update EKF and 3D points the number of feature in the new frame: 71 and number of obs: 71 -[17:32:12.823] need key frame pitch dis: 0.326041 translation dif:3.386973 -[17:32:12.823] Choose frame as a key frame Scene Depth mean:-251.638320 ,depth min:-17443.320066 -[17:32:12.823] frame process finished the id is: 69 the obs is:71 -[17:32:12.840] Odometry x=0.001491, y=0.003458, theta=-1.289801 -[17:32:12.946] Odometry x=0.001499, y=0.003458, theta=-1.320047 -[17:32:12.963] After Reprojection Map nMatches:91 ,distance between ekf and vo x:-0.000125 ,z=0.000007,angle between two frames:0.000000 -[17:32:12.963] n deleted obs = 42 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =49 error init =0.080984 error end=0.080984 -[17:32:12.963] After pose optimization, distance between ekf and vo x:-0.000125 ,z=0.000007,angle between two frames:0.000000 -[17:32:12.963] Update EKF and 3D points the number of feature in the new frame: 49 and number of obs: 49 -[17:32:12.964] need key frame pitch dis: 0.279004 translation dif:5.162902 -[17:32:12.964] Choose frame as a key frame Scene Depth mean:20.644098 ,depth min:-112.710882 -[17:32:12.964] frame process finished the id is: 70 the obs is:49 -[17:32:13.041] Odometry x=0.001418, y=0.003466, theta=-1.309464 -[17:32:13.112] After Reprojection Map nMatches:105 ,distance between ekf and vo x:-0.000192 ,z=0.000001,angle between two frames:0.000000 -[17:32:13.112] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =80 error init =0.014122 error end=0.014122 -[17:32:13.112] After pose optimization, distance between ekf and vo x:-0.000192 ,z=0.000001,angle between two frames:0.000000 -[17:32:13.112] Update EKF and 3D points the number of feature in the new frame: 80 and number of obs: 80 -[17:32:13.113] need key frame pitch dis: 0.808597 translation dif:6.234447 -[17:32:13.113] Choose frame as a key frame Scene Depth mean:20.840451 ,depth min:-119.923004 -[17:32:13.113] frame process finished the id is: 71 the obs is:80 -[17:32:13.144] Odometry x=0.001290, y=0.003474, theta=-1.316708 -[17:32:13.248] Odometry x=0.001305, y=0.003460, theta=-1.327414 -[17:32:13.286] After Reprojection Map nMatches:111 ,distance between ekf and vo x:-0.000100 ,z=-0.000184,angle between two frames:0.000007 -[17:32:13.286] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =92 error init =0.026266 error end=0.026266 -[17:32:13.286] After pose optimization, distance between ekf and vo x:-0.000100 ,z=-0.000184,angle between two frames:0.000007 -[17:32:13.286] Update EKF and 3D points the number of feature in the new frame: 92 and number of obs: 92 -[17:32:13.287] need key frame pitch dis: 0.638265 translation dif:4.077052 -[17:32:13.287] Choose frame as a key frame Scene Depth mean:12.792983 ,depth min:-117.410967 -[17:32:13.287] frame process finished the id is: 72 the obs is:92 -[17:32:13.341] Odometry x=0.001230, y=0.003352, theta=-1.330571 -[17:32:13.445] Odometry x=0.001254, y=0.003344, theta=-1.359566 -[17:32:13.479] After Reprojection Map nMatches:108 ,distance between ekf and vo x:-0.000212 ,z=-0.000113,angle between two frames:0.000004 -[17:32:13.480] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =97 error init =1.935024 error end=0.050566 -[17:32:13.480] After pose optimization, distance between ekf and vo x:-58.045868 ,z=-250.702731,angle between two frames:0.105720 -[17:32:13.480] frame process finished the id is: 72 the obs is:92 -[17:32:13.543] Odometry x=0.001267, y=0.003346, theta=-1.378009 -[17:32:13.642] Odometry x=0.001288, y=0.003333, theta=-1.403761 -[17:32:13.686] After Reprojection Map nMatches:99 ,distance between ekf and vo x:-0.000184 ,z=-0.000016,angle between two frames:0.000003 -[17:32:13.686] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =79 error init =0.017279 error end=0.017279 -[17:32:13.686] After pose optimization, distance between ekf and vo x:-0.000184 ,z=-0.000016,angle between two frames:0.000003 -[17:32:13.686] Update EKF and 3D points the number of feature in the new frame: 79 and number of obs: 79 -[17:32:13.687] need key frame pitch dis: 1.599959 translation dif:1.126523 -[17:32:13.687] Choose frame as a key frame Scene Depth mean:68.062848 ,depth min:-44.208964 -[17:32:13.687] frame process finished the id is: 74 the obs is:79 -[17:32:13.739] Odometry x=0.001159, y=0.003331, theta=-1.395423 -[17:32:13.839] Odometry x=0.001175, y=0.003319, theta=-1.428339 -[17:32:13.882] After Reprojection Map nMatches:121 ,distance between ekf and vo x:-0.000204 ,z=-0.000018,angle between two frames:0.000002 -[17:32:13.882] n deleted obs = 47 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =74 error init =0.173759 error end=0.173738 -[17:32:13.882] After pose optimization, distance between ekf and vo x:-0.002075 ,z=-0.000289,angle between two frames:0.000049 -[17:32:13.882] Update EKF and 3D points the number of feature in the new frame: 74 and number of obs: 74 -[17:32:13.883] need key frame pitch dis: 1.580333 translation dif:1.127933 -[17:32:13.883] Choose frame as a key frame Scene Depth mean:4.622105 ,depth min:-43.714919 -[17:32:13.883] frame process finished the id is: 75 the obs is:74 -[17:32:13.939] Odometry x=-0.000247, y=0.003129, theta=-1.415049 -[17:32:14.045] Odometry x=-0.000245, y=0.003130, theta=-1.441416 -[17:32:14.066] After Reprojection Map nMatches:145 ,distance between ekf and vo x:-0.000168 ,z=0.000080,angle between two frames:0.000001 -[17:32:14.066] n deleted obs = 37 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =108 error init =0.063124 error end=0.063124 -[17:32:14.066] After pose optimization, distance between ekf and vo x:-0.000168 ,z=0.000080,angle between two frames:0.000001 -[17:32:14.066] Update EKF and 3D points the number of feature in the new frame: 108 and number of obs: 108 -[17:32:14.067] need key frame pitch dis: 0.510478 translation dif:2.437957 -[17:32:14.067] Choose frame as a key frame Scene Depth mean:1.755771 ,depth min:-100.681024 -[17:32:14.067] frame process finished the id is: 76 the obs is:108 -[17:32:14.139] Odometry x=-0.000277, y=0.003146, theta=-1.467601 -[17:32:14.237] After Reprojection Map nMatches:174 ,distance between ekf and vo x:-0.000055 ,z=0.000011,angle between two frames:0.000001 -[17:32:14.237] n deleted obs = 46 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =128 error init =0.051163 error end=0.051163 -[17:32:14.237] After pose optimization, distance between ekf and vo x:-0.000055 ,z=0.000011,angle between two frames:0.000001 -[17:32:14.237] Update EKF and 3D points the number of feature in the new frame: 128 and number of obs: 128 -[17:32:14.238] need key frame pitch dis: 0.506781 translation dif:3.694383 -[17:32:14.239] Choose frame as a key frame Scene Depth mean:0.124770 ,depth min:-98.930908 -[17:32:14.239] frame process finished the id is: 77 the obs is:128 -[17:32:14.239] Odometry x=-0.000308, y=0.003151, theta=-1.473220 -[17:32:14.345] Odometry x=-0.000301, y=0.003153, theta=-1.503621 -[17:32:14.415] After Reprojection Map nMatches:206 ,distance between ekf and vo x:-0.000168 ,z=0.000029,angle between two frames:0.000002 -[17:32:14.416] n deleted obs = 63 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =143 error init =0.030286 error end=0.030286 -[17:32:14.416] After pose optimization, distance between ekf and vo x:-0.000168 ,z=0.000029,angle between two frames:0.000002 -[17:32:14.416] Update EKF and 3D points the number of feature in the new frame: 143 and number of obs: 143 -[17:32:14.417] need key frame pitch dis: 0.318146 translation dif:1.712838 -[17:32:14.417] Choose frame as a key frame Scene Depth mean:4.454324 ,depth min:-100.120114 -[17:32:14.417] frame process finished the id is: 78 the obs is:143 -[17:32:14.440] Odometry x=-0.000408, y=0.003152, theta=-1.491857 -[17:32:14.540] Odometry x=-0.000411, y=0.003151, theta=-1.519081 -[17:32:14.594] After Reprojection Map nMatches:217 ,distance between ekf and vo x:-0.000111 ,z=-0.000020,angle between two frames:0.000012 -[17:32:14.595] n deleted obs = 47 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =170 error init =0.021535 error end=0.021534 -[17:32:14.595] After pose optimization, distance between ekf and vo x:-0.000057 ,z=-0.000123,angle between two frames:0.000007 -[17:32:14.595] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170 -[17:32:14.596] need key frame pitch dis: 0.389967 translation dif:1.389288 -[17:32:14.596] Choose frame as a key frame Scene Depth mean:-0.126104 ,depth min:-100.566146 -[17:32:14.596] frame process finished the id is: 79 the obs is:170 -[17:32:14.645] Odometry x=-0.000434, y=0.003056, theta=-1.508759 -[17:32:14.739] Odometry x=-0.000426, y=0.003047, theta=-1.535649 -[17:32:14.802] After Reprojection Map nMatches:259 ,distance between ekf and vo x:-0.000056 ,z=0.000034,angle between two frames:0.000002 -[17:32:14.802] n deleted obs = 75 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =184 error init =0.025398 error end=0.025398 -[17:32:14.802] After pose optimization, distance between ekf and vo x:-0.000056 ,z=0.000034,angle between two frames:0.000002 -[17:32:14.802] Update EKF and 3D points the number of feature in the new frame: 184 and number of obs: 184 -[17:32:14.804] need key frame pitch dis: 0.277334 translation dif:1.617134 -[17:32:14.804] Choose frame as a key frame Scene Depth mean:-3.080747 ,depth min:-57.733212 -[17:32:14.804] frame process finished the id is: 80 the obs is:184 -[17:32:14.845] Odometry x=-0.000449, y=0.003057, theta=-1.526240 -[17:32:14.939] Odometry x=-0.000434, y=0.003045, theta=-1.536106 -[17:32:14.987] After Reprojection Map nMatches:301 ,distance between ekf and vo x:-0.000296 ,z=-0.000018,angle between two frames:0.000005 -[17:32:14.989] n deleted obs = 72 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =229 error init =0.036558 error end=0.033374 -[17:32:14.989] After pose optimization, distance between ekf and vo x:0.010371 ,z=-0.192429,angle between two frames:0.000061 -[17:32:14.989] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229 -[17:32:14.991] need key frame pitch dis: 0.256196 translation dif:1.562844 -[17:32:14.991] Choose frame as a key frame Scene Depth mean:-9.223999 ,depth min:-115.507096 -[17:32:14.991] frame process finished the id is: 81 the obs is:229 -[17:32:15.045] Odometry x=0.006639, y=-0.128371, theta=-1.535666 -[17:32:15.140] Odometry x=0.006629, y=-0.128374, theta=-1.564806 -[17:32:15.204] After Reprojection Map nMatches:314 ,distance between ekf and vo x:-0.000011 ,z=0.000027,angle between two frames:0.000000 -[17:32:15.205] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =289 error init =0.017947 error end=0.017947 -[17:32:15.205] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000027,angle between two frames:0.000000 -[17:32:15.205] Update EKF and 3D points the number of feature in the new frame: 289 and number of obs: 289 -[17:32:15.208] need key frame pitch dis: 0.388012 translation dif:0.771998 -[17:32:15.208] Choose frame as a key frame Scene Depth mean:-2.556847 ,depth min:-108.748257 -[17:32:15.208] frame process finished the id is: 82 the obs is:289 -[17:32:15.240] Odometry x=0.006638, y=-0.128356, theta=-1.553894 -[17:32:15.345] Odometry x=0.006645, y=-0.128361, theta=-1.584946 -[17:32:15.402] After Reprojection Map nMatches:325 ,distance between ekf and vo x:-0.000034 ,z=0.000039,angle between two frames:0.000000 -[17:32:15.403] n deleted obs = 77 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =248 error init =0.022541 error end=0.022541 -[17:32:15.403] After pose optimization, distance between ekf and vo x:-0.000033 ,z=0.000038,angle between two frames:0.000000 -[17:32:15.403] Update EKF and 3D points the number of feature in the new frame: 248 and number of obs: 248 -[17:32:15.405] need key frame pitch dis: 0.537826 translation dif:0.688831 -[17:32:15.406] Choose frame as a key frame Scene Depth mean:2.431192 ,depth min:-109.741833 -[17:32:15.406] frame process finished the id is: 83 the obs is:248 -[17:32:15.440] Odometry x=0.006626, y=-0.128336, theta=-1.573996 -[17:32:15.542] Odometry x=0.006634, y=-0.128339, theta=-1.601137 -[17:32:15.602] After Reprojection Map nMatches:291 ,distance between ekf and vo x:-0.000014 ,z=-0.000007,angle between two frames:0.000002 -[17:32:15.603] n deleted obs = 64 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =227 error init =0.110121 error end=0.110121 -[17:32:15.603] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000007,angle between two frames:0.000002 -[17:32:15.603] Update EKF and 3D points the number of feature in the new frame: 227 and number of obs: 227 -[17:32:15.605] need key frame pitch dis: 0.574498 translation dif:0.674653 -[17:32:15.605] Choose frame as a key frame Scene Depth mean:-0.891166 ,depth min:-110.899937 -[17:32:15.605] frame process finished the id is: 84 the obs is:227 -[17:32:15.649] Odometry x=0.006632, y=-0.128351, theta=-1.590974 -[17:32:15.743] Odometry x=0.006638, y=-0.128357, theta=-1.614107 -[17:32:15.793] After Reprojection Map nMatches:319 ,distance between ekf and vo x:-0.000020 ,z=0.000013,angle between two frames:0.000001 -[17:32:15.795] n deleted obs = 60 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =259 error init =0.056880 error end=0.056874 -[17:32:15.795] After pose optimization, distance between ekf and vo x:0.000017 ,z=0.000003,angle between two frames:0.000141 -[17:32:15.795] Update EKF and 3D points the number of feature in the new frame: 259 and number of obs: 259 -[17:32:15.797] need key frame pitch dis: 0.572654 translation dif:0.673639 -[17:32:15.797] Choose frame as a key frame Scene Depth mean:-0.667787 ,depth min:-111.611159 -[17:32:15.797] frame process finished the id is: 85 the obs is:259 -[17:32:15.842] Odometry x=0.006659, y=-0.128357, theta=-1.606777 -[17:32:15.946] Odometry x=0.006677, y=-0.128370, theta=-1.634911 -[17:32:15.977] After Reprojection Map nMatches:307 ,distance between ekf and vo x:-0.000019 ,z=0.000014,angle between two frames:0.000001 -[17:32:15.978] n deleted obs = 107 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =200 error init =0.066095 error end=0.066095 -[17:32:15.978] After pose optimization, distance between ekf and vo x:-0.000019 ,z=0.000014,angle between two frames:0.000001 -[17:32:15.978] Update EKF and 3D points the number of feature in the new frame: 200 and number of obs: 200 -[17:32:15.980] need key frame pitch dis: 0.536758 translation dif:0.831751 -[17:32:15.980] Choose frame as a key frame Scene Depth mean:1.641098 ,depth min:-58.111568 -[17:32:15.980] frame process finished the id is: 86 the obs is:200 -[17:32:16.042] Odometry x=0.006659, y=-0.128372, theta=-1.625001 -[17:32:16.140] Odometry x=0.006657, y=-0.128376, theta=-1.649866 -[17:32:16.244] Odometry x=0.006660, y=-0.128379, theta=-1.673811 -[17:32:16.297] After Reprojection Map nMatches:267 ,distance between ekf and vo x:-0.000032 ,z=0.000039,angle between two frames:0.000000 -[17:32:16.298] n deleted obs = 38 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =229 error init =0.033560 error end=0.033560 -[17:32:16.298] After pose optimization, distance between ekf and vo x:-0.000032 ,z=0.000039,angle between two frames:0.000000 -[17:32:16.298] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229 -[17:32:16.302] need key frame pitch dis: 0.573400 translation dif:0.887680 -[17:32:16.302] Choose frame as a key frame Scene Depth mean:0.482721 ,depth min:-113.251777 -[17:32:16.315] frame process finished the id is: 87 the obs is:229 -[17:32:16.341] Odometry x=0.006642, y=-0.128364, theta=-1.649192 -[17:32:16.443] Odometry x=0.006647, y=-0.128370, theta=-1.661263 -[17:32:16.540] Odometry x=0.006657, y=-0.128385, theta=-1.692550 -[17:32:16.641] Odometry x=0.006668, y=-0.128390, theta=-1.721116 -[17:32:16.744] Odometry x=0.006668, y=-0.128400, theta=-1.748945 -[17:32:16.820] After Reprojection Map nMatches:276 ,distance between ekf and vo x:0.000003 ,z=0.000008,angle between two frames:0.000000 -[17:32:16.823] n deleted obs = 91 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =185 error init =0.144347 error end=0.144287 -[17:32:16.823] After pose optimization, distance between ekf and vo x:0.000010 ,z=0.000070,angle between two frames:0.000001 -[17:32:16.823] Update EKF and 3D points the number of feature in the new frame: 185 and number of obs: 185 -[17:32:16.827] need key frame pitch dis: 0.597739 translation dif:0.557633 -[17:32:16.827] Choose frame as a key frame Scene Depth mean:0.037973 ,depth min:-114.676872 -[17:32:16.827] frame process finished the id is: 88 the obs is:185 -[17:32:16.840] Odometry x=0.006662, y=-0.128331, theta=-1.691249 -[17:32:16.943] Odometry x=0.006670, y=-0.128345, theta=-1.717035 -[17:32:17.040] Odometry x=0.006686, y=-0.128346, theta=-1.739604 -[17:32:17.117] After Reprojection Map nMatches:190 ,distance between ekf and vo x:0.000004 ,z=0.000007,angle between two frames:0.000000 -[17:32:17.118] n deleted obs = 44 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =146 error init =0.410487 error end=0.409791 -[17:32:17.118] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000002,angle between two frames:0.000000 -[17:32:17.118] Update EKF and 3D points the number of feature in the new frame: 146 and number of obs: 146 -[17:32:17.120] need key frame pitch dis: 0.740505 translation dif:0.117155 -[17:32:17.120] Choose frame as a key frame Scene Depth mean:-3.237619 ,depth min:-115.289283 -[17:32:17.120] frame process finished the id is: 89 the obs is:146 -[17:32:17.145] Odometry x=0.006668, y=-0.128340, theta=-1.715580 -[17:32:17.242] Odometry x=0.006681, y=-0.128357, theta=-1.748204 -[17:32:17.345] Odometry x=0.006682, y=-0.128361, theta=-1.774919 -[17:32:17.448] Odometry x=0.006689, y=-0.128370, theta=-1.800318 -[17:32:17.449] After Reprojection Map nMatches:244 ,distance between ekf and vo x:-0.000016 ,z=0.000012,angle between two frames:0.000000 -[17:32:17.461] n deleted obs = 43 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =201 error init =0.030762 error end=0.030762 -[17:32:17.461] After pose optimization, distance between ekf and vo x:-0.000019 ,z=-0.000002,angle between two frames:0.000000 -[17:32:17.461] Update EKF and 3D points the number of feature in the new frame: 201 and number of obs: 201 -[17:32:17.464] need key frame pitch dis: 0.774244 translation dif:0.037898 -[17:32:17.464] Choose frame as a key frame Scene Depth mean:0.490631 ,depth min:-116.004831 -[17:32:17.464] frame process finished the id is: 90 the obs is:201 -[17:32:17.551] Odometry x=0.006661, y=-0.128356, theta=-1.750959 -[17:32:17.641] Odometry x=0.006656, y=-0.128362, theta=-1.780570 -[17:32:17.744] Odometry x=0.006663, y=-0.128368, theta=-1.811548 -[17:32:17.843] Odometry x=0.006658, y=-0.128378, theta=-1.838248 -[17:32:17.930] After Reprojection Map nMatches:196 ,distance between ekf and vo x:-0.000003 ,z=0.000008,angle between two frames:0.000000 -[17:32:17.931] n deleted obs = 40 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =156 error init =0.043304 error end=0.043304 -[17:32:17.932] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000185,angle between two frames:0.000000 -[17:32:17.932] Update EKF and 3D points the number of feature in the new frame: 156 and number of obs: 156 -[17:32:17.933] need key frame pitch dis: 0.808603 translation dif:0.105231 -[17:32:17.933] Choose frame as a key frame Scene Depth mean:-1.563312 ,depth min:-116.614832 -[17:32:17.933] frame process finished the id is: 91 the obs is:156 -[17:32:17.946] Odometry x=0.006659, y=-0.128492, theta=-1.787306 -[17:32:18.043] Odometry x=0.006659, y=-0.128503, theta=-1.815448 -[17:32:18.141] Odometry x=0.006661, y=-0.128508, theta=-1.843048 -[17:32:18.167] After Reprojection Map nMatches:218 ,distance between ekf and vo x:-0.000006 ,z=0.000013,angle between two frames:0.000000 -[17:32:18.168] n deleted obs = 66 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =152 error init =0.034994 error end=0.034994 -[17:32:18.168] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000013,angle between two frames:0.000000 -[17:32:18.168] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152 -[17:32:18.171] need key frame pitch dis: 0.851406 translation dif:0.397724 -[17:32:18.171] Choose frame as a key frame Scene Depth mean:-0.287556 ,depth min:-117.379140 -[17:32:18.171] frame process finished the id is: 92 the obs is:152 -[17:32:18.244] Odometry x=0.006656, y=-0.128501, theta=-1.813149 -[17:32:18.347] Odometry x=0.006653, y=-0.128513, theta=-1.838821 -[17:32:18.449] Odometry x=0.006645, y=-0.128524, theta=-1.864513 -[17:32:18.547] Odometry x=0.006643, y=-0.128534, theta=-1.891575 -[17:32:18.580] After Reprojection Map nMatches:227 ,distance between ekf and vo x:0.000003 ,z=0.000002,angle between two frames:0.000000 -[17:32:18.583] n deleted obs = 53 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =174 error init =0.042996 error end=0.042995 -[17:32:18.583] After pose optimization, distance between ekf and vo x:-0.000006 ,z=-0.000118,angle between two frames:0.000001 -[17:32:18.583] Update EKF and 3D points the number of feature in the new frame: 174 and number of obs: 174 -[17:32:18.587] need key frame pitch dis: 0.723362 translation dif:0.613133 -[17:32:18.587] Choose frame as a key frame Scene Depth mean:-1.067471 ,depth min:-47.411664 -[17:32:18.588] frame process finished the id is: 93 the obs is:174 -[17:32:18.647] Odometry x=0.006633, y=-0.128562, theta=-1.904946 -[17:32:18.749] Odometry x=0.006632, y=-0.128568, theta=-1.932444 -[17:32:18.777] After Reprojection Map nMatches:234 ,distance between ekf and vo x:-0.000021 ,z=0.000012,angle between two frames:0.000000 -[17:32:18.778] n deleted obs = 61 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 error init =0.054426 error end=0.054424 -[17:32:18.778] After pose optimization, distance between ekf and vo x:-0.000025 ,z=0.000001,angle between two frames:0.000000 -[17:32:18.778] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173 -[17:32:18.780] need key frame pitch dis: 0.574910 translation dif:0.363249 -[17:32:18.780] Choose frame as a key frame Scene Depth mean:-2.294099 ,depth min:-250.654687 -[17:32:18.780] frame process finished the id is: 94 the obs is:173 -[17:32:18.847] Odometry x=0.006619, y=-0.128568, theta=-1.921691 -[17:32:18.940] Odometry x=0.006626, y=-0.128577, theta=-1.952702 -[17:32:18.950] After Reprojection Map nMatches:302 ,distance between ekf and vo x:-0.000071 ,z=0.000000,angle between two frames:0.000000 -[17:32:18.952] n deleted obs = 91 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =211 error init =0.021996 error end=0.021962 -[17:32:18.952] After pose optimization, distance between ekf and vo x:-0.000252 ,z=-0.000489,angle between two frames:0.000017 -[17:32:18.952] Update EKF and 3D points the number of feature in the new frame: 211 and number of obs: 211 -[17:32:18.953] need key frame pitch dis: 0.171827 translation dif:0.280725 -[17:32:18.954] Choose frame as a key frame Scene Depth mean:-0.128475 ,depth min:-51.725285 -[17:32:18.954] frame process finished the id is: 95 the obs is:211 -[17:32:19.048] Odometry x=0.006456, y=-0.128908, theta=-1.940540 -[17:32:19.169] Odometry x=0.006466, y=-0.128919, theta=-1.965751 -[17:32:19.249] Odometry x=0.006456, y=-0.128933, theta=-1.991217 -[17:32:19.266] After Reprojection Map nMatches:252 ,distance between ekf and vo x:-0.000352 ,z=0.000042,angle between two frames:0.000000 -[17:32:19.267] n deleted obs = 73 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =179 error init =0.071732 error end=0.071685 -[17:32:19.267] After pose optimization, distance between ekf and vo x:-0.000413 ,z=-0.000173,angle between two frames:0.000003 -[17:32:19.267] Update EKF and 3D points the number of feature in the new frame: 179 and number of obs: 179 -[17:32:19.269] need key frame pitch dis: 0.435006 translation dif:0.050005 -[17:32:19.269] Choose frame as a key frame Scene Depth mean:-1.856628 ,depth min:-46.285777 -[17:32:19.269] frame process finished the id is: 96 the obs is:179 -[17:32:19.341] Odometry x=0.006364, y=-0.128976, theta=-2.012121 -[17:32:19.445] Odometry x=0.006360, y=-0.128984, theta=-2.038030 -[17:32:19.463] After Reprojection Map nMatches:224 ,distance between ekf and vo x:-0.000184 ,z=0.000078,angle between two frames:0.000000 -[17:32:19.464] n deleted obs = 57 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =167 error init =0.137701 error end=0.137686 -[17:32:19.464] After pose optimization, distance between ekf and vo x:-0.000194 ,z=0.000058,angle between two frames:0.000000 -[17:32:19.464] Update EKF and 3D points the number of feature in the new frame: 167 and number of obs: 167 -[17:32:19.465] need key frame pitch dis: 1.171192 translation dif:0.485688 -[17:32:19.465] Choose frame as a key frame Scene Depth mean:0.100194 ,depth min:-8.381997 -[17:32:19.466] frame process finished the id is: 97 the obs is:167 -[17:32:19.544] Odometry x=0.006291, y=-0.128991, theta=-2.059009 -[17:32:19.642] Odometry x=0.006287, y=-0.128998, theta=-2.083141 -[17:32:19.665] After Reprojection Map nMatches:270 ,distance between ekf and vo x:-0.000062 ,z=0.000108,angle between two frames:0.000014 -[17:32:19.665] n deleted obs = 62 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =208 error init =0.207421 error end=0.207421 -[17:32:19.665] After pose optimization, distance between ekf and vo x:-0.000062 ,z=0.000108,angle between two frames:0.000014 -[17:32:19.665] Update EKF and 3D points the number of feature in the new frame: 208 and number of obs: 208 -[17:32:19.667] need key frame pitch dis: 1.091441 translation dif:0.296743 -[17:32:19.667] Choose frame as a key frame Scene Depth mean:-0.846714 ,depth min:-116.083648 -[17:32:19.667] frame process finished the id is: 98 the obs is:208 -[17:32:19.750] Odometry x=0.006258, y=-0.128970, theta=-2.099055 -[17:32:19.814] After Reprojection Map nMatches:184 ,distance between ekf and vo x:0.000034 ,z=0.000032,angle between two frames:0.000000 -[17:32:19.815] n deleted obs = 31 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =153 error init =0.092649 error end=0.090641 -[17:32:19.815] After pose optimization, distance between ekf and vo x:0.001176 ,z=0.001942,angle between two frames:0.000020 -[17:32:19.815] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153 -[17:32:19.816] need key frame pitch dis: 0.947354 translation dif:0.914267 -[17:32:19.816] Choose frame as a key frame Scene Depth mean:2.479749 ,depth min:-47.748228 -[17:32:19.816] frame process finished the id is: 99 the obs is:153 -[17:32:19.842] Odometry x=0.007026, y=-0.127617, theta=-2.085799 -[17:32:19.945] Odometry x=0.007013, y=-0.127619, theta=-2.102245 -[17:32:20.008] After Reprojection Map nMatches:327 ,distance between ekf and vo x:0.000028 ,z=-0.000022,angle between two frames:0.000000 -[17:32:20.008] n deleted obs = 92 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =235 error init =0.542930 error end=0.542930 -[17:32:20.008] After pose optimization, distance between ekf and vo x:0.000028 ,z=-0.000022,angle between two frames:0.000000 -[17:32:20.008] Update EKF and 3D points the number of feature in the new frame: 235 and number of obs: 235 -[17:32:20.010] need key frame pitch dis: 0.440431 translation dif:0.869783 -[17:32:20.010] Choose frame as a key frame Scene Depth mean:1.320194 ,depth min:-47.338967 -[17:32:20.010] frame process finished the id is: 100 the obs is:235 -[17:32:20.044] Odometry x=0.007033, y=-0.127636, theta=-2.098569 -[17:32:20.147] Odometry x=0.007045, y=-0.127638, theta=-2.116706 -[17:32:20.178] After Reprojection Map nMatches:298 ,distance between ekf and vo x:0.000043 ,z=0.000063,angle between two frames:0.000004 -[17:32:20.179] n deleted obs = 88 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =210 error init =0.063068 error end=0.063068 -[17:32:20.179] After pose optimization, distance between ekf and vo x:0.000043 ,z=0.000063,angle between two frames:0.000004 -[17:32:20.179] Update EKF and 3D points the number of feature in the new frame: 210 and number of obs: 210 -[17:32:20.180] need key frame pitch dis: 0.975569 translation dif:0.941358 -[17:32:20.181] Choose frame as a key frame Scene Depth mean:-0.953007 ,depth min:-116.148514 -[17:32:20.181] frame process finished the id is: 101 the obs is:210 -[17:32:20.251] Odometry x=0.007079, y=-0.127594, theta=-2.114525 -[17:32:20.349] Odometry x=0.007080, y=-0.127602, theta=-2.132239 -[17:32:20.432] After Reprojection Map nMatches:324 ,distance between ekf and vo x:0.000031 ,z=0.000051,angle between two frames:0.000006 -[17:32:20.433] n deleted obs = 127 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =197 error init =0.979842 error end=0.979842 -[17:32:20.433] After pose optimization, distance between ekf and vo x:0.000031 ,z=0.000051,angle between two frames:0.000006 -[17:32:20.433] Update EKF and 3D points the number of feature in the new frame: 197 and number of obs: 197 -[17:32:20.434] need key frame pitch dis: 0.263706 translation dif:0.790216 -[17:32:20.434] Choose frame as a key frame Scene Depth mean:2.009016 ,depth min:-157.126232 -[17:32:20.435] frame process finished the id is: 102 the obs is:197 -[17:32:20.447] Odometry x=0.007091, y=-0.127559, theta=-2.128666 -[17:32:20.548] Odometry x=0.007095, y=-0.127564, theta=-2.157997 -[17:32:20.642] Odometry x=0.007093, y=-0.127567, theta=-2.184458 -[17:32:20.749] Odometry x=0.007091, y=-0.127567, theta=-2.209073 -[17:32:20.844] Odometry x=0.007082, y=-0.127577, theta=-2.233445 -[17:32:20.944] Odometry x=0.007075, y=-0.127569, theta=-2.260377 -[17:32:21.045] Odometry x=0.007073, y=-0.127571, theta=-2.288172 -[17:32:21.145] Odometry x=0.007068, y=-0.127573, theta=-2.315605 -[17:32:21.245] Odometry x=0.007056, y=-0.127581, theta=-2.340469 -[17:32:21.343] Odometry x=0.007061, y=-0.127579, theta=-2.365050 -[17:32:21.440] Odometry x=0.007054, y=-0.127576, theta=-2.393105 -[17:32:21.543] Odometry x=0.007056, y=-0.127587, theta=-2.420967 -[17:32:21.651] Odometry x=0.007055, y=-0.127597, theta=-2.444709 -[17:32:21.744] Odometry x=0.007056, y=-0.127601, theta=-2.469483 -[17:32:21.844] Odometry x=0.007047, y=-0.127602, theta=-2.497346 -[17:32:21.947] Odometry x=0.007048, y=-0.127601, theta=-2.519864 -[17:32:22.019] After Reprojection Map nMatches:242 ,distance between ekf and vo x:0.000003 ,z=0.000003,angle between two frames:0.000000 -[17:32:22.020] n deleted obs = 101 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =141 error init =0.046724 error end=0.046724 -[17:32:22.020] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000003,angle between two frames:0.000000 -[17:32:22.020] Update EKF and 3D points the number of feature in the new frame: 141 and number of obs: 141 -[17:32:22.021] need key frame pitch dis: 0.566003 translation dif:0.598737 -[17:32:22.021] Choose frame as a key frame Scene Depth mean:0.676036 ,depth min:-11.762648 -[17:32:22.021] frame process finished the id is: 103 the obs is:141 -[17:32:22.047] Odometry x=0.007061, y=-0.127604, theta=-2.513905 -[17:32:22.148] Odometry x=0.007064, y=-0.127605, theta=-2.539299 -[17:32:22.244] Odometry x=0.007068, y=-0.127599, theta=-2.568220 -[17:32:22.344] Odometry x=0.007064, y=-0.127615, theta=-2.595724 -[17:32:22.445] Odometry x=0.007071, y=-0.127627, theta=-2.621830 -[17:32:22.545] Odometry x=0.007070, y=-0.127627, theta=-2.646973 -[17:32:22.645] Odometry x=0.007074, y=-0.127623, theta=-2.674590 -[17:32:22.740] Odometry x=0.007060, y=-0.127617, theta=-2.697928 -[17:32:22.840] Odometry x=0.007061, y=-0.127615, theta=-2.725606 -[17:32:22.940] Odometry x=0.007061, y=-0.127613, theta=-2.749970 -[17:32:23.040] Odometry x=0.007062, y=-0.127614, theta=-2.774213 -[17:32:23.143] Odometry x=0.007064, y=-0.127620, theta=-2.799920 -[17:32:23.241] Odometry x=0.007070, y=-0.127624, theta=-2.826764 -[17:32:23.349] Odometry x=0.007067, y=-0.127624, theta=-2.852065 -[17:32:23.443] Odometry x=0.007085, y=-0.127622, theta=-2.874827 -[17:32:23.542] Odometry x=0.007087, y=-0.127628, theta=-2.895797 -[17:32:23.622] After Reprojection Map nMatches:238 ,distance between ekf and vo x:0.000030 ,z=-0.000019,angle between two frames:0.000000 -[17:32:23.623] n deleted obs = 88 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =150 error init =0.063150 error end=0.063055 -[17:32:23.623] After pose optimization, distance between ekf and vo x:-0.001043 ,z=-0.000293,angle between two frames:0.000000 -[17:32:23.623] Update EKF and 3D points the number of feature in the new frame: 150 and number of obs: 150 -[17:32:23.624] need key frame pitch dis: 1.055650 translation dif:1.139787 -[17:32:23.624] Choose frame as a key frame Scene Depth mean:-0.263687 ,depth min:-10.464406 -[17:32:23.624] frame process finished the id is: 104 the obs is:150 -[17:32:23.639] Odometry x=0.006367, y=-0.127829, theta=-2.890741 -[17:32:23.742] Odometry x=0.006366, y=-0.127827, theta=-2.916863 -[17:32:23.843] Odometry x=0.006365, y=-0.127836, theta=-2.943417 -[17:32:23.940] Odometry x=0.006360, y=-0.127847, theta=-2.967825 -[17:32:24.040] Odometry x=0.006355, y=-0.127860, theta=-2.991438 -[17:32:24.145] Odometry x=0.006355, y=-0.127863, theta=-3.016336 -[17:32:24.242] Odometry x=0.006359, y=-0.127864, theta=-3.041063 -[17:32:24.343] Odometry x=0.006370, y=-0.127870, theta=-3.067769 -[17:32:24.443] Odometry x=0.006372, y=-0.127875, theta=-3.091314 -[17:32:24.526] After Reprojection Map nMatches:184 ,distance between ekf and vo x:0.000006 ,z=-0.000028,angle between two frames:0.000000 -[17:32:24.527] n deleted obs = 28 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =156 error init =0.013160 error end=0.013160 -[17:32:24.527] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000028,angle between two frames:0.000000 -[17:32:24.527] Update EKF and 3D points the number of feature in the new frame: 156 and number of obs: 156 -[17:32:24.528] need key frame pitch dis: 1.199045 translation dif:0.997441 -[17:32:24.528] Choose frame as a key frame Scene Depth mean:-0.556350 ,depth min:-5.297035 -[17:32:24.528] frame process finished the id is: 105 the obs is:156 -[17:32:24.543] Odometry x=0.006363, y=-0.127901, theta=-3.082672 -[17:32:24.646] Odometry x=0.006355, y=-0.127899, theta=-3.103404 -[17:32:24.678] After Reprojection Map nMatches:260 ,distance between ekf and vo x:0.000009 ,z=-0.000010,angle between two frames:0.000001 -[17:32:24.679] n deleted obs = 30 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =230 error init =0.013826 error end=0.013826 -[17:32:24.679] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000010,angle between two frames:0.000001 -[17:32:24.679] Update EKF and 3D points the number of feature in the new frame: 230 and number of obs: 230 -[17:32:24.681] need key frame pitch dis: 0.010042 translation dif:0.156067 -[17:32:24.681] Choose frame as a key frame Scene Depth mean:-0.106568 ,depth min:-5.418462 -[17:32:24.681] frame process finished the id is: 106 the obs is:230 -[17:32:24.750] Odometry x=0.006366, y=-0.127915, theta=-3.098249 -[17:32:24.847] Odometry x=0.006363, y=-0.127931, theta=-3.125492 -[17:32:24.946] Odometry x=0.006371, y=-0.127929, theta=3.129455 -[17:32:25.046] Odometry x=0.006370, y=-0.127926, theta=3.104697 -[17:32:25.146] Odometry x=0.006365, y=-0.127925, theta=3.079321 -[17:32:25.244] Odometry x=0.006354, y=-0.127931, theta=3.056319 -[17:32:25.350] Odometry x=0.006345, y=-0.127928, theta=3.029328 -[17:32:25.446] Odometry x=0.006350, y=-0.127919, theta=3.002275 -[17:32:25.548] Odometry x=0.006350, y=-0.127919, theta=2.975052 -[17:32:25.652] Odometry x=0.006352, y=-0.127915, theta=2.945620 -[17:32:25.748] Odometry x=0.006350, y=-0.127908, theta=2.919922 -[17:32:25.847] Odometry x=0.006361, y=-0.127917, theta=2.896038 -[17:32:25.948] Odometry x=0.006359, y=-0.127918, theta=2.872260 -[17:32:26.095] Odometry x=0.006359, y=-0.127918, theta=2.872260 -[17:32:26.142] Odometry x=0.006348, y=-0.127931, theta=2.844051 -[17:32:26.250] Odometry x=0.006334, y=-0.127920, theta=2.815913 -[17:32:26.385] Odometry x=0.006334, y=-0.127920, theta=2.815913 -[17:32:26.446] Odometry x=0.006340, y=-0.127938, theta=2.788280 -[17:32:26.557] Odometry x=0.006320, y=-0.127949, theta=2.764845 -[17:32:26.644] Odometry x=0.006316, y=-0.127959, theta=2.742484 -[17:32:26.748] Odometry x=0.006322, y=-0.127986, theta=2.719044 -[17:32:26.852] Odometry x=0.006329, y=-0.127991, theta=2.694033 -[17:32:26.941] Odometry x=0.006327, y=-0.127997, theta=2.668460 -[17:32:27.047] Odometry x=0.006319, y=-0.128010, theta=2.644808 -[17:32:27.143] Odometry x=0.006296, y=-0.128008, theta=2.620772 -[17:32:27.244] Odometry x=0.006292, y=-0.128019, theta=2.596529 -[17:32:27.344] Odometry x=0.006286, y=-0.128023, theta=2.572069 -[17:32:27.442] Odometry x=0.006285, y=-0.128024, theta=2.543535 -[17:32:27.542] Odometry x=0.006278, y=-0.128027, theta=2.518054 -[17:32:27.644] Odometry x=0.006268, y=-0.128031, theta=2.493705 -[17:32:27.749] Odometry x=0.006262, y=-0.128029, theta=2.467999 -[17:32:27.843] Odometry x=0.006255, y=-0.128028, theta=2.442855 -[17:32:27.947] Odometry x=0.006245, y=-0.128034, theta=2.416074 -[17:32:28.041] Odometry x=0.006235, y=-0.128037, theta=2.392652 -[17:32:28.141] Odometry x=0.006233, y=-0.128043, theta=2.368093 -[17:32:28.240] Odometry x=0.006238, y=-0.128045, theta=2.345887 -[17:32:28.345] Odometry x=0.006240, y=-0.128057, theta=2.324349 -[17:32:28.446] Odometry x=0.006236, y=-0.128062, theta=2.297052 -[17:32:28.551] Odometry x=0.006231, y=-0.128059, theta=2.267755 -[17:32:28.645] Odometry x=0.006215, y=-0.128057, theta=2.242112 -[17:32:28.750] Odometry x=0.006200, y=-0.128056, theta=2.216160 -[17:32:28.845] Odometry x=0.006199, y=-0.128059, theta=2.186835 -[17:32:28.944] Odometry x=0.006180, y=-0.128057, theta=2.161639 -[17:32:29.051] Odometry x=0.006176, y=-0.128065, theta=2.137699 -[17:32:29.147] Odometry x=0.006161, y=-0.128068, theta=2.114402 -[17:32:29.191] After Reprojection Map nMatches:120 ,distance between ekf and vo x:-0.000003 ,z=0.000005,angle between two frames:0.000000 -[17:32:29.191] n deleted obs = 56 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =64 error init =0.127373 error end=0.127373 -[17:32:29.191] After pose optimization, distance between ekf and vo x:-0.000003 ,z=0.000005,angle between two frames:0.000000 -[17:32:29.191] Update EKF and 3D points the number of feature in the new frame: 64 and number of obs: 64 -[17:32:29.191] need key frame pitch dis: 1.216592 translation dif:1.491681 -[17:32:29.191] Choose frame as a key frame Scene Depth mean:0.118696 ,depth min:-2.675165 -[17:32:29.192] frame process finished the id is: 107 the obs is:64 -[17:32:29.245] Odometry x=0.006163, y=-0.128070, theta=0.123029 -[17:32:29.339] Odometry x=0.006164, y=-0.128057, theta=0.101926 -[17:32:29.404] After Reprojection Map nMatches:148 ,distance between ekf and vo x:0.000958 ,z=-0.001784,angle between two frames:0.000101 -[17:32:29.404] n deleted obs = 59 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =89 error init =0.165328 error end=0.165328 -[17:32:29.404] After pose optimization, distance between ekf and vo x:0.000958 ,z=-0.001784,angle between two frames:0.000101 -[17:32:29.404] Update EKF and 3D points the number of feature in the new frame: 89 and number of obs: 89 -[17:32:29.405] need key frame pitch dis: 0.164031 translation dif:0.161207 -[17:32:29.405] Choose frame as a key frame Scene Depth mean:-1.587479 ,depth min:-14.110309 -[17:32:29.405] frame process finished the id is: 108 the obs is:89 -[17:32:29.448] Odometry x=0.006819, y=-0.129267, theta=0.109056 -[17:32:29.545] After Reprojection Map nMatches:151 ,distance between ekf and vo x:-0.000667 ,z=-0.000385,angle between two frames:0.000019 -[17:32:29.546] n deleted obs = 62 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =89 error init =0.135712 error end=0.135182 -[17:32:29.546] After pose optimization, distance between ekf and vo x:-0.003062 ,z=0.001218,angle between two frames:0.000068 -[17:32:29.546] Update EKF and 3D points the number of feature in the new frame: 89 and number of obs: 89 -[17:32:29.546] Odometry x=0.004723, y=-0.128420, theta=0.103463 -[17:32:29.547] need key frame pitch dis: 2.971230 translation dif:0.134007 -[17:32:29.547] Choose frame as a key frame Scene Depth mean:-0.364876 ,depth min:-8.003033 -[17:32:29.547] frame process finished the id is: 109 the obs is:89 -[17:32:29.644] Odometry x=0.004726, y=-0.128418, theta=0.082825 -[17:32:29.663] After Reprojection Map nMatches:170 ,distance between ekf and vo x:0.000031 ,z=-0.000210,angle between two frames:0.000010 -[17:32:29.663] n deleted obs = 44 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =126 error init =0.014819 error end=0.014819 -[17:32:29.663] After pose optimization, distance between ekf and vo x:0.000031 ,z=-0.000210,angle between two frames:0.000010 -[17:32:29.663] Update EKF and 3D points the number of feature in the new frame: 126 and number of obs: 126 -[17:32:29.664] need key frame pitch dis: 0.285467 translation dif:1.075556 -[17:32:29.664] Choose frame as a key frame Scene Depth mean:-0.812697 ,depth min:-47.797808 -[17:32:29.665] frame process finished the id is: 110 the obs is:126 -[17:32:29.739] Odometry x=0.004735, y=-0.128458, theta=0.050188 -[17:32:29.822] After Reprojection Map nMatches:187 ,distance between ekf and vo x:-0.000262 ,z=-0.000531,angle between two frames:0.000001 -[17:32:29.823] n deleted obs = 38 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =149 error init =0.034808 error end=0.034808 -[17:32:29.823] After pose optimization, distance between ekf and vo x:-0.000262 ,z=-0.000531,angle between two frames:0.000001 -[17:32:29.823] Update EKF and 3D points the number of feature in the new frame: 149 and number of obs: 149 -[17:32:29.824] need key frame pitch dis: 2.479999 translation dif:0.938208 -[17:32:29.824] Choose frame as a key frame Scene Depth mean:-0.967000 ,depth min:-48.018978 -[17:32:29.824] frame process finished the id is: 111 the obs is:149 -[17:32:29.839] Odometry x=0.004555, y=-0.128864, theta=0.059686 -[17:32:29.947] Odometry x=0.004570, y=-0.128849, theta=0.026485 -[17:32:29.995] After Reprojection Map nMatches:219 ,distance between ekf and vo x:-0.001395 ,z=0.000195,angle between two frames:0.000026 -[17:32:29.995] n deleted obs = 76 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =143 error init =0.119927 error end=0.092199 -[17:32:29.995] After pose optimization, distance between ekf and vo x:0.532751 ,z=-0.188131,angle between two frames:0.021231 -[17:32:29.995] frame process finished the id is: 111 the obs is:149 -[17:32:30.039] Odometry x=0.004576, y=-0.128850, theta=-0.001588 -[17:32:30.142] Odometry x=0.004577, y=-0.128850, theta=-0.028211 -[17:32:30.192] After Reprojection Map nMatches:298 ,distance between ekf and vo x:-0.001271 ,z=0.000051,angle between two frames:0.000034 -[17:32:30.192] n deleted obs = 94 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =204 error init =0.093016 error end=0.077572 -[17:32:30.192] After pose optimization, distance between ekf and vo x:-0.053874 ,z=-0.011707,angle between two frames:0.000828 -[17:32:30.192] Update EKF and 3D points the number of feature in the new frame: 204 and number of obs: 204 -[17:32:30.194] need key frame pitch dis: 1.015460 translation dif:1.530124 -[17:32:30.194] Choose frame as a key frame Scene Depth mean:2.104897 ,depth min:-85.662059 -[17:32:30.194] frame process finished the id is: 113 the obs is:204 -[17:32:30.244] Odometry x=-0.032202, y=-0.136831, theta=-0.018436 -[17:32:30.345] Odometry x=-0.032199, y=-0.136817, theta=-0.047188 -[17:32:30.363] After Reprojection Map nMatches:316 ,distance between ekf and vo x:-0.000301 ,z=-0.000028,angle between two frames:0.000007 -[17:32:30.364] n deleted obs = 90 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 error init =0.041205 error end=0.041205 -[17:32:30.364] After pose optimization, distance between ekf and vo x:-0.000301 ,z=-0.000028,angle between two frames:0.000007 -[17:32:30.364] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226 -[17:32:30.366] need key frame pitch dis: 1.079437 translation dif:2.054814 -[17:32:30.366] Choose frame as a key frame Scene Depth mean:3.164415 ,depth min:-85.695096 -[17:32:30.366] frame process finished the id is: 114 the obs is:226 -[17:32:30.445] Odometry x=-0.032407, y=-0.136837, theta=-0.035234 -[17:32:30.547] Odometry x=-0.032401, y=-0.136835, theta=-0.059485 -[17:32:30.581] After Reprojection Map nMatches:326 ,distance between ekf and vo x:-0.001199 ,z=0.000270,angle between two frames:0.000026 -[17:32:30.582] n deleted obs = 105 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =221 error init =0.054387 error end=0.054387 -[17:32:30.582] After pose optimization, distance between ekf and vo x:-0.001199 ,z=0.000270,angle between two frames:0.000026 -[17:32:30.582] Update EKF and 3D points the number of feature in the new frame: 221 and number of obs: 221 -[17:32:30.584] need key frame pitch dis: 3.054079 translation dif:0.669277 -[17:32:30.584] Choose frame as a key frame Scene Depth mean:4.543864 ,depth min:-86.625471 -[17:32:30.584] frame process finished the id is: 115 the obs is:221 -[17:32:30.641] Odometry x=-0.033230, y=-0.136647, theta=-0.052260 -[17:32:30.743] Odometry x=-0.033228, y=-0.136636, theta=-0.081502 -[17:32:30.748] After Reprojection Map nMatches:353 ,distance between ekf and vo x:-0.000208 ,z=-0.000116,angle between two frames:0.000006 -[17:32:30.748] n deleted obs = 115 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =238 error init =0.312561 error end=0.312561 -[17:32:30.748] After pose optimization, distance between ekf and vo x:-0.000208 ,z=-0.000116,angle between two frames:0.000006 -[17:32:30.748] Update EKF and 3D points the number of feature in the new frame: 238 and number of obs: 238 -[17:32:30.750] need key frame pitch dis: 1.511021 translation dif:2.333331 -[17:32:30.750] Choose frame as a key frame Scene Depth mean:-3.103933 ,depth min:-606.762676 -[17:32:30.750] frame process finished the id is: 116 the obs is:238 -[17:32:30.847] Odometry x=-0.033278, y=-0.136652, theta=-0.108122 -[17:32:30.910] After Reprojection Map nMatches:355 ,distance between ekf and vo x:0.000003 ,z=0.000049,angle between two frames:0.000001 -[17:32:30.911] n deleted obs = 129 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 error init =0.420159 error end=0.420159 -[17:32:30.911] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000049,angle between two frames:0.000001 -[17:32:30.911] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226 -[17:32:30.913] need key frame pitch dis: 1.510025 translation dif:1.030352 -[17:32:30.913] Choose frame as a key frame Scene Depth mean:-3.623665 ,depth min:-609.850682 -[17:32:30.913] frame process finished the id is: 117 the obs is:226 -[17:32:30.945] Odometry x=-0.033319, y=-0.136642, theta=-0.098602 -[17:32:31.048] Odometry x=-0.033315, y=-0.136630, theta=-0.123985 -[17:32:31.088] After Reprojection Map nMatches:359 ,distance between ekf and vo x:-0.000246 ,z=-0.000045,angle between two frames:0.000009 -[17:32:31.089] n deleted obs = 107 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =252 error init =0.053170 error end=0.053170 -[17:32:31.089] After pose optimization, distance between ekf and vo x:-0.000246 ,z=-0.000045,angle between two frames:0.000009 -[17:32:31.089] Update EKF and 3D points the number of feature in the new frame: 252 and number of obs: 252 -[17:32:31.091] need key frame pitch dis: 1.492552 translation dif:0.648566 -[17:32:31.091] Choose frame as a key frame Scene Depth mean:-6.204389 ,depth min:-613.466197 -[17:32:31.091] frame process finished the id is: 118 the obs is:252 -[17:32:31.140] Odometry x=-0.033478, y=-0.136670, theta=-0.116619 -[17:32:31.243] Odometry x=-0.033478, y=-0.136664, theta=-0.141035 -[17:32:31.257] After Reprojection Map nMatches:366 ,distance between ekf and vo x:-0.000140 ,z=0.000055,angle between two frames:0.000007 -[17:32:31.258] n deleted obs = 81 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =285 error init =0.009887 error end=0.009861 -[17:32:31.258] After pose optimization, distance between ekf and vo x:0.023922 ,z=-0.002337,angle between two frames:0.000046 -[17:32:31.258] Update EKF and 3D points the number of feature in the new frame: 285 and number of obs: 285 -[17:32:31.260] need key frame pitch dis: 1.456499 translation dif:0.761916 -[17:32:31.260] Choose frame as a key frame Scene Depth mean:-0.094762 ,depth min:-51.053878 -[17:32:31.260] frame process finished the id is: 119 the obs is:285 -[17:32:31.345] Odometry x=-0.017122, y=-0.138264, theta=-0.133478 -[17:32:31.448] Odometry x=-0.017109, y=-0.138258, theta=-0.158346 -[17:32:31.492] After Reprojection Map nMatches:414 ,distance between ekf and vo x:-0.000414 ,z=-0.000413,angle between two frames:0.000015 -[17:32:31.493] n deleted obs = 78 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =336 error init =0.039241 error end=0.039241 -[17:32:31.493] After pose optimization, distance between ekf and vo x:-0.000414 ,z=-0.000413,angle between two frames:0.000015 -[17:32:31.493] Update EKF and 3D points the number of feature in the new frame: 336 and number of obs: 336 -[17:32:31.496] need key frame pitch dis: 1.437585 translation dif:0.874543 -[17:32:31.496] Choose frame as a key frame Scene Depth mean:-2.045353 ,depth min:-51.585596 -[17:32:31.496] frame process finished the id is: 120 the obs is:336 -[17:32:31.545] Odometry x=-0.017391, y=-0.138539, theta=-0.149684 -[17:32:31.643] Odometry x=-0.017391, y=-0.138528, theta=-0.172089 -[17:32:31.707] After Reprojection Map nMatches:512 ,distance between ekf and vo x:-0.000074 ,z=-0.000387,angle between two frames:0.000033 -[17:32:31.708] n deleted obs = 76 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =436 error init =0.025052 error end=0.025052 -[17:32:31.708] After pose optimization, distance between ekf and vo x:-0.000074 ,z=-0.000387,angle between two frames:0.000033 -[17:32:31.708] Update EKF and 3D points the number of feature in the new frame: 436 and number of obs: 436 -[17:32:31.711] need key frame pitch dis: 1.425451 translation dif:0.727058 -[17:32:31.711] Choose frame as a key frame Scene Depth mean:-1.214717 ,depth min:-45.683451 -[17:32:31.711] frame process finished the id is: 121 the obs is:436 -[17:32:31.745] Odometry x=-0.017429, y=-0.138809, theta=-0.164957 -[17:32:31.842] Odometry x=-0.017425, y=-0.138801, theta=-0.190173 -[17:32:31.947] Odometry x=-0.017428, y=-0.138792, theta=-0.215920 -[17:32:31.973] After Reprojection Map nMatches:535 ,distance between ekf and vo x:-0.000300 ,z=-0.000280,angle between two frames:0.000002 -[17:32:31.976] n deleted obs = 92 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =443 error init =0.036486 error end=0.036485 -[17:32:31.976] After pose optimization, distance between ekf and vo x:-0.000533 ,z=-0.000254,angle between two frames:0.000000 -[17:32:31.976] Update EKF and 3D points the number of feature in the new frame: 443 and number of obs: 443 -[17:32:31.979] need key frame pitch dis: 0.325081 translation dif:0.634666 -[17:32:31.979] Choose frame as a key frame Scene Depth mean:-1.193026 ,depth min:-38.431690 -[17:32:31.979] frame process finished the id is: 122 the obs is:443 -[17:32:32.053] Odometry x=-0.017793, y=-0.138977, theta=-0.190424 -[17:32:32.141] Odometry x=-0.017785, y=-0.138971, theta=-0.218599 -[17:32:32.244] After Reprojection Map nMatches:486 ,distance between ekf and vo x:-0.000253 ,z=-0.000343,angle between two frames:0.000026 -[17:32:32.245] n deleted obs = 105 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =381 error init =0.043289 error end=0.043289 -[17:32:32.245] After pose optimization, distance between ekf and vo x:-0.000253 ,z=-0.000343,angle between two frames:0.000026 -[17:32:32.245] Update EKF and 3D points the number of feature in the new frame: 381 and number of obs: 381 -[17:32:32.247] need key frame pitch dis: 3.323983 translation dif:0.058914 -[17:32:32.247] Choose frame as a key frame Scene Depth mean:-1.556075 ,depth min:-29.857133 -[17:32:32.247] frame process finished the id is: 123 the obs is:381 -[17:32:32.252] Odometry x=-0.017960, y=-0.139202, theta=-0.207768 -[17:32:32.345] Odometry x=-0.017960, y=-0.139188, theta=-0.229511 -[17:32:32.443] Odometry x=-0.017967, y=-0.139190, theta=-0.261276 -[17:32:32.508] After Reprojection Map nMatches:538 ,distance between ekf and vo x:-0.000364 ,z=-0.000121,angle between two frames:0.000015 -[17:32:32.509] n deleted obs = 95 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =443 error init =0.022293 error end=0.022293 -[17:32:32.509] After pose optimization, distance between ekf and vo x:-0.000364 ,z=-0.000121,angle between two frames:0.000015 -[17:32:32.509] Update EKF and 3D points the number of feature in the new frame: 443 and number of obs: 443 -[17:32:32.511] need key frame pitch dis: 0.344985 translation dif:0.563165 -[17:32:32.512] Choose frame as a key frame Scene Depth mean:0.220865 ,depth min:-20.251209 -[17:32:32.512] frame process finished the id is: 124 the obs is:443 -[17:32:32.540] Odometry x=-0.018190, y=-0.139266, theta=-0.233893 -[17:32:32.642] Odometry x=-0.018181, y=-0.139271, theta=-0.264454 -[17:32:32.746] Odometry x=-0.018178, y=-0.139262, theta=-0.288617 -[17:32:32.786] After Reprojection Map nMatches:558 ,distance between ekf and vo x:-0.000408 ,z=-0.000193,angle between two frames:0.000018 -[17:32:32.787] n deleted obs = 148 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =410 error init =0.128570 error end=0.128570 -[17:32:32.787] After pose optimization, distance between ekf and vo x:-0.000408 ,z=-0.000193,angle between two frames:0.000018 -[17:32:32.787] Update EKF and 3D points the number of feature in the new frame: 410 and number of obs: 410 -[17:32:32.789] need key frame pitch dis: 3.335538 translation dif:0.142772 -[17:32:32.790] Choose frame as a key frame Scene Depth mean:-0.814565 ,depth min:-29.835493 -[17:32:32.790] frame process finished the id is: 125 the obs is:410 -[17:32:32.843] Odometry x=-0.018446, y=-0.139390, theta=-0.259840 -[17:32:32.941] Odometry x=-0.018441, y=-0.139388, theta=-0.286116 -[17:32:33.045] Odometry x=-0.018429, y=-0.139389, theta=-0.318488 -[17:32:33.087] After Reprojection Map nMatches:476 ,distance between ekf and vo x:-0.000582 ,z=-0.000187,angle between two frames:0.000028 -[17:32:33.088] n deleted obs = 157 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =319 error init =0.119702 error end=0.119702 -[17:32:33.088] After pose optimization, distance between ekf and vo x:-0.000582 ,z=-0.000187,angle between two frames:0.000028 -[17:32:33.088] Update EKF and 3D points the number of feature in the new frame: 319 and number of obs: 319 -[17:32:33.090] need key frame pitch dis: 3.422982 translation dif:0.237325 -[17:32:33.090] Choose frame as a key frame Scene Depth mean:-2.491734 ,depth min:-49.494203 -[17:32:33.090] frame process finished the id is: 126 the obs is:319 -[17:32:33.143] Odometry x=-0.018824, y=-0.139528, theta=-0.287481 -[17:32:33.243] Odometry x=-0.018807, y=-0.139515, theta=-0.310738 -[17:32:33.345] After Reprojection Map nMatches:449 ,distance between ekf and vo x:-0.000164 ,z=0.000038,angle between two frames:0.000010 -[17:32:33.345] Odometry x=-0.018792, y=-0.139520, theta=-0.336006 -[17:32:33.346] n deleted obs = 118 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =331 error init =0.194568 error end=0.194568 -[17:32:33.346] After pose optimization, distance between ekf and vo x:-0.000164 ,z=0.000038,angle between two frames:0.000010 -[17:32:33.346] Update EKF and 3D points the number of feature in the new frame: 331 and number of obs: 331 -[17:32:33.348] need key frame pitch dis: 2.736873 translation dif:0.243355 -[17:32:33.348] Choose frame as a key frame Scene Depth mean:-1.149679 ,depth min:-33.248749 -[17:32:33.348] frame process finished the id is: 127 the obs is:331 -[17:32:33.443] Odometry x=-0.018834, y=-0.139479, theta=-0.363287 -[17:32:33.546] Odometry x=-0.018831, y=-0.139480, theta=-0.386927 -[17:32:33.613] After Reprojection Map nMatches:468 ,distance between ekf and vo x:-0.000185 ,z=-0.000098,angle between two frames:0.000007 -[17:32:33.614] n deleted obs = 102 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =366 error init =0.065825 error end=0.017127 -[17:32:33.614] After pose optimization, distance between ekf and vo x:-0.822762 ,z=7.804198,angle between two frames:1.018418 -[17:32:33.614] frame process finished the id is: 127 the obs is:331 -[17:32:33.643] Odometry x=-0.018833, y=-0.139473, theta=-0.411761 -[17:32:33.746] Odometry x=-0.018826, y=-0.139510, theta=-0.435151 -[17:32:33.846] Odometry x=-0.018818, y=-0.139506, theta=-0.461033 -[17:32:33.856] After Reprojection Map nMatches:457 ,distance between ekf and vo x:-0.000002 ,z=0.000046,angle between two frames:0.000000 -[17:32:33.857] n deleted obs = 102 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =355 error init =0.037050 error end=0.023336 -[17:32:33.857] After pose optimization, distance between ekf and vo x:0.204956 ,z=0.042921,angle between two frames:0.155508 -[17:32:33.857] frame process finished the id is: 127 the obs is:331 -[17:32:33.945] Odometry x=-0.018809, y=-0.139509, theta=-0.488464 -[17:32:34.043] Odometry x=-0.018808, y=-0.139505, theta=-0.512304 -[17:32:34.110] After Reprojection Map nMatches:464 ,distance between ekf and vo x:0.000107 ,z=0.000088,angle between two frames:0.000027 -[17:32:34.111] n deleted obs = 102 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =362 error init =0.251508 error end=0.058879 -[17:32:34.111] After pose optimization, distance between ekf and vo x:4.057958 ,z=2.804513,angle between two frames:1.243776 -[17:32:34.111] frame process finished the id is: 127 the obs is:331 -[17:32:34.146] Odometry x=-0.018796, y=-0.139504, theta=-0.536067 -[17:32:34.245] Odometry x=-0.018796, y=-0.139500, theta=-0.562040 -[17:32:34.375] After Reprojection Map nMatches:402 ,distance between ekf and vo x:-0.000028 ,z=-0.000096,angle between two frames:0.000004 -[17:32:34.376] n deleted obs = 171 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =231 error init =0.110348 error end=0.110348 -[17:32:34.376] After pose optimization, distance between ekf and vo x:-0.000028 ,z=-0.000096,angle between two frames:0.000004 -[17:32:34.376] Update EKF and 3D points the number of feature in the new frame: 231 and number of obs: 231 -[17:32:34.377] need key frame pitch dis: 1.049173 translation dif:0.236085 -[17:32:34.377] Choose frame as a key frame Scene Depth mean:-2.229250 ,depth min:-55.918369 -[17:32:34.377] frame process finished the id is: 131 the obs is:231 -[17:32:34.693] After Reprojection Map nMatches:488 ,distance between ekf and vo x:0.000196 ,z=-0.000320,angle between two frames:0.000080 -[17:32:34.694] n deleted obs = 162 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =326 error init =0.157685 error end=0.157685 -[17:32:34.694] After pose optimization, distance between ekf and vo x:0.000196 ,z=-0.000320,angle between two frames:0.000080 -[17:32:34.694] Update EKF and 3D points the number of feature in the new frame: 326 and number of obs: 326 -[17:32:34.695] need key frame pitch dis: 3.665040 translation dif:0.198026 -[17:32:34.696] Choose frame as a key frame Scene Depth mean:2.874216 ,depth min:-34.961227 -[17:32:34.696] frame process finished the id is: 132 the obs is:326 -[17:32:35.001] After Reprojection Map nMatches:456 ,distance between ekf and vo x:0.000022 ,z=-0.000218,angle between two frames:0.000010 -[17:32:35.002] n deleted obs = 136 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =320 error init =0.250033 error end=0.250033 -[17:32:35.002] After pose optimization, distance between ekf and vo x:0.000022 ,z=-0.000218,angle between two frames:0.000010 -[17:32:35.002] Update EKF and 3D points the number of feature in the new frame: 320 and number of obs: 320 -[17:32:35.003] need key frame pitch dis: 3.704406 translation dif:0.330006 -[17:32:35.003] Choose frame as a key frame Scene Depth mean:-2.054609 ,depth min:-35.115183 -[17:32:35.003] frame process finished the id is: 133 the obs is:320 -[17:32:35.382] After Reprojection Map nMatches:576 ,distance between ekf and vo x:-0.000030 ,z=-0.000051,angle between two frames:0.000013 -[17:32:35.383] n deleted obs = 227 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =349 error init =0.363347 error end=0.162178 -[17:32:35.383] After pose optimization, distance between ekf and vo x:-10.507005 ,z=-6.976214,angle between two frames:1.509886 -[17:32:35.384] frame process finished the id is: 133 the obs is:320 -[17:32:35.764] After Reprojection Map nMatches:576 ,distance between ekf and vo x:-0.000431 ,z=-0.000222,angle between two frames:0.000055 -[17:32:35.766] n deleted obs = 170 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =406 error init =0.143601 error end=0.088652 -[17:32:35.766] After pose optimization, distance between ekf and vo x:-99.040574 ,z=-76.431150,angle between two frames:0.386943 -[17:32:35.766] frame process finished the id is: 133 the obs is:320 -[17:32:36.126] After Reprojection Map nMatches:574 ,distance between ekf and vo x:-0.000211 ,z=-0.000124,angle between two frames:0.000025 -[17:32:36.128] n deleted obs = 101 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =473 error init =0.550947 error end=0.091051 -[17:32:36.128] After pose optimization, distance between ekf and vo x:0.715079 ,z=-0.786184,angle between two frames:0.232061 -[17:32:36.128] frame process finished the id is: 133 the obs is:320 +[22:29:39.811] Init: frame zero: 0.000000, 0.000000 0.000000 +[22:29:39.811] Init: Selected first frame. +[22:29:39.811] frame process finished the id is: 0 the obs is:0 +[22:29:39.844] Init: px average disparity is:0.128987 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:39.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:39.844] frame process finished the id is: 1 the obs is:0 +[22:29:39.932] Init: px average disparity is:0.146777 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:39.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:39.932] frame process finished the id is: 2 the obs is:0 +[22:29:40.046] Init: px average disparity is:0.133348 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:40.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:40.046] frame process finished the id is: 3 the obs is:0 +[22:29:40.141] Init: px average disparity is:0.150950 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:40.141] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:40.141] frame process finished the id is: 4 the obs is:0 +[22:29:40.245] Init: px average disparity is:0.139174 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:40.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:40.245] frame process finished the id is: 5 the obs is:0 +[22:29:40.340] Init: px average disparity is:0.139629 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:40.340] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:40.340] frame process finished the id is: 6 the obs is:0 +[22:29:40.453] Init: px average disparity is:0.139252 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:40.453] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:40.453] frame process finished the id is: 7 the obs is:0 +[22:29:40.531] Init: px average disparity is:0.120287 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:40.531] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:40.532] frame process finished the id is: 8 the obs is:0 +[22:29:40.647] Init: px average disparity is:0.137119 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:40.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:40.647] frame process finished the id is: 9 the obs is:0 +[22:29:40.751] Init: px average disparity is:0.146241 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:40.751] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:40.751] frame process finished the id is: 10 the obs is:0 +[22:29:40.847] Init: px average disparity is:0.130477 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:40.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:40.847] frame process finished the id is: 11 the obs is:0 +[22:29:40.962] Init: px average disparity is:0.127678 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:40.962] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:40.962] frame process finished the id is: 12 the obs is:0 +[22:29:41.031] Init: px average disparity is:0.118913 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:41.031] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:41.031] frame process finished the id is: 13 the obs is:0 +[22:29:41.148] Init: px average disparity is:0.137408 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:41.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:41.148] frame process finished the id is: 14 the obs is:0 +[22:29:41.258] Init: px average disparity is:0.133591 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:41.258] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:41.258] frame process finished the id is: 15 the obs is:0 +[22:29:41.350] Init: px average disparity is:0.139097 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:41.350] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:41.350] frame process finished the id is: 16 the obs is:0 +[22:29:41.445] Init: px average disparity is:0.160779 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:41.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:41.445] frame process finished the id is: 17 the obs is:0 +[22:29:41.551] Init: px average disparity is:0.170569 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:41.551] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:41.551] frame process finished the id is: 18 the obs is:0 +[22:29:41.651] Init: px average disparity is:0.163941 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:41.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:41.651] frame process finished the id is: 19 the obs is:0 +[22:29:41.750] Init: px average disparity is:0.133163 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:41.750] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:41.750] frame process finished the id is: 20 the obs is:0 +[22:29:41.848] Init: px average disparity is:0.139712 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:41.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:41.848] frame process finished the id is: 21 the obs is:0 +[22:29:41.949] Init: px average disparity is:0.136047 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:41.949] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:41.949] frame process finished the id is: 22 the obs is:0 +[22:29:42.052] Init: px average disparity is:0.134349 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:42.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:42.052] frame process finished the id is: 23 the obs is:0 +[22:29:42.148] Init: px average disparity is:0.150379 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:42.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:42.148] frame process finished the id is: 24 the obs is:0 +[22:29:42.250] Init: px average disparity is:0.131816 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:42.250] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:42.250] frame process finished the id is: 25 the obs is:0 +[22:29:42.348] Init: px average disparity is:0.147024 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:42.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:42.348] frame process finished the id is: 26 the obs is:0 +[22:29:42.451] Init: px average disparity is:0.155163 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:42.451] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:42.451] frame process finished the id is: 27 the obs is:0 +[22:29:42.550] Init: px average disparity is:0.143544 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:42.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:42.550] frame process finished the id is: 28 the obs is:0 +[22:29:42.652] Init: px average disparity is:0.155050 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:42.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:42.652] frame process finished the id is: 29 the obs is:0 +[22:29:42.751] Init: px average disparity is:0.131050 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:42.751] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:42.751] frame process finished the id is: 30 the obs is:0 +[22:29:42.852] Init: px average disparity is:0.146707 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:42.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:42.853] frame process finished the id is: 31 the obs is:0 +[22:29:42.959] Init: px average disparity is:0.179822 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:42.959] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:42.959] frame process finished the id is: 32 the obs is:0 +[22:29:43.053] Init: px average disparity is:0.143172 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:43.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:43.053] frame process finished the id is: 33 the obs is:0 +[22:29:43.148] Init: px average disparity is:0.156109 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:43.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:43.148] frame process finished the id is: 34 the obs is:0 +[22:29:43.253] Init: px average disparity is:0.141525 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:43.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:43.253] frame process finished the id is: 35 the obs is:0 +[22:29:43.257] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[22:29:43.350] Init: px average disparity is:0.131302 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:43.350] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:43.350] frame process finished the id is: 36 the obs is:0 +[22:29:43.353] Odometry x=0.000206, y=0.010213, theta=-0.000602 +[22:29:43.457] Init: px average disparity is:0.149645 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:43.457] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:43.457] frame process finished the id is: 37 the obs is:0 +[22:29:43.461] Odometry x=0.000459, y=0.018472, theta=-0.000446 +[22:29:43.553] Init: px average disparity is:0.337739 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:43.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:43.553] frame process finished the id is: 38 the obs is:0 +[22:29:43.554] Odometry x=0.000722, y=0.026456, theta=-0.000203 +[22:29:43.659] Init: px average disparity is:2.022175 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:43.659] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:43.659] frame process finished the id is: 39 the obs is:0 +[22:29:43.660] Odometry x=0.001163, y=0.034377, theta=-0.002904 +[22:29:43.752] Init: px average disparity is:3.634055 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:43.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:43.753] frame process finished the id is: 40 the obs is:0 +[22:29:43.758] Odometry x=0.001546, y=0.042260, theta=0.001144 +[22:29:43.853] Init: px average disparity is:4.836632 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:43.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:43.853] frame process finished the id is: 41 the obs is:0 +[22:29:43.853] Odometry x=0.001514, y=0.050482, theta=0.001863 +[22:29:43.954] Odometry x=0.001923, y=0.058204, theta=0.002357 +[22:29:43.966] Init: px average disparity is:5.845915 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:43.966] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:43.966] frame process finished the id is: 42 the obs is:0 +[22:29:44.049] Odometry x=0.002205, y=0.066324, theta=0.003334 +[22:29:44.061] Init: px average disparity is:6.631210 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:44.061] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:44.061] frame process finished the id is: 43 the obs is:0 +[22:29:44.152] Odometry x=0.002469, y=0.074288, theta=0.003446 +[22:29:44.157] Init: px average disparity is:7.902816 ,While minimum is: 10.000000 KLT tracked : 1199 +[22:29:44.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:44.157] frame process finished the id is: 44 the obs is:0 +[22:29:44.256] Odometry x=0.002636, y=0.082421, theta=0.004189 +[22:29:44.259] Init: px average disparity is:8.776532 ,While minimum is: 10.000000 KLT tracked : 1196 +[22:29:44.259] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:44.259] frame process finished the id is: 45 the obs is:0 +[22:29:44.355] Odometry x=0.002875, y=0.090299, theta=0.004940 +[22:29:44.453] Odometry x=0.002950, y=0.098519, theta=0.004423 +[22:29:44.469] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:10.073582 ,While minimum is: 10.000000 KLT tracked: 1194 +[22:29:44.469] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:44.469] frame process finished the id is: 46 the obs is:0 +[22:29:44.555] Odometry x=0.003077, y=0.106405, theta=0.005418 +[22:29:44.572] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:12.226250 ,While minimum is: 10.000000 KLT tracked: 1194 +[22:29:44.572] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:44.572] frame process finished the id is: 47 the obs is:0 +[22:29:44.652] Odometry x=0.003165, y=0.114653, theta=0.005002 +[22:29:44.674] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:14.088211 ,While minimum is: 10.000000 KLT tracked: 1192 +[22:29:44.674] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:44.674] frame process finished the id is: 48 the obs is:0 +[22:29:44.755] Odometry x=0.003559, y=0.122258, theta=0.006651 +[22:29:44.775] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:13.732805 ,While minimum is: 10.000000 KLT tracked: 1185 +[22:29:44.775] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:44.775] frame process finished the id is: 49 the obs is:0 +[22:29:44.854] Odometry x=0.003649, y=0.130452, theta=0.005742 +[22:29:44.878] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:16.942181 ,While minimum is: 10.000000 KLT tracked: 1181 +[22:29:44.878] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:44.878] frame process finished the id is: 50 the obs is:0 +[22:29:44.951] Odometry x=0.004059, y=0.138640, theta=0.009493 +[22:29:44.982] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:18.100313 ,While minimum is: 10.000000 KLT tracked: 1179 +[22:29:44.982] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:44.982] frame process finished the id is: 51 the obs is:0 +[22:29:45.054] Odometry x=0.003937, y=0.147247, theta=0.005942 +[22:29:45.085] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:19.611920 ,While minimum is: 10.000000 KLT tracked: 1171 +[22:29:45.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:45.085] frame process finished the id is: 52 the obs is:0 +[22:29:45.156] Odometry x=0.003849, y=0.155136, theta=0.007395 +[22:29:45.188] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:21.604423 ,While minimum is: 10.000000 KLT tracked: 1171 +[22:29:45.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:45.188] frame process finished the id is: 53 the obs is:0 +[22:29:45.255] Odometry x=0.003977, y=0.163230, theta=0.006257 +[22:29:45.291] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:24.119373 ,While minimum is: 10.000000 KLT tracked: 1171 +[22:29:45.291] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:45.291] frame process finished the id is: 54 the obs is:0 +[22:29:45.354] Odometry x=0.004008, y=0.170860, theta=0.009584 +[22:29:45.394] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:26.085986 ,While minimum is: 10.000000 KLT tracked: 1170 +[22:29:45.394] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:45.395] frame process finished the id is: 55 the obs is:0 +[22:29:45.452] Odometry x=0.004196, y=0.178935, theta=0.014666 +[22:29:45.498] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:28.405195 ,While minimum is: 10.000000 KLT tracked: 1170 +[22:29:45.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:45.498] frame process finished the id is: 56 the obs is:0 +[22:29:45.554] Odometry x=0.004185, y=0.186698, theta=0.009891 +[22:29:45.601] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:28.600199 ,While minimum is: 10.000000 KLT tracked: 1170 +[22:29:45.601] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:45.601] frame process finished the id is: 57 the obs is:0 +[22:29:45.653] Odometry x=0.004320, y=0.194897, theta=0.011928 +[22:29:45.705] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:29.552938 ,While minimum is: 10.000000 KLT tracked: 1169 +[22:29:45.705] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:45.705] frame process finished the id is: 58 the obs is:0 +[22:29:45.751] Odometry x=0.004671, y=0.202666, theta=0.012093 +[22:29:45.809] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:24.658105 ,While minimum is: 10.000000 KLT tracked: 1146 +[22:29:45.809] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:45.809] frame process finished the id is: 59 the obs is:0 +[22:29:45.853] Odometry x=0.004905, y=0.210779, theta=0.011341 +[22:29:45.913] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:20.368301 ,While minimum is: 10.000000 KLT tracked: 1128 +[22:29:45.913] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:45.913] frame process finished the id is: 60 the obs is:0 +[22:29:45.958] Odometry x=0.004880, y=0.218750, theta=0.007411 +[22:29:46.018] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:18.269363 ,While minimum is: 10.000000 KLT tracked: 1115 +[22:29:46.018] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:46.018] frame process finished the id is: 61 the obs is:0 +[22:29:46.058] Odometry x=0.005018, y=0.227125, theta=0.008846 +[22:29:46.124] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:18.661362 ,While minimum is: 10.000000 KLT tracked: 1110 +[22:29:46.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:46.124] frame process finished the id is: 62 the obs is:0 +[22:29:46.152] Odometry x=0.005166, y=0.234853, theta=0.010688 +[22:29:46.228] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:18.782348 ,While minimum is: 10.000000 KLT tracked: 1110 +[22:29:46.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:46.228] frame process finished the id is: 63 the obs is:0 +[22:29:46.255] Odometry x=0.005330, y=0.243378, theta=0.008854 +[22:29:46.334] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:20.075326 ,While minimum is: 10.000000 KLT tracked: 1110 +[22:29:46.334] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:46.334] frame process finished the id is: 64 the obs is:0 +[22:29:46.355] Odometry x=0.005464, y=0.251102, theta=0.009853 +[22:29:46.440] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:21.072621 ,While minimum is: 10.000000 KLT tracked: 1110 +[22:29:46.440] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[22:29:46.440] frame process finished the id is: 65 the obs is:0 +[22:29:46.454] Odometry x=0.005700, y=0.259250, theta=0.008004 +[22:29:46.549] Init finished: Homography RANSAC (inlier) is:235 ,While 50 inliers minimum required. px average disparity is:23.656138 ,While minimum is: 10.000000 KLT tracked: 1109 +[22:29:46.549] Init: distance between the first and current frame is x:0.005711 ,z=0.267053,angle between two frames: 0.014150 +[22:29:46.549] Init: Selected Second frame. The number of features: 235 depth mean:-0.265117 min:-0.265117 +[22:29:46.550] frame process finished the id is: 66 the obs is:235 +[22:29:46.553] Odometry x=0.005711, y=0.267053, theta=0.014150 +[22:29:46.656] Odometry x=0.005890, y=0.274773, theta=0.007828 +[22:29:46.659] After Reprojection Map nMatches:169 ,distance between ekf and vo x:-0.000096 ,z=0.000117,angle between two frames:0.015018 +[22:29:46.659] n deleted obs = 31 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =138 error init =0.010545 error end=0.010545 +[22:29:46.659] After pose optimization, distance between ekf and vo x:-0.000096 ,z=0.000117,angle between two frames:0.015018 +[22:29:46.659] Update EKF and 3D points the number of feature in the new frame: 138 and number of obs: 138 +[22:29:46.660] need key frame pitch dis: 0.012441 translation dif:0.273744 +[22:29:46.660] Choose frame as a key frame Scene Depth mean:-0.271695 ,depth min:-0.271695 +[22:29:46.660] frame process finished the id is: 67 the obs is:138 +[22:29:46.753] Odometry x=0.006078, y=0.282311, theta=0.014368 +[22:29:46.763] After Reprojection Map nMatches:128 ,distance between ekf and vo x:-0.000051 ,z=-0.000076,angle between two frames:0.001380 +[22:29:46.763] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =107 error init =0.011689 error end=0.011689 +[22:29:46.763] After pose optimization, distance between ekf and vo x:-0.000051 ,z=-0.000076,angle between two frames:0.001380 +[22:29:46.763] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107 +[22:29:46.763] need key frame pitch dis: 0.014667 translation dif:0.287036 +[22:29:46.763] Choose frame as a key frame Scene Depth mean:-0.284892 ,depth min:-0.284892 +[22:29:46.763] frame process finished the id is: 68 the obs is:107 +[22:29:46.856] Odometry x=0.005872, y=0.292946, theta=0.012060 +[22:29:46.864] After Reprojection Map nMatches:105 ,distance between ekf and vo x:-0.000089 ,z=0.000058,angle between two frames:0.001494 +[22:29:46.864] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =88 error init =0.006774 error end=0.006774 +[22:29:46.864] After pose optimization, distance between ekf and vo x:-0.000089 ,z=0.000058,angle between two frames:0.001494 +[22:29:46.864] Update EKF and 3D points the number of feature in the new frame: 88 and number of obs: 88 +[22:29:46.865] need key frame pitch dis: 0.015623 translation dif:0.290570 +[22:29:46.865] Choose frame as a key frame Scene Depth mean:-0.288400 ,depth min:-0.288400 +[22:29:46.865] frame process finished the id is: 69 the obs is:88 +[22:29:46.958] Odometry x=0.006206, y=0.290504, theta=0.015623 +[22:29:46.961] After Reprojection Map nMatches:88 ,distance between ekf and vo x:-0.000026 ,z=0.000058,angle between two frames:0.002413 +[22:29:46.961] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =79 error init =0.003858 error end=0.003858 +[22:29:46.961] After pose optimization, distance between ekf and vo x:-0.000026 ,z=0.000058,angle between two frames:0.002413 +[22:29:46.961] Update EKF and 3D points the number of feature in the new frame: 79 and number of obs: 79 +[22:29:46.962] need key frame pitch dis: 0.016257 translation dif:0.295922 +[22:29:46.962] Choose frame as a key frame Scene Depth mean:-0.293714 ,depth min:-0.293714 +[22:29:46.962] frame process finished the id is: 70 the obs is:79 +[22:29:47.054] Odometry x=0.006291, y=0.302644, theta=0.017014 +[22:29:47.065] After Reprojection Map nMatches:78 ,distance between ekf and vo x:-0.000077 ,z=-0.000117,angle between two frames:0.002238 +[22:29:47.065] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =63 error init =0.008095 error end=0.008095 +[22:29:47.065] After pose optimization, distance between ekf and vo x:-0.000077 ,z=-0.000117,angle between two frames:0.002238 +[22:29:47.065] Update EKF and 3D points the number of feature in the new frame: 63 and number of obs: 63 +[22:29:47.066] need key frame pitch dis: 0.017341 translation dif:0.302267 +[22:29:47.066] Choose frame as a key frame Scene Depth mean:-0.300014 ,depth min:-0.300014 +[22:29:47.066] frame process finished the id is: 71 the obs is:63 +[22:29:47.153] Odometry x=0.006350, y=0.310558, theta=0.017451 +[22:29:47.158] After Reprojection Map nMatches:63 ,distance between ekf and vo x:-0.000087 ,z=0.000063,angle between two frames:0.004310 +[22:29:47.159] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.012209 error end=0.012209 +[22:29:47.159] After pose optimization, distance between ekf and vo x:-0.000087 ,z=0.000063,angle between two frames:0.004310 +[22:29:47.159] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45 +[22:29:47.159] need key frame pitch dis: 0.018384 translation dif:0.315401 +[22:29:47.159] Choose frame as a key frame Scene Depth mean:-0.313050 ,depth min:-0.313050 +[22:29:47.159] frame process finished the id is: 72 the obs is:45 +[22:29:47.253] After Reprojection Map nMatches:45 ,distance between ekf and vo x:-0.000015 ,z=0.000085,angle between two frames:0.003850 +[22:29:47.253] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 error init =0.003438 error end=0.003438 +[22:29:47.254] After pose optimization, distance between ekf and vo x:-0.000015 ,z=0.000085,angle between two frames:0.003850 +[22:29:47.254] Update EKF and 3D points the number of feature in the new frame: 38 and number of obs: 38 +[22:29:47.254] need key frame pitch dis: 0.022346 translation dif:0.316958 +[22:29:47.254] Choose frame as a key frame Scene Depth mean:-0.314595 ,depth min:-0.314595 +[22:29:47.254] frame process finished the id is: 73 the obs is:38 +[22:29:47.255] Odometry x=0.006056, y=0.316900, theta=0.022346 +[22:29:47.352] After Reprojection Map nMatches:38 ,distance between ekf and vo x:-0.000065 ,z=0.000005,angle between two frames:0.000951 +[22:29:47.352] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.018160 error end=0.018160 +[22:29:47.352] After pose optimization, distance between ekf and vo x:-0.000065 ,z=0.000005,angle between two frames:0.000951 +[22:29:47.352] Update EKF and 3D points the number of feature in the new frame: 34 and number of obs: 34 +[22:29:47.352] need key frame pitch dis: 0.027100 translation dif:0.318963 +[22:29:47.352] Choose frame as a key frame Scene Depth mean:-0.316576 ,depth min:-0.316576 +[22:29:47.352] frame process finished the id is: 74 the obs is:34 +[22:29:47.358] Odometry x=0.006047, y=0.318905, theta=0.027100 +[22:29:47.454] Odometry x=0.005476, y=0.327699, theta=0.024646 +[22:29:47.516] After Reprojection Map nMatches:34 ,distance between ekf and vo x:-0.000135 ,z=0.000150,angle between two frames:0.006930 +[22:29:47.516] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.026685 error end=0.026685 +[22:29:47.516] After pose optimization, distance between ekf and vo x:-0.000135 ,z=0.000150,angle between two frames:0.006930 +[22:29:47.516] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 +[22:29:47.517] need key frame pitch dis: 0.028205 translation dif:0.323299 +[22:29:47.517] Choose frame as a key frame Scene Depth mean:-0.320878 ,depth min:-0.320878 +[22:29:47.517] frame process finished the id is: 75 the obs is:25 +[22:29:47.556] Odometry x=0.006247, y=0.323239, theta=0.028205 +[22:29:47.654] Odometry x=0.006142, y=0.331970, theta=0.025882 +[22:29:47.693] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.000026 ,z=0.000104,angle between two frames:0.000313 +[22:29:47.693] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.024117 error end=0.024117 +[22:29:47.693] After pose optimization, distance between ekf and vo x:0.000026 ,z=0.000104,angle between two frames:0.000313 +[22:29:47.693] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18 +[22:29:47.693] need key frame pitch dis: 0.025988 translation dif:0.327337 +[22:29:47.693] Choose frame as a key frame Scene Depth mean:-0.324892 ,depth min:-0.324892 +[22:29:47.693] frame process finished the id is: 76 the obs is:18 +[22:29:47.754] Odometry x=0.006360, y=0.327276, theta=0.025988 +[22:29:47.854] Odometry x=0.006889, y=0.336071, theta=0.019107 +[22:29:47.868] After Reprojection Map nMatches:18 ,distance between ekf and vo x:-0.000038 ,z=0.000049,angle between two frames:0.000955 +[22:29:47.868] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.003175 error end=0.003175 +[22:29:47.868] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000049,angle between two frames:0.000955 +[22:29:47.868] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 +[22:29:47.868] need key frame pitch dis: 0.020913 translation dif:0.331925 +[22:29:47.868] Choose frame as a key frame Scene Depth mean:-0.329450 ,depth min:-0.329450 +[22:29:47.868] frame process finished the id is: 77 the obs is:15 +[22:29:47.952] Odometry x=0.005716, y=0.331876, theta=0.020913 +[22:29:48.044] After Reprojection Map nMatches:15 ,distance between ekf and vo x:-0.000076 ,z=0.000057,angle between two frames:0.001789 +[22:29:48.044] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.000894 error end=0.000894 +[22:29:48.044] After pose optimization, distance between ekf and vo x:-0.000076 ,z=0.000057,angle between two frames:0.001789 +[22:29:48.044] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13 +[22:29:48.044] need key frame pitch dis: 0.017664 translation dif:0.333960 +[22:29:48.044] Choose frame as a key frame Scene Depth mean:-0.331472 ,depth min:-0.331472 +[22:29:48.044] frame process finished the id is: 78 the obs is:13 +[22:29:48.050] Odometry x=0.005765, y=0.333910, theta=0.017664 +[22:29:48.149] Odometry x=0.006015, y=0.343456, theta=0.016524 +[22:29:48.215] After Reprojection Map nMatches:13 ,distance between ekf and vo x:-0.000062 ,z=0.000085,angle between two frames:0.001365 +[22:29:48.215] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.112896 error end=0.112896 +[22:29:48.215] After pose optimization, distance between ekf and vo x:-0.000062 ,z=0.000085,angle between two frames:0.001365 +[22:29:48.215] frame process finished the id is: 78 the obs is:13 +[22:29:48.252] Odometry x=0.007126, y=0.351567, theta=0.011168 +[22:29:48.309] After Reprojection Map nMatches:13 ,distance between ekf and vo x:-0.000285 ,z=-0.000021,angle between two frames:0.005217 +[22:29:48.309] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.001948 error end=0.001948 +[22:29:48.309] After pose optimization, distance between ekf and vo x:-0.000285 ,z=-0.000021,angle between two frames:0.005217 +[22:29:48.309] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[22:29:48.309] need key frame pitch dis: 0.017923 translation dif:0.353337 +[22:29:48.309] Choose frame as a key frame Scene Depth mean:0.552054 ,depth min:-0.350703 +[22:29:48.309] frame process finished the id is: 80 the obs is:12 +[22:29:48.354] Odometry x=0.007299, y=0.353262, theta=0.017923 +[22:29:48.450] Odometry x=0.006801, y=0.362577, theta=0.021106 +[22:29:48.504] After Reprojection Map nMatches:19 ,distance between ekf and vo x:-0.000222 ,z=0.000339,angle between two frames:0.000497 +[22:29:48.558] Odometry x=0.006582, y=0.370812, theta=0.009438 +[22:29:48.612] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.001562 error end=0.001562 +[22:29:48.612] After pose optimization, distance between ekf and vo x:-0.000222 ,z=0.000339,angle between two frames:0.000497 +[22:29:48.612] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 +[22:29:48.612] need key frame pitch dis: 0.011875 translation dif:0.359743 +[22:29:48.612] Choose frame as a key frame Scene Depth mean:0.542583 ,depth min:-0.357050 +[22:29:48.612] frame process finished the id is: 81 the obs is:15 +[22:29:48.655] Odometry x=0.007221, y=0.359671, theta=0.011875 +[22:29:48.755] Odometry x=0.007326, y=0.368135, theta=-0.001010 +[22:29:48.825] After Reprojection Map nMatches:13 ,distance between ekf and vo x:-0.000063 ,z=0.000104,angle between two frames:0.000215 +[22:29:48.850] Odometry x=0.008171, y=0.376375, theta=0.012165 +[22:29:48.950] Odometry x=0.008171, y=0.376375, theta=0.012165 +[22:29:49.056] Odometry x=0.006914, y=0.384374, theta=0.013279 +[22:29:49.150] Odometry x=0.007040, y=0.394980, theta=0.012856 +[22:29:49.243] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.000174 error end=0.000174 +[22:29:49.243] After pose optimization, distance between ekf and vo x:-0.000063 ,z=0.000104,angle between two frames:0.000215 +[22:29:49.243] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13 +[22:29:49.244] need key frame pitch dis: 0.015177 translation dif:0.370454 +[22:29:49.245] Choose frame as a key frame Scene Depth mean:0.470261 ,depth min:-0.587905 +[22:29:49.245] frame process finished the id is: 82 the obs is:13 +[22:29:49.261] Odometry x=0.006413, y=0.370399, theta=0.015177 +[22:29:49.359] Odometry x=0.005652, y=0.379104, theta=0.001341 +[22:29:49.453] Odometry x=0.004436, y=0.387271, theta=0.011885 +[22:29:49.522] After Reprojection Map nMatches:10 ,distance between ekf and vo x:-0.000486 ,z=0.000054,angle between two frames:0.000456 +[22:29:49.560] Odometry x=0.003793, y=0.395757, theta=0.002410 +[22:29:49.652] Odometry x=0.002280, y=0.403825, theta=0.014603 +[22:29:49.655] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.002980 error end=0.002980 +[22:29:49.655] After pose optimization, distance between ekf and vo x:-0.000486 ,z=0.000054,angle between two frames:0.000456 +[22:29:49.655] frame process finished the id is: 82 the obs is:13 +[22:29:49.753] Odometry x=0.000879, y=0.411502, theta=0.004262 +[22:29:49.838] After Reprojection Map nMatches:10 ,distance between ekf and vo x:-0.004556 ,z=-0.000329,angle between two frames:0.009288 +[22:29:49.838] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.005021 error end=0.004649 +[22:29:49.838] After pose optimization, distance between ekf and vo x:-0.009334 ,z=-0.000881,angle between two frames:0.002431 +[22:29:49.838] frame process finished the id is: 82 the obs is:13 +[22:29:49.853] Odometry x=-0.000634, y=0.420480, theta=0.014596 +[22:29:49.933] After Reprojection Map nMatches:10 ,distance between ekf and vo x:0.000331 ,z=-0.002664,angle between two frames:0.022959 +[22:29:49.933] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.065147 error end=0.065147 +[22:29:49.933] After pose optimization, distance between ekf and vo x:0.000331 ,z=-0.002664,angle between two frames:0.022959 +[22:29:49.933] frame process finished the id is: 82 the obs is:13 +[22:29:49.955] Odometry x=-0.001906, y=0.428785, theta=0.007439 +[22:29:50.022] After Reprojection Map nMatches:10 ,distance between ekf and vo x:-0.001095 ,z=-0.001709,angle between two frames:0.015411 +[22:29:50.022] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.012713 error end=0.012665 +[22:29:50.022] After pose optimization, distance between ekf and vo x:-0.007204 ,z=-0.003684,angle between two frames:0.010028 +[22:29:50.022] frame process finished the id is: 82 the obs is:13 +[22:29:50.058] Odometry x=-0.003450, y=0.437373, theta=0.015319 +[22:29:50.108] After Reprojection Map nMatches:13 ,distance between ekf and vo x:-0.005805 ,z=-0.016081,angle between two frames:0.618209 +[22:29:50.108] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.007430 error end=0.007430 +[22:29:50.108] After pose optimization, distance between ekf and vo x:-0.005805 ,z=-0.016081,angle between two frames:0.618209 +[22:29:50.108] frame process finished the id is: 82 the obs is:13 +[22:29:50.152] Odometry x=-0.004270, y=0.445094, theta=0.008681 +[22:29:50.198] After Reprojection Map nMatches:13 ,distance between ekf and vo x:-0.014588 ,z=0.022278,angle between two frames:0.791749 +[22:29:50.198] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.042670 error end=0.033614 +[22:29:50.198] After pose optimization, distance between ekf and vo x:-0.313452 ,z=0.087445,angle between two frames:1.320536 +[22:29:50.198] frame process finished the id is: 82 the obs is:13 +[22:29:50.252] Odometry x=-0.005329, y=0.453981, theta=0.015476 +[22:29:50.301] After Reprojection Map nMatches:13 ,distance between ekf and vo x:0.015131 ,z=-0.016212,angle between two frames:0.364056 +[22:29:50.301] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.006700 error end=0.006633 +[22:29:50.302] After pose optimization, distance between ekf and vo x:0.030440 ,z=0.043773,angle between two frames:0.321870 +[22:29:50.302] frame process finished the id is: 82 the obs is:13 +[22:29:50.353] Odometry x=-0.006294, y=0.462085, theta=0.007540 +[22:29:50.403] After Reprojection Map nMatches:13 ,distance between ekf and vo x:0.000011 ,z=-0.002282,angle between two frames:0.149030 +[22:29:50.403] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.014798 error end=0.014798 +[22:29:50.403] After pose optimization, distance between ekf and vo x:0.000386 ,z=0.000958,angle between two frames:0.147455 +[22:29:50.403] frame process finished the id is: 82 the obs is:13 +[22:29:50.458] Odometry x=-0.007293, y=0.470561, theta=0.015684 +[22:29:50.503] After Reprojection Map nMatches:13 ,distance between ekf and vo x:-0.000252 ,z=0.006747,angle between two frames:0.060865 +[22:29:50.503] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000713 error end=0.000713 +[22:29:50.503] After pose optimization, distance between ekf and vo x:-0.000252 ,z=0.006747,angle between two frames:0.060865 +[22:29:50.503] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[22:29:50.503] need key frame pitch dis: 0.010222 translation dif:0.477019 +[22:29:50.503] Choose frame as a key frame Scene Depth mean:0.388216 ,depth min:-2.021925 +[22:29:50.503] frame process finished the id is: 91 the obs is:12 +[22:29:50.550] Odometry x=-0.008287, y=0.476947, theta=0.010222 +[22:29:50.613] After Reprojection Map nMatches:17 ,distance between ekf and vo x:0.000300 ,z=-0.000235,angle between two frames:0.000008 +[22:29:50.614] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.012141 error end=0.012141 +[22:29:50.614] After pose optimization, distance between ekf and vo x:0.000300 ,z=-0.000235,angle between two frames:0.000008 +[22:29:50.614] frame process finished the id is: 91 the obs is:12 +[22:29:50.654] Odometry x=-0.009669, y=0.485713, theta=0.018746 +[22:29:50.708] After Reprojection Map nMatches:1 ,distance between ekf and vo x:-0.000647 ,z=0.004464,angle between two frames:0.000141 +[22:29:50.708] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 +[22:29:50.708] After pose optimization, distance between ekf and vo x:-0.000647 ,z=0.004464,angle between two frames:0.000141 +[22:29:50.708] frame process finished the id is: 91 the obs is:12 +[22:29:50.754] Odometry x=-0.011024, y=0.492127, theta=0.017116 +[22:29:50.806] After Reprojection Map nMatches:1 ,distance between ekf and vo x:-0.004956 ,z=0.014862,angle between two frames:0.000291 +[22:29:50.806] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000022 error end=0.000022 +[22:29:50.806] After pose optimization, distance between ekf and vo x:-0.004839 ,z=0.014798,angle between two frames:0.000296 +[22:29:50.806] frame process finished the id is: 91 the obs is:12 +[22:29:50.852] Odometry x=-0.012593, y=0.500396, theta=0.026316 +[22:29:50.908] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.003329 ,z=-0.011035,angle between two frames:0.000252 +[22:29:50.908] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000001 error end=0.000001 +[22:29:50.908] After pose optimization, distance between ekf and vo x:0.003377 ,z=-0.011027,angle between two frames:0.000249 +[22:29:50.908] frame process finished the id is: 91 the obs is:12 +[22:29:50.954] Odometry x=-0.013967, y=0.507842, theta=0.014314 +[22:29:51.005] After Reprojection Map nMatches:1 ,distance between ekf and vo x:-0.004368 ,z=0.001784,angle between two frames:0.000199 +[22:29:51.005] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000024 error end=0.000024 +[22:29:51.005] After pose optimization, distance between ekf and vo x:-0.004368 ,z=0.001784,angle between two frames:0.000199 +[22:29:51.005] frame process finished the id is: 91 the obs is:12 +[22:29:51.053] Odometry x=-0.015439, y=0.516681, theta=0.022811 +[22:29:51.105] After Reprojection Map nMatches:1 ,distance between ekf and vo x:-0.012321 ,z=-0.001088,angle between two frames:0.000801 +[22:29:51.105] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000047 error end=0.000047 +[22:29:51.105] After pose optimization, distance between ekf and vo x:-0.011533 ,z=-0.001340,angle between two frames:0.000764 +[22:29:51.105] frame process finished the id is: 91 the obs is:12 +[22:29:51.151] Odometry x=-0.015954, y=0.524587, theta=0.010344 +[22:29:51.207] After Reprojection Map nMatches:1 ,distance between ekf and vo x:-0.001254 ,z=0.006484,angle between two frames:0.000178 +[22:29:51.207] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.049216 error end=0.046476 +[22:29:51.207] After pose optimization, distance between ekf and vo x:0.406701 ,z=-0.242255,angle between two frames:0.015928 +[22:29:51.207] frame process finished the id is: 91 the obs is:12 +[22:29:51.253] Odometry x=-0.017244, y=0.532211, theta=0.016747 +[22:29:51.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.293] frame process finished the id is: 91 the obs is:12 +[22:29:51.356] Odometry x=-0.018578, y=0.539994, theta=0.015311 +[22:29:51.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.393] frame process finished the id is: 91 the obs is:12 +[22:29:51.456] Odometry x=-0.019614, y=0.547537, theta=0.014600 +[22:29:51.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.493] frame process finished the id is: 91 the obs is:12 +[22:29:51.557] Odometry x=-0.020439, y=0.554554, theta=0.016260 +[22:29:51.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.595] frame process finished the id is: 91 the obs is:12 +[22:29:51.655] Odometry x=-0.021725, y=0.562761, theta=0.017195 +[22:29:51.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.692] frame process finished the id is: 91 the obs is:12 +[22:29:51.750] Odometry x=-0.023205, y=0.569981, theta=0.018409 +[22:29:51.789] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.789] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.789] frame process finished the id is: 91 the obs is:12 +[22:29:51.852] Odometry x=-0.024838, y=0.577753, theta=0.018428 +[22:29:51.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.891] frame process finished the id is: 91 the obs is:12 +[22:29:51.960] Odometry x=-0.026097, y=0.584943, theta=0.023214 +[22:29:51.989] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.989] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:51.989] frame process finished the id is: 91 the obs is:12 +[22:29:52.055] Odometry x=-0.026097, y=0.584943, theta=0.023214 +[22:29:52.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.091] frame process finished the id is: 91 the obs is:12 +[22:29:52.155] Odometry x=-0.026207, y=0.593860, theta=0.031903 +[22:29:52.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.191] frame process finished the id is: 91 the obs is:12 +[22:29:52.255] Odometry x=-0.027109, y=0.602044, theta=0.049096 +[22:29:52.297] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.297] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.297] frame process finished the id is: 91 the obs is:12 +[22:29:52.353] Odometry x=-0.028927, y=0.609285, theta=0.037135 +[22:29:52.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.391] frame process finished the id is: 91 the obs is:12 +[22:29:52.456] Odometry x=-0.030589, y=0.617535, theta=0.047480 +[22:29:52.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.490] frame process finished the id is: 91 the obs is:12 +[22:29:52.557] Odometry x=-0.031889, y=0.625939, theta=0.033599 +[22:29:52.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.592] frame process finished the id is: 91 the obs is:12 +[22:29:52.658] Odometry x=-0.033724, y=0.632923, theta=0.045918 +[22:29:52.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.690] frame process finished the id is: 91 the obs is:12 +[22:29:52.761] Odometry x=-0.034221, y=0.641069, theta=0.040528 +[22:29:52.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.791] frame process finished the id is: 91 the obs is:12 +[22:29:52.854] Odometry x=-0.036038, y=0.648387, theta=0.038425 +[22:29:52.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.893] frame process finished the id is: 91 the obs is:12 +[22:29:52.953] Odometry x=-0.036708, y=0.656256, theta=0.043281 +[22:29:52.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:52.990] frame process finished the id is: 91 the obs is:12 +[22:29:53.055] Odometry x=-0.038321, y=0.662886, theta=0.036235 +[22:29:53.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.090] frame process finished the id is: 91 the obs is:12 +[22:29:53.153] Odometry x=-0.039637, y=0.671225, theta=0.043060 +[22:29:53.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.189] frame process finished the id is: 91 the obs is:12 +[22:29:53.256] Odometry x=-0.041046, y=0.678935, theta=0.043568 +[22:29:53.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.289] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.289] frame process finished the id is: 91 the obs is:12 +[22:29:53.354] Odometry x=-0.042296, y=0.687055, theta=0.043288 +[22:29:53.389] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.389] frame process finished the id is: 91 the obs is:12 +[22:29:53.454] Odometry x=-0.043785, y=0.694900, theta=0.038135 +[22:29:53.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.490] frame process finished the id is: 91 the obs is:12 +[22:29:53.556] Odometry x=-0.044521, y=0.701990, theta=0.048820 +[22:29:53.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.592] frame process finished the id is: 91 the obs is:12 +[22:29:53.651] Odometry x=-0.046038, y=0.710458, theta=0.041303 +[22:29:53.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.691] frame process finished the id is: 91 the obs is:12 +[22:29:53.756] Odometry x=-0.047354, y=0.718504, theta=0.051449 +[22:29:53.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.791] frame process finished the id is: 91 the obs is:12 +[22:29:53.854] Odometry x=-0.049183, y=0.726324, theta=0.046506 +[22:29:53.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.892] frame process finished the id is: 91 the obs is:12 +[22:29:53.952] Odometry x=-0.049321, y=0.733861, theta=0.048338 +[22:29:53.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:53.992] frame process finished the id is: 91 the obs is:12 +[22:29:54.053] Odometry x=-0.049675, y=0.741873, theta=0.051195 +[22:29:54.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.089] frame process finished the id is: 91 the obs is:12 +[22:29:54.157] Odometry x=-0.050917, y=0.749670, theta=0.059347 +[22:29:54.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.194] frame process finished the id is: 91 the obs is:12 +[22:29:54.252] Odometry x=-0.052542, y=0.757768, theta=0.046081 +[22:29:54.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.293] frame process finished the id is: 91 the obs is:12 +[22:29:54.351] Odometry x=-0.054178, y=0.766001, theta=0.052223 +[22:29:54.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.391] frame process finished the id is: 91 the obs is:12 +[22:29:54.454] Odometry x=-0.055860, y=0.773399, theta=0.044136 +[22:29:54.496] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.496] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.496] frame process finished the id is: 91 the obs is:12 +[22:29:54.556] Odometry x=-0.057424, y=0.781210, theta=0.051354 +[22:29:54.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.592] frame process finished the id is: 91 the obs is:12 +[22:29:54.658] Odometry x=-0.058920, y=0.789013, theta=0.046978 +[22:29:54.696] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.696] frame process finished the id is: 91 the obs is:12 +[22:29:54.752] Odometry x=-0.060305, y=0.798065, theta=0.055369 +[22:29:54.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.792] frame process finished the id is: 91 the obs is:12 +[22:29:54.854] Odometry x=-0.061789, y=0.804642, theta=0.049618 +[22:29:54.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.892] frame process finished the id is: 91 the obs is:12 +[22:29:54.961] Odometry x=-0.063149, y=0.812530, theta=0.060095 +[22:29:54.994] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.994] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:54.994] frame process finished the id is: 91 the obs is:12 +[22:29:55.059] Odometry x=-0.063324, y=0.820408, theta=0.051970 +[22:29:55.097] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.098] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.098] frame process finished the id is: 91 the obs is:12 +[22:29:55.152] Odometry x=-0.064398, y=0.828201, theta=0.064662 +[22:29:55.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.189] frame process finished the id is: 91 the obs is:12 +[22:29:55.254] Odometry x=-0.066176, y=0.835659, theta=0.058006 +[22:29:55.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.290] frame process finished the id is: 91 the obs is:12 +[22:29:55.356] Odometry x=-0.067654, y=0.844328, theta=0.066455 +[22:29:55.389] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.389] frame process finished the id is: 91 the obs is:12 +[22:29:55.449] Odometry x=-0.068511, y=0.850806, theta=0.059349 +[22:29:55.494] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.494] frame process finished the id is: 91 the obs is:12 +[22:29:55.559] Odometry x=-0.069490, y=0.857824, theta=0.066119 +[22:29:55.588] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.588] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.588] frame process finished the id is: 91 the obs is:12 +[22:29:55.659] Odometry x=-0.070723, y=0.864447, theta=0.061341 +[22:29:55.689] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.689] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.689] frame process finished the id is: 91 the obs is:12 +[22:29:55.753] Odometry x=-0.072441, y=0.872945, theta=0.058607 +[22:29:55.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.793] frame process finished the id is: 91 the obs is:12 +[22:29:55.851] Odometry x=-0.074257, y=0.881164, theta=0.062249 +[22:29:55.887] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.887] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.887] frame process finished the id is: 91 the obs is:12 +[22:29:55.955] Odometry x=-0.075970, y=0.889096, theta=0.064890 +[22:29:55.986] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.987] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:55.987] frame process finished the id is: 91 the obs is:12 +[22:29:56.051] Odometry x=-0.077917, y=0.897986, theta=0.060555 +[22:29:56.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.089] frame process finished the id is: 91 the obs is:12 +[22:29:56.155] Odometry x=-0.078686, y=0.904203, theta=0.068176 +[22:29:56.185] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.185] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.185] frame process finished the id is: 91 the obs is:12 +[22:29:56.256] Odometry x=-0.080083, y=0.912515, theta=0.063413 +[22:29:56.285] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.285] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.285] frame process finished the id is: 91 the obs is:12 +[22:29:56.357] Odometry x=-0.080772, y=0.920014, theta=0.061907 +[22:29:56.384] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.384] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.384] frame process finished the id is: 91 the obs is:12 +[22:29:56.457] Odometry x=-0.082236, y=0.928078, theta=0.074296 +[22:29:56.551] Odometry x=-0.083768, y=0.936575, theta=0.067910 +[22:29:56.607] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.607] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.607] frame process finished the id is: 91 the obs is:12 +[22:29:56.656] Odometry x=-0.084585, y=0.943565, theta=0.064995 +[22:29:56.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.690] frame process finished the id is: 91 the obs is:12 +[22:29:56.755] Odometry x=-0.084661, y=0.951289, theta=0.063004 +[22:29:56.787] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.787] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.787] frame process finished the id is: 91 the obs is:12 +[22:29:56.856] Odometry x=-0.084996, y=0.959244, theta=0.057531 +[22:29:56.888] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.888] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.888] frame process finished the id is: 91 the obs is:12 +[22:29:56.958] Odometry x=-0.085763, y=0.967012, theta=0.062297 +[22:29:56.989] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.989] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:56.989] frame process finished the id is: 91 the obs is:12 +[22:29:57.055] Odometry x=-0.084868, y=0.975137, theta=0.069265 +[22:29:57.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.089] frame process finished the id is: 91 the obs is:12 +[22:29:57.153] Odometry x=-0.085650, y=0.983159, theta=0.061833 +[22:29:57.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.190] frame process finished the id is: 91 the obs is:12 +[22:29:57.254] Odometry x=-0.086834, y=0.990934, theta=0.071209 +[22:29:57.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.289] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.289] frame process finished the id is: 91 the obs is:12 +[22:29:57.355] Odometry x=-0.085965, y=0.999166, theta=0.066739 +[22:29:57.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.391] frame process finished the id is: 91 the obs is:12 +[22:29:57.454] Odometry x=-0.086934, y=1.007450, theta=0.076511 +[22:29:57.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.491] frame process finished the id is: 91 the obs is:12 +[22:29:57.559] Odometry x=-0.087534, y=1.014167, theta=0.069954 +[22:29:57.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.592] frame process finished the id is: 91 the obs is:12 +[22:29:57.653] Odometry x=-0.087826, y=1.021950, theta=0.073268 +[22:29:57.689] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.689] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.689] frame process finished the id is: 91 the obs is:12 +[22:29:57.749] Odometry x=-0.088410, y=1.029577, theta=0.067231 +[22:29:57.788] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.788] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.788] frame process finished the id is: 91 the obs is:12 +[22:29:57.854] Odometry x=-0.088815, y=1.037263, theta=0.079127 +[22:29:57.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.890] frame process finished the id is: 91 the obs is:12 +[22:29:57.957] Odometry x=-0.087943, y=1.045908, theta=0.068396 +[22:29:57.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:57.990] frame process finished the id is: 91 the obs is:12 +[22:29:58.055] Odometry x=-0.088300, y=1.053321, theta=0.072006 +[22:29:58.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.091] frame process finished the id is: 91 the obs is:12 +[22:29:58.157] Odometry x=-0.090145, y=1.061614, theta=0.080282 +[22:29:58.193] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.193] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.193] frame process finished the id is: 91 the obs is:12 +[22:29:58.256] Odometry x=-0.089904, y=1.068517, theta=0.082357 +[22:29:58.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.289] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.289] frame process finished the id is: 91 the obs is:12 +[22:29:58.360] Odometry x=-0.090900, y=1.076560, theta=0.081138 +[22:29:58.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.392] frame process finished the id is: 91 the obs is:12 +[22:29:58.449] Odometry x=-0.090859, y=1.084803, theta=0.075739 +[22:29:58.497] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.497] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.497] frame process finished the id is: 91 the obs is:12 +[22:29:58.560] Odometry x=-0.090198, y=1.093495, theta=0.077709 +[22:29:58.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.590] frame process finished the id is: 91 the obs is:12 +[22:29:58.666] Odometry x=-0.091408, y=1.101823, theta=0.067335 +[22:29:58.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.693] frame process finished the id is: 91 the obs is:12 +[22:29:58.754] Odometry x=-0.091518, y=1.109321, theta=0.070286 +[22:29:58.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.791] frame process finished the id is: 91 the obs is:12 +[22:29:58.858] Odometry x=-0.092095, y=1.118379, theta=0.067038 +[22:29:58.888] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.888] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.888] frame process finished the id is: 91 the obs is:12 +[22:29:58.956] Odometry x=-0.092849, y=1.125960, theta=0.075528 +[22:29:58.996] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.996] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:58.996] frame process finished the id is: 91 the obs is:12 +[22:29:59.055] Odometry x=-0.092871, y=1.133787, theta=0.070333 +[22:29:59.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.093] frame process finished the id is: 91 the obs is:12 +[22:29:59.157] Odometry x=-0.093802, y=1.141650, theta=0.076373 +[22:29:59.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.191] frame process finished the id is: 91 the obs is:12 +[22:29:59.260] Odometry x=-0.094423, y=1.149835, theta=0.071641 +[22:29:59.295] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.295] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.295] frame process finished the id is: 91 the obs is:12 +[22:29:59.349] Odometry x=-0.094645, y=1.157502, theta=0.074593 +[22:29:59.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.393] frame process finished the id is: 91 the obs is:12 +[22:29:59.453] Odometry x=-0.095384, y=1.165577, theta=0.074883 +[22:29:59.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.492] frame process finished the id is: 91 the obs is:12 +[22:29:59.552] Odometry x=-0.096266, y=1.174408, theta=0.078145 +[22:29:59.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.593] frame process finished the id is: 91 the obs is:12 +[22:29:59.651] Odometry x=-0.097510, y=1.182801, theta=0.070260 +[22:29:59.689] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.689] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.689] frame process finished the id is: 91 the obs is:12 +[22:29:59.756] Odometry x=-0.097532, y=1.190371, theta=0.067551 +[22:29:59.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.790] frame process finished the id is: 91 the obs is:12 +[22:29:59.852] Odometry x=-0.097659, y=1.198698, theta=0.069638 +[22:29:59.888] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.888] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.888] frame process finished the id is: 91 the obs is:12 +[22:29:59.952] Odometry x=-0.097798, y=1.206727, theta=0.067337 +[22:29:59.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:29:59.990] frame process finished the id is: 91 the obs is:12 +[22:30:00.057] Odometry x=-0.098529, y=1.214519, theta=0.070783 +[22:30:00.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.091] frame process finished the id is: 91 the obs is:12 +[22:30:00.152] Odometry x=-0.099047, y=1.221739, theta=0.064641 +[22:30:00.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.190] frame process finished the id is: 91 the obs is:12 +[22:30:00.253] Odometry x=-0.098853, y=1.230591, theta=0.069850 +[22:30:00.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.292] frame process finished the id is: 91 the obs is:12 +[22:30:00.358] Odometry x=-0.099689, y=1.238173, theta=0.071296 +[22:30:00.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.390] frame process finished the id is: 91 the obs is:12 +[22:30:00.455] Odometry x=-0.099411, y=1.247115, theta=0.067125 +[22:30:00.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.493] frame process finished the id is: 91 the obs is:12 +[22:30:00.555] Odometry x=-0.100327, y=1.254578, theta=0.073905 +[22:30:00.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.592] frame process finished the id is: 91 the obs is:12 +[22:30:00.653] Odometry x=-0.101090, y=1.263526, theta=0.074104 +[22:30:00.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.692] frame process finished the id is: 91 the obs is:12 +[22:30:00.755] Odometry x=-0.102112, y=1.271413, theta=0.078507 +[22:30:00.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.790] frame process finished the id is: 91 the obs is:12 +[22:30:00.857] Odometry x=-0.103811, y=1.280349, theta=0.073751 +[22:30:00.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.891] frame process finished the id is: 91 the obs is:12 +[22:30:00.955] Odometry x=-0.104010, y=1.287812, theta=0.074168 +[22:30:00.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:00.991] frame process finished the id is: 91 the obs is:12 +[22:30:01.052] Odometry x=-0.104815, y=1.296231, theta=0.065135 +[22:30:01.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.092] frame process finished the id is: 91 the obs is:12 +[22:30:01.159] Odometry x=-0.104373, y=1.304552, theta=0.069610 +[22:30:01.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.190] frame process finished the id is: 91 the obs is:12 +[22:30:01.255] Odometry x=-0.105469, y=1.312084, theta=0.066511 +[22:30:01.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.291] frame process finished the id is: 91 the obs is:12 +[22:30:01.356] Odometry x=-0.105808, y=1.320503, theta=0.069107 +[22:30:01.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.392] frame process finished the id is: 91 the obs is:12 +[22:30:01.449] Odometry x=-0.106480, y=1.329381, theta=0.066443 +[22:30:01.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.492] frame process finished the id is: 91 the obs is:12 +[22:30:01.563] Odometry x=-0.106092, y=1.337355, theta=0.064358 +[22:30:01.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.593] frame process finished the id is: 91 the obs is:12 +[22:30:01.654] Odometry x=-0.106846, y=1.345601, theta=0.062656 +[22:30:01.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.690] frame process finished the id is: 91 the obs is:12 +[22:30:01.755] Odometry x=-0.106849, y=1.352781, theta=0.064983 +[22:30:01.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.791] frame process finished the id is: 91 the obs is:12 +[22:30:01.854] Odometry x=-0.107860, y=1.361653, theta=0.065893 +[22:30:01.889] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.889] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.889] frame process finished the id is: 91 the obs is:12 +[22:30:01.955] Odometry x=-0.108260, y=1.369542, theta=0.067181 +[22:30:01.988] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.988] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:01.988] frame process finished the id is: 91 the obs is:12 +[22:30:02.059] Odometry x=-0.109411, y=1.377205, theta=0.073479 +[22:30:02.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.089] frame process finished the id is: 91 the obs is:12 +[22:30:02.159] Odometry x=-0.109323, y=1.385855, theta=0.071543 +[22:30:02.193] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.193] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.193] frame process finished the id is: 91 the obs is:12 +[22:30:02.253] Odometry x=-0.110520, y=1.394173, theta=0.077201 +[22:30:02.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.293] frame process finished the id is: 91 the obs is:12 +[22:30:02.352] Odometry x=-0.110465, y=1.402410, theta=0.070550 +[22:30:02.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.393] frame process finished the id is: 91 the obs is:12 +[22:30:02.453] Odometry x=-0.110751, y=1.411355, theta=0.075821 +[22:30:02.495] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.495] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.496] frame process finished the id is: 91 the obs is:12 +[22:30:02.552] Odometry x=-0.110379, y=1.419738, theta=0.075381 +[22:30:02.589] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.589] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.589] frame process finished the id is: 91 the obs is:12 +[22:30:02.653] Odometry x=-0.110739, y=1.427614, theta=0.079667 +[22:30:02.688] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.688] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.688] frame process finished the id is: 91 the obs is:12 +[22:30:02.753] Odometry x=-0.112148, y=1.436389, theta=0.073959 +[22:30:02.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.790] frame process finished the id is: 91 the obs is:12 +[22:30:02.851] Odometry x=-0.112816, y=1.443810, theta=0.077274 +[22:30:02.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.891] frame process finished the id is: 91 the obs is:12 +[22:30:02.952] Odometry x=-0.113831, y=1.452765, theta=0.072512 +[22:30:02.996] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.996] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:02.996] frame process finished the id is: 91 the obs is:12 +[22:30:03.056] Odometry x=-0.113762, y=1.460744, theta=0.074477 +[22:30:03.088] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.088] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.088] frame process finished the id is: 91 the obs is:12 +[22:30:03.151] Odometry x=-0.114661, y=1.468745, theta=0.068840 +[22:30:03.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.189] frame process finished the id is: 91 the obs is:12 +[22:30:03.254] Odometry x=-0.114441, y=1.477186, theta=0.072422 +[22:30:03.288] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.288] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.288] frame process finished the id is: 91 the obs is:12 +[22:30:03.354] Odometry x=-0.115549, y=1.485058, theta=0.087430 +[22:30:03.400] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.400] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.400] frame process finished the id is: 91 the obs is:12 +[22:30:03.459] Odometry x=-0.116292, y=1.492936, theta=0.074296 +[22:30:03.498] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.498] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.498] frame process finished the id is: 91 the obs is:12 +[22:30:03.553] Odometry x=-0.116301, y=1.501700, theta=0.078126 +[22:30:03.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.590] frame process finished the id is: 91 the obs is:12 +[22:30:03.654] Odometry x=-0.116243, y=1.509897, theta=0.078851 +[22:30:03.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.694] frame process finished the id is: 91 the obs is:12 +[22:30:03.758] Odometry x=-0.116981, y=1.517511, theta=0.079759 +[22:30:03.794] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.794] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.794] frame process finished the id is: 91 the obs is:12 +[22:30:03.853] Odometry x=-0.116198, y=1.524469, theta=0.082880 +[22:30:03.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.892] frame process finished the id is: 91 the obs is:12 +[22:30:03.951] Odometry x=-0.117813, y=1.531998, theta=0.078199 +[22:30:03.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:03.992] frame process finished the id is: 91 the obs is:12 +[22:30:04.050] Odometry x=-0.119548, y=1.539536, theta=0.077024 +[22:30:04.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.092] frame process finished the id is: 91 the obs is:12 +[22:30:04.153] Odometry x=-0.120353, y=1.547026, theta=0.087071 +[22:30:04.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.194] frame process finished the id is: 91 the obs is:12 +[22:30:04.250] Odometry x=-0.121628, y=1.554699, theta=0.089821 +[22:30:04.294] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.294] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.294] frame process finished the id is: 91 the obs is:12 +[22:30:04.355] Odometry x=-0.122210, y=1.562032, theta=0.082954 +[22:30:04.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.393] frame process finished the id is: 91 the obs is:12 +[22:30:04.455] Odometry x=-0.122690, y=1.570420, theta=0.083032 +[22:30:04.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.494] frame process finished the id is: 91 the obs is:12 +[22:30:04.553] Odometry x=-0.124371, y=1.578825, theta=0.079838 +[22:30:04.588] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.588] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.588] frame process finished the id is: 91 the obs is:12 +[22:30:04.656] Odometry x=-0.124523, y=1.586974, theta=0.080658 +[22:30:04.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.691] frame process finished the id is: 91 the obs is:12 +[22:30:04.757] Odometry x=-0.125557, y=1.594844, theta=0.086309 +[22:30:04.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.790] frame process finished the id is: 91 the obs is:12 +[22:30:04.853] Odometry x=-0.125903, y=1.602194, theta=0.080947 +[22:30:04.889] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.889] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.889] frame process finished the id is: 91 the obs is:12 +[22:30:04.960] Odometry x=-0.127350, y=1.610703, theta=0.083313 +[22:30:04.989] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.989] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:04.989] frame process finished the id is: 91 the obs is:12 +[22:30:05.060] Odometry x=-0.127833, y=1.618344, theta=0.089522 +[22:30:05.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.091] frame process finished the id is: 91 the obs is:12 +[22:30:05.156] Odometry x=-0.128591, y=1.626098, theta=0.089285 +[22:30:05.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.191] frame process finished the id is: 91 the obs is:12 +[22:30:05.255] Odometry x=-0.130739, y=1.632670, theta=0.095136 +[22:30:05.295] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.295] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.295] frame process finished the id is: 91 the obs is:12 +[22:30:05.356] Odometry x=-0.130743, y=1.640691, theta=0.097829 +[22:30:05.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.393] frame process finished the id is: 91 the obs is:12 +[22:30:05.453] Odometry x=-0.131714, y=1.649060, theta=0.089850 +[22:30:05.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.491] frame process finished the id is: 91 the obs is:12 +[22:30:05.555] Odometry x=-0.131892, y=1.656676, theta=0.090386 +[22:30:05.588] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.588] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.589] frame process finished the id is: 91 the obs is:12 +[22:30:05.654] Odometry x=-0.132483, y=1.665284, theta=0.089158 +[22:30:05.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.691] frame process finished the id is: 91 the obs is:12 +[22:30:05.758] Odometry x=-0.132917, y=1.673048, theta=0.091140 +[22:30:05.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.790] frame process finished the id is: 91 the obs is:12 +[22:30:05.852] Odometry x=-0.132970, y=1.680064, theta=0.087765 +[22:30:05.889] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.889] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.889] frame process finished the id is: 91 the obs is:12 +[22:30:05.954] Odometry x=-0.133489, y=1.688076, theta=0.099178 +[22:30:05.989] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.989] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:05.989] frame process finished the id is: 91 the obs is:12 +[22:30:06.057] Odometry x=-0.134570, y=1.696405, theta=0.094892 +[22:30:06.096] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.096] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.096] frame process finished the id is: 91 the obs is:12 +[22:30:06.156] Odometry x=-0.134432, y=1.703711, theta=0.085547 +[22:30:06.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.189] frame process finished the id is: 91 the obs is:12 +[22:30:06.254] Odometry x=-0.135588, y=1.712002, theta=0.090619 +[22:30:06.288] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.288] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.288] frame process finished the id is: 91 the obs is:12 +[22:30:06.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.392] frame process finished the id is: 91 the obs is:12 +[22:30:06.501] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.501] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.501] frame process finished the id is: 91 the obs is:12 +[22:30:06.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.590] frame process finished the id is: 91 the obs is:12 +[22:30:06.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.692] frame process finished the id is: 91 the obs is:12 +[22:30:06.788] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.788] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.788] frame process finished the id is: 91 the obs is:12 +[22:30:06.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.890] frame process finished the id is: 91 the obs is:12 +[22:30:06.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:06.990] frame process finished the id is: 91 the obs is:12 +[22:30:07.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.089] frame process finished the id is: 91 the obs is:12 +[22:30:07.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.189] frame process finished the id is: 91 the obs is:12 +[22:30:07.296] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.296] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.296] frame process finished the id is: 91 the obs is:12 +[22:30:07.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.390] frame process finished the id is: 91 the obs is:12 +[22:30:07.498] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.498] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.498] frame process finished the id is: 91 the obs is:12 +[22:30:07.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.590] frame process finished the id is: 91 the obs is:12 +[22:30:07.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.692] frame process finished the id is: 91 the obs is:12 +[22:30:07.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.791] frame process finished the id is: 91 the obs is:12 +[22:30:07.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.893] frame process finished the id is: 91 the obs is:12 +[22:30:07.994] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.994] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:07.994] frame process finished the id is: 91 the obs is:12 +[22:30:08.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.091] frame process finished the id is: 91 the obs is:12 +[22:30:08.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.189] frame process finished the id is: 91 the obs is:12 +[22:30:08.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.290] frame process finished the id is: 91 the obs is:12 +[22:30:08.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.392] frame process finished the id is: 91 the obs is:12 +[22:30:08.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.491] frame process finished the id is: 91 the obs is:12 +[22:30:08.589] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.589] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.589] frame process finished the id is: 91 the obs is:12 +[22:30:08.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.692] frame process finished the id is: 91 the obs is:12 +[22:30:08.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.790] frame process finished the id is: 91 the obs is:12 +[22:30:08.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.891] frame process finished the id is: 91 the obs is:12 +[22:30:08.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:08.990] frame process finished the id is: 91 the obs is:12 +[22:30:09.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.092] frame process finished the id is: 91 the obs is:12 +[22:30:09.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.190] frame process finished the id is: 91 the obs is:12 +[22:30:09.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.293] frame process finished the id is: 91 the obs is:12 +[22:30:09.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.390] frame process finished the id is: 91 the obs is:12 +[22:30:09.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.493] frame process finished the id is: 91 the obs is:12 +[22:30:09.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.591] frame process finished the id is: 91 the obs is:12 +[22:30:09.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.690] frame process finished the id is: 91 the obs is:12 +[22:30:09.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.793] frame process finished the id is: 91 the obs is:12 +[22:30:09.889] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.889] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.889] frame process finished the id is: 91 the obs is:12 +[22:30:09.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:09.991] frame process finished the id is: 91 the obs is:12 +[22:30:10.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.091] frame process finished the id is: 91 the obs is:12 +[22:30:10.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.192] frame process finished the id is: 91 the obs is:12 +[22:30:10.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.289] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.289] frame process finished the id is: 91 the obs is:12 +[22:30:10.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.392] frame process finished the id is: 91 the obs is:12 +[22:30:10.494] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.494] frame process finished the id is: 91 the obs is:12 +[22:30:10.594] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.594] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.594] frame process finished the id is: 91 the obs is:12 +[22:30:10.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.691] frame process finished the id is: 91 the obs is:12 +[22:30:10.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.792] frame process finished the id is: 91 the obs is:12 +[22:30:10.901] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.901] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.901] frame process finished the id is: 91 the obs is:12 +[22:30:10.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:10.990] frame process finished the id is: 91 the obs is:12 +[22:30:11.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.091] frame process finished the id is: 91 the obs is:12 +[22:30:11.195] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.195] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.195] frame process finished the id is: 91 the obs is:12 +[22:30:11.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.291] frame process finished the id is: 91 the obs is:12 +[22:30:11.397] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.397] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.397] frame process finished the id is: 91 the obs is:12 +[22:30:11.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.491] frame process finished the id is: 91 the obs is:12 +[22:30:11.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.592] frame process finished the id is: 91 the obs is:12 +[22:30:11.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.693] frame process finished the id is: 91 the obs is:12 +[22:30:11.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.791] frame process finished the id is: 91 the obs is:12 +[22:30:11.895] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.895] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.895] frame process finished the id is: 91 the obs is:12 +[22:30:11.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:11.992] frame process finished the id is: 91 the obs is:12 +[22:30:12.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.091] frame process finished the id is: 91 the obs is:12 +[22:30:12.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.190] frame process finished the id is: 91 the obs is:12 +[22:30:12.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.293] frame process finished the id is: 91 the obs is:12 +[22:30:12.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.393] frame process finished the id is: 91 the obs is:12 +[22:30:12.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.491] frame process finished the id is: 91 the obs is:12 +[22:30:12.594] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.594] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.594] frame process finished the id is: 91 the obs is:12 +[22:30:12.696] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.696] frame process finished the id is: 91 the obs is:12 +[22:30:12.805] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.805] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.805] frame process finished the id is: 91 the obs is:12 +[22:30:12.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.891] frame process finished the id is: 91 the obs is:12 +[22:30:12.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:12.991] frame process finished the id is: 91 the obs is:12 +[22:30:13.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.093] frame process finished the id is: 91 the obs is:12 +[22:30:13.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.192] frame process finished the id is: 91 the obs is:12 +[22:30:13.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.291] frame process finished the id is: 91 the obs is:12 +[22:30:13.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.390] frame process finished the id is: 91 the obs is:12 +[22:30:13.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.489] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.489] frame process finished the id is: 91 the obs is:12 +[22:30:13.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.590] frame process finished the id is: 91 the obs is:12 +[22:30:13.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.690] frame process finished the id is: 91 the obs is:12 +[22:30:13.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.793] frame process finished the id is: 91 the obs is:12 +[22:30:13.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.890] frame process finished the id is: 91 the obs is:12 +[22:30:13.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:13.993] frame process finished the id is: 91 the obs is:12 +[22:30:14.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.094] frame process finished the id is: 91 the obs is:12 +[22:30:14.195] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.195] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.195] frame process finished the id is: 91 the obs is:12 +[22:30:14.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.291] frame process finished the id is: 91 the obs is:12 +[22:30:14.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.391] frame process finished the id is: 91 the obs is:12 +[22:30:14.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.493] frame process finished the id is: 91 the obs is:12 +[22:30:14.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.590] frame process finished the id is: 91 the obs is:12 +[22:30:14.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.690] frame process finished the id is: 91 the obs is:12 +[22:30:14.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.792] frame process finished the id is: 91 the obs is:12 +[22:30:14.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.892] frame process finished the id is: 91 the obs is:12 +[22:30:14.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:14.992] frame process finished the id is: 91 the obs is:12 +[22:30:15.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.091] frame process finished the id is: 91 the obs is:12 +[22:30:15.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.190] frame process finished the id is: 91 the obs is:12 +[22:30:15.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.290] frame process finished the id is: 91 the obs is:12 +[22:30:15.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.393] frame process finished the id is: 91 the obs is:12 +[22:30:15.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.490] frame process finished the id is: 91 the obs is:12 +[22:30:15.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.592] frame process finished the id is: 91 the obs is:12 +[22:30:15.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.694] frame process finished the id is: 91 the obs is:12 +[22:30:15.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.790] frame process finished the id is: 91 the obs is:12 +[22:30:15.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.890] frame process finished the id is: 91 the obs is:12 +[22:30:15.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:15.991] frame process finished the id is: 91 the obs is:12 +[22:30:16.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.091] frame process finished the id is: 91 the obs is:12 +[22:30:16.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.191] frame process finished the id is: 91 the obs is:12 +[22:30:16.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.291] frame process finished the id is: 91 the obs is:12 +[22:30:16.389] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.389] frame process finished the id is: 91 the obs is:12 +[22:30:16.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.493] frame process finished the id is: 91 the obs is:12 +[22:30:16.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.590] frame process finished the id is: 91 the obs is:12 +[22:30:16.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.691] frame process finished the id is: 91 the obs is:12 +[22:30:16.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.790] frame process finished the id is: 91 the obs is:12 +[22:30:16.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.890] frame process finished the id is: 91 the obs is:12 +[22:30:16.989] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.989] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:16.989] frame process finished the id is: 91 the obs is:12 +[22:30:17.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.090] frame process finished the id is: 91 the obs is:12 +[22:30:17.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.191] frame process finished the id is: 91 the obs is:12 +[22:30:17.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.290] frame process finished the id is: 91 the obs is:12 +[22:30:17.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.390] frame process finished the id is: 91 the obs is:12 +[22:30:17.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.492] frame process finished the id is: 91 the obs is:12 +[22:30:17.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.590] frame process finished the id is: 91 the obs is:12 +[22:30:17.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.690] frame process finished the id is: 91 the obs is:12 +[22:30:17.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.791] frame process finished the id is: 91 the obs is:12 +[22:30:17.894] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.894] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.894] frame process finished the id is: 91 the obs is:12 +[22:30:17.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:17.992] frame process finished the id is: 91 the obs is:12 +[22:30:18.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.093] frame process finished the id is: 91 the obs is:12 +[22:30:18.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.192] frame process finished the id is: 91 the obs is:12 +[22:30:18.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.290] frame process finished the id is: 91 the obs is:12 +[22:30:18.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.390] frame process finished the id is: 91 the obs is:12 +[22:30:18.495] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.495] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.495] frame process finished the id is: 91 the obs is:12 +[22:30:18.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.595] frame process finished the id is: 91 the obs is:12 +[22:30:18.689] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.690] frame process finished the id is: 91 the obs is:12 +[22:30:18.795] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.795] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.795] frame process finished the id is: 91 the obs is:12 +[22:30:18.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.892] frame process finished the id is: 91 the obs is:12 +[22:30:18.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:18.992] frame process finished the id is: 91 the obs is:12 +[22:30:19.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.094] frame process finished the id is: 91 the obs is:12 +[22:30:19.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.191] frame process finished the id is: 91 the obs is:12 +[22:30:19.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.290] frame process finished the id is: 91 the obs is:12 +[22:30:19.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.392] frame process finished the id is: 91 the obs is:12 +[22:30:19.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.490] frame process finished the id is: 91 the obs is:12 +[22:30:19.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.590] frame process finished the id is: 91 the obs is:12 +[22:30:19.701] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.701] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.701] frame process finished the id is: 91 the obs is:12 +[22:30:19.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.793] frame process finished the id is: 91 the obs is:12 +[22:30:19.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.891] frame process finished the id is: 91 the obs is:12 +[22:30:19.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:19.990] frame process finished the id is: 91 the obs is:12 +[22:30:20.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.092] frame process finished the id is: 91 the obs is:12 +[22:30:20.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.190] frame process finished the id is: 91 the obs is:12 +[22:30:20.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.292] frame process finished the id is: 91 the obs is:12 +[22:30:20.389] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.389] frame process finished the id is: 91 the obs is:12 +[22:30:20.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.491] frame process finished the id is: 91 the obs is:12 +[22:30:20.597] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.597] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.597] frame process finished the id is: 91 the obs is:12 +[22:30:20.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.694] frame process finished the id is: 91 the obs is:12 +[22:30:20.794] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.794] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.794] frame process finished the id is: 91 the obs is:12 +[22:30:20.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.893] frame process finished the id is: 91 the obs is:12 +[22:30:20.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:20.992] frame process finished the id is: 91 the obs is:12 +[22:30:21.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.091] frame process finished the id is: 91 the obs is:12 +[22:30:21.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.192] frame process finished the id is: 91 the obs is:12 +[22:30:21.295] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.295] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.295] frame process finished the id is: 91 the obs is:12 +[22:30:21.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.390] frame process finished the id is: 91 the obs is:12 +[22:30:21.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.492] frame process finished the id is: 91 the obs is:12 +[22:30:21.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.593] frame process finished the id is: 91 the obs is:12 +[22:30:21.697] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.697] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.697] frame process finished the id is: 91 the obs is:12 +[22:30:21.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.793] frame process finished the id is: 91 the obs is:12 +[22:30:21.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.893] frame process finished the id is: 91 the obs is:12 +[22:30:21.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:21.993] frame process finished the id is: 91 the obs is:12 +[22:30:22.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.091] frame process finished the id is: 91 the obs is:12 +[22:30:22.193] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.193] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.193] frame process finished the id is: 91 the obs is:12 +[22:30:22.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.292] frame process finished the id is: 91 the obs is:12 +[22:30:22.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.391] frame process finished the id is: 91 the obs is:12 +[22:30:22.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.492] frame process finished the id is: 91 the obs is:12 +[22:30:22.594] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.594] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.594] frame process finished the id is: 91 the obs is:12 +[22:30:22.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.693] frame process finished the id is: 91 the obs is:12 +[22:30:22.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.790] frame process finished the id is: 91 the obs is:12 +[22:30:22.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.892] frame process finished the id is: 91 the obs is:12 +[22:30:22.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:22.991] frame process finished the id is: 91 the obs is:12 +[22:30:23.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.090] frame process finished the id is: 91 the obs is:12 +[22:30:23.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.189] frame process finished the id is: 91 the obs is:12 +[22:30:23.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.292] frame process finished the id is: 91 the obs is:12 +[22:30:23.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.390] frame process finished the id is: 91 the obs is:12 +[22:30:23.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.491] frame process finished the id is: 91 the obs is:12 +[22:30:23.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.590] frame process finished the id is: 91 the obs is:12 +[22:30:23.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.692] frame process finished the id is: 91 the obs is:12 +[22:30:23.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.793] frame process finished the id is: 91 the obs is:12 +[22:30:23.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.891] frame process finished the id is: 91 the obs is:12 +[22:30:23.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:23.993] frame process finished the id is: 91 the obs is:12 +[22:30:24.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.093] frame process finished the id is: 91 the obs is:12 +[22:30:24.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.194] frame process finished the id is: 91 the obs is:12 +[22:30:24.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.294] frame process finished the id is: 91 the obs is:12 +[22:30:24.399] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.399] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.399] frame process finished the id is: 91 the obs is:12 +[22:30:24.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.491] frame process finished the id is: 91 the obs is:12 +[22:30:24.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.592] frame process finished the id is: 91 the obs is:12 +[22:30:24.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.695] frame process finished the id is: 91 the obs is:12 +[22:30:24.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.793] frame process finished the id is: 91 the obs is:12 +[22:30:24.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.893] frame process finished the id is: 91 the obs is:12 +[22:30:24.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:24.991] frame process finished the id is: 91 the obs is:12 +[22:30:25.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.092] frame process finished the id is: 91 the obs is:12 +[22:30:25.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.194] frame process finished the id is: 91 the obs is:12 +[22:30:25.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.292] frame process finished the id is: 91 the obs is:12 +[22:30:25.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.392] frame process finished the id is: 91 the obs is:12 +[22:30:25.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.490] frame process finished the id is: 91 the obs is:12 +[22:30:25.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.591] frame process finished the id is: 91 the obs is:12 +[22:30:25.699] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.699] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.699] frame process finished the id is: 91 the obs is:12 +[22:30:25.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.791] frame process finished the id is: 91 the obs is:12 +[22:30:25.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.891] frame process finished the id is: 91 the obs is:12 +[22:30:25.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:25.991] frame process finished the id is: 91 the obs is:12 +[22:30:26.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.091] frame process finished the id is: 91 the obs is:12 +[22:30:26.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.192] frame process finished the id is: 91 the obs is:12 +[22:30:26.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.290] frame process finished the id is: 91 the obs is:12 +[22:30:26.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.390] frame process finished the id is: 91 the obs is:12 +[22:30:26.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.490] frame process finished the id is: 91 the obs is:12 +[22:30:26.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.590] frame process finished the id is: 91 the obs is:12 +[22:30:26.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.690] frame process finished the id is: 91 the obs is:12 +[22:30:26.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.790] frame process finished the id is: 91 the obs is:12 +[22:30:26.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.890] frame process finished the id is: 91 the obs is:12 +[22:30:26.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:26.991] frame process finished the id is: 91 the obs is:12 +[22:30:27.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.090] frame process finished the id is: 91 the obs is:12 +[22:30:27.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.190] frame process finished the id is: 91 the obs is:12 +[22:30:27.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.291] frame process finished the id is: 91 the obs is:12 +[22:30:27.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.390] frame process finished the id is: 91 the obs is:12 +[22:30:27.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.490] frame process finished the id is: 91 the obs is:12 +[22:30:27.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.590] frame process finished the id is: 91 the obs is:12 +[22:30:27.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.691] frame process finished the id is: 91 the obs is:12 +[22:30:27.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.792] frame process finished the id is: 91 the obs is:12 +[22:30:27.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.892] frame process finished the id is: 91 the obs is:12 +[22:30:27.995] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.995] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:27.995] frame process finished the id is: 91 the obs is:12 +[22:30:28.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.093] frame process finished the id is: 91 the obs is:12 +[22:30:28.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.192] frame process finished the id is: 91 the obs is:12 +[22:30:28.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.290] frame process finished the id is: 91 the obs is:12 +[22:30:28.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.392] frame process finished the id is: 91 the obs is:12 +[22:30:28.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.493] frame process finished the id is: 91 the obs is:12 +[22:30:28.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.591] frame process finished the id is: 91 the obs is:12 +[22:30:28.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.691] frame process finished the id is: 91 the obs is:12 +[22:30:28.794] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.794] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.795] frame process finished the id is: 91 the obs is:12 +[22:30:28.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.893] frame process finished the id is: 91 the obs is:12 +[22:30:28.995] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.995] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:28.995] frame process finished the id is: 91 the obs is:12 +[22:30:29.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.092] frame process finished the id is: 91 the obs is:12 +[22:30:29.193] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.193] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.193] frame process finished the id is: 91 the obs is:12 +[22:30:29.296] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.296] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.296] frame process finished the id is: 91 the obs is:12 +[22:30:29.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.392] frame process finished the id is: 91 the obs is:12 +[22:30:29.496] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.496] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.496] frame process finished the id is: 91 the obs is:12 +[22:30:29.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.592] frame process finished the id is: 91 the obs is:12 +[22:30:29.696] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.697] frame process finished the id is: 91 the obs is:12 +[22:30:29.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.793] frame process finished the id is: 91 the obs is:12 +[22:30:29.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.891] frame process finished the id is: 91 the obs is:12 +[22:30:29.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:29.993] frame process finished the id is: 91 the obs is:12 +[22:30:30.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.094] frame process finished the id is: 91 the obs is:12 +[22:30:30.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.191] frame process finished the id is: 91 the obs is:12 +[22:30:30.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.293] frame process finished the id is: 91 the obs is:12 +[22:30:30.394] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.394] frame process finished the id is: 91 the obs is:12 +[22:30:30.494] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.494] frame process finished the id is: 91 the obs is:12 +[22:30:30.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.595] frame process finished the id is: 91 the obs is:12 +[22:30:30.696] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.696] frame process finished the id is: 91 the obs is:12 +[22:30:30.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.793] frame process finished the id is: 91 the obs is:12 +[22:30:30.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.892] frame process finished the id is: 91 the obs is:12 +[22:30:30.996] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.996] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:30.997] frame process finished the id is: 91 the obs is:12 +[22:30:31.095] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.095] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.095] frame process finished the id is: 91 the obs is:12 +[22:30:31.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.192] frame process finished the id is: 91 the obs is:12 +[22:30:31.247] Odometry x=-0.135853, y=1.719790, theta=0.087569 +[22:30:31.296] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.296] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.297] frame process finished the id is: 91 the obs is:12 +[22:30:31.351] Odometry x=-0.136529, y=1.727529, theta=0.089174 +[22:30:31.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.393] frame process finished the id is: 91 the obs is:12 +[22:30:31.446] Odometry x=-0.137599, y=1.735419, theta=0.088035 +[22:30:31.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.492] frame process finished the id is: 91 the obs is:12 +[22:30:31.546] Odometry x=-0.137911, y=1.743796, theta=0.087794 +[22:30:31.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.593] frame process finished the id is: 91 the obs is:12 +[22:30:31.650] Odometry x=-0.138879, y=1.751196, theta=0.095897 +[22:30:31.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.692] frame process finished the id is: 91 the obs is:12 +[22:30:31.753] Odometry x=-0.140107, y=1.758992, theta=0.087391 +[22:30:31.794] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.794] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.794] frame process finished the id is: 91 the obs is:12 +[22:30:31.843] Odometry x=-0.140269, y=1.766454, theta=0.092765 +[22:30:31.897] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.897] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.897] frame process finished the id is: 91 the obs is:12 +[22:30:31.945] Odometry x=-0.140686, y=1.774798, theta=0.086033 +[22:30:31.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:31.992] frame process finished the id is: 91 the obs is:12 +[22:30:32.044] Odometry x=-0.140928, y=1.781820, theta=0.099357 +[22:30:32.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.094] frame process finished the id is: 91 the obs is:12 +[22:30:32.147] Odometry x=-0.141243, y=1.788982, theta=0.087288 +[22:30:32.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.192] frame process finished the id is: 91 the obs is:12 +[22:30:32.246] Odometry x=-0.142108, y=1.796998, theta=0.092824 +[22:30:32.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.293] frame process finished the id is: 91 the obs is:12 +[22:30:32.343] Odometry x=-0.141912, y=1.804583, theta=0.099630 +[22:30:32.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.390] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.391] frame process finished the id is: 91 the obs is:12 +[22:30:32.456] Odometry x=-0.143099, y=1.812289, theta=0.102187 +[22:30:32.495] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.495] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.495] frame process finished the id is: 91 the obs is:12 +[22:30:32.542] Odometry x=-0.144398, y=1.820424, theta=0.099672 +[22:30:32.589] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.589] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.589] frame process finished the id is: 91 the obs is:12 +[22:30:32.647] Odometry x=-0.144988, y=1.828373, theta=0.098500 +[22:30:32.690] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.690] frame process finished the id is: 91 the obs is:12 +[22:30:32.749] Odometry x=-0.145329, y=1.835588, theta=0.101988 +[22:30:32.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.791] frame process finished the id is: 91 the obs is:12 +[22:30:32.848] Odometry x=-0.146640, y=1.843880, theta=0.090081 +[22:30:32.889] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.889] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.889] frame process finished the id is: 91 the obs is:12 +[22:30:32.944] Odometry x=-0.147431, y=1.851828, theta=0.102490 +[22:30:32.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:32.991] frame process finished the id is: 91 the obs is:12 +[22:30:33.048] Odometry x=-0.147237, y=1.860267, theta=0.088236 +[22:30:33.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.090] frame process finished the id is: 91 the obs is:12 +[22:30:33.144] Odometry x=-0.147737, y=1.867694, theta=0.103566 +[22:30:33.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.190] frame process finished the id is: 91 the obs is:12 +[22:30:33.244] Odometry x=-0.148987, y=1.876290, theta=0.089170 +[22:30:33.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.292] frame process finished the id is: 91 the obs is:12 +[22:30:33.345] Odometry x=-0.150221, y=1.884470, theta=0.104564 +[22:30:33.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.391] frame process finished the id is: 91 the obs is:12 +[22:30:33.451] Odometry x=-0.150815, y=1.892276, theta=0.094519 +[22:30:33.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.492] frame process finished the id is: 91 the obs is:12 +[22:30:33.559] Odometry x=-0.151616, y=1.899863, theta=0.096677 +[22:30:33.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.591] frame process finished the id is: 91 the obs is:12 +[22:30:33.644] Odometry x=-0.152859, y=1.908264, theta=0.093935 +[22:30:33.691] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.691] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000024 error end=0.000024 +[22:30:33.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.691] frame process finished the id is: 91 the obs is:12 +[22:30:33.754] Odometry x=-0.153184, y=1.916455, theta=0.100435 +[22:30:33.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.791] frame process finished the id is: 91 the obs is:12 +[22:30:33.843] Odometry x=-0.154452, y=1.924512, theta=0.091497 +[22:30:33.889] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.889] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.001551 error end=0.001529 +[22:30:33.889] After pose optimization, distance between ekf and vo x:-0.015833 ,z=0.054611,angle between two frames:0.049442 +[22:30:33.889] frame process finished the id is: 91 the obs is:12 +[22:30:33.944] Odometry x=-0.154285, y=1.932464, theta=0.099635 +[22:30:33.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:33.991] frame process finished the id is: 91 the obs is:12 +[22:30:34.091] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.091] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000387 error end=0.000387 +[22:30:34.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.091] frame process finished the id is: 91 the obs is:12 +[22:30:34.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.189] frame process finished the id is: 91 the obs is:12 +[22:30:34.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.290] frame process finished the id is: 91 the obs is:12 +[22:30:34.388] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.388] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.388] frame process finished the id is: 91 the obs is:12 +[22:30:34.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.488] frame process finished the id is: 91 the obs is:12 +[22:30:34.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.591] frame process finished the id is: 91 the obs is:12 +[22:30:34.692] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.692] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000006 error end=0.000006 +[22:30:34.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.692] frame process finished the id is: 91 the obs is:12 +[22:30:34.805] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.805] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.805] frame process finished the id is: 91 the obs is:12 +[22:30:34.894] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.894] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.894] frame process finished the id is: 91 the obs is:12 +[22:30:34.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:34.990] frame process finished the id is: 91 the obs is:12 +[22:30:35.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.091] frame process finished the id is: 91 the obs is:12 +[22:30:35.195] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.195] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.195] frame process finished the id is: 91 the obs is:12 +[22:30:35.296] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.296] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.296] frame process finished the id is: 91 the obs is:12 +[22:30:35.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.394] frame process finished the id is: 91 the obs is:12 +[22:30:35.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.492] frame process finished the id is: 91 the obs is:12 +[22:30:35.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.592] frame process finished the id is: 91 the obs is:12 +[22:30:35.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.694] frame process finished the id is: 91 the obs is:12 +[22:30:35.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.790] frame process finished the id is: 91 the obs is:12 +[22:30:35.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.890] frame process finished the id is: 91 the obs is:12 +[22:30:35.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:35.993] frame process finished the id is: 91 the obs is:12 +[22:30:36.101] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.101] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 +[22:30:36.101] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.101] frame process finished the id is: 91 the obs is:12 +[22:30:36.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.194] frame process finished the id is: 91 the obs is:12 +[22:30:36.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.293] frame process finished the id is: 91 the obs is:12 +[22:30:36.394] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.394] frame process finished the id is: 91 the obs is:12 +[22:30:36.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.492] frame process finished the id is: 91 the obs is:12 +[22:30:36.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.590] frame process finished the id is: 91 the obs is:12 +[22:30:36.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.692] frame process finished the id is: 91 the obs is:12 +[22:30:36.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.792] frame process finished the id is: 91 the obs is:12 +[22:30:36.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.893] frame process finished the id is: 91 the obs is:12 +[22:30:36.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:36.991] frame process finished the id is: 91 the obs is:12 +[22:30:37.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.091] frame process finished the id is: 91 the obs is:12 +[22:30:37.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.190] frame process finished the id is: 91 the obs is:12 +[22:30:37.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.291] frame process finished the id is: 91 the obs is:12 +[22:30:37.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.391] frame process finished the id is: 91 the obs is:12 +[22:30:37.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.492] frame process finished the id is: 91 the obs is:12 +[22:30:37.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.592] frame process finished the id is: 91 the obs is:12 +[22:30:37.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.694] frame process finished the id is: 91 the obs is:12 +[22:30:37.798] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.798] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.798] frame process finished the id is: 91 the obs is:12 +[22:30:37.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.893] frame process finished the id is: 91 the obs is:12 +[22:30:37.996] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.996] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:37.996] frame process finished the id is: 91 the obs is:12 +[22:30:38.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.092] frame process finished the id is: 91 the obs is:12 +[22:30:38.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.190] frame process finished the id is: 91 the obs is:12 +[22:30:38.294] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.294] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.294] frame process finished the id is: 91 the obs is:12 +[22:30:38.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.391] frame process finished the id is: 91 the obs is:12 +[22:30:38.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.492] frame process finished the id is: 91 the obs is:12 +[22:30:38.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.593] frame process finished the id is: 91 the obs is:12 +[22:30:38.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.693] frame process finished the id is: 91 the obs is:12 +[22:30:38.794] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.795] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.795] frame process finished the id is: 91 the obs is:12 +[22:30:38.895] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.895] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.895] frame process finished the id is: 91 the obs is:12 +[22:30:38.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:38.991] frame process finished the id is: 91 the obs is:12 +[22:30:39.097] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.097] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.097] frame process finished the id is: 91 the obs is:12 +[22:30:39.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.194] frame process finished the id is: 91 the obs is:12 +[22:30:39.294] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.294] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.294] frame process finished the id is: 91 the obs is:12 +[22:30:39.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.392] frame process finished the id is: 91 the obs is:12 +[22:30:39.496] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.496] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.496] frame process finished the id is: 91 the obs is:12 +[22:30:39.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.591] frame process finished the id is: 91 the obs is:12 +[22:30:39.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.691] frame process finished the id is: 91 the obs is:12 +[22:30:39.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.792] frame process finished the id is: 91 the obs is:12 +[22:30:39.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.891] frame process finished the id is: 91 the obs is:12 +[22:30:39.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:39.991] frame process finished the id is: 91 the obs is:12 +[22:30:40.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.091] frame process finished the id is: 91 the obs is:12 +[22:30:40.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.191] frame process finished the id is: 91 the obs is:12 +[22:30:40.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.291] frame process finished the id is: 91 the obs is:12 +[22:30:40.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.391] frame process finished the id is: 91 the obs is:12 +[22:30:40.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.493] frame process finished the id is: 91 the obs is:12 +[22:30:40.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.592] frame process finished the id is: 91 the obs is:12 +[22:30:40.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.695] frame process finished the id is: 91 the obs is:12 +[22:30:40.797] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.797] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.797] frame process finished the id is: 91 the obs is:12 +[22:30:40.901] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.901] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.901] frame process finished the id is: 91 the obs is:12 +[22:30:40.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:40.992] frame process finished the id is: 91 the obs is:12 +[22:30:41.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.092] frame process finished the id is: 91 the obs is:12 +[22:30:41.193] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.193] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.193] frame process finished the id is: 91 the obs is:12 +[22:30:41.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.291] frame process finished the id is: 91 the obs is:12 +[22:30:41.390] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.391] frame process finished the id is: 91 the obs is:12 +[22:30:41.494] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.494] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000014 error end=0.000014 +[22:30:41.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.494] frame process finished the id is: 91 the obs is:12 +[22:30:41.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.595] frame process finished the id is: 91 the obs is:12 +[22:30:41.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.691] frame process finished the id is: 91 the obs is:12 +[22:30:41.796] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.796] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.796] frame process finished the id is: 91 the obs is:12 +[22:30:41.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.891] frame process finished the id is: 91 the obs is:12 +[22:30:41.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:41.991] frame process finished the id is: 91 the obs is:12 +[22:30:42.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.093] frame process finished the id is: 91 the obs is:12 +[22:30:42.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.190] frame process finished the id is: 91 the obs is:12 +[22:30:42.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.290] frame process finished the id is: 91 the obs is:12 +[22:30:42.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.391] frame process finished the id is: 91 the obs is:12 +[22:30:42.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.492] frame process finished the id is: 91 the obs is:12 +[22:30:42.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.595] frame process finished the id is: 91 the obs is:12 +[22:30:42.691] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.691] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.887369 error end=0.886750 +[22:30:42.691] After pose optimization, distance between ekf and vo x:-0.372279 ,z=9.138186,angle between two frames:1.228664 +[22:30:42.691] frame process finished the id is: 91 the obs is:12 +[22:30:42.793] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.793] frame process finished the id is: 91 the obs is:12 +[22:30:42.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.893] frame process finished the id is: 91 the obs is:12 +[22:30:42.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:42.991] frame process finished the id is: 91 the obs is:12 +[22:30:43.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.091] frame process finished the id is: 91 the obs is:12 +[22:30:43.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.191] frame process finished the id is: 91 the obs is:12 +[22:30:43.297] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.297] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.297] frame process finished the id is: 91 the obs is:12 +[22:30:43.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.393] frame process finished the id is: 91 the obs is:12 +[22:30:43.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.492] frame process finished the id is: 91 the obs is:12 +[22:30:43.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.592] frame process finished the id is: 91 the obs is:12 +[22:30:43.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.691] frame process finished the id is: 91 the obs is:12 +[22:30:43.793] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.793] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000014 error end=0.000014 +[22:30:43.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.793] frame process finished the id is: 91 the obs is:12 +[22:30:43.897] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.897] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.897] frame process finished the id is: 91 the obs is:12 +[22:30:43.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:43.991] frame process finished the id is: 91 the obs is:12 +[22:30:44.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.093] frame process finished the id is: 91 the obs is:12 +[22:30:44.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.193] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.193] frame process finished the id is: 91 the obs is:12 +[22:30:44.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.292] frame process finished the id is: 91 the obs is:12 +[22:30:44.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.393] frame process finished the id is: 91 the obs is:12 +[22:30:44.495] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.495] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 +[22:30:44.495] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.495] frame process finished the id is: 91 the obs is:12 +[22:30:44.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.592] frame process finished the id is: 91 the obs is:12 +[22:30:44.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.694] frame process finished the id is: 91 the obs is:12 +[22:30:44.792] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.792] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000014 error end=0.000014 +[22:30:44.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.792] frame process finished the id is: 91 the obs is:12 +[22:30:44.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.893] frame process finished the id is: 91 the obs is:12 +[22:30:44.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:44.993] frame process finished the id is: 91 the obs is:12 +[22:30:45.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.092] frame process finished the id is: 91 the obs is:12 +[22:30:45.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.192] frame process finished the id is: 91 the obs is:12 +[22:30:45.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.290] frame process finished the id is: 91 the obs is:12 +[22:30:45.395] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.395] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.395] frame process finished the id is: 91 the obs is:12 +[22:30:45.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.493] frame process finished the id is: 91 the obs is:12 +[22:30:45.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.590] frame process finished the id is: 91 the obs is:12 +[22:30:45.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.696] frame process finished the id is: 91 the obs is:12 +[22:30:45.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.790] frame process finished the id is: 91 the obs is:12 +[22:30:45.897] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.897] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.897] frame process finished the id is: 91 the obs is:12 +[22:30:45.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:45.992] frame process finished the id is: 91 the obs is:12 +[22:30:46.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.092] frame process finished the id is: 91 the obs is:12 +[22:30:46.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.192] frame process finished the id is: 91 the obs is:12 +[22:30:46.296] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.296] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.296] frame process finished the id is: 91 the obs is:12 +[22:30:46.396] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.396] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.396] frame process finished the id is: 91 the obs is:12 +[22:30:46.501] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.501] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.501] frame process finished the id is: 91 the obs is:12 +[22:30:46.594] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.594] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.594] frame process finished the id is: 91 the obs is:12 +[22:30:46.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.695] frame process finished the id is: 91 the obs is:12 +[22:30:46.813] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.813] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.813] frame process finished the id is: 91 the obs is:12 +[22:30:46.894] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.894] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:46.894] frame process finished the id is: 91 the obs is:12 +[22:30:47.036] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.036] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.036] frame process finished the id is: 91 the obs is:12 +[22:30:47.113] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.113] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.113] frame process finished the id is: 91 the obs is:12 +[22:30:47.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.190] frame process finished the id is: 91 the obs is:12 +[22:30:47.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.289] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.289] frame process finished the id is: 91 the obs is:12 +[22:30:47.394] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.394] frame process finished the id is: 91 the obs is:12 +[22:30:47.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.492] frame process finished the id is: 91 the obs is:12 +[22:30:47.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.592] frame process finished the id is: 91 the obs is:12 +[22:30:47.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.692] frame process finished the id is: 91 the obs is:12 +[22:30:47.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.791] frame process finished the id is: 91 the obs is:12 +[22:30:47.892] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.892] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.892] frame process finished the id is: 91 the obs is:12 +[22:30:47.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:47.993] frame process finished the id is: 91 the obs is:12 +[22:30:48.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.091] frame process finished the id is: 91 the obs is:12 +[22:30:48.196] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.196] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.196] frame process finished the id is: 91 the obs is:12 +[22:30:48.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.292] frame process finished the id is: 91 the obs is:12 +[22:30:48.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.393] frame process finished the id is: 91 the obs is:12 +[22:30:48.494] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.494] frame process finished the id is: 91 the obs is:12 +[22:30:48.519] Odometry x=-0.155400, y=1.940160, theta=0.100079 +[22:30:48.596] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.596] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.596] frame process finished the id is: 91 the obs is:12 +[22:30:48.618] Odometry x=-0.156200, y=1.948066, theta=0.085861 +[22:30:48.688] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.688] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.688] frame process finished the id is: 91 the obs is:12 +[22:30:48.719] Odometry x=-0.155773, y=1.956608, theta=0.073416 +[22:30:48.791] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.791] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.791] frame process finished the id is: 91 the obs is:12 +[22:30:48.813] Odometry x=-0.156787, y=1.964605, theta=0.054651 +[22:30:48.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.890] frame process finished the id is: 91 the obs is:12 +[22:30:48.921] Odometry x=-0.156743, y=1.972638, theta=0.040514 +[22:30:48.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:48.990] frame process finished the id is: 91 the obs is:12 +[22:30:49.025] Odometry x=-0.157943, y=1.980995, theta=0.021861 +[22:30:49.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.090] frame process finished the id is: 91 the obs is:12 +[22:30:49.123] Odometry x=-0.157711, y=1.988981, theta=0.002949 +[22:30:49.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.189] frame process finished the id is: 91 the obs is:12 +[22:30:49.213] Odometry x=-0.157929, y=1.997872, theta=-0.026644 +[22:30:49.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.291] frame process finished the id is: 91 the obs is:12 +[22:30:49.327] Odometry x=-0.157262, y=2.006353, theta=-0.028946 +[22:30:49.392] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.392] frame process finished the id is: 91 the obs is:12 +[22:30:49.413] Odometry x=-0.156291, y=2.015019, theta=-0.047668 +[22:30:49.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.492] frame process finished the id is: 91 the obs is:12 +[22:30:49.517] Odometry x=-0.155731, y=2.022478, theta=-0.076548 +[22:30:49.598] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.598] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.598] frame process finished the id is: 91 the obs is:12 +[22:30:49.617] Odometry x=-0.154662, y=2.029136, theta=-0.081416 +[22:30:49.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.695] frame process finished the id is: 91 the obs is:12 +[22:30:49.738] Odometry x=-0.154809, y=2.037755, theta=-0.105878 +[22:30:49.799] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.799] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.799] frame process finished the id is: 91 the obs is:12 +[22:30:49.832] Odometry x=-0.154180, y=2.046861, theta=-0.110896 +[22:30:49.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.890] frame process finished the id is: 91 the obs is:12 +[22:30:49.931] Odometry x=-0.154468, y=2.055271, theta=-0.128964 +[22:30:49.998] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.998] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:49.998] frame process finished the id is: 91 the obs is:12 +[22:30:50.019] Odometry x=-0.153334, y=2.063627, theta=-0.154904 +[22:30:50.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.092] frame process finished the id is: 91 the obs is:12 +[22:30:50.122] Odometry x=-0.152520, y=2.071527, theta=-0.160971 +[22:30:50.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.190] frame process finished the id is: 91 the obs is:12 +[22:30:50.217] Odometry x=-0.152021, y=2.080195, theta=-0.187967 +[22:30:50.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.291] frame process finished the id is: 91 the obs is:12 +[22:30:50.317] Odometry x=-0.149467, y=2.086422, theta=-0.199891 +[22:30:50.394] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.394] frame process finished the id is: 91 the obs is:12 +[22:30:50.417] Odometry x=-0.147244, y=2.094238, theta=-0.209724 +[22:30:50.491] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.491] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.491] frame process finished the id is: 91 the obs is:12 +[22:30:50.510] Odometry x=-0.146101, y=2.101746, theta=-0.241091 +[22:30:50.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.593] frame process finished the id is: 91 the obs is:12 +[22:30:50.613] Odometry x=-0.144556, y=2.109389, theta=-0.245631 +[22:30:50.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.691] frame process finished the id is: 91 the obs is:12 +[22:30:50.717] Odometry x=-0.142326, y=2.116712, theta=-0.267826 +[22:30:50.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.790] frame process finished the id is: 91 the obs is:12 +[22:30:50.814] Odometry x=-0.140065, y=2.123937, theta=-0.278161 +[22:30:50.895] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.895] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.895] frame process finished the id is: 91 the obs is:12 +[22:30:50.909] Odometry x=-0.137385, y=2.131326, theta=-0.302986 +[22:30:50.994] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.994] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:50.994] frame process finished the id is: 91 the obs is:12 +[22:30:51.020] Odometry x=-0.134043, y=2.138158, theta=-0.310227 +[22:30:51.092] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.093] frame process finished the id is: 91 the obs is:12 +[22:30:51.117] Odometry x=-0.131153, y=2.146106, theta=-0.334137 +[22:30:51.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.192] frame process finished the id is: 91 the obs is:12 +[22:30:51.217] Odometry x=-0.128581, y=2.154068, theta=-0.353035 +[22:30:51.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.293] frame process finished the id is: 91 the obs is:12 +[22:30:51.316] Odometry x=-0.125278, y=2.161101, theta=-0.370004 +[22:30:51.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.393] frame process finished the id is: 91 the obs is:12 +[22:30:51.414] Odometry x=-0.123345, y=2.168080, theta=-0.381428 +[22:30:51.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.493] frame process finished the id is: 91 the obs is:12 +[22:30:51.509] Odometry x=-0.120267, y=2.176088, theta=-0.403951 +[22:30:51.593] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.593] frame process finished the id is: 91 the obs is:12 +[22:30:51.610] Odometry x=-0.116385, y=2.183272, theta=-0.419499 +[22:30:51.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.695] frame process finished the id is: 91 the obs is:12 +[22:30:51.719] Odometry x=-0.112824, y=2.190072, theta=-0.442892 +[22:30:51.796] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.796] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.796] frame process finished the id is: 91 the obs is:12 +[22:30:51.812] Odometry x=-0.108680, y=2.197598, theta=-0.460897 +[22:30:51.898] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.898] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.898] frame process finished the id is: 91 the obs is:12 +[22:30:51.914] Odometry x=-0.104161, y=2.204107, theta=-0.483037 +[22:30:51.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:51.992] frame process finished the id is: 91 the obs is:12 +[22:30:52.014] Odometry x=-0.100114, y=2.211825, theta=-0.489698 +[22:30:52.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.094] frame process finished the id is: 91 the obs is:12 +[22:30:52.114] Odometry x=-0.095010, y=2.218852, theta=-0.512459 +[22:30:52.193] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.193] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:30:52.193] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:30:52.193] frame process finished the id is: 91 the obs is:12 +[22:30:52.212] Odometry x=-0.091476, y=2.225692, theta=-0.527406 +[22:30:52.295] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.295] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.295] frame process finished the id is: 91 the obs is:12 +[22:30:52.312] Odometry x=-0.087072, y=2.232613, theta=-0.546992 +[22:30:52.396] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.396] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.396] frame process finished the id is: 91 the obs is:12 +[22:30:52.425] Odometry x=-0.084647, y=2.239221, theta=-0.569833 +[22:30:52.495] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.495] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.495] frame process finished the id is: 91 the obs is:12 +[22:30:52.516] Odometry x=-0.081375, y=2.246096, theta=-0.582228 +[22:30:52.599] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.599] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.599] frame process finished the id is: 91 the obs is:12 +[22:30:52.607] Odometry x=-0.076079, y=2.251800, theta=-0.603400 +[22:30:52.697] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.697] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.697] frame process finished the id is: 91 the obs is:12 +[22:30:52.713] Odometry x=-0.072163, y=2.257996, theta=-0.618722 +[22:30:52.799] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.799] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.799] frame process finished the id is: 91 the obs is:12 +[22:30:52.819] Odometry x=-0.066534, y=2.263845, theta=-0.638363 +[22:30:52.898] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.899] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.899] frame process finished the id is: 91 the obs is:12 +[22:30:52.912] Odometry x=-0.062831, y=2.270449, theta=-0.650322 +[22:30:52.998] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.998] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:52.998] frame process finished the id is: 91 the obs is:12 +[22:30:53.022] Odometry x=-0.057549, y=2.276223, theta=-0.672591 +[22:30:53.095] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.095] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:30:53.095] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:30:53.095] frame process finished the id is: 91 the obs is:12 +[22:30:53.121] Odometry x=-0.052732, y=2.283898, theta=-0.686431 +[22:30:53.202] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.202] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.202] frame process finished the id is: 91 the obs is:12 +[22:30:53.221] Odometry x=-0.047985, y=2.291019, theta=-0.707502 +[22:30:53.303] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.303] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000194 error end=0.000194 +[22:30:53.303] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.303] frame process finished the id is: 91 the obs is:12 +[22:30:53.308] Odometry x=-0.043114, y=2.296874, theta=-0.718467 +[22:30:53.395] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.395] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:30:53.395] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:30:53.395] frame process finished the id is: 91 the obs is:12 +[22:30:53.412] Odometry x=-0.037701, y=2.302875, theta=-0.743708 +[22:30:53.494] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.494] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:30:53.494] After pose optimization, distance between ekf and vo x:-0.000067 ,z=-0.000028,angle between two frames:0.000061 +[22:30:53.494] frame process finished the id is: 91 the obs is:12 +[22:30:53.511] Odometry x=-0.032558, y=2.309374, theta=-0.752982 +[22:30:53.596] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.596] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.596] frame process finished the id is: 91 the obs is:12 +[22:30:53.611] Odometry x=-0.026740, y=2.314789, theta=-0.776140 +[22:30:53.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.693] frame process finished the id is: 91 the obs is:12 +[22:30:53.715] Odometry x=-0.021649, y=2.320124, theta=-0.793405 +[22:30:53.797] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.797] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:30:53.797] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000001,angle between two frames:0.000004 +[22:30:53.797] frame process finished the id is: 91 the obs is:12 +[22:30:53.808] Odometry x=-0.016451, y=2.325919, theta=-0.811223 +[22:30:53.899] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.899] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.899] frame process finished the id is: 91 the obs is:12 +[22:30:53.916] Odometry x=-0.010807, y=2.331775, theta=-0.835753 +[22:30:53.998] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:53.998] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000030 error end=0.000030 +[22:30:53.998] After pose optimization, distance between ekf and vo x:-0.000473 ,z=-0.000008,angle between two frames:0.000533 +[22:30:53.998] frame process finished the id is: 91 the obs is:12 +[22:30:54.011] Odometry x=-0.004453, y=2.336841, theta=-0.846248 +[22:30:54.101] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:54.102] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:54.102] frame process finished the id is: 91 the obs is:12 +[22:30:54.111] Odometry x=0.001611, y=2.341226, theta=-0.866010 +[22:30:54.203] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:54.203] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:30:54.203] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:30:54.203] frame process finished the id is: 91 the obs is:12 +[22:30:54.218] Odometry x=0.007897, y=2.346426, theta=-0.880216 +[22:30:54.303] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:54.303] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:30:54.304] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:54.304] frame process finished the id is: 91 the obs is:12 +[22:30:54.314] Odometry x=0.014303, y=2.350787, theta=-0.901909 +[22:30:54.398] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:54.398] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.004816 error end=0.004615 +[22:30:54.398] After pose optimization, distance between ekf and vo x:-0.095343 ,z=-0.021484,angle between two frames:0.042004 +[22:30:54.398] frame process finished the id is: 91 the obs is:12 +[22:30:54.413] Odometry x=0.021467, y=2.355672, theta=-0.911006 +[22:30:54.505] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:54.506] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:54.506] frame process finished the id is: 91 the obs is:12 +[22:30:54.512] Odometry x=0.027943, y=2.360343, theta=-0.936446 +[22:30:54.601] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:54.601] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.026769 error end=0.026345 +[22:30:54.601] After pose optimization, distance between ekf and vo x:-0.166917 ,z=-0.041793,angle between two frames:0.045880 +[22:30:54.601] frame process finished the id is: 91 the obs is:12 +[22:30:54.610] Odometry x=0.034190, y=2.364479, theta=-0.949293 +[22:30:54.702] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:54.702] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:54.702] frame process finished the id is: 91 the obs is:12 +[22:30:54.718] Odometry x=0.041364, y=2.369645, theta=-0.965767 +[22:30:54.803] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:54.803] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:30:54.803] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000003,angle between two frames:0.000015 +[22:30:54.803] frame process finished the id is: 91 the obs is:12 +[22:30:54.814] Odometry x=0.047966, y=2.374027, theta=-0.987701 +[22:30:54.901] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:54.901] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:30:54.901] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000001,angle between two frames:0.000002 +[22:30:54.901] frame process finished the id is: 91 the obs is:12 +[22:30:54.913] Odometry x=0.054557, y=2.377640, theta=-1.000824 +[22:30:55.004] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.004] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.004] frame process finished the id is: 91 the obs is:12 +[22:30:55.011] Odometry x=0.060283, y=2.381902, theta=-1.024873 +[22:30:55.105] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.105] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.105] frame process finished the id is: 91 the obs is:12 +[22:30:55.109] Odometry x=0.067390, y=2.385311, theta=-1.043389 +[22:30:55.203] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.203] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.203] frame process finished the id is: 91 the obs is:12 +[22:30:55.213] Odometry x=0.074061, y=2.389813, theta=-1.063249 +[22:30:55.307] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.308] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:30:55.308] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:30:55.308] frame process finished the id is: 91 the obs is:12 +[22:30:55.313] Odometry x=0.081088, y=2.393703, theta=-1.076118 +[22:30:55.412] Odometry x=0.087992, y=2.397538, theta=-1.090390 +[22:30:55.419] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.419] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.419] frame process finished the id is: 91 the obs is:12 +[22:30:55.507] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.507] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.507] frame process finished the id is: 91 the obs is:12 +[22:30:55.521] Odometry x=0.094378, y=2.402316, theta=-1.108655 +[22:30:55.607] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.607] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.607] frame process finished the id is: 91 the obs is:12 +[22:30:55.618] Odometry x=0.102079, y=2.405690, theta=-1.127340 +[22:30:55.708] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.708] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.708] frame process finished the id is: 91 the obs is:12 +[22:30:55.720] Odometry x=0.108890, y=2.409987, theta=-1.142935 +[22:30:55.803] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.803] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.803] frame process finished the id is: 91 the obs is:12 +[22:30:55.816] Odometry x=0.115940, y=2.413228, theta=-1.165125 +[22:30:55.905] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.905] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:30:55.905] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:55.905] frame process finished the id is: 91 the obs is:12 +[22:30:55.909] Odometry x=0.123150, y=2.415840, theta=-1.170793 +[22:30:56.004] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.004] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:30:56.004] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.004] frame process finished the id is: 91 the obs is:12 +[22:30:56.022] Odometry x=0.130850, y=2.419588, theta=-1.194059 +[22:30:56.106] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.106] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:30:56.106] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.106] frame process finished the id is: 91 the obs is:12 +[22:30:56.112] Odometry x=0.138351, y=2.422310, theta=-1.206995 +[22:30:56.198] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.198] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000008 error end=0.000008 +[22:30:56.198] After pose optimization, distance between ekf and vo x:-0.000171 ,z=-0.000369,angle between two frames:0.000696 +[22:30:56.198] frame process finished the id is: 91 the obs is:12 +[22:30:56.211] Odometry x=0.145590, y=2.425104, theta=-1.226305 +[22:30:56.300] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.300] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:30:56.300] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.300] frame process finished the id is: 91 the obs is:12 +[22:30:56.310] Odometry x=0.153630, y=2.428502, theta=-1.249239 +[22:30:56.400] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.400] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000009 error end=0.000009 +[22:30:56.400] After pose optimization, distance between ekf and vo x:-0.000067 ,z=-0.000022,angle between two frames:0.000051 +[22:30:56.400] frame process finished the id is: 91 the obs is:12 +[22:30:56.415] Odometry x=0.161017, y=2.430298, theta=-1.262218 +[22:30:56.499] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.499] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 +[22:30:56.499] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.499] frame process finished the id is: 91 the obs is:12 +[22:30:56.515] Odometry x=0.167953, y=2.433393, theta=-1.281142 +[22:30:56.601] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.601] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.151405 error end=0.151405 +[22:30:56.601] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.601] frame process finished the id is: 91 the obs is:12 +[22:30:56.615] Odometry x=0.175376, y=2.435083, theta=-1.305705 +[22:30:56.698] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.698] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000307 error end=0.000307 +[22:30:56.698] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.698] frame process finished the id is: 91 the obs is:12 +[22:30:56.716] Odometry x=0.182515, y=2.436253, theta=-1.314261 +[22:30:56.799] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.799] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.005084 error end=0.004387 +[22:30:56.799] After pose optimization, distance between ekf and vo x:-0.144245 ,z=0.036550,angle between two frames:0.078987 +[22:30:56.799] frame process finished the id is: 91 the obs is:12 +[22:30:56.824] Odometry x=0.189781, y=2.437581, theta=-1.335433 +[22:30:56.901] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.901] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.067431 error end=0.148294 +[22:30:56.901] After pose optimization, distance between ekf and vo x:-3.157125 ,z=-3.448193,angle between two frames:0.703537 +[22:30:56.901] frame process finished the id is: 91 the obs is:12 +[22:30:56.915] Odometry x=0.197047, y=2.438597, theta=-1.352172 +[22:30:56.997] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:56.997] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:30:56.997] After pose optimization, distance between ekf and vo x:-0.000006 ,z=-0.000001,angle between two frames:0.000001 +[22:30:56.997] frame process finished the id is: 91 the obs is:12 +[22:30:57.016] Odometry x=0.205221, y=2.440153, theta=-1.370303 +[22:30:57.099] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:57.099] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.234139 error end=0.165776 +[22:30:57.099] After pose optimization, distance between ekf and vo x:-2.360907 ,z=-1.714735,angle between two frames:0.704792 +[22:30:57.099] frame process finished the id is: 91 the obs is:12 +[22:30:57.116] Odometry x=0.213317, y=2.441871, theta=-1.396560 +[22:30:57.196] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:57.196] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000002 error end=0.000002 +[22:30:57.196] After pose optimization, distance between ekf and vo x:-0.000067 ,z=-0.000020,angle between two frames:0.000021 +[22:30:57.196] frame process finished the id is: 91 the obs is:12 +[22:30:57.216] Odometry x=0.221117, y=2.443721, theta=-1.404874 +[22:30:57.298] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:57.299] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 +[22:30:57.299] After pose optimization, distance between ekf and vo x:-0.000004 ,z=-0.000001,angle between two frames:0.000001 +[22:30:57.299] frame process finished the id is: 91 the obs is:12 +[22:30:57.316] Odometry x=0.228653, y=2.445242, theta=-1.426466 +[22:30:57.397] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:57.397] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000003 error end=0.000003 +[22:30:57.397] After pose optimization, distance between ekf and vo x:-0.000117 ,z=-0.000025,angle between two frames:0.000037 +[22:30:57.397] frame process finished the id is: 91 the obs is:12 +[22:30:57.410] Odometry x=0.236318, y=2.446064, theta=-1.431942 +[22:30:57.499] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:57.499] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.005350 error end=0.004878 +[22:30:57.499] After pose optimization, distance between ekf and vo x:-0.130599 ,z=-0.045712,angle between two frames:0.045976 +[22:30:57.499] frame process finished the id is: 91 the obs is:12 +[22:30:57.517] Odometry x=0.244794, y=2.446471, theta=-1.455346 +[22:30:57.598] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:57.598] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 +[22:30:57.598] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:57.598] frame process finished the id is: 91 the obs is:12 +[22:30:57.614] Odometry x=0.252588, y=2.447114, theta=-1.471136 +[22:30:57.700] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:57.700] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000003 error end=0.000003 +[22:30:57.700] After pose optimization, distance between ekf and vo x:-0.000098 ,z=-0.000010,angle between two frames:0.000034 +[22:30:57.700] frame process finished the id is: 91 the obs is:12 +[22:30:57.721] Odometry x=0.259824, y=2.448216, theta=-1.491964 +[22:30:57.800] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:57.800] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 +[22:30:57.800] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:30:57.800] frame process finished the id is: 91 the obs is:12 +[22:30:57.813] Odometry x=0.268112, y=2.449043, theta=-1.511441 +[22:30:57.900] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:57.900] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 +[22:30:57.900] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:57.900] frame process finished the id is: 91 the obs is:12 +[22:30:57.916] Odometry x=0.276964, y=2.449325, theta=-1.528316 +[22:30:57.996] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:57.996] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 +[22:30:57.996] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:30:57.996] frame process finished the id is: 91 the obs is:12 +[22:30:58.009] Odometry x=0.284633, y=2.450012, theta=-1.542449 +[22:30:58.099] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:58.099] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 +[22:30:58.099] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:30:58.099] frame process finished the id is: 91 the obs is:12 +[22:30:58.109] Odometry x=0.293127, y=2.450099, theta=-1.561866 +[22:30:58.202] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:58.202] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000419 error end=0.000418 +[22:30:58.202] After pose optimization, distance between ekf and vo x:-0.022356 ,z=0.005543,angle between two frames:0.012629 +[22:30:58.202] frame process finished the id is: 91 the obs is:12 +[22:30:58.212] Odometry x=0.301249, y=2.450636, theta=-1.583981 +[22:30:58.297] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:58.297] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:58.297] frame process finished the id is: 91 the obs is:12 +[22:30:58.326] Odometry x=0.308423, y=2.451163, theta=-1.596450 +[22:30:58.399] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:58.399] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 +[22:30:58.399] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:58.399] frame process finished the id is: 91 the obs is:12 +[22:30:58.414] Odometry x=0.315751, y=2.451327, theta=-1.612219 +[22:30:58.494] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:58.494] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.001932 error end=0.001929 +[22:30:58.494] After pose optimization, distance between ekf and vo x:-0.001478 ,z=-0.000222,angle between two frames:0.000514 +[22:30:58.494] frame process finished the id is: 91 the obs is:12 +[22:30:58.511] Odometry x=0.323800, y=2.450959, theta=-1.630118 +[22:30:58.607] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:58.607] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 +[22:30:58.607] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:30:58.607] frame process finished the id is: 91 the obs is:12 +[22:30:58.618] Odometry x=0.331166, y=2.449464, theta=-1.653312 +[22:30:58.699] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:58.699] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000026 error end=0.000026 +[22:30:58.699] After pose optimization, distance between ekf and vo x:-0.000009 ,z=-0.000002,angle between two frames:0.000003 +[22:30:58.699] frame process finished the id is: 91 the obs is:12 +[22:30:58.718] Odometry x=0.338143, y=2.449083, theta=-1.667123 +[22:30:58.801] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:58.801] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000014 error end=0.000014 +[22:30:58.801] After pose optimization, distance between ekf and vo x:-0.000003 ,z=-0.000001,angle between two frames:0.000001 +[22:30:58.801] frame process finished the id is: 91 the obs is:12 +[22:30:58.826] Odometry x=0.346607, y=2.447077, theta=-1.688934 +[22:30:58.900] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:58.900] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.003465 error end=0.003462 +[22:30:58.900] After pose optimization, distance between ekf and vo x:-0.000529 ,z=-0.000324,angle between two frames:0.000023 +[22:30:58.900] frame process finished the id is: 91 the obs is:12 +[22:30:58.914] Odometry x=0.354213, y=2.445828, theta=-1.703317 +[22:30:58.999] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:58.999] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000958 error end=0.000956 +[22:30:58.999] After pose optimization, distance between ekf and vo x:-0.003104 ,z=0.001133,angle between two frames:0.002068 +[22:30:58.999] frame process finished the id is: 91 the obs is:12 +[22:30:59.013] Odometry x=0.361496, y=2.446010, theta=-1.716633 +[22:30:59.094] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:59.094] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.002617 error end=0.002601 +[22:30:59.094] After pose optimization, distance between ekf and vo x:-0.012526 ,z=0.006529,angle between two frames:0.009481 +[22:30:59.094] frame process finished the id is: 91 the obs is:12 +[22:30:59.113] Odometry x=0.369748, y=2.444394, theta=-1.731379 +[22:30:59.197] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:59.197] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.306457 error end=0.256266 +[22:30:59.197] After pose optimization, distance between ekf and vo x:0.189977 ,z=-0.030478,angle between two frames:0.052823 +[22:30:59.197] frame process finished the id is: 91 the obs is:12 +[22:30:59.211] Odometry x=0.377444, y=2.442624, theta=-1.758645 +[22:30:59.260] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:59.260] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 +[22:30:59.260] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:30:59.260] frame process finished the id is: 91 the obs is:12 +[22:30:59.316] Odometry x=0.384527, y=2.440582, theta=-1.773018 +[22:30:59.376] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:59.376] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.001064 error end=0.001062 +[22:30:59.376] After pose optimization, distance between ekf and vo x:-0.000267 ,z=0.000992,angle between two frames:0.001271 +[22:30:59.376] frame process finished the id is: 91 the obs is:12 +[22:30:59.412] Odometry x=0.391926, y=2.438643, theta=-1.783906 +[22:30:59.489] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:59.489] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 +[22:30:59.489] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:59.489] frame process finished the id is: 91 the obs is:12 +[22:30:59.508] Odometry x=0.399419, y=2.437124, theta=-1.806076 +[22:30:59.554] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:59.555] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000033 error end=0.000033 +[22:30:59.555] After pose optimization, distance between ekf and vo x:-0.000031 ,z=0.000006,angle between two frames:0.000013 +[22:30:59.555] frame process finished the id is: 91 the obs is:12 +[22:30:59.614] Odometry x=0.406582, y=2.434958, theta=-1.821182 +[22:30:59.687] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:59.687] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.975470 error end=0.507707 +[22:30:59.687] After pose optimization, distance between ekf and vo x:2.763034 ,z=0.200531,angle between two frames:0.078741 +[22:30:59.687] frame process finished the id is: 91 the obs is:12 +[22:30:59.712] Odometry x=0.413650, y=2.433221, theta=-1.846370 +[22:30:59.759] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:59.759] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.008743 error end=0.007292 +[22:30:59.759] After pose optimization, distance between ekf and vo x:-0.155730 ,z=0.300248,angle between two frames:0.008183 +[22:30:59.759] frame process finished the id is: 91 the obs is:12 +[22:30:59.812] Odometry x=0.421298, y=2.430892, theta=-1.862222 +[22:30:59.874] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:59.874] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =2.121125 error end=0.018414 +[22:30:59.874] After pose optimization, distance between ekf and vo x:-1417.969747 ,z=1675.718980,angle between two frames:0.051332 +[22:30:59.874] frame process finished the id is: 91 the obs is:12 +[22:30:59.913] Odometry x=0.428519, y=2.428750, theta=-1.875786 +[22:30:59.965] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:59.965] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 +[22:30:59.965] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:30:59.965] frame process finished the id is: 91 the obs is:12 +[22:31:00.073] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:00.073] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:00.073] After pose optimization, distance between ekf and vo x:0.004050 ,z=0.001291,angle between two frames:0.000011 +[22:31:00.073] frame process finished the id is: 91 the obs is:12 +[22:31:00.166] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:00.166] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.024081 error end=0.004645 +[22:31:00.166] After pose optimization, distance between ekf and vo x:4.514854 ,z=0.395982,angle between two frames:0.114011 +[22:31:00.166] frame process finished the id is: 91 the obs is:12 +[22:31:00.277] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:00.277] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.452287 error end=0.250191 +[22:31:00.277] After pose optimization, distance between ekf and vo x:-0.548580 ,z=0.237281,angle between two frames:0.287652 +[22:31:00.277] frame process finished the id is: 91 the obs is:12 +[22:31:00.362] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:00.362] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000015 error end=0.000015 +[22:31:00.362] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000014,angle between two frames:0.000022 +[22:31:00.362] frame process finished the id is: 91 the obs is:12 +[22:31:00.477] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:00.477] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:00.477] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:00.477] frame process finished the id is: 91 the obs is:12 +[22:31:00.555] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:00.555] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:00.555] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:00.556] frame process finished the id is: 91 the obs is:12 +[22:31:00.682] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:00.682] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.001396 error end=0.001389 +[22:31:00.682] After pose optimization, distance between ekf and vo x:-0.003824 ,z=0.001736,angle between two frames:0.002420 +[22:31:00.682] frame process finished the id is: 91 the obs is:12 +[22:31:00.759] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:00.759] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.078167 error end=0.065282 +[22:31:00.759] After pose optimization, distance between ekf and vo x:-0.023005 ,z=0.040884,angle between two frames:0.058574 +[22:31:00.759] frame process finished the id is: 91 the obs is:12 +[22:31:00.890] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:00.890] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.164888 error end=0.072337 +[22:31:00.890] After pose optimization, distance between ekf and vo x:0.430962 ,z=-0.193345,angle between two frames:0.286344 +[22:31:00.890] frame process finished the id is: 91 the obs is:12 +[22:31:00.971] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:00.971] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.204723 error end=0.163770 +[22:31:00.971] After pose optimization, distance between ekf and vo x:-0.167738 ,z=0.035615,angle between two frames:0.134967 +[22:31:00.971] frame process finished the id is: 91 the obs is:12 +[22:31:01.071] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:01.071] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.010164 error end=0.009749 +[22:31:01.071] After pose optimization, distance between ekf and vo x:-0.006775 ,z=0.013737,angle between two frames:0.011946 +[22:31:01.071] frame process finished the id is: 91 the obs is:12 +[22:31:01.171] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:01.171] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:01.171] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:01.171] frame process finished the id is: 91 the obs is:12 +[22:31:01.270] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:01.271] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000003 error end=0.000003 +[22:31:01.271] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000000,angle between two frames:0.000005 +[22:31:01.271] frame process finished the id is: 91 the obs is:12 +[22:31:01.369] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:01.369] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:31:01.369] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:01.369] frame process finished the id is: 91 the obs is:12 +[22:31:01.491] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:01.491] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.204723 error end=0.163770 +[22:31:01.491] After pose optimization, distance between ekf and vo x:-0.167738 ,z=0.035615,angle between two frames:0.134967 +[22:31:01.491] frame process finished the id is: 91 the obs is:12 +[22:31:01.567] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:01.567] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000025 error end=0.000025 +[22:31:01.567] After pose optimization, distance between ekf and vo x:-0.000020 ,z=-0.000005,angle between two frames:0.000062 +[22:31:01.567] frame process finished the id is: 91 the obs is:12 +[22:31:01.680] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:01.680] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.818892 error end=0.549395 +[22:31:01.680] After pose optimization, distance between ekf and vo x:-0.451176 ,z=0.105434,angle between two frames:0.271268 +[22:31:01.680] frame process finished the id is: 91 the obs is:12 +[22:31:01.761] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:01.761] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 +[22:31:01.761] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:01.761] frame process finished the id is: 91 the obs is:12 +[22:31:01.888] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:01.888] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:01.888] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:01.888] frame process finished the id is: 91 the obs is:12 +[22:31:01.959] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:01.959] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.006398 error end=0.006357 +[22:31:01.959] After pose optimization, distance between ekf and vo x:-0.003482 ,z=0.001090,angle between two frames:0.003393 +[22:31:01.959] frame process finished the id is: 91 the obs is:12 +[22:31:02.076] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:02.076] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000049 error end=0.000049 +[22:31:02.076] After pose optimization, distance between ekf and vo x:-0.000060 ,z=0.000017,angle between two frames:0.000056 +[22:31:02.076] frame process finished the id is: 91 the obs is:12 +[22:31:02.176] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:02.176] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:02.176] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:02.176] frame process finished the id is: 91 the obs is:12 +[22:31:02.274] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:02.274] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:02.274] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:02.274] frame process finished the id is: 91 the obs is:12 +[22:31:02.374] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:02.374] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.102362 error end=0.068069 +[22:31:02.374] After pose optimization, distance between ekf and vo x:-0.114099 ,z=-0.050958,angle between two frames:0.238923 +[22:31:02.374] frame process finished the id is: 91 the obs is:12 +[22:31:02.476] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:02.476] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:02.476] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:02.476] frame process finished the id is: 91 the obs is:12 +[22:31:02.562] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:02.562] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000079 error end=0.000079 +[22:31:02.562] After pose optimization, distance between ekf and vo x:0.000067 ,z=0.000042,angle between two frames:0.000145 +[22:31:02.562] frame process finished the id is: 91 the obs is:12 +[22:31:02.682] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:02.682] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000044 error end=0.000044 +[22:31:02.682] After pose optimization, distance between ekf and vo x:0.000026 ,z=0.000044,angle between two frames:0.000072 +[22:31:02.682] frame process finished the id is: 91 the obs is:12 +[22:31:02.769] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:02.769] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.102362 error end=0.068069 +[22:31:02.769] After pose optimization, distance between ekf and vo x:-0.114099 ,z=-0.050958,angle between two frames:0.238923 +[22:31:02.769] frame process finished the id is: 91 the obs is:12 +[22:31:02.881] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:02.881] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.051181 error end=0.047360 +[22:31:02.881] After pose optimization, distance between ekf and vo x:-0.014168 ,z=-0.003688,angle between two frames:0.040914 +[22:31:02.881] frame process finished the id is: 91 the obs is:12 +[22:31:02.966] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:02.966] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000002 error end=0.000002 +[22:31:02.966] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000005 +[22:31:02.966] frame process finished the id is: 91 the obs is:12 +[22:31:03.072] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:03.072] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:03.072] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:03.072] frame process finished the id is: 91 the obs is:12 +[22:31:03.177] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:03.177] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:03.177] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:03.177] frame process finished the id is: 91 the obs is:12 +[22:31:03.269] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:03.269] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:03.269] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:03.269] frame process finished the id is: 91 the obs is:12 +[22:31:03.386] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:03.386] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000006 error end=0.000006 +[22:31:03.386] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000002 +[22:31:03.386] frame process finished the id is: 91 the obs is:12 +[22:31:03.459] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:03.459] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:03.459] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:03.459] frame process finished the id is: 91 the obs is:12 +[22:31:03.571] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:03.571] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.003199 error end=0.003113 +[22:31:03.571] After pose optimization, distance between ekf and vo x:0.000063 ,z=-0.003863,angle between two frames:0.013953 +[22:31:03.571] frame process finished the id is: 91 the obs is:12 +[22:31:03.676] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:03.676] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:03.676] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:03.676] frame process finished the id is: 91 the obs is:12 +[22:31:03.767] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:03.767] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.051181 error end=0.047360 +[22:31:03.767] After pose optimization, distance between ekf and vo x:-0.014168 ,z=-0.003688,angle between two frames:0.040914 +[22:31:03.767] frame process finished the id is: 91 the obs is:12 +[22:31:03.891] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:03.891] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.003199 error end=0.003113 +[22:31:03.891] After pose optimization, distance between ekf and vo x:0.000063 ,z=-0.003863,angle between two frames:0.013953 +[22:31:03.891] frame process finished the id is: 91 the obs is:12 +[22:31:03.959] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:03.959] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:03.959] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:03.959] frame process finished the id is: 91 the obs is:12 +[22:31:04.089] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:04.089] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.012795 error end=0.012393 +[22:31:04.089] After pose optimization, distance between ekf and vo x:-0.010301 ,z=0.001122,angle between two frames:0.016950 +[22:31:04.089] frame process finished the id is: 91 the obs is:12 +[22:31:04.160] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:04.160] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:04.160] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:04.160] frame process finished the id is: 91 the obs is:12 +[22:31:04.291] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:04.291] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:31:04.291] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:04.291] frame process finished the id is: 91 the obs is:12 +[22:31:04.361] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:04.361] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.012795 error end=0.012393 +[22:31:04.361] After pose optimization, distance between ekf and vo x:-0.010301 ,z=0.001122,angle between two frames:0.016950 +[22:31:04.361] frame process finished the id is: 91 the obs is:12 +[22:31:04.489] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:04.489] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000005 error end=0.000005 +[22:31:04.489] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000002,angle between two frames:0.000004 +[22:31:04.489] frame process finished the id is: 91 the obs is:12 +[22:31:04.560] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:04.560] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.430775 error end=0.194747 +[22:31:04.560] After pose optimization, distance between ekf and vo x:-0.129230 ,z=-0.159014,angle between two frames:0.465806 +[22:31:04.560] frame process finished the id is: 91 the obs is:12 +[22:31:04.675] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:04.675] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.025590 error end=0.021116 +[22:31:04.675] After pose optimization, distance between ekf and vo x:0.004495 ,z=-0.034362,angle between two frames:0.100493 +[22:31:04.675] frame process finished the id is: 91 the obs is:12 +[22:31:04.765] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:04.765] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000006 error end=0.000006 +[22:31:04.765] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000002 +[22:31:04.765] frame process finished the id is: 91 the obs is:12 +[22:31:04.894] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:04.894] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000025 error end=0.000025 +[22:31:04.894] After pose optimization, distance between ekf and vo x:-0.000020 ,z=-0.000005,angle between two frames:0.000062 +[22:31:04.894] frame process finished the id is: 91 the obs is:12 +[22:31:04.958] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:04.958] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:04.958] frame process finished the id is: 91 the obs is:12 +[22:31:05.086] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:05.086] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.010236 error end=0.009850 +[22:31:05.086] After pose optimization, distance between ekf and vo x:-0.009966 ,z=0.015958,angle between two frames:0.010769 +[22:31:05.086] frame process finished the id is: 91 the obs is:12 +[22:31:05.159] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:05.159] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:05.159] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:05.159] frame process finished the id is: 91 the obs is:12 +[22:31:05.295] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:05.295] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000020 error end=0.000020 +[22:31:05.295] After pose optimization, distance between ekf and vo x:0.000018 ,z=0.000005,angle between two frames:0.000029 +[22:31:05.295] frame process finished the id is: 91 the obs is:12 +[22:31:05.362] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:05.362] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.025590 error end=0.021116 +[22:31:05.362] After pose optimization, distance between ekf and vo x:0.004495 ,z=-0.034362,angle between two frames:0.100493 +[22:31:05.362] frame process finished the id is: 91 the obs is:12 +[22:31:05.489] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:05.489] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:05.489] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000001 +[22:31:05.489] frame process finished the id is: 91 the obs is:12 +[22:31:05.561] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:05.561] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.001599 error end=0.001596 +[22:31:05.561] After pose optimization, distance between ekf and vo x:-0.000546 ,z=-0.000004,angle between two frames:0.001190 +[22:31:05.561] frame process finished the id is: 91 the obs is:12 +[22:31:05.682] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:05.682] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.025590 error end=0.021116 +[22:31:05.682] After pose optimization, distance between ekf and vo x:0.004495 ,z=-0.034362,angle between two frames:0.100493 +[22:31:05.682] frame process finished the id is: 91 the obs is:12 +[22:31:05.768] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:05.768] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:05.768] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:05.768] frame process finished the id is: 91 the obs is:12 +[22:31:05.872] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:05.872] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.026923 error end=0.025744 +[22:31:05.872] After pose optimization, distance between ekf and vo x:0.000469 ,z=-0.003996,angle between two frames:0.020964 +[22:31:05.872] frame process finished the id is: 91 the obs is:12 +[22:31:05.970] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:05.970] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.400218 error end=0.242177 +[22:31:05.970] After pose optimization, distance between ekf and vo x:-0.371247 ,z=-0.066912,angle between two frames:0.365093 +[22:31:05.970] frame process finished the id is: 91 the obs is:12 +[22:31:06.070] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:06.070] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.025590 error end=0.021116 +[22:31:06.070] After pose optimization, distance between ekf and vo x:0.004495 ,z=-0.034362,angle between two frames:0.100493 +[22:31:06.070] frame process finished the id is: 91 the obs is:12 +[22:31:06.180] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:06.180] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:06.180] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:06.180] frame process finished the id is: 91 the obs is:12 +[22:31:06.262] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:06.262] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000050 error end=0.000050 +[22:31:06.262] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000003,angle between two frames:0.000041 +[22:31:06.262] frame process finished the id is: 91 the obs is:12 +[22:31:06.377] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:06.377] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000050 error end=0.000050 +[22:31:06.377] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000003,angle between two frames:0.000041 +[22:31:06.377] frame process finished the id is: 91 the obs is:12 +[22:31:06.463] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:06.463] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:06.463] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:06.463] frame process finished the id is: 91 the obs is:12 +[22:31:06.584] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:06.584] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:06.584] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:06.584] frame process finished the id is: 91 the obs is:12 +[22:31:06.658] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:06.658] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.053847 error end=0.039644 +[22:31:06.658] After pose optimization, distance between ekf and vo x:0.012347 ,z=-0.043640,angle between two frames:0.148519 +[22:31:06.658] frame process finished the id is: 91 the obs is:12 +[22:31:06.791] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:06.791] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000007 error end=0.000007 +[22:31:06.791] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000001,angle between two frames:0.000015 +[22:31:06.791] frame process finished the id is: 91 the obs is:12 +[22:31:06.857] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:06.857] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.081890 error end=0.060066 +[22:31:06.858] After pose optimization, distance between ekf and vo x:-0.005976 ,z=0.055690,angle between two frames:0.097796 +[22:31:06.858] frame process finished the id is: 91 the obs is:12 +[22:31:06.986] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:06.986] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000385 error end=0.000384 +[22:31:06.986] After pose optimization, distance between ekf and vo x:-0.000229 ,z=-0.000209,angle between two frames:0.000895 +[22:31:06.986] frame process finished the id is: 91 the obs is:12 +[22:31:07.059] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.059] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:31:07.059] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000002 +[22:31:07.059] frame process finished the id is: 91 the obs is:12 +[22:31:07.181] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.181] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000002 error end=0.000002 +[22:31:07.181] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000000,angle between two frames:0.000005 +[22:31:07.181] frame process finished the id is: 91 the obs is:12 +[22:31:07.262] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.262] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:31:07.262] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.262] frame process finished the id is: 91 the obs is:12 +[22:31:07.394] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.394] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.164341 error end=0.148933 +[22:31:07.394] After pose optimization, distance between ekf and vo x:-0.002651 ,z=0.023424,angle between two frames:0.029102 +[22:31:07.394] frame process finished the id is: 91 the obs is:12 +[22:31:07.464] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.464] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.464] frame process finished the id is: 91 the obs is:12 +[22:31:07.583] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.583] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.583] frame process finished the id is: 91 the obs is:12 +[22:31:07.665] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.665] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.102362 error end=0.068069 +[22:31:07.665] After pose optimization, distance between ekf and vo x:-0.114099 ,z=-0.050958,angle between two frames:0.238923 +[22:31:07.665] frame process finished the id is: 91 the obs is:12 +[22:31:07.780] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.780] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:07.780] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:07.780] frame process finished the id is: 91 the obs is:12 +[22:31:07.860] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.860] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.044834 error end=0.036190 +[22:31:07.860] After pose optimization, distance between ekf and vo x:0.013566 ,z=0.037539,angle between two frames:0.061034 +[22:31:07.860] frame process finished the id is: 91 the obs is:12 +[22:31:07.995] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.995] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:07.995] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:07.995] frame process finished the id is: 91 the obs is:12 +[22:31:08.061] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:08.061] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000012 error end=0.000012 +[22:31:08.061] After pose optimization, distance between ekf and vo x:-0.000012 ,z=-0.000005,angle between two frames:0.000043 +[22:31:08.061] frame process finished the id is: 91 the obs is:12 +[22:31:08.200] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:08.200] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000395 error end=0.000394 +[22:31:08.200] After pose optimization, distance between ekf and vo x:-0.000619 ,z=-0.000018,angle between two frames:0.001259 +[22:31:08.200] frame process finished the id is: 91 the obs is:12 +[22:31:08.257] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:08.257] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:08.257] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000001 +[22:31:08.257] frame process finished the id is: 91 the obs is:12 +[22:31:08.388] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:08.388] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000012 error end=0.000012 +[22:31:08.388] After pose optimization, distance between ekf and vo x:-0.000022 ,z=0.000002,angle between two frames:0.000036 +[22:31:08.388] frame process finished the id is: 91 the obs is:12 +[22:31:08.463] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:08.463] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000100 error end=0.000100 +[22:31:08.463] After pose optimization, distance between ekf and vo x:-0.000029 ,z=0.000010,angle between two frames:0.000025 +[22:31:08.463] frame process finished the id is: 91 the obs is:12 +[22:31:08.566] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:08.566] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000002 error end=0.000002 +[22:31:08.566] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000000,angle between two frames:0.000005 +[22:31:08.566] frame process finished the id is: 91 the obs is:12 +[22:31:08.675] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:08.675] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000100 error end=0.000100 +[22:31:08.675] After pose optimization, distance between ekf and vo x:-0.000029 ,z=0.000010,angle between two frames:0.000025 +[22:31:08.675] frame process finished the id is: 91 the obs is:12 +[22:31:08.765] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:08.765] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000040 error end=0.000040 +[22:31:08.765] After pose optimization, distance between ekf and vo x:0.000039 ,z=0.000018,angle between two frames:0.000074 +[22:31:08.765] frame process finished the id is: 91 the obs is:12 +[22:31:08.884] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:08.884] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000050 error end=0.000050 +[22:31:08.884] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000003,angle between two frames:0.000041 +[22:31:08.884] frame process finished the id is: 91 the obs is:12 +[22:31:08.965] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:08.965] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000025 error end=0.000025 +[22:31:08.965] After pose optimization, distance between ekf and vo x:-0.000009 ,z=0.000005,angle between two frames:0.000003 +[22:31:08.965] frame process finished the id is: 91 the obs is:12 +[22:31:09.067] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.067] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:09.067] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.067] frame process finished the id is: 91 the obs is:12 +[22:31:09.171] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.172] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.172] frame process finished the id is: 91 the obs is:12 +[22:31:09.284] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.284] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.284] frame process finished the id is: 91 the obs is:12 +[22:31:09.365] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.365] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.006507 error end=0.006245 +[22:31:09.365] After pose optimization, distance between ekf and vo x:0.002180 ,z=-0.006145,angle between two frames:0.020192 +[22:31:09.365] frame process finished the id is: 91 the obs is:12 +[22:31:09.490] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.490] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:09.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.490] frame process finished the id is: 91 the obs is:12 +[22:31:09.563] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.563] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000105 error end=0.000105 +[22:31:09.563] After pose optimization, distance between ekf and vo x:-0.000055 ,z=-0.000012,angle between two frames:0.000278 +[22:31:09.563] frame process finished the id is: 91 the obs is:12 +[22:31:09.705] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.705] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000106 error end=0.000106 +[22:31:09.705] After pose optimization, distance between ekf and vo x:0.000028 ,z=-0.000060,angle between two frames:0.000264 +[22:31:09.705] frame process finished the id is: 91 the obs is:12 +[22:31:09.763] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.763] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.763] frame process finished the id is: 91 the obs is:12 +[22:31:09.884] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.884] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.884] frame process finished the id is: 91 the obs is:12 +[22:31:09.969] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:09.969] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:09.969] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:09.969] frame process finished the id is: 91 the obs is:12 +[22:31:10.086] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:10.086] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:10.086] frame process finished the id is: 91 the obs is:12 +[22:31:10.166] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:10.166] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:10.166] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:10.166] frame process finished the id is: 91 the obs is:12 +[22:31:10.290] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:10.290] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.053847 error end=0.039644 +[22:31:10.290] After pose optimization, distance between ekf and vo x:0.012347 ,z=-0.043640,angle between two frames:0.148519 +[22:31:10.290] frame process finished the id is: 91 the obs is:12 +[22:31:10.359] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:10.359] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000195 error end=0.000195 +[22:31:10.359] After pose optimization, distance between ekf and vo x:-0.000506 ,z=0.000093,angle between two frames:0.000553 +[22:31:10.359] frame process finished the id is: 91 the obs is:12 +[22:31:10.485] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:10.485] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:10.485] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:10.485] frame process finished the id is: 91 the obs is:12 +[22:31:10.561] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:10.561] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.002541 error end=0.002500 +[22:31:10.561] After pose optimization, distance between ekf and vo x:0.002986 ,z=0.000816,angle between two frames:0.004920 +[22:31:10.561] frame process finished the id is: 91 the obs is:12 +[22:31:10.662] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:10.662] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.818892 error end=0.549395 +[22:31:10.662] After pose optimization, distance between ekf and vo x:-0.451176 ,z=0.105434,angle between two frames:0.271268 +[22:31:10.662] frame process finished the id is: 91 the obs is:12 +[22:31:10.795] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:10.795] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.020327 error end=0.018716 +[22:31:10.795] After pose optimization, distance between ekf and vo x:0.029656 ,z=-0.007813,angle between two frames:0.026366 +[22:31:10.795] frame process finished the id is: 91 the obs is:12 +[22:31:10.859] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:10.859] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.001270 error end=0.001262 +[22:31:10.859] After pose optimization, distance between ekf and vo x:0.000594 ,z=0.000950,angle between two frames:0.002113 +[22:31:10.859] frame process finished the id is: 91 the obs is:12 +[22:31:10.990] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:10.990] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:10.990] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:10.990] frame process finished the id is: 91 the obs is:12 +[22:31:11.060] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:11.060] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000105 error end=0.000105 +[22:31:11.060] After pose optimization, distance between ekf and vo x:-0.000055 ,z=-0.000012,angle between two frames:0.000278 +[22:31:11.060] frame process finished the id is: 91 the obs is:12 +[22:31:11.163] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:11.163] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.020327 error end=0.018716 +[22:31:11.163] After pose optimization, distance between ekf and vo x:0.029656 ,z=-0.007813,angle between two frames:0.026366 +[22:31:11.163] frame process finished the id is: 91 the obs is:12 +[22:31:11.282] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:11.282] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.026027 error end=0.022324 +[22:31:11.282] After pose optimization, distance between ekf and vo x:-0.012127 ,z=-0.015080,angle between two frames:0.077961 +[22:31:11.282] frame process finished the id is: 91 the obs is:12 +[22:31:11.364] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:11.364] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000841 error end=0.000841 +[22:31:11.364] After pose optimization, distance between ekf and vo x:0.000023 ,z=-0.000074,angle between two frames:0.000347 +[22:31:11.364] frame process finished the id is: 91 the obs is:12 +[22:31:11.480] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:11.480] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.005082 error end=0.004963 +[22:31:11.480] After pose optimization, distance between ekf and vo x:0.004274 ,z=0.001305,angle between two frames:0.007263 +[22:31:11.480] frame process finished the id is: 91 the obs is:12 +[22:31:11.566] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:11.566] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:11.566] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:11.566] frame process finished the id is: 91 the obs is:12 +[22:31:11.665] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:11.665] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.204723 error end=0.163770 +[22:31:11.665] After pose optimization, distance between ekf and vo x:-0.167738 ,z=0.035615,angle between two frames:0.134967 +[22:31:11.665] frame process finished the id is: 91 the obs is:12 +[22:31:11.780] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:11.780] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000635 error end=0.000634 +[22:31:11.780] After pose optimization, distance between ekf and vo x:0.000072 ,z=0.000366,angle between two frames:0.000617 +[22:31:11.780] frame process finished the id is: 91 the obs is:12 +[22:31:11.862] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:11.862] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:11.862] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:11.862] frame process finished the id is: 91 the obs is:12 +[22:31:11.994] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:11.994] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:11.994] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:11.994] frame process finished the id is: 91 the obs is:12 +[22:31:12.066] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:12.066] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000002 error end=0.000002 +[22:31:12.066] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000000,angle between two frames:0.000005 +[22:31:12.066] frame process finished the id is: 91 the obs is:12 +[22:31:12.165] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:12.165] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.104108 error end=0.091671 +[22:31:12.165] After pose optimization, distance between ekf and vo x:-0.075973 ,z=0.023540,angle between two frames:0.068441 +[22:31:12.165] frame process finished the id is: 91 the obs is:12 +[22:31:12.286] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:12.286] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000020 error end=0.000020 +[22:31:12.286] After pose optimization, distance between ekf and vo x:0.000018 ,z=0.000005,angle between two frames:0.000029 +[22:31:12.286] frame process finished the id is: 91 the obs is:12 +[22:31:12.368] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:12.368] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.046858 error end=0.037205 +[22:31:12.368] After pose optimization, distance between ekf and vo x:0.018435 ,z=0.040691,angle between two frames:0.063080 +[22:31:12.368] frame process finished the id is: 91 the obs is:12 +[22:31:12.480] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:12.480] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:31:12.480] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000002 +[22:31:12.480] frame process finished the id is: 91 the obs is:12 +[22:31:12.566] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:12.566] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.100054 error end=0.091372 +[22:31:12.566] After pose optimization, distance between ekf and vo x:-0.019067 ,z=-0.005990,angle between two frames:0.050921 +[22:31:12.566] frame process finished the id is: 91 the obs is:12 +[22:31:12.673] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:12.673] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000701 error end=0.000698 +[22:31:12.673] After pose optimization, distance between ekf and vo x:-0.000148 ,z=0.001022,angle between two frames:0.000954 +[22:31:12.673] frame process finished the id is: 91 the obs is:12 +[22:31:12.776] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:12.776] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000010 error end=0.000010 +[22:31:12.776] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000012,angle between two frames:0.000014 +[22:31:12.776] frame process finished the id is: 91 the obs is:12 +[22:31:12.874] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:12.874] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.196427 error end=0.172638 +[22:31:12.874] After pose optimization, distance between ekf and vo x:-0.105911 ,z=0.017412,angle between two frames:0.088392 +[22:31:12.874] frame process finished the id is: 91 the obs is:12 +[22:31:12.986] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:12.986] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:31:12.986] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:12.986] frame process finished the id is: 91 the obs is:12 +[22:31:13.063] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:13.063] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:13.063] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:13.063] frame process finished the id is: 91 the obs is:12 +[22:31:13.190] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:13.190] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000007 error end=0.000007 +[22:31:13.190] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000001,angle between two frames:0.000015 +[22:31:13.190] frame process finished the id is: 91 the obs is:12 +[22:31:13.257] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:13.257] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.054071 error end=0.043695 +[22:31:13.257] After pose optimization, distance between ekf and vo x:-0.042574 ,z=-0.000164,angle between two frames:0.104132 +[22:31:13.257] frame process finished the id is: 91 the obs is:12 +[22:31:13.388] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:13.388] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:13.388] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000001 +[22:31:13.388] frame process finished the id is: 91 the obs is:12 +[22:31:13.462] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:13.462] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.102362 error end=0.068069 +[22:31:13.462] After pose optimization, distance between ekf and vo x:-0.114099 ,z=-0.050958,angle between two frames:0.238923 +[22:31:13.462] frame process finished the id is: 91 the obs is:12 +[22:31:13.595] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:13.595] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.040655 error end=0.037267 +[22:31:13.595] After pose optimization, distance between ekf and vo x:-0.027155 ,z=0.038455,angle between two frames:0.024580 +[22:31:13.595] frame process finished the id is: 91 the obs is:12 +[22:31:13.668] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:13.668] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000040 error end=0.000040 +[22:31:13.668] After pose optimization, distance between ekf and vo x:0.000039 ,z=0.000018,angle between two frames:0.000074 +[22:31:13.668] frame process finished the id is: 91 the obs is:12 +[22:31:13.789] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:13.789] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.081310 error end=0.070708 +[22:31:13.789] After pose optimization, distance between ekf and vo x:-0.035332 ,z=0.053811,angle between two frames:0.040648 +[22:31:13.789] frame process finished the id is: 91 the obs is:12 +[22:31:13.864] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:13.864] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:13.864] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:13.864] frame process finished the id is: 91 the obs is:12 +[22:31:13.984] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:13.984] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.006731 error end=0.006622 +[22:31:13.984] After pose optimization, distance between ekf and vo x:-0.000192 ,z=-0.001193,angle between two frames:0.007609 +[22:31:13.984] frame process finished the id is: 91 the obs is:12 +[22:31:14.074] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:14.074] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000421 error end=0.000420 +[22:31:14.074] After pose optimization, distance between ekf and vo x:-0.000349 ,z=0.000055,angle between two frames:0.000997 +[22:31:14.074] frame process finished the id is: 91 the obs is:12 +[22:31:14.187] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:14.187] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:14.187] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:14.187] frame process finished the id is: 91 the obs is:12 +[22:31:14.263] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:14.263] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.003379 error end=0.003340 +[22:31:14.263] After pose optimization, distance between ekf and vo x:-0.001141 ,z=-0.000138,angle between two frames:0.005358 +[22:31:14.263] frame process finished the id is: 91 the obs is:12 +[22:31:14.383] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:14.383] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:14.383] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:14.383] frame process finished the id is: 91 the obs is:12 +[22:31:14.464] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:14.464] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000200 error end=0.000200 +[22:31:14.464] After pose optimization, distance between ekf and vo x:-0.000143 ,z=0.000005,angle between two frames:0.000291 +[22:31:14.464] frame process finished the id is: 91 the obs is:12 +[22:31:14.584] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:14.584] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.358675 error end=0.158497 +[22:31:14.584] After pose optimization, distance between ekf and vo x:-0.082957 ,z=0.151621,angle between two frames:0.261676 +[22:31:14.584] frame process finished the id is: 91 the obs is:12 +[22:31:14.662] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:14.662] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:14.662] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:14.662] frame process finished the id is: 91 the obs is:12 +[22:31:14.786] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:14.786] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000098 error end=0.000098 +[22:31:14.786] After pose optimization, distance between ekf and vo x:-0.000126 ,z=-0.000022,angle between two frames:0.000282 +[22:31:14.786] frame process finished the id is: 91 the obs is:12 +[22:31:14.887] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:14.887] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000020 error end=0.000020 +[22:31:14.887] After pose optimization, distance between ekf and vo x:0.000018 ,z=0.000005,angle between two frames:0.000029 +[22:31:14.887] frame process finished the id is: 91 the obs is:12 +[22:31:14.959] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:14.959] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.204723 error end=0.163770 +[22:31:14.959] After pose optimization, distance between ekf and vo x:-0.167738 ,z=0.035615,angle between two frames:0.134967 +[22:31:14.959] frame process finished the id is: 91 the obs is:12 +[22:31:15.089] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:15.089] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000841 error end=0.000841 +[22:31:15.089] After pose optimization, distance between ekf and vo x:0.000023 ,z=-0.000074,angle between two frames:0.000347 +[22:31:15.089] frame process finished the id is: 91 the obs is:12 +[22:31:15.164] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:15.164] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:15.164] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:15.164] frame process finished the id is: 91 the obs is:12 +[22:31:15.280] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:15.280] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000102 error end=0.000102 +[22:31:15.280] After pose optimization, distance between ekf and vo x:-0.000036 ,z=0.000019,angle between two frames:0.000013 +[22:31:15.280] frame process finished the id is: 91 the obs is:12 +[22:31:15.346] Odometry x=0.435807, y=2.426104, theta=-1.892646 +[22:31:15.364] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:15.364] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000002 error end=0.000002 +[22:31:15.364] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000005 +[22:31:15.364] frame process finished the id is: 91 the obs is:12 +[22:31:15.446] Odometry x=0.443225, y=2.423390, theta=-1.901412 +[22:31:15.484] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:15.485] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000886 error end=0.000883 +[22:31:15.485] After pose optimization, distance between ekf and vo x:-0.000758 ,z=0.000398,angle between two frames:0.001627 +[22:31:15.485] frame process finished the id is: 91 the obs is:12 +[22:31:15.551] Odometry x=0.451636, y=2.420752, theta=-1.894563 +[22:31:15.565] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:15.565] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 +[22:31:15.566] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:15.566] frame process finished the id is: 91 the obs is:12 +[22:31:15.649] Odometry x=0.459541, y=2.417562, theta=-1.904227 +[22:31:15.677] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:15.677] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:15.677] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:15.677] frame process finished the id is: 91 the obs is:12 +[22:31:15.755] Odometry x=0.466354, y=2.414061, theta=-1.903582 +[22:31:15.791] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:15.791] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 +[22:31:15.791] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:15.791] frame process finished the id is: 91 the obs is:12 +[22:31:15.845] Odometry x=0.473692, y=2.411290, theta=-1.904065 +[22:31:15.861] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:15.861] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 +[22:31:15.861] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:15.861] frame process finished the id is: 91 the obs is:12 +[22:31:15.945] Odometry x=0.480792, y=2.408669, theta=-1.900534 +[22:31:15.985] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:15.985] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 +[22:31:15.985] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000 +[22:31:15.985] frame process finished the id is: 91 the obs is:12 +[22:31:16.046] Odometry x=0.488052, y=2.407211, theta=-1.910194 +[22:31:16.062] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:16.062] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.079881 error end=0.045333 +[22:31:16.062] After pose optimization, distance between ekf and vo x:0.306388 ,z=0.122874,angle between two frames:0.123267 +[22:31:16.062] frame process finished the id is: 91 the obs is:12 +[22:31:16.142] Odometry x=0.495532, y=2.404157, theta=-1.898917 +[22:31:16.182] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:16.182] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.008136 error end=0.007511 +[22:31:16.182] After pose optimization, distance between ekf and vo x:0.034050 ,z=0.016615,angle between two frames:0.017020 +[22:31:16.182] frame process finished the id is: 91 the obs is:12 +[22:31:16.251] Odometry x=0.502736, y=2.401486, theta=-1.906578 +[22:31:16.268] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:16.268] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000002 error end=0.000002 +[22:31:16.268] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000001 +[22:31:16.268] frame process finished the id is: 91 the obs is:12 +[22:31:16.347] Odometry x=0.510534, y=2.398025, theta=-1.905250 +[22:31:16.377] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:16.377] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.034523 error end=0.030039 +[22:31:16.377] After pose optimization, distance between ekf and vo x:0.004992 ,z=0.028964,angle between two frames:0.044393 +[22:31:16.377] frame process finished the id is: 91 the obs is:12 +[22:31:16.447] Odometry x=0.518103, y=2.396708, theta=-1.901062 +[22:31:16.464] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:16.464] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000001 error end=0.000001 +[22:31:16.464] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:16.464] frame process finished the id is: 91 the obs is:12 +[22:31:16.542] Odometry x=0.525444, y=2.393527, theta=-1.905077 +[22:31:16.582] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:16.582] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000050 error end=0.000050 +[22:31:16.582] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:16.582] frame process finished the id is: 91 the obs is:12 +[22:31:16.645] Odometry x=0.533154, y=2.391568, theta=-1.899169 +[22:31:16.663] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:16.663] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.030081 error end=0.030015 +[22:31:16.663] After pose optimization, distance between ekf and vo x:-0.001308 ,z=-0.000131,angle between two frames:0.000016 +[22:31:16.663] frame process finished the id is: 91 the obs is:12 +[22:31:16.763] Odometry x=0.540041, y=2.388081, theta=-1.903263 +[22:31:16.785] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:16.785] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:31:16.785] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000000,angle between two frames:0.000001 +[22:31:16.785] frame process finished the id is: 91 the obs is:12 +[22:31:16.857] Odometry x=0.547735, y=2.385735, theta=-1.894636 +[22:31:16.862] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:16.862] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =1.212796 error end=0.434611 +[22:31:16.862] After pose optimization, distance between ekf and vo x:-0.396799 ,z=0.367943,angle between two frames:0.428293 +[22:31:16.862] frame process finished the id is: 91 the obs is:12 +[22:31:16.947] Odometry x=0.555602, y=2.382860, theta=-1.898250 +[22:31:16.981] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:16.981] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:16.981] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:16.981] frame process finished the id is: 91 the obs is:12 +[22:31:17.048] Odometry x=0.563684, y=2.380690, theta=-1.889953 +[22:31:17.070] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:17.071] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000001 error end=0.000001 +[22:31:17.071] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000001 +[22:31:17.071] frame process finished the id is: 91 the obs is:12 +[22:31:17.164] Odometry x=0.571175, y=2.378252, theta=-1.894731 +[22:31:17.165] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:17.165] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.000000 error end=0.000000 +[22:31:17.165] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:17.165] frame process finished the id is: 91 the obs is:12 +[22:31:17.260] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:17.260] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.046663 error end=0.046387 +[22:31:17.260] After pose optimization, distance between ekf and vo x:0.556599 ,z=-0.068296,angle between two frames:0.047814 +[22:31:17.260] frame process finished the id is: 91 the obs is:12 +[22:31:17.263] Odometry x=0.578515, y=2.375277, theta=-1.895367 +[22:31:17.362] Odometry x=0.586948, y=2.372312, theta=-1.892887 +[22:31:17.389] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:17.389] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000699 error end=0.000698 +[22:31:17.389] After pose optimization, distance between ekf and vo x:-0.000641 ,z=0.000663,angle between two frames:0.000574 +[22:31:17.389] frame process finished the id is: 91 the obs is:12 +[22:31:17.450] Odometry x=0.594385, y=2.368857, theta=-1.906123 +[22:31:17.458] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:17.458] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.010578 error end=0.010405 +[22:31:17.458] After pose optimization, distance between ekf and vo x:-0.011963 ,z=0.009508,angle between two frames:0.008657 +[22:31:17.458] frame process finished the id is: 91 the obs is:12 +[22:31:17.546] Odometry x=0.601421, y=2.366730, theta=-1.899948 +[22:31:17.598] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:17.598] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000128 error end=0.000128 +[22:31:17.598] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.000122,angle between two frames:0.000112 +[22:31:17.598] frame process finished the id is: 91 the obs is:12 +[22:31:17.648] Odometry x=0.608681, y=2.362690, theta=-1.903624 +[22:31:17.656] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:17.656] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 +[22:31:17.656] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:17.656] frame process finished the id is: 91 the obs is:12 +[22:31:17.743] Odometry x=0.615191, y=2.360838, theta=-1.892012 +[22:31:17.771] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:17.771] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 +[22:31:17.771] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[22:31:17.771] frame process finished the id is: 91 the obs is:12 +[22:31:17.858] Odometry x=0.623008, y=2.358824, theta=-1.901540 +[22:31:17.875] After Reprojection Map nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:17.875] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.041382 error end=0.041285 +[22:31:17.875] After pose optimization, distance between ekf and vo x:-0.008045 ,z=0.000001,angle between two frames:0.000336 +[22:31:17.875] frame process finished the id is: 91 the obs is:12 +[22:31:17.946] Odometry x=0.630744, y=2.357494, theta=-1.899691 +[22:31:17.969] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:17.969] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.014597 error end=0.014027 +[22:31:17.969] After pose optimization, distance between ekf and vo x:0.013312 ,z=0.010520,angle between two frames:0.010082 +[22:31:17.969] frame process finished the id is: 91 the obs is:12 +[22:31:18.051] Odometry x=0.638064, y=2.353367, theta=-1.908907 +[22:31:18.076] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:18.076] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.003657 error end=0.003621 +[22:31:18.076] After pose optimization, distance between ekf and vo x:-0.000404 ,z=0.002926,angle between two frames:0.003427 +[22:31:18.076] frame process finished the id is: 91 the obs is:12 +[22:31:18.151] Odometry x=0.645760, y=2.350930, theta=-1.902686 +[22:31:18.170] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:18.170] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.205259 error end=0.149336 +[22:31:18.170] After pose optimization, distance between ekf and vo x:-0.090298 ,z=0.112658,angle between two frames:0.130683 +[22:31:18.170] frame process finished the id is: 91 the obs is:12 +[22:31:18.259] Odometry x=0.653405, y=2.349013, theta=-1.898473 +[22:31:18.273] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:18.273] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 +[22:31:18.273] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000000,angle between two frames:0.000000 +[22:31:18.273] frame process finished the id is: 91 the obs is:12 +[22:31:18.358] Odometry x=0.660805, y=2.346219, theta=-1.898362 +[22:31:18.373] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:18.373] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.009148 error end=0.009148 +[22:31:18.373] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:18.373] frame process finished the id is: 91 the obs is:12 +[22:31:18.442] Odometry x=0.667838, y=2.343439, theta=-1.895672 +[22:31:18.472] After Reprojection Map nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:18.472] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 +[22:31:18.472] After pose optimization, distance between ekf and vo x:-0.000015 ,z=0.000058,angle between two frames:0.000001 +[22:31:18.472] frame process finished the id is: 91 the obs is:12 +[22:31:18.550] Odometry x=0.675466, y=2.340177, theta=-1.896569 +[22:31:18.575] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:18.575] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000007 error end=0.000007 +[22:31:18.575] After pose optimization, distance between ekf and vo x:0.000749 ,z=0.000038,angle between two frames:0.000007 +[22:31:18.575] frame process finished the id is: 91 the obs is:12 +[22:31:18.652] Odometry x=0.682384, y=2.337862, theta=-1.893137 +[22:31:18.670] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:18.670] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 +[22:31:18.670] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[22:31:18.670] frame process finished the id is: 91 the obs is:12 +[22:31:18.747] Odometry x=0.689750, y=2.334698, theta=-1.897106 +[22:31:18.792] After Reprojection Map nMatches:162 ,distance between ekf and vo x:-0.002149 ,z=-0.002834,angle between two frames:0.001522 +[22:31:18.793] n deleted obs = 37 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =125 error init =0.028599 error end=0.028599 +[22:31:18.793] After pose optimization, distance between ekf and vo x:-0.002149 ,z=-0.002834,angle between two frames:0.001522 +[22:31:18.793] Update EKF and 3D points the number of feature in the new frame: 125 and number of obs: 125 +[22:31:18.793] need key frame pitch dis: 0.462543 translation dif:2.106844 +[22:31:18.793] Choose frame as a key frame Scene Depth mean:0.950332 ,depth min:-23.168416 +[22:31:18.793] frame process finished the id is: 973 the obs is:125 +[22:31:18.848] Odometry x=0.689568, y=2.332650, theta=-1.897233 +[22:31:18.887] After Reprojection Map nMatches:194 ,distance between ekf and vo x:-0.001984 ,z=-0.002635,angle between two frames:0.001393 +[22:31:18.887] n deleted obs = 59 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =135 error init =0.157041 error end=0.156016 +[22:31:18.887] After pose optimization, distance between ekf and vo x:-0.006559 ,z=-0.011149,angle between two frames:0.000950 +[22:31:18.887] Update EKF and 3D points the number of feature in the new frame: 135 and number of obs: 135 +[22:31:18.888] need key frame pitch dis: 0.453011 translation dif:2.097685 +[22:31:18.888] Choose frame as a key frame Scene Depth mean:1.480158 ,depth min:-27.396422 +[22:31:18.888] frame process finished the id is: 974 the obs is:135 +[22:31:18.954] Odometry x=0.687086, y=2.323816, theta=-1.906765 +[22:31:18.999] After Reprojection Map nMatches:194 ,distance between ekf and vo x:0.000329 ,z=0.000782,angle between two frames:0.000288 +[22:31:18.999] n deleted obs = 48 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =146 error init =0.246811 error end=0.246796 +[22:31:18.999] After pose optimization, distance between ekf and vo x:0.000037 ,z=0.000444,angle between two frames:0.000326 +[22:31:18.999] Update EKF and 3D points the number of feature in the new frame: 146 and number of obs: 146 +[22:31:19.000] need key frame pitch dis: 0.446499 translation dif:2.097557 +[22:31:19.000] Choose frame as a key frame Scene Depth mean:0.895289 ,depth min:-24.439616 +[22:31:19.000] frame process finished the id is: 975 the obs is:146 +[22:31:19.055] Odometry x=0.688820, y=2.323078, theta=-1.913277 +[22:31:19.096] After Reprojection Map nMatches:160 ,distance between ekf and vo x:0.000135 ,z=0.000353,angle between two frames:0.000133 +[22:31:19.096] n deleted obs = 53 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =107 error init =0.062411 error end=0.062411 +[22:31:19.096] After pose optimization, distance between ekf and vo x:0.000135 ,z=0.000353,angle between two frames:0.000133 +[22:31:19.096] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107 +[22:31:19.097] need key frame pitch dis: 4.923670 translation dif:2.298798 +[22:31:19.097] Choose frame as a key frame Scene Depth mean:2.847311 ,depth min:-26.192428 +[22:31:19.097] frame process finished the id is: 976 the obs is:107 +[22:31:19.149] Odometry x=0.691097, y=2.322165, theta=-1.912214 +[22:31:19.186] After Reprojection Map nMatches:176 ,distance between ekf and vo x:-0.000058 ,z=-0.000029,angle between two frames:0.000281 +[22:31:19.187] n deleted obs = 37 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =139 error init =0.034022 error end=0.034022 +[22:31:19.187] After pose optimization, distance between ekf and vo x:0.000132 ,z=0.000272,angle between two frames:0.000297 +[22:31:19.187] Update EKF and 3D points the number of feature in the new frame: 139 and number of obs: 139 +[22:31:19.187] need key frame pitch dis: 0.737454 translation dif:4.562629 +[22:31:19.187] Choose frame as a key frame Scene Depth mean:0.712612 ,depth min:-28.098919 +[22:31:19.187] frame process finished the id is: 977 the obs is:139 +[22:31:19.258] Odometry x=0.693132, y=2.321645, theta=-1.909840 +[22:31:19.281] After Reprojection Map nMatches:162 ,distance between ekf and vo x:-0.000005 ,z=0.000002,angle between two frames:0.000000 +[22:31:19.281] n deleted obs = 27 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =135 error init =0.061197 error end=0.022084 +[22:31:19.281] After pose optimization, distance between ekf and vo x:0.494198 ,z=0.560588,angle between two frames:0.019227 +[22:31:19.281] frame process finished the id is: 977 the obs is:139 +[22:31:19.347] Odometry x=0.701383, y=2.318344, theta=-1.917293 +[22:31:19.384] After Reprojection Map nMatches:158 ,distance between ekf and vo x:-0.000006 ,z=0.000002,angle between two frames:0.000000 +[22:31:19.384] n deleted obs = 30 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =128 error init =0.034136 error end=0.034136 +[22:31:19.384] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000002,angle between two frames:0.000000 +[22:31:19.384] Update EKF and 3D points the number of feature in the new frame: 128 and number of obs: 128 +[22:31:19.385] need key frame pitch dis: 0.022374 translation dif:1.001307 +[22:31:19.385] Choose frame as a key frame Scene Depth mean:169.425895 ,depth min:-227.571246 +[22:31:19.385] frame process finished the id is: 979 the obs is:128 +[22:31:19.449] Odometry x=0.703208, y=2.318373, theta=-1.916834 +[22:31:19.503] After Reprojection Map nMatches:170 ,distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000000 +[22:31:19.503] n deleted obs = 67 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =103 error init =0.418881 error end=0.418881 +[22:31:19.503] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000000 +[22:31:19.503] Update EKF and 3D points the number of feature in the new frame: 103 and number of obs: 103 +[22:31:19.504] need key frame pitch dis: 0.674898 translation dif:4.426703 +[22:31:19.504] Choose frame as a key frame Scene Depth mean:7.829684 ,depth min:-35.093873 +[22:31:19.504] frame process finished the id is: 980 the obs is:103 +[22:31:19.541] Odometry x=0.704978, y=2.317096, theta=-1.920901 +[22:31:19.590] After Reprojection Map nMatches:128 ,distance between ekf and vo x:-0.000003 ,z=-0.000000,angle between two frames:0.000000 +[22:31:19.590] n deleted obs = 33 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =95 error init =0.111158 error end=0.110586 +[22:31:19.590] After pose optimization, distance between ekf and vo x:0.018849 ,z=0.024804,angle between two frames:0.000599 +[22:31:19.590] Update EKF and 3D points the number of feature in the new frame: 95 and number of obs: 95 +[22:31:19.590] need key frame pitch dis: 4.430172 translation dif:6.873258 +[22:31:19.590] Choose frame as a key frame Scene Depth mean:8.406102 ,depth min:-31.541866 +[22:31:19.590] frame process finished the id is: 981 the obs is:95 +[22:31:19.645] Odometry x=0.721640, y=2.335156, theta=-1.919562 +[22:31:19.693] After Reprojection Map nMatches:122 ,distance between ekf and vo x:-0.000004 ,z=0.000001,angle between two frames:0.000000 +[22:31:19.694] n deleted obs = 31 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =91 error init =0.288339 error end=0.288339 +[22:31:19.694] After pose optimization, distance between ekf and vo x:-0.000004 ,z=0.000001,angle between two frames:0.000000 +[22:31:19.694] Update EKF and 3D points the number of feature in the new frame: 91 and number of obs: 91 +[22:31:19.694] need key frame pitch dis: 4.426400 translation dif:6.873636 +[22:31:19.694] Choose frame as a key frame Scene Depth mean:14.254459 ,depth min:-34.945851 +[22:31:19.694] frame process finished the id is: 982 the obs is:91 +[22:31:19.744] Odometry x=0.723567, y=2.334230, theta=-1.915791 +[22:31:19.788] After Reprojection Map nMatches:103 ,distance between ekf and vo x:-0.000002 ,z=0.000004,angle between two frames:0.000000 +[22:31:19.789] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =78 error init =0.236015 error end=0.231716 +[22:31:19.789] After pose optimization, distance between ekf and vo x:0.086177 ,z=0.242197,angle between two frames:0.003659 +[22:31:19.789] frame process finished the id is: 982 the obs is:91 +[22:31:19.846] Odometry x=0.731581, y=2.331218, theta=-1.912879 +[22:31:19.878] After Reprojection Map nMatches:116 ,distance between ekf and vo x:-0.000001 ,z=0.000004,angle between two frames:0.000000 +[22:31:19.878] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =92 error init =0.072566 error end=0.069430 +[22:31:19.878] After pose optimization, distance between ekf and vo x:0.048340 ,z=0.132134,angle between two frames:0.003157 +[22:31:19.878] Update EKF and 3D points the number of feature in the new frame: 92 and number of obs: 92 +[22:31:19.879] need key frame pitch dis: 4.425943 translation dif:6.980325 +[22:31:19.879] Choose frame as a key frame Scene Depth mean:25.686041 ,depth min:-32.287018 +[22:31:19.879] frame process finished the id is: 984 the obs is:92 +[22:31:19.944] Odometry x=0.770795, y=2.431699, theta=-1.915334 +[22:31:19.988] After Reprojection Map nMatches:109 ,distance between ekf and vo x:-0.000002 ,z=0.000000,angle between two frames:0.000000 +[22:31:19.988] n deleted obs = 22 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =87 error init =0.032036 error end=0.032036 +[22:31:19.988] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000000,angle between two frames:0.000000 +[22:31:19.988] Update EKF and 3D points the number of feature in the new frame: 87 and number of obs: 87 +[22:31:19.988] need key frame pitch dis: 4.418945 translation dif:6.980546 +[22:31:19.988] Choose frame as a key frame Scene Depth mean:75.330153 ,depth min:-38.475604 +[22:31:19.988] frame process finished the id is: 985 the obs is:87 +[22:31:20.047] Odometry x=0.772893, y=2.430463, theta=-1.908336 +[22:31:20.086] After Reprojection Map nMatches:84 ,distance between ekf and vo x:-0.000002 ,z=-0.000000,angle between two frames:0.000000 +[22:31:20.087] n deleted obs = 31 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =53 error init =0.212737 error end=0.212716 +[22:31:20.087] After pose optimization, distance between ekf and vo x:0.000247 ,z=0.000657,angle between two frames:0.000007 +[22:31:20.087] Update EKF and 3D points the number of feature in the new frame: 53 and number of obs: 53 +[22:31:20.087] need key frame pitch dis: 4.411732 translation dif:6.981687 +[22:31:20.087] Choose frame as a key frame Scene Depth mean:72.304527 ,depth min:-43.637898 +[22:31:20.087] frame process finished the id is: 986 the obs is:53 +[22:31:20.146] Odometry x=0.775272, y=2.430158, theta=-1.901122 +[22:31:20.173] After Reprojection Map nMatches:107 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000 +[22:31:20.174] n deleted obs = 22 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =85 error init =0.133071 error end=0.133071 +[22:31:20.174] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000 +[22:31:20.174] Update EKF and 3D points the number of feature in the new frame: 85 and number of obs: 85 +[22:31:20.174] need key frame pitch dis: 4.846339 translation dif:5.003712 +[22:31:20.174] Choose frame as a key frame Scene Depth mean:15.171110 ,depth min:-3.737902 +[22:31:20.174] frame process finished the id is: 987 the obs is:85 +[22:31:20.245] Odometry x=0.777129, y=2.428838, theta=-1.892654 +[22:31:20.307] After Reprojection Map nMatches:77 ,distance between ekf and vo x:-0.000001 ,z=-0.000002,angle between two frames:0.000000 +[22:31:20.307] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =65 error init =0.006397 error end=0.006397 +[22:31:20.307] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000002,angle between two frames:0.000000 +[22:31:20.307] Update EKF and 3D points the number of feature in the new frame: 65 and number of obs: 65 +[22:31:20.307] need key frame pitch dis: 5.000343 translation dif:8.272838 +[22:31:20.307] Choose frame as a key frame Scene Depth mean:10.682224 ,depth min:-38.550763 +[22:31:20.308] frame process finished the id is: 988 the obs is:65 +[22:31:20.345] Odometry x=0.779211, y=2.428146, theta=-1.890615 +[22:31:20.374] After Reprojection Map nMatches:95 ,distance between ekf and vo x:-0.000004 ,z=0.000002,angle between two frames:0.000000 +[22:31:20.375] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =81 error init =0.007844 error end=0.007844 +[22:31:20.375] After pose optimization, distance between ekf and vo x:-0.000004 ,z=0.000002,angle between two frames:0.000000 +[22:31:20.375] Update EKF and 3D points the number of feature in the new frame: 81 and number of obs: 81 +[22:31:20.375] need key frame pitch dis: 4.677922 translation dif:3.913891 +[22:31:20.375] Choose frame as a key frame Scene Depth mean:12.462108 ,depth min:-1.098197 +[22:31:20.375] frame process finished the id is: 989 the obs is:81 +[22:31:20.443] Odometry x=0.781514, y=2.427162, theta=-1.894653 +[22:31:20.486] After Reprojection Map nMatches:98 ,distance between ekf and vo x:-0.000003 ,z=0.000002,angle between two frames:0.000000 +[22:31:20.487] n deleted obs = 28 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =70 error init =3.010622 error end=0.214544 +[22:31:20.487] After pose optimization, distance between ekf and vo x:24.460451 ,z=13.724822,angle between two frames:4.632318 +[22:31:20.487] frame process finished the id is: 989 the obs is:81 +[22:31:20.546] Odometry x=0.789695, y=2.425098, theta=-1.892362 +[22:31:20.577] After Reprojection Map nMatches:86 ,distance between ekf and vo x:-0.000005 ,z=0.000002,angle between two frames:0.000000 +[22:31:20.577] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =66 error init =0.109599 error end=0.109599 +[22:31:20.577] After pose optimization, distance between ekf and vo x:-0.000005 ,z=0.000002,angle between two frames:0.000000 +[22:31:20.577] Update EKF and 3D points the number of feature in the new frame: 66 and number of obs: 66 +[22:31:20.577] need key frame pitch dis: 2.306350 translation dif:6.347769 +[22:31:20.577] Choose frame as a key frame Scene Depth mean:9.744100 ,depth min:-1.587096 +[22:31:20.577] frame process finished the id is: 991 the obs is:66 +[22:31:20.640] Odometry x=0.791432, y=2.424226, theta=-1.901315 +[22:31:20.674] After Reprojection Map nMatches:83 ,distance between ekf and vo x:-0.000005 ,z=-0.000003,angle between two frames:0.000000 +[22:31:20.674] n deleted obs = 33 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =50 error init =1.690442 error end=0.493474 +[22:31:20.674] After pose optimization, distance between ekf and vo x:-0.240718 ,z=-0.526576,angle between two frames:0.002962 +[22:31:20.674] frame process finished the id is: 991 the obs is:66 +[22:31:20.742] Odometry x=0.799150, y=2.421869, theta=-1.909693 +[22:31:20.805] After Reprojection Map nMatches:94 ,distance between ekf and vo x:-0.000005 ,z=0.000000,angle between two frames:0.000000 +[22:31:20.805] n deleted obs = 27 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =67 error init =0.068585 error end=0.068585 +[22:31:20.805] After pose optimization, distance between ekf and vo x:-0.000005 ,z=0.000000,angle between two frames:0.000000 +[22:31:20.805] Update EKF and 3D points the number of feature in the new frame: 67 and number of obs: 67 +[22:31:20.806] need key frame pitch dis: 1.546015 translation dif:11.624118 +[22:31:20.806] Choose frame as a key frame Scene Depth mean:9.090563 ,depth min:-14.949740 +[22:31:20.806] frame process finished the id is: 993 the obs is:67 +[22:31:20.845] Odometry x=0.800634, y=2.420603, theta=-1.906682 +[22:31:20.869] After Reprojection Map nMatches:63 ,distance between ekf and vo x:-0.000009 ,z=-0.000001,angle between two frames:0.000000 +[22:31:20.869] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =63 error init =0.000194 error end=0.000194 +[22:31:20.869] After pose optimization, distance between ekf and vo x:-0.000009 ,z=-0.000001,angle between two frames:0.000000 +[22:31:20.869] Update EKF and 3D points the number of feature in the new frame: 63 and number of obs: 63 +[22:31:20.869] need key frame pitch dis: 4.685639 translation dif:3.935625 +[22:31:20.869] Choose frame as a key frame Scene Depth mean:1.008227 ,depth min:-15.006636 +[22:31:20.869] frame process finished the id is: 994 the obs is:63 +[22:31:20.945] Odometry x=0.802340, y=2.420624, theta=-1.902370 +[22:31:21.020] After Reprojection Map nMatches:87 ,distance between ekf and vo x:-0.000010 ,z=0.000009,angle between two frames:0.000000 +[22:31:21.020] n deleted obs = 29 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =58 error init =0.005302 error end=0.005302 +[22:31:21.020] After pose optimization, distance between ekf and vo x:-0.000010 ,z=0.000009,angle between two frames:0.000000 +[22:31:21.020] Update EKF and 3D points the number of feature in the new frame: 58 and number of obs: 58 +[22:31:21.020] need key frame pitch dis: 0.384119 translation dif:2.890045 +[22:31:21.020] Choose frame as a key frame Scene Depth mean:0.484973 ,depth min:-15.147032 +[22:31:21.020] frame process finished the id is: 995 the obs is:58 +[22:31:21.047] Odometry x=0.804523, y=2.420290, theta=-1.891793 +[22:31:21.140] After Reprojection Map nMatches:60 ,distance between ekf and vo x:-0.000044 ,z=-0.000004,angle between two frames:0.000010 +[22:31:21.140] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =47 error init =0.055623 error end=0.055623 +[22:31:21.140] After pose optimization, distance between ekf and vo x:-0.000044 ,z=-0.000004,angle between two frames:0.000010 +[22:31:21.140] Update EKF and 3D points the number of feature in the new frame: 47 and number of obs: 47 +[22:31:21.140] need key frame pitch dis: 4.663789 translation dif:3.939893 +[22:31:21.140] Choose frame as a key frame Scene Depth mean:-0.329311 ,depth min:-15.295080 +[22:31:21.140] frame process finished the id is: 996 the obs is:47 +[22:31:21.145] Odometry x=0.806542, y=2.419864, theta=-1.880521 +[22:31:21.241] After Reprojection Map nMatches:62 ,distance between ekf and vo x:-0.000019 ,z=0.000006,angle between two frames:0.000004 +[22:31:21.241] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.285049 error end=0.285049 +[22:31:21.241] After pose optimization, distance between ekf and vo x:-0.000019 ,z=0.000006,angle between two frames:0.000004 +[22:31:21.241] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45 +[22:31:21.242] need key frame pitch dis: 1.077061 translation dif:2.021771 +[22:31:21.242] Choose frame as a key frame Scene Depth mean:4.475684 ,depth min:-15.421795 +[22:31:21.242] frame process finished the id is: 997 the obs is:45 +[22:31:21.242] Odometry x=0.808583, y=2.419055, theta=-1.870740 +[22:31:21.340] After Reprojection Map nMatches:50 ,distance between ekf and vo x:-0.000027 ,z=0.000032,angle between two frames:0.000004 +[22:31:21.341] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.026704 error end=0.026704 +[22:31:21.341] After pose optimization, distance between ekf and vo x:-0.000027 ,z=0.000032,angle between two frames:0.000004 +[22:31:21.341] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 +[22:31:21.341] need key frame pitch dis: 1.064387 translation dif:2.023683 +[22:31:21.341] Choose frame as a key frame Scene Depth mean:-0.930916 ,depth min:-15.531344 +[22:31:21.341] frame process finished the id is: 998 the obs is:40 +[22:31:21.345] Odometry x=0.810389, y=2.418410, theta=-1.858066 +[22:31:21.447] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000085 ,z=-0.000125,angle between two frames:0.000020 +[22:31:21.447] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.004639 error end=0.004639 +[22:31:21.447] After pose optimization, distance between ekf and vo x:-0.000085 ,z=-0.000125,angle between two frames:0.000020 +[22:31:21.447] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:21.447] need key frame pitch dis: 1.848049 translation dif:2.551331 +[22:31:21.447] Choose frame as a key frame Scene Depth mean:-1.234617 ,depth min:-15.658380 +[22:31:21.447] frame process finished the id is: 999 the obs is:24 +[22:31:21.573] After Reprojection Map nMatches:56 ,distance between ekf and vo x:-0.000230 ,z=-0.000275,angle between two frames:0.000068 +[22:31:21.573] n deleted obs = 30 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.262250 error end=0.257153 +[22:31:21.573] After pose optimization, distance between ekf and vo x:-0.162701 ,z=-0.151834,angle between two frames:0.057553 +[22:31:21.573] frame process finished the id is: 999 the obs is:24 +[22:31:21.696] After Reprojection Map nMatches:66 ,distance between ekf and vo x:-0.000227 ,z=-0.000290,angle between two frames:0.000065 +[22:31:21.696] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =54 error init =0.062177 error end=0.062148 +[22:31:21.696] After pose optimization, distance between ekf and vo x:0.001570 ,z=-0.002672,angle between two frames:0.000113 +[22:31:21.696] Update EKF and 3D points the number of feature in the new frame: 54 and number of obs: 54 +[22:31:21.696] need key frame pitch dis: 0.928504 translation dif:2.372374 +[22:31:21.696] Choose frame as a key frame Scene Depth mean:-0.465485 ,depth min:-15.675798 +[22:31:21.697] frame process finished the id is: 1001 the obs is:54 +[22:31:21.804] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000035 ,z=-0.000045,angle between two frames:0.000008 +[22:31:21.804] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.014131 error end=0.013917 +[22:31:21.804] After pose optimization, distance between ekf and vo x:-0.016853 ,z=-0.017966,angle between two frames:0.006736 +[22:31:21.804] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 +[22:31:21.804] need key frame pitch dis: 1.847327 translation dif:2.534353 +[22:31:21.804] Choose frame as a key frame Scene Depth mean:-0.933818 ,depth min:-3.511264 +[22:31:21.804] frame process finished the id is: 1002 the obs is:32 +[22:31:21.913] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.000190 ,z=-0.000023,angle between two frames:0.000054 +[22:31:21.913] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.296388 error end=0.109763 +[22:31:21.913] After pose optimization, distance between ekf and vo x:0.228887 ,z=0.087918,angle between two frames:0.209233 +[22:31:21.913] frame process finished the id is: 1002 the obs is:32 +[22:31:22.016] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.000183 ,z=-0.000080,angle between two frames:0.000054 +[22:31:22.017] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000145 error end=0.000145 +[22:31:22.017] After pose optimization, distance between ekf and vo x:-0.000183 ,z=-0.000080,angle between two frames:0.000054 +[22:31:22.017] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:22.017] need key frame pitch dis: 1.846437 translation dif:2.539016 +[22:31:22.017] Choose frame as a key frame Scene Depth mean:-0.957690 ,depth min:-3.503833 +[22:31:22.017] frame process finished the id is: 1004 the obs is:24 +[22:31:22.105] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.000035 ,z=0.000090,angle between two frames:0.000007 +[22:31:22.105] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.009118 error end=0.009118 +[22:31:22.105] After pose optimization, distance between ekf and vo x:-0.000035 ,z=0.000090,angle between two frames:0.000007 +[22:31:22.105] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[22:31:22.106] need key frame pitch dis: 1.846294 translation dif:2.542717 +[22:31:22.106] Choose frame as a key frame Scene Depth mean:-0.394202 ,depth min:-1.822947 +[22:31:22.106] frame process finished the id is: 1005 the obs is:12 +[22:31:22.205] After Reprojection Map nMatches:27 ,distance between ekf and vo x:-0.000061 ,z=0.000210,angle between two frames:0.000003 +[22:31:22.205] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.001408 error end=0.001408 +[22:31:22.205] After pose optimization, distance between ekf and vo x:-0.000061 ,z=0.000210,angle between two frames:0.000003 +[22:31:22.205] Update EKF and 3D points the number of feature in the new frame: 19 and number of obs: 19 +[22:31:22.205] need key frame pitch dis: 0.102568 translation dif:0.135417 +[22:31:22.205] Choose frame as a key frame Scene Depth mean:-0.931334 ,depth min:-3.497002 +[22:31:22.205] frame process finished the id is: 1006 the obs is:19 +[22:31:22.331] After Reprojection Map nMatches:30 ,distance between ekf and vo x:-0.000345 ,z=0.001453,angle between two frames:0.000020 +[22:31:22.331] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.005307 error end=0.005306 +[22:31:22.331] After pose optimization, distance between ekf and vo x:-0.000350 ,z=0.001468,angle between two frames:0.000001 +[22:31:22.331] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 +[22:31:22.332] need key frame pitch dis: 0.049920 translation dif:0.100942 +[22:31:22.332] Choose frame as a key frame Scene Depth mean:-1.954550 ,depth min:-3.494873 +[22:31:22.332] frame process finished the id is: 1007 the obs is:22 +[22:31:22.438] After Reprojection Map nMatches:35 ,distance between ekf and vo x:-0.000732 ,z=0.001728,angle between two frames:0.000139 +[22:31:22.438] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.000317 error end=0.000317 +[22:31:22.438] After pose optimization, distance between ekf and vo x:-0.000834 ,z=0.002241,angle between two frames:0.000045 +[22:31:22.438] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 +[22:31:22.438] need key frame pitch dis: 0.095522 translation dif:0.445469 +[22:31:22.438] Choose frame as a key frame Scene Depth mean:0.988602 ,depth min:-3.493480 +[22:31:22.438] frame process finished the id is: 1008 the obs is:35 +[22:31:22.556] After Reprojection Map nMatches:53 ,distance between ekf and vo x:0.000401 ,z=-0.001995,angle between two frames:0.000094 +[22:31:22.557] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.142291 error end=0.141083 +[22:31:22.557] After pose optimization, distance between ekf and vo x:-0.012055 ,z=0.004628,angle between two frames:0.005038 +[22:31:22.557] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 +[22:31:22.557] need key frame pitch dis: 0.101090 translation dif:0.359387 +[22:31:22.557] Choose frame as a key frame Scene Depth mean:-5.770967 ,depth min:-149.492536 +[22:31:22.557] frame process finished the id is: 1009 the obs is:27 +[22:31:22.658] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.000043 ,z=-0.000013,angle between two frames:0.000022 +[22:31:22.658] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.002769 error end=0.002769 +[22:31:22.658] After pose optimization, distance between ekf and vo x:0.000047 ,z=0.000055,angle between two frames:0.000023 +[22:31:22.658] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 +[22:31:22.658] need key frame pitch dis: 0.189820 translation dif:0.865565 +[22:31:22.658] Choose frame as a key frame Scene Depth mean:1.247739 ,depth min:-2.701610 +[22:31:22.658] frame process finished the id is: 1010 the obs is:35 +[22:31:22.753] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.000027 ,z=0.000233,angle between two frames:0.000023 +[22:31:22.753] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.021464 error end=0.021452 +[22:31:22.753] After pose optimization, distance between ekf and vo x:-0.000434 ,z=0.000337,angle between two frames:0.000117 +[22:31:22.753] Update EKF and 3D points the number of feature in the new frame: 39 and number of obs: 39 +[22:31:22.753] need key frame pitch dis: 0.189903 translation dif:0.864213 +[22:31:22.753] Choose frame as a key frame Scene Depth mean:3.401570 ,depth min:-3.133354 +[22:31:22.753] frame process finished the id is: 1011 the obs is:39 +[22:31:22.846] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.000030 ,z=0.000389,angle between two frames:0.000033 +[22:31:22.846] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 error init =0.002786 error end=0.002786 +[22:31:22.846] After pose optimization, distance between ekf and vo x:0.000030 ,z=0.000389,angle between two frames:0.000033 +[22:31:22.846] Update EKF and 3D points the number of feature in the new frame: 38 and number of obs: 38 +[22:31:22.846] need key frame pitch dis: 0.203606 translation dif:0.880211 +[22:31:22.846] Choose frame as a key frame Scene Depth mean:1.514572 ,depth min:-3.493540 +[22:31:22.846] frame process finished the id is: 1012 the obs is:38 +[22:31:22.933] After Reprojection Map nMatches:52 ,distance between ekf and vo x:0.000057 ,z=0.000438,angle between two frames:0.000047 +[22:31:22.934] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.020395 error end=0.020395 +[22:31:22.934] After pose optimization, distance between ekf and vo x:0.000098 ,z=0.000466,angle between two frames:0.000046 +[22:31:22.934] Update EKF and 3D points the number of feature in the new frame: 36 and number of obs: 36 +[22:31:22.934] need key frame pitch dis: 0.203608 translation dif:0.878933 +[22:31:22.934] Choose frame as a key frame Scene Depth mean:0.844092 ,depth min:-3.492130 +[22:31:22.934] frame process finished the id is: 1013 the obs is:36 +[22:31:23.027] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000037 ,z=0.000467,angle between two frames:0.000042 +[22:31:23.027] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.095798 error end=0.095798 +[22:31:23.027] After pose optimization, distance between ekf and vo x:0.000037 ,z=0.000467,angle between two frames:0.000042 +[22:31:23.027] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 +[22:31:23.027] need key frame pitch dis: 0.203609 translation dif:0.878001 +[22:31:23.027] Choose frame as a key frame Scene Depth mean:0.995694 ,depth min:-3.491101 +[22:31:23.027] frame process finished the id is: 1014 the obs is:35 +[22:31:23.133] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000024 ,z=0.000440,angle between two frames:0.000031 +[22:31:23.133] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.058750 error end=0.058750 +[22:31:23.133] After pose optimization, distance between ekf and vo x:0.000024 ,z=0.000440,angle between two frames:0.000031 +[22:31:23.133] Update EKF and 3D points the number of feature in the new frame: 19 and number of obs: 19 +[22:31:23.133] need key frame pitch dis: 0.203611 translation dif:0.877292 +[22:31:23.133] Choose frame as a key frame Scene Depth mean:-0.062427 ,depth min:-3.490339 +[22:31:23.133] frame process finished the id is: 1015 the obs is:19 +[22:31:23.221] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000113 ,z=0.000351,angle between two frames:0.000031 +[22:31:23.221] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.177332 error end=0.177332 +[22:31:23.221] After pose optimization, distance between ekf and vo x:-0.000113 ,z=0.000351,angle between two frames:0.000031 +[22:31:23.221] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[22:31:23.221] need key frame pitch dis: 0.203621 translation dif:0.876806 +[22:31:23.221] Choose frame as a key frame Scene Depth mean:-0.159342 ,depth min:-3.489906 +[22:31:23.221] frame process finished the id is: 1016 the obs is:16 +[22:31:23.312] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.000059 ,z=0.000458,angle between two frames:0.000048 +[22:31:23.313] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.002281 error end=0.002281 +[22:31:23.313] After pose optimization, distance between ekf and vo x:0.000590 ,z=0.001379,angle between two frames:0.000176 +[22:31:23.313] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26 +[22:31:23.313] need key frame pitch dis: 0.203644 translation dif:0.876397 +[22:31:23.313] Choose frame as a key frame Scene Depth mean:-0.922313 ,depth min:-3.488903 +[22:31:23.313] frame process finished the id is: 1017 the obs is:26 +[22:31:23.426] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.001104 ,z=-0.002854,angle between two frames:0.000480 +[22:31:23.426] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.029695 error end=0.029695 +[22:31:23.426] After pose optimization, distance between ekf and vo x:-0.001104 ,z=-0.002854,angle between two frames:0.000480 +[22:31:23.426] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 +[22:31:23.426] need key frame pitch dis: 0.203695 translation dif:0.875480 +[22:31:23.426] Choose frame as a key frame Scene Depth mean:1.583502 ,depth min:-3.490357 +[22:31:23.426] frame process finished the id is: 1018 the obs is:32 +[22:31:23.520] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.000092 ,z=0.000817,angle between two frames:0.000082 +[22:31:23.520] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.217121 error end=0.217121 +[22:31:23.520] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000817,angle between two frames:0.000082 +[22:31:23.520] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 +[22:31:23.520] need key frame pitch dis: 0.203617 translation dif:0.875484 +[22:31:23.520] Choose frame as a key frame Scene Depth mean:2.606041 ,depth min:-3.489454 +[22:31:23.520] frame process finished the id is: 1019 the obs is:25 +[22:31:23.610] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.000141 ,z=0.000687,angle between two frames:0.000099 +[22:31:23.610] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.206110 error end=0.183330 +[22:31:23.610] After pose optimization, distance between ekf and vo x:0.106883 ,z=0.173340,angle between two frames:0.045490 +[22:31:23.610] frame process finished the id is: 1019 the obs is:25 +[22:31:23.708] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000140 ,z=0.000686,angle between two frames:0.000098 +[22:31:23.708] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.001530 error end=0.001525 +[22:31:23.708] After pose optimization, distance between ekf and vo x:-0.000866 ,z=0.004698,angle between two frames:0.000097 +[22:31:23.708] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 +[22:31:23.709] need key frame pitch dis: 0.203601 translation dif:0.877665 +[22:31:23.709] Choose frame as a key frame Scene Depth mean:394.854672 ,depth min:-107.861340 +[22:31:23.709] frame process finished the id is: 1021 the obs is:35 +[22:31:23.809] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.000128 ,z=0.000621,angle between two frames:0.000089 +[22:31:23.809] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.021282 error end=0.021282 +[22:31:23.809] After pose optimization, distance between ekf and vo x:0.000128 ,z=0.000621,angle between two frames:0.000089 +[22:31:23.809] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 +[22:31:23.809] need key frame pitch dis: 0.203600 translation dif:0.877043 +[22:31:23.809] Choose frame as a key frame Scene Depth mean:-11.270368 ,depth min:-107.876017 +[22:31:23.809] frame process finished the id is: 1022 the obs is:27 +[22:31:23.910] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.000131 ,z=0.000571,angle between two frames:0.000089 +[22:31:23.911] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.012220 error end=0.012217 +[22:31:23.911] After pose optimization, distance between ekf and vo x:-0.001860 ,z=-0.000914,angle between two frames:0.000098 +[22:31:23.911] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 +[22:31:23.911] need key frame pitch dis: 0.203599 translation dif:0.877234 +[22:31:23.911] Choose frame as a key frame Scene Depth mean:345.359162 ,depth min:-107.739894 +[22:31:23.911] frame process finished the id is: 1023 the obs is:40 +[22:31:24.016] After Reprojection Map nMatches:46 ,distance between ekf and vo x:0.000131 ,z=0.000576,angle between two frames:0.000088 +[22:31:24.016] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.028153 error end=0.027421 +[22:31:24.016] After pose optimization, distance between ekf and vo x:-0.006425 ,z=-0.019509,angle between two frames:0.000106 +[22:31:24.016] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 +[22:31:24.016] need key frame pitch dis: 1.263380 translation dif:0.637169 +[22:31:24.016] Choose frame as a key frame Scene Depth mean:346.158555 ,depth min:-110.100382 +[22:31:24.016] frame process finished the id is: 1024 the obs is:40 +[22:31:24.111] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.000109 ,z=0.000543,angle between two frames:0.000077 +[22:31:24.111] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.017454 error end=0.017454 +[22:31:24.111] After pose optimization, distance between ekf and vo x:0.000109 ,z=0.000543,angle between two frames:0.000077 +[22:31:24.111] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[22:31:24.111] need key frame pitch dis: 0.167368 translation dif:0.904444 +[22:31:24.111] Choose frame as a key frame Scene Depth mean:1.314135 ,depth min:-0.822608 +[22:31:24.111] frame process finished the id is: 1025 the obs is:16 +[22:31:24.207] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.000116 ,z=0.000676,angle between two frames:0.000084 +[22:31:24.208] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.003036 error end=0.002926 +[22:31:24.208] After pose optimization, distance between ekf and vo x:-0.017096 ,z=0.022876,angle between two frames:0.001802 +[22:31:24.208] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 +[22:31:24.208] need key frame pitch dis: 0.186939 translation dif:1.001102 +[22:31:24.208] Choose frame as a key frame Scene Depth mean:3.508667 ,depth min:-4.593139 +[22:31:24.208] frame process finished the id is: 1026 the obs is:30 +[22:31:24.311] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.000316 ,z=0.000202,angle between two frames:0.000130 +[22:31:24.311] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.000813 error end=0.000813 +[22:31:24.311] After pose optimization, distance between ekf and vo x:0.000316 ,z=0.000202,angle between two frames:0.000130 +[22:31:24.311] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 +[22:31:24.311] need key frame pitch dis: 0.187152 translation dif:0.996710 +[22:31:24.311] Choose frame as a key frame Scene Depth mean:1.920464 ,depth min:-4.590920 +[22:31:24.311] frame process finished the id is: 1027 the obs is:32 +[22:31:24.425] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000411 ,z=0.000554,angle between two frames:0.000083 +[22:31:24.425] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.004976 error end=0.004975 +[22:31:24.425] After pose optimization, distance between ekf and vo x:-0.000630 ,z=0.000948,angle between two frames:0.000095 +[22:31:24.425] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 +[22:31:24.425] need key frame pitch dis: 0.442229 translation dif:0.889880 +[22:31:24.425] Choose frame as a key frame Scene Depth mean:3.422847 ,depth min:-1.220013 +[22:31:24.425] frame process finished the id is: 1028 the obs is:22 +[22:31:24.517] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.000064 ,z=0.000375,angle between two frames:0.000053 +[22:31:24.517] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.000010 error end=0.000010 +[22:31:24.517] After pose optimization, distance between ekf and vo x:0.000057 ,z=0.000445,angle between two frames:0.000048 +[22:31:24.517] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48 +[22:31:24.517] need key frame pitch dis: 0.463660 translation dif:0.178137 +[22:31:24.517] Choose frame as a key frame Scene Depth mean:2.368780 ,depth min:-4.691827 +[22:31:24.517] frame process finished the id is: 1029 the obs is:48 +[22:31:24.608] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.000073 ,z=0.000361,angle between two frames:0.000054 +[22:31:24.609] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.034869 error end=0.034703 +[22:31:24.609] After pose optimization, distance between ekf and vo x:0.004122 ,z=-0.005996,angle between two frames:0.003603 +[22:31:24.609] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 +[22:31:24.609] need key frame pitch dis: 0.442176 translation dif:0.837558 +[22:31:24.609] Choose frame as a key frame Scene Depth mean:2.769146 ,depth min:-0.817742 +[22:31:24.609] frame process finished the id is: 1030 the obs is:21 +[22:31:24.715] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.000019 ,z=0.000375,angle between two frames:0.000035 +[22:31:24.715] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.011064 error end=0.011062 +[22:31:24.715] After pose optimization, distance between ekf and vo x:-0.000108 ,z=0.000629,angle between two frames:0.000111 +[22:31:24.715] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 +[22:31:24.715] need key frame pitch dis: 0.187118 translation dif:0.984293 +[22:31:24.715] Choose frame as a key frame Scene Depth mean:-0.386202 ,depth min:-4.344808 +[22:31:24.715] frame process finished the id is: 1031 the obs is:30 +[22:31:24.834] After Reprojection Map nMatches:38 ,distance between ekf and vo x:-0.000134 ,z=0.000718,angle between two frames:0.000006 +[22:31:24.834] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.185845 error end=0.183098 +[22:31:24.834] After pose optimization, distance between ekf and vo x:-0.006372 ,z=0.013606,angle between two frames:0.001080 +[22:31:24.834] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 +[22:31:24.834] need key frame pitch dis: 0.187360 translation dif:0.995103 +[22:31:24.834] Choose frame as a key frame Scene Depth mean:-0.331869 ,depth min:-4.606374 +[22:31:24.834] frame process finished the id is: 1032 the obs is:15 +[22:31:24.940] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.000011 ,z=-0.001084,angle between two frames:0.000014 +[22:31:24.940] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.005488 error end=0.005487 +[22:31:24.940] After pose optimization, distance between ekf and vo x:0.000506 ,z=-0.001327,angle between two frames:0.000184 +[22:31:24.940] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:24.940] need key frame pitch dis: 0.187263 translation dif:0.991154 +[22:31:24.940] Choose frame as a key frame Scene Depth mean:-0.470332 ,depth min:-4.985313 +[22:31:24.940] frame process finished the id is: 1033 the obs is:24 +[22:31:25.032] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.000107 ,z=0.000284,angle between two frames:0.000067 +[22:31:25.032] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.001330 error end=0.001329 +[22:31:25.032] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000447,angle between two frames:0.000010 +[22:31:25.032] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:25.032] need key frame pitch dis: 0.187220 translation dif:0.989460 +[22:31:25.032] Choose frame as a key frame Scene Depth mean:0.759237 ,depth min:-5.442204 +[22:31:25.032] frame process finished the id is: 1034 the obs is:24 +[22:31:25.130] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000011 ,z=0.000046,angle between two frames:0.000003 +[22:31:25.130] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.010797 error end=0.010797 +[22:31:25.130] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000046,angle between two frames:0.000003 +[22:31:25.130] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 +[22:31:25.131] need key frame pitch dis: 0.162619 translation dif:0.437112 +[22:31:25.131] Choose frame as a key frame Scene Depth mean:0.009468 ,depth min:-2.149986 +[22:31:25.131] frame process finished the id is: 1035 the obs is:27 +[22:31:25.221] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.000077 ,z=0.000089,angle between two frames:0.000039 +[22:31:25.221] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.009183 error end=0.009114 +[22:31:25.221] After pose optimization, distance between ekf and vo x:-0.001362 ,z=0.003116,angle between two frames:0.002441 +[22:31:25.221] Update EKF and 3D points the number of feature in the new frame: 36 and number of obs: 36 +[22:31:25.221] need key frame pitch dis: 0.096035 translation dif:0.466193 +[22:31:25.221] Choose frame as a key frame Scene Depth mean:-1.156614 ,depth min:-5.606954 +[22:31:25.221] frame process finished the id is: 1036 the obs is:36 +[22:31:25.319] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.000048 ,z=-0.000318,angle between two frames:0.000019 +[22:31:25.319] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.020813 error end=0.017751 +[22:31:25.319] After pose optimization, distance between ekf and vo x:-0.124375 ,z=0.095608,angle between two frames:0.058732 +[22:31:25.319] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45 +[22:31:25.320] need key frame pitch dis: 0.161358 translation dif:0.488465 +[22:31:25.320] Choose frame as a key frame Scene Depth mean:1.294010 ,depth min:-5.738499 +[22:31:25.320] frame process finished the id is: 1037 the obs is:45 +[22:31:25.403] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.000005 ,z=0.000081,angle between two frames:0.000010 +[22:31:25.403] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.219768 error end=0.198836 +[22:31:25.403] After pose optimization, distance between ekf and vo x:0.175614 ,z=-0.241911,angle between two frames:0.000009 +[22:31:25.403] frame process finished the id is: 1037 the obs is:45 +[22:31:25.502] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.000024 ,z=0.000079,angle between two frames:0.000018 +[22:31:25.502] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.243513 error end=0.084130 +[22:31:25.502] After pose optimization, distance between ekf and vo x:4.419721 ,z=-6.998860,angle between two frames:0.105034 +[22:31:25.502] frame process finished the id is: 1037 the obs is:45 +[22:31:25.600] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000024 ,z=0.000079,angle between two frames:0.000017 +[22:31:25.600] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.007616 error end=0.007616 +[22:31:25.600] After pose optimization, distance between ekf and vo x:0.000024 ,z=0.000079,angle between two frames:0.000017 +[22:31:25.600] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 +[22:31:25.600] need key frame pitch dis: 0.088231 translation dif:0.900303 +[22:31:25.600] Choose frame as a key frame Scene Depth mean:7.726432 ,depth min:-3.647504 +[22:31:25.600] frame process finished the id is: 1040 the obs is:30 +[22:31:25.721] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000052 ,z=0.000073,angle between two frames:0.000036 +[22:31:25.721] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =1.336500 error end=1.336500 +[22:31:25.721] After pose optimization, distance between ekf and vo x:0.000052 ,z=0.000073,angle between two frames:0.000036 +[22:31:25.721] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 +[22:31:25.721] need key frame pitch dis: 0.203255 translation dif:1.340618 +[22:31:25.721] Choose frame as a key frame Scene Depth mean:1.541725 ,depth min:-3.944407 +[22:31:25.721] frame process finished the id is: 1041 the obs is:21 +[22:31:25.804] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.000012 ,z=0.000094,angle between two frames:0.000013 +[22:31:25.804] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.001026 error end=0.001026 +[22:31:25.804] After pose optimization, distance between ekf and vo x:0.000012 ,z=0.000094,angle between two frames:0.000013 +[22:31:25.804] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26 +[22:31:25.804] need key frame pitch dis: 0.421074 translation dif:0.978997 +[22:31:25.804] Choose frame as a key frame Scene Depth mean:3.238466 ,depth min:-1.948490 +[22:31:25.804] frame process finished the id is: 1042 the obs is:26 +[22:31:25.936] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000227 ,z=0.000361,angle between two frames:0.000010 +[22:31:25.936] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.624888 error end=0.424508 +[22:31:25.936] After pose optimization, distance between ekf and vo x:1.353133 ,z=-0.210515,angle between two frames:0.358348 +[22:31:25.936] frame process finished the id is: 1042 the obs is:26 +[22:31:26.052] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000225 ,z=0.000341,angle between two frames:0.000010 +[22:31:26.052] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.038567 error end=0.038567 +[22:31:26.052] After pose optimization, distance between ekf and vo x:-0.000225 ,z=0.000341,angle between two frames:0.000010 +[22:31:26.052] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 +[22:31:26.052] need key frame pitch dis: 0.421110 translation dif:0.966518 +[22:31:26.052] Choose frame as a key frame Scene Depth mean:2.620381 ,depth min:-1.941019 +[22:31:26.052] frame process finished the id is: 1044 the obs is:27 +[22:31:26.149] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000020 ,z=-0.000013,angle between two frames:0.000013 +[22:31:26.149] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.085050 error end=0.064875 +[22:31:26.149] After pose optimization, distance between ekf and vo x:-0.331459 ,z=0.130057,angle between two frames:0.115569 +[22:31:26.149] frame process finished the id is: 1044 the obs is:27 +[22:31:26.240] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000013 ,z=0.000124,angle between two frames:0.000013 +[22:31:26.240] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.056279 error end=0.056151 +[22:31:26.240] After pose optimization, distance between ekf and vo x:-0.003673 ,z=0.003640,angle between two frames:0.000199 +[22:31:26.240] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:26.240] need key frame pitch dis: 0.106765 translation dif:0.667881 +[22:31:26.240] Choose frame as a key frame Scene Depth mean:-0.585038 ,depth min:-5.986411 +[22:31:26.240] frame process finished the id is: 1046 the obs is:24 +[22:31:26.337] After Reprojection Map nMatches:19 ,distance between ekf and vo x:-0.000262 ,z=0.000386,angle between two frames:0.000071 +[22:31:26.337] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.000059 error end=0.000059 +[22:31:26.337] After pose optimization, distance between ekf and vo x:-0.000266 ,z=0.000379,angle between two frames:0.000063 +[22:31:26.337] Update EKF and 3D points the number of feature in the new frame: 19 and number of obs: 19 +[22:31:26.337] need key frame pitch dis: 0.210240 translation dif:0.650002 +[22:31:26.337] Choose frame as a key frame Scene Depth mean:0.925345 ,depth min:-2.890176 +[22:31:26.337] frame process finished the id is: 1047 the obs is:19 +[22:31:26.423] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.001256 ,z=0.001085,angle between two frames:0.000667 +[22:31:26.423] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.000317 error end=0.000317 +[22:31:26.423] After pose optimization, distance between ekf and vo x:0.001256 ,z=0.001085,angle between two frames:0.000667 +[22:31:26.423] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 +[22:31:26.423] need key frame pitch dis: 0.004701 translation dif:0.390900 +[22:31:26.423] Choose frame as a key frame Scene Depth mean:0.659077 ,depth min:-48.047804 +[22:31:26.423] frame process finished the id is: 1048 the obs is:22 +[22:31:26.532] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.000134 ,z=0.001499,angle between two frames:0.000184 +[22:31:26.532] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.002207 error end=0.002207 +[22:31:26.532] After pose optimization, distance between ekf and vo x:0.000134 ,z=0.001499,angle between two frames:0.000184 +[22:31:26.532] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 +[22:31:26.532] need key frame pitch dis: 0.242385 translation dif:0.456556 +[22:31:26.532] Choose frame as a key frame Scene Depth mean:-3.977163 ,depth min:-32.251162 +[22:31:26.532] frame process finished the id is: 1049 the obs is:21 +[22:31:26.656] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.000431 ,z=0.002181,angle between two frames:0.000015 +[22:31:26.656] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.005441 error end=0.005441 +[22:31:26.656] After pose optimization, distance between ekf and vo x:-0.000431 ,z=0.002181,angle between two frames:0.000015 +[22:31:26.656] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[22:31:26.656] need key frame pitch dis: 0.242350 translation dif:0.458465 +[22:31:26.656] Choose frame as a key frame Scene Depth mean:0.624463 ,depth min:-2.969687 +[22:31:26.656] frame process finished the id is: 1050 the obs is:16 +[22:31:26.767] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.001299 ,z=0.002804,angle between two frames:0.000892 +[22:31:26.767] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.001651 error end=0.001651 +[22:31:26.767] After pose optimization, distance between ekf and vo x:0.001299 ,z=0.002804,angle between two frames:0.000892 +[22:31:26.767] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[22:31:26.767] need key frame pitch dis: 0.242477 translation dif:0.461316 +[22:31:26.767] Choose frame as a key frame Scene Depth mean:0.625273 ,depth min:-2.966851 +[22:31:26.767] frame process finished the id is: 1051 the obs is:16 +[22:31:26.874] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.003177 ,z=0.003300,angle between two frames:0.001786 +[22:31:26.874] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.004607 error end=0.004607 +[22:31:26.874] After pose optimization, distance between ekf and vo x:0.003177 ,z=0.003300,angle between two frames:0.001786 +[22:31:26.874] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 +[22:31:26.875] need key frame pitch dis: 0.242632 translation dif:0.464957 +[22:31:26.875] Choose frame as a key frame Scene Depth mean:0.367657 ,depth min:-4.210051 +[22:31:26.875] frame process finished the id is: 1052 the obs is:22 +[22:31:27.006] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.000241 ,z=-0.001484,angle between two frames:0.000063 +[22:31:27.006] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000246 error end=0.000246 +[22:31:27.006] After pose optimization, distance between ekf and vo x:0.000241 ,z=-0.001484,angle between two frames:0.000063 +[22:31:27.006] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:27.006] need key frame pitch dis: 0.242392 translation dif:0.464522 +[22:31:27.006] Choose frame as a key frame Scene Depth mean:1.077745 ,depth min:-2.963478 +[22:31:27.006] frame process finished the id is: 1053 the obs is:24 +[22:31:27.109] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.000144 ,z=0.000942,angle between two frames:0.000092 +[22:31:27.109] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000058 error end=0.000058 +[22:31:27.109] After pose optimization, distance between ekf and vo x:0.000144 ,z=0.000942,angle between two frames:0.000092 +[22:31:27.109] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:27.109] need key frame pitch dis: 0.242360 translation dif:0.464671 +[22:31:27.109] Choose frame as a key frame Scene Depth mean:0.824761 ,depth min:-3.001143 +[22:31:27.109] frame process finished the id is: 1054 the obs is:24 +[22:31:27.216] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.003427 ,z=0.003473,angle between two frames:0.001889 +[22:31:27.216] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.125775 error end=0.125764 +[22:31:27.216] After pose optimization, distance between ekf and vo x:0.003581 ,z=0.005682,angle between two frames:0.002009 +[22:31:27.216] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[22:31:27.216] need key frame pitch dis: 0.242647 translation dif:0.468333 +[22:31:27.216] Choose frame as a key frame Scene Depth mean:0.856824 ,depth min:-2.997820 +[22:31:27.216] frame process finished the id is: 1055 the obs is:16 +[22:31:27.325] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.003815 ,z=0.003769,angle between two frames:0.002092 +[22:31:27.325] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.013756 error end=0.013756 +[22:31:27.325] After pose optimization, distance between ekf and vo x:0.003815 ,z=0.003769,angle between two frames:0.002092 +[22:31:27.325] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 +[22:31:27.325] need key frame pitch dis: 0.242703 translation dif:0.470859 +[22:31:27.325] Choose frame as a key frame Scene Depth mean:1.303022 ,depth min:-0.274354 +[22:31:27.325] frame process finished the id is: 1056 the obs is:25 +[22:31:27.437] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.013894 ,z=0.006743,angle between two frames:0.007221 +[22:31:27.437] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.039656 error end=0.039656 +[22:31:27.437] After pose optimization, distance between ekf and vo x:0.013894 ,z=0.006743,angle between two frames:0.007221 +[22:31:27.437] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18 +[22:31:27.437] need key frame pitch dis: 0.243489 translation dif:0.480760 +[22:31:27.437] Choose frame as a key frame Scene Depth mean:0.140245 ,depth min:-3.980957 +[22:31:27.437] frame process finished the id is: 1057 the obs is:18 +[22:31:27.565] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.006965 ,z=0.005250,angle between two frames:0.003758 +[22:31:27.565] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.006744 error end=0.006740 +[22:31:27.565] After pose optimization, distance between ekf and vo x:0.006602 ,z=0.005985,angle between two frames:0.004203 +[22:31:27.565] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 +[22:31:27.565] need key frame pitch dis: 0.243153 translation dif:0.482819 +[22:31:27.565] Choose frame as a key frame Scene Depth mean:-0.480788 ,depth min:-8.154512 +[22:31:27.565] frame process finished the id is: 1058 the obs is:21 +[22:31:27.717] After Reprojection Map nMatches:35 ,distance between ekf and vo x:-0.006877 ,z=-0.000106,angle between two frames:0.003922 +[22:31:27.717] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.001773 error end=0.001773 +[22:31:27.717] After pose optimization, distance between ekf and vo x:-0.006877 ,z=-0.000106,angle between two frames:0.003922 +[22:31:27.717] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26 +[22:31:27.717] need key frame pitch dis: 0.241871 translation dif:0.473234 +[22:31:27.717] Choose frame as a key frame Scene Depth mean:-1.082451 ,depth min:-8.570425 +[22:31:27.717] frame process finished the id is: 1059 the obs is:26 +[22:31:27.876] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.032477 ,z=-0.012740,angle between two frames:0.016629 +[22:31:27.876] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.000778 error end=0.000778 +[22:31:27.876] After pose optimization, distance between ekf and vo x:-0.032477 ,z=-0.012740,angle between two frames:0.016629 +[22:31:27.876] Update EKF and 3D points the number of feature in the new frame: 34 and number of obs: 34 +[22:31:27.877] need key frame pitch dis: 0.239748 translation dif:0.444560 +[22:31:27.877] Choose frame as a key frame Scene Depth mean:-14.604728 ,depth min:-123.785908 +[22:31:27.877] frame process finished the id is: 1060 the obs is:34 +[22:31:28.029] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000514 ,z=0.005658,angle between two frames:0.000064 +[22:31:28.029] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.003562 error end=0.003562 +[22:31:28.029] After pose optimization, distance between ekf and vo x:-0.000514 ,z=0.005658,angle between two frames:0.000064 +[22:31:28.029] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 +[22:31:28.029] need key frame pitch dis: 0.241935 translation dif:0.450071 +[22:31:28.029] Choose frame as a key frame Scene Depth mean:-0.266965 ,depth min:-8.327598 +[22:31:28.029] frame process finished the id is: 1061 the obs is:32 +[22:31:28.184] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.024508 ,z=-0.017592,angle between two frames:0.014132 +[22:31:28.184] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.000052 error end=0.000052 +[22:31:28.184] After pose optimization, distance between ekf and vo x:-0.024508 ,z=-0.017592,angle between two frames:0.014132 +[22:31:28.184] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 +[22:31:28.185] need key frame pitch dis: 0.240129 translation dif:0.431756 +[22:31:28.185] Choose frame as a key frame Scene Depth mean:-9.432257 ,depth min:-123.899735 +[22:31:28.185] frame process finished the id is: 1062 the obs is:40 +[22:31:28.334] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.001807 ,z=0.004499,angle between two frames:0.001204 +[22:31:28.334] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.068333 error end=0.068333 +[22:31:28.334] After pose optimization, distance between ekf and vo x:0.001807 ,z=0.004499,angle between two frames:0.001204 +[22:31:28.334] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29 +[22:31:28.334] need key frame pitch dis: 0.242179 translation dif:0.441746 +[22:31:28.334] Choose frame as a key frame Scene Depth mean:-0.668256 ,depth min:-7.313534 +[22:31:28.334] frame process finished the id is: 1063 the obs is:29 +[22:31:28.452] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.003158 ,z=0.003522,angle between two frames:0.001867 +[22:31:28.452] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.000028 error end=0.000028 +[22:31:28.452] After pose optimization, distance between ekf and vo x:0.003158 ,z=0.003522,angle between two frames:0.001867 +[22:31:28.452] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 +[22:31:28.453] need key frame pitch dis: 0.242592 translation dif:0.450124 +[22:31:28.453] Choose frame as a key frame Scene Depth mean:-2.346634 ,depth min:-23.240383 +[22:31:28.453] frame process finished the id is: 1064 the obs is:40 +[22:31:28.568] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.003549 ,z=0.002901,angle between two frames:0.001948 +[22:31:28.568] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.008332 error end=0.008328 +[22:31:28.568] After pose optimization, distance between ekf and vo x:0.003676 ,z=0.000251,angle between two frames:0.002452 +[22:31:28.568] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 +[22:31:28.569] need key frame pitch dis: 0.242743 translation dif:0.456163 +[22:31:28.569] Choose frame as a key frame Scene Depth mean:-1.792612 ,depth min:-74.881393 +[22:31:28.569] frame process finished the id is: 1065 the obs is:35 +[22:31:28.694] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.004545 ,z=0.003532,angle between two frames:0.002492 +[22:31:28.694] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.008673 error end=0.008659 +[22:31:28.694] After pose optimization, distance between ekf and vo x:0.003348 ,z=0.001348,angle between two frames:0.003733 +[22:31:28.694] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 +[22:31:28.694] need key frame pitch dis: 0.242960 translation dif:0.460747 +[22:31:28.694] Choose frame as a key frame Scene Depth mean:-8.614852 ,depth min:-74.830633 +[22:31:28.694] frame process finished the id is: 1066 the obs is:35 +[22:31:28.813] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.015198 ,z=0.007759,angle between two frames:0.007998 +[22:31:28.813] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.005668 error end=0.005668 +[22:31:28.813] After pose optimization, distance between ekf and vo x:0.015196 ,z=0.007761,angle between two frames:0.007999 +[22:31:28.813] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 +[22:31:28.813] need key frame pitch dis: 0.243642 translation dif:0.474239 +[22:31:28.813] Choose frame as a key frame Scene Depth mean:9.800997 ,depth min:-5.147437 +[22:31:28.813] frame process finished the id is: 1067 the obs is:30 +[22:31:28.938] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.001052 ,z=0.002000,angle between two frames:0.000665 +[22:31:28.938] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.119545 error end=0.115459 +[22:31:28.938] After pose optimization, distance between ekf and vo x:0.038766 ,z=-0.049526,angle between two frames:0.003545 +[22:31:28.938] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 +[22:31:28.938] need key frame pitch dis: 0.243049 translation dif:0.491325 +[22:31:28.938] Choose frame as a key frame Scene Depth mean:-2.540177 ,depth min:-7.788503 +[22:31:28.938] frame process finished the id is: 1068 the obs is:32 +[22:31:29.049] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.003093 ,z=0.006063,angle between two frames:0.001758 +[22:31:29.050] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.009199 error end=0.009199 +[22:31:29.050] After pose optimization, distance between ekf and vo x:0.003093 ,z=0.006063,angle between two frames:0.001758 +[22:31:29.050] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26 +[22:31:29.050] need key frame pitch dis: 0.242697 translation dif:0.487720 +[22:31:29.050] Choose frame as a key frame Scene Depth mean:-3.270867 ,depth min:-12.117808 +[22:31:29.050] frame process finished the id is: 1069 the obs is:26 +[22:31:29.179] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.005352 ,z=0.007332,angle between two frames:0.003079 +[22:31:29.179] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.001272 error end=0.001264 +[22:31:29.179] After pose optimization, distance between ekf and vo x:-0.001276 ,z=0.012693,angle between two frames:0.008802 +[22:31:29.179] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 +[22:31:29.179] need key frame pitch dis: 0.243717 translation dif:0.483276 +[22:31:29.179] Choose frame as a key frame Scene Depth mean:1.131950 ,depth min:-2.983855 +[22:31:29.179] frame process finished the id is: 1070 the obs is:21 +[22:31:29.300] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.006777 ,z=0.008380,angle between two frames:0.003740 +[22:31:29.300] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.068944 error end=0.068944 +[22:31:29.300] After pose optimization, distance between ekf and vo x:0.006777 ,z=0.008380,angle between two frames:0.003740 +[22:31:29.300] Update EKF and 3D points the number of feature in the new frame: 28 and number of obs: 28 +[22:31:29.300] need key frame pitch dis: 0.243110 translation dif:0.485241 +[22:31:29.300] Choose frame as a key frame Scene Depth mean:-1.975896 ,depth min:-8.254491 +[22:31:29.300] frame process finished the id is: 1071 the obs is:28 +[22:31:29.457] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.010094 ,z=0.014309,angle between two frames:0.005910 +[22:31:29.457] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.036864 error end=0.036864 +[22:31:29.457] After pose optimization, distance between ekf and vo x:0.010094 ,z=0.014309,angle between two frames:0.005910 +[22:31:29.457] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 +[22:31:29.458] need key frame pitch dis: 0.243353 translation dif:0.490508 +[22:31:29.458] Choose frame as a key frame Scene Depth mean:-1.702541 ,depth min:-8.441508 +[22:31:29.458] frame process finished the id is: 1072 the obs is:30 +[22:31:29.594] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.003294 ,z=0.006591,angle between two frames:0.002033 +[22:31:29.594] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.017297 error end=0.017297 +[22:31:29.594] After pose optimization, distance between ekf and vo x:0.003294 ,z=0.006591,angle between two frames:0.002033 +[22:31:29.594] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:29.594] need key frame pitch dis: 0.242804 translation dif:0.487949 +[22:31:29.594] Choose frame as a key frame Scene Depth mean:-0.920798 ,depth min:-7.984351 +[22:31:29.594] frame process finished the id is: 1073 the obs is:24 +[22:31:29.765] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.010172 ,z=-0.005183,angle between two frames:0.005446 +[22:31:29.765] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.106835 error end=0.106725 +[22:31:29.765] After pose optimization, distance between ekf and vo x:-0.010174 ,z=-0.005258,angle between two frames:0.005205 +[22:31:29.765] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 +[22:31:29.765] need key frame pitch dis: 0.241623 translation dif:0.473599 +[22:31:29.765] Choose frame as a key frame Scene Depth mean:0.690043 ,depth min:-2.991445 +[22:31:29.765] frame process finished the id is: 1074 the obs is:22 +[22:31:29.926] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.012403 ,z=-0.008211,angle between two frames:0.007024 +[22:31:29.926] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.434945 error end=0.057150 +[22:31:29.926] After pose optimization, distance between ekf and vo x:-1.393837 ,z=0.270972,angle between two frames:0.277257 +[22:31:29.926] frame process finished the id is: 1074 the obs is:22 +[22:31:30.085] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.012920 ,z=-0.007755,angle between two frames:0.007107 +[22:31:30.085] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.141401 error end=0.141401 +[22:31:30.085] After pose optimization, distance between ekf and vo x:-0.012920 ,z=-0.007755,angle between two frames:0.007107 +[22:31:30.086] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:30.086] need key frame pitch dis: 0.071673 translation dif:0.345453 +[22:31:30.086] Choose frame as a key frame Scene Depth mean:-1.117783 ,depth min:-8.125051 +[22:31:30.086] frame process finished the id is: 1076 the obs is:24 +[22:31:30.217] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.000474 ,z=0.000895,angle between two frames:0.000198 +[22:31:30.217] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.012805 error end=0.012805 +[22:31:30.217] After pose optimization, distance between ekf and vo x:-0.000474 ,z=0.000895,angle between two frames:0.000198 +[22:31:30.217] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:30.217] need key frame pitch dis: 0.242125 translation dif:0.460916 +[22:31:30.217] Choose frame as a key frame Scene Depth mean:-9.181690 ,depth min:-40.063741 +[22:31:30.217] frame process finished the id is: 1077 the obs is:24 +[22:31:30.367] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.003305 ,z=-0.001009,angle between two frames:0.001763 +[22:31:30.368] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.044132 error end=0.044132 +[22:31:30.368] After pose optimization, distance between ekf and vo x:-0.003305 ,z=-0.001009,angle between two frames:0.001763 +[22:31:30.368] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:30.368] need key frame pitch dis: 0.242035 translation dif:0.459005 +[22:31:30.368] Choose frame as a key frame Scene Depth mean:-0.233370 ,depth min:-7.318673 +[22:31:30.368] frame process finished the id is: 1078 the obs is:24 +[22:31:30.522] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.003852 ,z=0.002095,angle between two frames:0.002087 +[22:31:30.523] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.006348 error end=0.006272 +[22:31:30.523] After pose optimization, distance between ekf and vo x:-0.016431 ,z=0.011933,angle between two frames:0.009037 +[22:31:30.523] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29 +[22:31:30.523] need key frame pitch dis: 0.243660 translation dif:0.450891 +[22:31:30.523] Choose frame as a key frame Scene Depth mean:-1.537740 ,depth min:-10.409214 +[22:31:30.523] frame process finished the id is: 1079 the obs is:29 +[22:31:30.687] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.002414 ,z=0.001269,angle between two frames:0.001186 +[22:31:30.687] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.468764 error end=0.184170 +[22:31:30.687] After pose optimization, distance between ekf and vo x:-0.559405 ,z=0.076433,angle between two frames:0.118397 +[22:31:30.687] frame process finished the id is: 1079 the obs is:29 +[22:31:30.845] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.004675 ,z=-0.000163,angle between two frames:0.002384 +[22:31:30.846] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.289625 error end=0.282432 +[22:31:30.846] After pose optimization, distance between ekf and vo x:0.009748 ,z=-0.065667,angle between two frames:0.001147 +[22:31:30.846] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:30.846] need key frame pitch dis: 0.017249 translation dif:0.350548 +[22:31:30.846] Choose frame as a key frame Scene Depth mean:-1.517681 ,depth min:-10.473490 +[22:31:30.846] frame process finished the id is: 1081 the obs is:24 +[22:31:31.004] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.004413 ,z=-0.001212,angle between two frames:0.002338 +[22:31:31.004] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.153701 error end=0.153701 +[22:31:31.004] After pose optimization, distance between ekf and vo x:-0.004413 ,z=-0.001212,angle between two frames:0.002338 +[22:31:31.004] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 +[22:31:31.004] need key frame pitch dis: 0.048010 translation dif:1.020067 +[22:31:31.004] Choose frame as a key frame Scene Depth mean:0.972307 ,depth min:-10.591985 +[22:31:31.004] frame process finished the id is: 1082 the obs is:15 +[22:31:31.150] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.002871 ,z=0.000455,angle between two frames:0.001471 +[22:31:31.151] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.068832 error end=0.064696 +[22:31:31.151] After pose optimization, distance between ekf and vo x:0.015560 ,z=0.027996,angle between two frames:0.014847 +[22:31:31.151] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 +[22:31:31.151] need key frame pitch dis: 0.244520 translation dif:0.468875 +[22:31:31.151] Choose frame as a key frame Scene Depth mean:2.335584 ,depth min:-2.999002 +[22:31:31.151] frame process finished the id is: 1083 the obs is:27 +[22:31:31.313] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.003206 ,z=0.003562,angle between two frames:0.001526 +[22:31:31.313] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.174458 error end=0.174458 +[22:31:31.313] After pose optimization, distance between ekf and vo x:-0.003206 ,z=0.003562,angle between two frames:0.001526 +[22:31:31.313] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29 +[22:31:31.314] need key frame pitch dis: 0.242433 translation dif:0.466061 +[22:31:31.314] Choose frame as a key frame Scene Depth mean:-0.621429 ,depth min:-11.126123 +[22:31:31.314] frame process finished the id is: 1084 the obs is:29 +[22:31:31.454] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000367 ,z=0.000828,angle between two frames:0.000089 +[22:31:31.454] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.010549 error end=0.010522 +[22:31:31.454] After pose optimization, distance between ekf and vo x:-0.002276 ,z=-0.000120,angle between two frames:0.003158 +[22:31:31.454] Update EKF and 3D points the number of feature in the new frame: 37 and number of obs: 37 +[22:31:31.454] need key frame pitch dis: 0.242826 translation dif:0.463850 +[22:31:31.454] Choose frame as a key frame Scene Depth mean:-3.737731 ,depth min:-31.754806 +[22:31:31.454] frame process finished the id is: 1085 the obs is:37 +[22:31:31.609] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.004895 ,z=-0.001030,angle between two frames:0.002538 +[22:31:31.609] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.013760 error end=0.013760 +[22:31:31.609] After pose optimization, distance between ekf and vo x:-0.004895 ,z=-0.001030,angle between two frames:0.002538 +[22:31:31.609] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29 +[22:31:31.609] need key frame pitch dis: 0.242024 translation dif:0.460069 +[22:31:31.609] Choose frame as a key frame Scene Depth mean:-3.485414 ,depth min:-11.329422 +[22:31:31.610] frame process finished the id is: 1086 the obs is:29 +[22:31:31.776] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000369 ,z=0.001469,angle between two frames:0.000361 +[22:31:31.776] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.004300 error end=0.004300 +[22:31:31.776] After pose optimization, distance between ekf and vo x:0.000369 ,z=0.001469,angle between two frames:0.000361 +[22:31:31.776] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 +[22:31:31.776] need key frame pitch dis: 0.242342 translation dif:0.461566 +[22:31:31.776] Choose frame as a key frame Scene Depth mean:-0.781384 ,depth min:-8.949904 +[22:31:31.776] frame process finished the id is: 1087 the obs is:35 +[22:31:31.914] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.000618 ,z=-0.001431,angle between two frames:0.000343 +[22:31:31.914] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.000026 error end=0.000026 +[22:31:31.914] After pose optimization, distance between ekf and vo x:0.000618 ,z=-0.001431,angle between two frames:0.000343 +[22:31:31.914] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48 +[22:31:31.915] need key frame pitch dis: 0.120286 translation dif:1.035070 +[22:31:31.915] Choose frame as a key frame Scene Depth mean:-1.090754 ,depth min:-11.105226 +[22:31:31.915] frame process finished the id is: 1088 the obs is:48 +[22:31:32.032] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000634 ,z=0.000962,angle between two frames:0.000406 +[22:31:32.032] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.036707 error end=0.036707 +[22:31:32.032] After pose optimization, distance between ekf and vo x:0.000634 ,z=0.000962,angle between two frames:0.000406 +[22:31:32.032] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:32.033] need key frame pitch dis: 0.242403 translation dif:0.463325 +[22:31:32.033] Choose frame as a key frame Scene Depth mean:-0.753558 ,depth min:-11.198505 +[22:31:32.033] frame process finished the id is: 1089 the obs is:24 +[22:31:32.167] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.000582 ,z=-0.000247,angle between two frames:0.000332 +[22:31:32.167] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.002454 error end=0.002454 +[22:31:32.167] After pose optimization, distance between ekf and vo x:0.000582 ,z=-0.000247,angle between two frames:0.000332 +[22:31:32.167] Update EKF and 3D points the number of feature in the new frame: 31 and number of obs: 31 +[22:31:32.167] need key frame pitch dis: 0.242395 translation dif:0.463832 +[22:31:32.168] Choose frame as a key frame Scene Depth mean:-0.043943 ,depth min:-7.619488 +[22:31:32.168] frame process finished the id is: 1090 the obs is:31 +[22:31:32.317] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.000012 ,z=0.000682,angle between two frames:0.000082 +[22:31:32.318] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.055280 error end=0.054626 +[22:31:32.318] After pose optimization, distance between ekf and vo x:-0.009112 ,z=0.023211,angle between two frames:0.003943 +[22:31:32.318] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 +[22:31:32.318] need key frame pitch dis: 0.242949 translation dif:0.462480 +[22:31:32.318] Choose frame as a key frame Scene Depth mean:5.443079 ,depth min:-10.981294 +[22:31:32.318] frame process finished the id is: 1091 the obs is:40 +[22:31:32.453] After Reprojection Map nMatches:46 ,distance between ekf and vo x:-0.001410 ,z=-0.000860,angle between two frames:0.000751 +[22:31:32.454] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.025600 error end=0.025564 +[22:31:32.454] After pose optimization, distance between ekf and vo x:-0.002847 ,z=0.002314,angle between two frames:0.000041 +[22:31:32.454] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 +[22:31:32.454] need key frame pitch dis: 0.042042 translation dif:0.402288 +[22:31:32.454] Choose frame as a key frame Scene Depth mean:6.902462 ,depth min:-10.713451 +[22:31:32.454] frame process finished the id is: 1092 the obs is:27 +[22:31:32.592] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.033979 ,z=0.015427,angle between two frames:0.017460 +[22:31:32.592] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =43 error init =0.088284 error end=0.085491 +[22:31:32.592] After pose optimization, distance between ekf and vo x:0.100865 ,z=-0.007898,angle between two frames:0.035418 +[22:31:32.592] Update EKF and 3D points the number of feature in the new frame: 43 and number of obs: 43 +[22:31:32.592] need key frame pitch dis: 0.247709 translation dif:0.533769 +[22:31:32.592] Choose frame as a key frame Scene Depth mean:4.177402 ,depth min:-15.704743 +[22:31:32.592] frame process finished the id is: 1093 the obs is:43 +[22:31:32.724] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.000513 ,z=0.003479,angle between two frames:0.000186 +[22:31:32.724] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.001253 error end=0.001253 +[22:31:32.724] After pose optimization, distance between ekf and vo x:-0.000513 ,z=0.003479,angle between two frames:0.000186 +[22:31:32.724] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45 +[22:31:32.724] need key frame pitch dis: 0.243124 translation dif:0.517247 +[22:31:32.724] Choose frame as a key frame Scene Depth mean:4.728230 ,depth min:-12.795108 +[22:31:32.725] frame process finished the id is: 1094 the obs is:45 +[22:31:32.846] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.001303 ,z=0.000436,angle between two frames:0.000673 +[22:31:32.846] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.003098 error end=0.003098 +[22:31:32.846] After pose optimization, distance between ekf and vo x:0.001303 ,z=0.000436,angle between two frames:0.000673 +[22:31:32.846] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 +[22:31:32.847] need key frame pitch dis: 0.067064 translation dif:0.203454 +[22:31:32.847] Choose frame as a key frame Scene Depth mean:5.211441 ,depth min:-8.053843 +[22:31:32.847] frame process finished the id is: 1095 the obs is:40 +[22:31:32.967] After Reprojection Map nMatches:38 ,distance between ekf and vo x:-0.000660 ,z=0.001504,angle between two frames:0.000284 +[22:31:32.968] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.618923 error end=0.493550 +[22:31:32.968] After pose optimization, distance between ekf and vo x:-0.110042 ,z=0.106115,angle between two frames:0.004402 +[22:31:32.968] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 +[22:31:32.968] need key frame pitch dis: 0.066255 translation dif:0.295693 +[22:31:32.968] Choose frame as a key frame Scene Depth mean:-1.975273 ,depth min:-10.793475 +[22:31:32.968] frame process finished the id is: 1096 the obs is:21 +[22:31:33.112] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000555 ,z=-0.004703,angle between two frames:0.000479 +[22:31:33.113] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.010418 error end=0.010123 +[22:31:33.113] After pose optimization, distance between ekf and vo x:-0.013238 ,z=0.012582,angle between two frames:0.007255 +[22:31:33.113] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 +[22:31:33.113] need key frame pitch dis: 0.067889 translation dif:0.284638 +[22:31:33.113] Choose frame as a key frame Scene Depth mean:-2.571409 ,depth min:-16.264918 +[22:31:33.113] frame process finished the id is: 1097 the obs is:35 +[22:31:33.251] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.000308 ,z=0.000273,angle between two frames:0.000154 +[22:31:33.251] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.018073 error end=0.015931 +[22:31:33.251] After pose optimization, distance between ekf and vo x:-0.018064 ,z=0.100081,angle between two frames:0.028588 +[22:31:33.251] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45 +[22:31:33.252] need key frame pitch dis: 0.071396 translation dif:0.341154 +[22:31:33.252] Choose frame as a key frame Scene Depth mean:4.958607 ,depth min:-3.094812 +[22:31:33.252] frame process finished the id is: 1098 the obs is:45 +[22:31:33.395] After Reprojection Map nMatches:43 ,distance between ekf and vo x:-0.000574 ,z=-0.002084,angle between two frames:0.000387 +[22:31:33.395] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.003817 error end=0.003817 +[22:31:33.395] After pose optimization, distance between ekf and vo x:-0.000592 ,z=-0.002093,angle between two frames:0.000365 +[22:31:33.395] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 +[22:31:33.395] need key frame pitch dis: 0.067529 translation dif:0.305878 +[22:31:33.395] Choose frame as a key frame Scene Depth mean:-1.666691 ,depth min:-11.998618 +[22:31:33.396] frame process finished the id is: 1099 the obs is:25 +[22:31:33.433] Odometry x=0.779666, y=2.518103, theta=-1.845569 +[22:31:33.527] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.000148 ,z=0.000276,angle between two frames:0.000059 +[22:31:33.527] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =41 error init =0.015852 error end=0.015852 +[22:31:33.527] After pose optimization, distance between ekf and vo x:-0.000148 ,z=0.000276,angle between two frames:0.000059 +[22:31:33.527] Update EKF and 3D points the number of feature in the new frame: 41 and number of obs: 41 +[22:31:33.527] need key frame pitch dis: 0.064769 translation dif:0.304993 +[22:31:33.527] Choose frame as a key frame Scene Depth mean:5.478577 ,depth min:-3.346628 +[22:31:33.528] frame process finished the id is: 1100 the obs is:41 +[22:31:33.533] Odometry x=0.781586, y=2.517666, theta=-1.848330 +[22:31:33.633] Odometry x=0.790940, y=2.515590, theta=-1.858280 +[22:31:33.668] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.001697 ,z=-0.001372,angle between two frames:0.000946 +[22:31:33.669] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.076305 error end=0.076113 +[22:31:33.669] After pose optimization, distance between ekf and vo x:-0.006592 ,z=0.001611,angle between two frames:0.000705 +[22:31:33.669] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 +[22:31:33.669] need key frame pitch dis: 0.035887 translation dif:0.305221 +[22:31:33.669] Choose frame as a key frame Scene Depth mean:-10.193750 ,depth min:-102.533318 +[22:31:33.669] frame process finished the id is: 1101 the obs is:32 +[22:31:33.730] Odometry x=0.780683, y=2.517679, theta=-1.877212 +[22:31:33.790] After Reprojection Map nMatches:39 ,distance between ekf and vo x:-0.000960 ,z=0.000430,angle between two frames:0.000615 +[22:31:33.790] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.077565 error end=0.077528 +[22:31:33.790] After pose optimization, distance between ekf and vo x:-0.001668 ,z=0.002208,angle between two frames:0.000232 +[22:31:33.790] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 +[22:31:33.791] need key frame pitch dis: 0.014480 translation dif:0.330983 +[22:31:33.791] Choose frame as a key frame Scene Depth mean:-17.766156 ,depth min:-103.695822 +[22:31:33.791] frame process finished the id is: 1102 the obs is:22 +[22:31:33.829] Odometry x=0.780736, y=2.519006, theta=-1.891553 +[22:31:33.924] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.006683 ,z=0.002224,angle between two frames:0.004817 +[22:31:33.924] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.002593 error end=0.002593 +[22:31:33.924] After pose optimization, distance between ekf and vo x:-0.006687 ,z=0.002192,angle between two frames:0.004814 +[22:31:33.924] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29 +[22:31:33.924] need key frame pitch dis: 0.007645 translation dif:0.332595 +[22:31:33.924] Choose frame as a key frame Scene Depth mean:6.985531 ,depth min:-6.754224 +[22:31:33.924] frame process finished the id is: 1103 the obs is:29 +[22:31:33.933] Odometry x=0.777862, y=2.519651, theta=-1.913678 +[22:31:34.032] Odometry x=0.786394, y=2.517571, theta=-1.939405 +[22:31:34.137] Odometry x=0.793146, y=2.514076, theta=-1.948162 +[22:31:34.233] Odometry x=0.800265, y=2.511108, theta=-1.966497 +[22:31:34.334] Odometry x=0.807059, y=2.507871, theta=-1.993338 +[22:31:34.374] After Reprojection Map nMatches:32 ,distance between ekf and vo x:-0.001239 ,z=-0.000321,angle between two frames:0.000784 +[22:31:34.374] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.027114 error end=0.027040 +[22:31:34.374] After pose optimization, distance between ekf and vo x:-0.009779 ,z=0.013583,angle between two frames:0.000736 +[22:31:34.374] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 +[22:31:34.374] need key frame pitch dis: 0.100781 translation dif:0.326685 +[22:31:34.374] Choose frame as a key frame Scene Depth mean:-16.711988 ,depth min:-91.803105 +[22:31:34.374] frame process finished the id is: 1104 the obs is:25 +[22:31:34.435] Odometry x=0.796046, y=2.519744, theta=-2.006813 +[22:31:34.503] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.007459 ,z=0.005886,angle between two frames:0.003279 +[22:31:34.503] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =3.611581 error end=1.870336 +[22:31:34.503] After pose optimization, distance between ekf and vo x:0.020316 ,z=-0.243504,angle between two frames:0.016719 +[22:31:34.503] frame process finished the id is: 1104 the obs is:25 +[22:31:34.536] Odometry x=0.804019, y=2.516152, theta=-2.021846 +[22:31:34.612] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.000164 ,z=0.001050,angle between two frames:0.000158 +[22:31:34.612] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.211883 error end=0.211883 +[22:31:34.612] After pose optimization, distance between ekf and vo x:0.000164 ,z=0.001050,angle between two frames:0.000158 +[22:31:34.612] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11 +[22:31:34.612] need key frame pitch dis: 0.140727 translation dif:0.319966 +[22:31:34.612] Choose frame as a key frame Scene Depth mean:2.462001 ,depth min:-0.140035 +[22:31:34.612] frame process finished the id is: 1106 the obs is:11 +[22:31:34.630] Odometry x=0.806016, y=2.515770, theta=-2.046760 +[22:31:34.734] Odometry x=0.813259, y=2.511093, theta=-2.060373 +[22:31:34.735] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.002492 ,z=0.003923,angle between two frames:0.000672 +[22:31:34.735] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =2.353489 error end=1.215921 +[22:31:34.735] After pose optimization, distance between ekf and vo x:0.026720 ,z=0.635839,angle between two frames:0.042801 +[22:31:34.736] frame process finished the id is: 1106 the obs is:11 +[22:31:34.828] Odometry x=0.820277, y=2.507328, theta=-2.087680 +[22:31:34.857] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.002020 ,z=0.003896,angle between two frames:0.000216 +[22:31:34.858] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.331632 error end=0.324961 +[22:31:34.858] After pose optimization, distance between ekf and vo x:-0.008880 ,z=0.043303,angle between two frames:0.000723 +[22:31:34.858] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 +[22:31:34.858] need key frame pitch dis: 0.202153 translation dif:0.339848 +[22:31:34.858] Choose frame as a key frame Scene Depth mean:4.247054 ,depth min:-2.581171 +[22:31:34.858] frame process finished the id is: 1108 the obs is:27 +[22:31:34.930] Odometry x=0.815050, y=2.538770, theta=-2.108186 +[22:31:35.027] Odometry x=0.821989, y=2.534766, theta=-2.131751 +[22:31:35.072] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.000272 ,z=0.000478,angle between two frames:0.000008 +[22:31:35.072] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000423 error end=0.000423 +[22:31:35.072] After pose optimization, distance between ekf and vo x:0.000272 ,z=0.000478,angle between two frames:0.000008 +[22:31:35.072] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:35.073] need key frame pitch dis: 0.242479 translation dif:0.338036 +[22:31:35.073] Choose frame as a key frame Scene Depth mean:5.545796 ,depth min:-2.502130 +[22:31:35.073] frame process finished the id is: 1109 the obs is:24 +[22:31:35.134] Odometry x=0.818325, y=2.537691, theta=-2.148511 +[22:31:35.196] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.002193 ,z=0.009804,angle between two frames:0.001276 +[22:31:35.196] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.113449 error end=0.113376 +[22:31:35.196] After pose optimization, distance between ekf and vo x:0.002807 ,z=0.006488,angle between two frames:0.000346 +[22:31:35.196] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:35.196] need key frame pitch dis: 0.267611 translation dif:0.340275 +[22:31:35.196] Choose frame as a key frame Scene Depth mean:1.333584 ,depth min:-3.188212 +[22:31:35.196] frame process finished the id is: 1110 the obs is:24 +[22:31:35.234] Odometry x=0.821908, y=2.540807, theta=-2.173644 +[22:31:35.315] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.032222 ,z=0.001480,angle between two frames:0.013204 +[22:31:35.315] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.059830 error end=0.059830 +[22:31:35.315] After pose optimization, distance between ekf and vo x:0.032222 ,z=0.001480,angle between two frames:0.013204 +[22:31:35.315] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:35.315] need key frame pitch dis: 0.284240 translation dif:0.336055 +[22:31:35.316] Choose frame as a key frame Scene Depth mean:2.017858 ,depth min:-2.392591 +[22:31:35.316] frame process finished the id is: 1111 the obs is:24 +[22:31:35.328] Odometry x=0.847459, y=2.541203, theta=-2.190273 +[22:31:35.431] Odometry x=0.854232, y=2.535545, theta=-2.202412 +[22:31:35.438] After Reprojection Map nMatches:48 ,distance between ekf and vo x:-0.007104 ,z=-0.001661,angle between two frames:0.002407 +[22:31:35.438] n deleted obs = 36 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.085486 error end=0.081081 +[22:31:35.438] After pose optimization, distance between ekf and vo x:-1.381470 ,z=0.758581,angle between two frames:0.533579 +[22:31:35.438] frame process finished the id is: 1111 the obs is:24 +[22:31:35.532] Odometry x=0.860076, y=2.531343, theta=-2.218646 +[22:31:35.574] After Reprojection Map nMatches:31 ,distance between ekf and vo x:-0.000079 ,z=0.009849,angle between two frames:0.003399 +[22:31:35.574] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.033928 error end=0.033928 +[22:31:35.574] After pose optimization, distance between ekf and vo x:-0.000079 ,z=0.009849,angle between two frames:0.003399 +[22:31:35.574] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 +[22:31:35.574] need key frame pitch dis: 0.332155 translation dif:0.334788 +[22:31:35.574] Choose frame as a key frame Scene Depth mean:1.095951 ,depth min:0.020965 +[22:31:35.574] frame process finished the id is: 1113 the obs is:15 +[22:31:35.630] Odometry x=0.857158, y=2.541191, theta=-2.238188 +[22:31:35.682] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.000223 ,z=0.003064,angle between two frames:0.000775 +[22:31:35.682] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =47 error init =0.000010 error end=0.000010 +[22:31:35.682] After pose optimization, distance between ekf and vo x:0.000223 ,z=0.003064,angle between two frames:0.000775 +[22:31:35.682] Update EKF and 3D points the number of feature in the new frame: 47 and number of obs: 47 +[22:31:35.682] need key frame pitch dis: 0.490437 translation dif:1.218349 +[22:31:35.682] Choose frame as a key frame Scene Depth mean:1.080563 ,depth min:-2.250467 +[22:31:35.682] frame process finished the id is: 1114 the obs is:47 +[22:31:35.739] Odometry x=0.859115, y=2.542195, theta=-2.252840 +[22:31:35.805] After Reprojection Map nMatches:56 ,distance between ekf and vo x:0.001630 ,z=0.003205,angle between two frames:0.000400 +[22:31:35.805] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.001845 error end=0.001845 +[22:31:35.805] After pose optimization, distance between ekf and vo x:0.001630 ,z=0.003205,angle between two frames:0.000400 +[22:31:35.805] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48 +[22:31:35.805] need key frame pitch dis: 0.362231 translation dif:0.336435 +[22:31:35.805] Choose frame as a key frame Scene Depth mean:0.246390 ,depth min:-2.213238 +[22:31:35.805] frame process finished the id is: 1115 the obs is:48 +[22:31:35.834] Odometry x=0.862406, y=2.543412, theta=-2.268264 +[22:31:35.929] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.003043 ,z=0.007818,angle between two frames:0.001448 +[22:31:35.930] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.000293 error end=0.000293 +[22:31:35.930] After pose optimization, distance between ekf and vo x:0.003001 ,z=0.007782,angle between two frames:0.001484 +[22:31:35.930] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40 +[22:31:35.930] need key frame pitch dis: 0.385623 translation dif:0.340573 +[22:31:35.930] Choose frame as a key frame Scene Depth mean:0.243917 ,depth min:-2.154811 +[22:31:35.930] frame process finished the id is: 1116 the obs is:40 +[22:31:35.934] Odometry x=0.866435, y=2.547942, theta=-2.291656 +[22:31:36.033] Odometry x=0.873676, y=2.541919, theta=-2.316799 +[22:31:36.045] After Reprojection Map nMatches:56 ,distance between ekf and vo x:0.002951 ,z=0.003956,angle between two frames:0.000301 +[22:31:36.045] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.344036 error end=0.309561 +[22:31:36.045] After pose optimization, distance between ekf and vo x:0.034536 ,z=0.057252,angle between two frames:0.015555 +[22:31:36.045] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48 +[22:31:36.046] need key frame pitch dis: 0.265911 translation dif:0.526425 +[22:31:36.046] Choose frame as a key frame Scene Depth mean:1.173484 ,depth min:-1.723443 +[22:31:36.046] frame process finished the id is: 1117 the obs is:48 +[22:31:36.134] Odometry x=0.895932, y=2.588973, theta=-2.336017 +[22:31:36.194] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.006468 ,z=0.007057,angle between two frames:0.000563 +[22:31:36.194] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.032531 error end=0.027154 +[22:31:36.194] After pose optimization, distance between ekf and vo x:-0.814553 ,z=0.032413,angle between two frames:0.330274 +[22:31:36.194] frame process finished the id is: 1117 the obs is:48 +[22:31:36.233] Odometry x=0.902694, y=2.583574, theta=-2.359560 +[22:31:36.333] Odometry x=0.908105, y=2.577480, theta=-2.373506 +[22:31:36.336] After Reprojection Map nMatches:53 ,distance between ekf and vo x:0.007076 ,z=0.007666,angle between two frames:0.000852 +[22:31:36.336] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.010448 error end=0.010448 +[22:31:36.336] After pose optimization, distance between ekf and vo x:0.007076 ,z=0.007666,angle between two frames:0.000852 +[22:31:36.336] Update EKF and 3D points the number of feature in the new frame: 37 and number of obs: 37 +[22:31:36.337] need key frame pitch dis: 0.583359 translation dif:1.409932 +[22:31:36.337] Choose frame as a key frame Scene Depth mean:0.558639 ,depth min:-0.733839 +[22:31:36.337] frame process finished the id is: 1119 the obs is:37 +[22:31:36.428] Odometry x=0.916271, y=2.576427, theta=-2.411346 +[22:31:36.465] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.007496 ,z=0.005571,angle between two frames:0.000368 +[22:31:36.465] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.006646 error end=0.006029 +[22:31:36.465] After pose optimization, distance between ekf and vo x:-0.015981 ,z=0.075593,angle between two frames:0.003028 +[22:31:36.465] Update EKF and 3D points the number of feature in the new frame: 37 and number of obs: 37 +[22:31:36.465] need key frame pitch dis: 0.609119 translation dif:1.457739 +[22:31:36.465] Choose frame as a key frame Scene Depth mean:0.174167 ,depth min:-0.729574 +[22:31:36.465] frame process finished the id is: 1120 the obs is:37 +[22:31:36.533] Odometry x=0.904766, y=2.631948, theta=-2.427749 +[22:31:36.565] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.004293 ,z=0.002981,angle between two frames:0.000256 +[22:31:36.565] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.101353 error end=0.100867 +[22:31:36.565] After pose optimization, distance between ekf and vo x:-0.004548 ,z=0.005867,angle between two frames:0.001367 +[22:31:36.565] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:36.566] need key frame pitch dis: 0.282752 translation dif:2.390461 +[22:31:36.566] Choose frame as a key frame Scene Depth mean:2.213466 ,depth min:-0.737340 +[22:31:36.566] frame process finished the id is: 1121 the obs is:24 +[22:31:36.629] Odometry x=0.903280, y=2.635156, theta=-2.437337 +[22:31:36.729] Odometry x=0.909579, y=2.628160, theta=-2.455386 +[22:31:36.764] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.004079 ,z=0.002100,angle between two frames:0.000073 +[22:31:36.764] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000010 error end=0.000010 +[22:31:36.764] After pose optimization, distance between ekf and vo x:0.004079 ,z=0.002100,angle between two frames:0.000073 +[22:31:36.764] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[22:31:36.764] need key frame pitch dis: 0.230265 translation dif:2.384206 +[22:31:36.764] Choose frame as a key frame Scene Depth mean:2.178252 ,depth min:-0.354922 +[22:31:36.764] frame process finished the id is: 1122 the obs is:24 +[22:31:36.828] Odometry x=0.909070, y=2.632770, theta=-2.474689 +[22:31:36.906] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.009204 ,z=0.003912,angle between two frames:0.000168 +[22:31:36.907] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.034495 error end=0.034494 +[22:31:36.907] After pose optimization, distance between ekf and vo x:0.009170 ,z=0.003883,angle between two frames:0.000149 +[22:31:36.907] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 +[22:31:36.907] need key frame pitch dis: 0.172062 translation dif:2.339831 +[22:31:36.907] Choose frame as a key frame Scene Depth mean:3.116081 ,depth min:-0.369156 +[22:31:36.907] frame process finished the id is: 1123 the obs is:21 +[22:31:36.935] Odometry x=0.917033, y=2.633426, theta=-2.500931 +[22:31:37.035] Odometry x=0.921859, y=2.625596, theta=-2.517377 +[22:31:37.038] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.005481 ,z=0.001971,angle between two frames:0.000090 +[22:31:37.038] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.003550 error end=0.003550 +[22:31:37.038] After pose optimization, distance between ekf and vo x:0.005386 ,z=0.002002,angle between two frames:0.000114 +[22:31:37.038] Update EKF and 3D points the number of feature in the new frame: 28 and number of obs: 28 +[22:31:37.038] need key frame pitch dis: 0.038392 translation dif:2.404924 +[22:31:37.038] Choose frame as a key frame Scene Depth mean:4.354028 ,depth min:-0.386426 +[22:31:37.038] frame process finished the id is: 1124 the obs is:28 +[22:31:37.137] Odometry x=0.928752, y=2.622265, theta=-2.554957 +[22:31:37.203] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.012354 ,z=0.002982,angle between two frames:0.000194 +[22:31:37.203] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 error init =0.000023 error end=0.000023 +[22:31:37.203] After pose optimization, distance between ekf and vo x:0.012354 ,z=0.002982,angle between two frames:0.000194 +[22:31:37.203] Update EKF and 3D points the number of feature in the new frame: 38 and number of obs: 38 +[22:31:37.203] need key frame pitch dis: 0.048611 translation dif:2.319996 +[22:31:37.203] Choose frame as a key frame Scene Depth mean:3.991657 ,depth min:-0.407865 +[22:31:37.203] frame process finished the id is: 1125 the obs is:38 +[22:31:37.230] Odometry x=0.939340, y=2.623221, theta=-2.578191 +[22:31:37.332] Odometry x=0.943476, y=2.614777, theta=-2.591636 +[22:31:37.344] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.008014 ,z=0.001651,angle between two frames:0.000063 +[22:31:37.344] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.079571 error end=0.079571 +[22:31:37.345] After pose optimization, distance between ekf and vo x:0.008014 ,z=0.001651,angle between two frames:0.000063 +[22:31:37.345] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13 +[22:31:37.345] need key frame pitch dis: 0.016736 translation dif:2.316582 +[22:31:37.345] Choose frame as a key frame Scene Depth mean:3.813267 ,depth min:1.210605 +[22:31:37.345] frame process finished the id is: 1126 the obs is:13 +[22:31:37.436] Odometry x=0.950245, y=2.610103, theta=-2.629964 +[22:31:37.513] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.013399 ,z=0.001171,angle between two frames:0.000132 +[22:31:37.513] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.099398 error end=0.094850 +[22:31:37.513] After pose optimization, distance between ekf and vo x:-0.056963 ,z=0.061229,angle between two frames:0.018543 +[22:31:37.513] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 +[22:31:37.513] need key frame pitch dis: 0.193427 translation dif:1.926388 +[22:31:37.513] Choose frame as a key frame Scene Depth mean:-2.019364 ,depth min:-30.494617 +[22:31:37.513] frame process finished the id is: 1127 the obs is:21 +[22:31:37.534] Odometry x=0.907516, y=2.654855, theta=-2.653501 +[22:31:37.638] Odometry x=0.912145, y=2.648397, theta=-2.670901 +[22:31:37.650] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.000485 ,z=0.000024,angle between two frames:0.000007 +[22:31:37.651] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.041639 error end=0.041639 +[22:31:37.651] After pose optimization, distance between ekf and vo x:0.000485 ,z=0.000024,angle between two frames:0.000007 +[22:31:37.651] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 +[22:31:37.651] need key frame pitch dis: 0.659573 translation dif:0.690424 +[22:31:37.651] Choose frame as a key frame Scene Depth mean:-4.107390 ,depth min:-26.924585 +[22:31:37.651] frame process finished the id is: 1128 the obs is:30 +[22:31:37.736] Odometry x=0.914481, y=2.642269, theta=-2.706447 +[22:31:37.765] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000074 ,z=0.000590,angle between two frames:0.000025 +[22:31:37.766] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.109108 error end=0.109085 +[22:31:37.766] After pose optimization, distance between ekf and vo x:0.000210 ,z=0.002364,angle between two frames:0.000033 +[22:31:37.766] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 +[22:31:37.766] need key frame pitch dis: 0.525072 translation dif:1.163394 +[22:31:37.766] Choose frame as a key frame Scene Depth mean:-5.442377 ,depth min:-26.910571 +[22:31:37.766] frame process finished the id is: 1129 the obs is:27 +[22:31:37.834] Odometry x=0.912500, y=2.646828, theta=-2.734373 +[22:31:37.884] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.000783 ,z=-0.000087,angle between two frames:0.000008 +[22:31:37.884] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.043109 error end=0.043109 +[22:31:37.884] After pose optimization, distance between ekf and vo x:0.000783 ,z=-0.000087,angle between two frames:0.000008 +[22:31:37.884] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11 +[22:31:37.884] need key frame pitch dis: 0.551430 translation dif:1.163736 +[22:31:37.884] Choose frame as a key frame Scene Depth mean:3.944292 ,depth min:0.480772 +[22:31:37.884] frame process finished the id is: 1130 the obs is:11 +[22:31:37.934] Odometry x=0.913515, y=2.643994, theta=-2.760731 +[22:31:38.033] Odometry x=0.916584, y=2.636379, theta=-2.779723 +[22:31:38.034] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.543464 ,z=0.636180,angle between two frames:5.683229 +[22:31:38.034] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =44 error init =0.043299 error end=0.043299 +[22:31:38.034] After pose optimization, distance between ekf and vo x:0.543464 ,z=0.636180,angle between two frames:5.683229 +[22:31:38.034] frame process finished the id is: 1130 the obs is:11 +[22:31:38.136] Odometry x=0.920215, y=2.630027, theta=-2.794712 +[22:31:38.182] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.944796 ,z=0.789303,angle between two frames:5.383207 +[22:31:38.182] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.000308 error end=0.000308 +[22:31:38.182] After pose optimization, distance between ekf and vo x:0.944741 ,z=0.788223,angle between two frames:5.383242 +[22:31:38.182] frame process finished the id is: 1130 the obs is:11 +[22:31:38.232] Odometry x=0.922998, y=2.622328, theta=-2.814224 +[22:31:38.336] Odometry x=0.925172, y=2.615399, theta=-2.830308 +[22:31:38.336] After Reprojection Map nMatches:67 ,distance between ekf and vo x:0.456948 ,z=0.530631,angle between two frames:5.783225 +[22:31:38.336] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =53 error init =0.059533 error end=0.059533 +[22:31:38.336] After pose optimization, distance between ekf and vo x:0.456948 ,z=0.530631,angle between two frames:5.783225 +[22:31:38.336] frame process finished the id is: 1130 the obs is:11 +[22:31:38.433] Odometry x=0.927229, y=2.607259, theta=-2.849623 +[22:31:38.477] After Reprojection Map nMatches:67 ,distance between ekf and vo x:0.712276 ,z=0.658429,angle between two frames:5.583185 +[22:31:38.478] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =52 error init =0.014034 error end=0.014034 +[22:31:38.478] After pose optimization, distance between ekf and vo x:0.712238 ,z=0.658450,angle between two frames:5.583186 +[22:31:38.478] frame process finished the id is: 1130 the obs is:11 +[22:31:38.537] Odometry x=0.929260, y=2.599812, theta=-2.868064 +[22:31:38.615] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.607624 ,z=0.574363,angle between two frames:5.683206 +[22:31:38.615] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.001997 error end=0.001997 +[22:31:38.615] After pose optimization, distance between ekf and vo x:0.607624 ,z=0.574363,angle between two frames:5.683206 +[22:31:38.615] frame process finished the id is: 1130 the obs is:11 +[22:31:38.637] Odometry x=0.931644, y=2.591778, theta=-2.883998 +[22:31:38.735] Odometry x=0.934091, y=2.584880, theta=-2.908751 +[22:31:38.748] After Reprojection Map nMatches:56 ,distance between ekf and vo x:0.491738 ,z=0.498014,angle between two frames:5.783198 +[22:31:38.749] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.029713 error end=0.029713 +[22:31:38.749] After pose optimization, distance between ekf and vo x:0.491708 ,z=0.498025,angle between two frames:5.783198 +[22:31:38.749] frame process finished the id is: 1130 the obs is:11 +[22:31:38.836] Odometry x=0.936602, y=2.577403, theta=-2.921546 +[22:31:38.887] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.899258 ,z=0.637540,angle between two frames:5.483219 +[22:31:38.887] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.230801 error end=0.230178 +[22:31:38.887] After pose optimization, distance between ekf and vo x:0.534707 ,z=0.711576,angle between two frames:5.467348 +[22:31:38.887] frame process finished the id is: 1130 the obs is:11 +[22:31:38.934] Odometry x=0.938190, y=2.570283, theta=-2.940393 +[22:31:39.023] After Reprojection Map nMatches:56 ,distance between ekf and vo x:0.398145 ,z=0.396880,angle between two frames:5.883207 +[22:31:39.023] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.101695 error end=0.101684 +[22:31:39.023] After pose optimization, distance between ekf and vo x:0.397869 ,z=0.396827,angle between two frames:5.883211 +[22:31:39.023] frame process finished the id is: 1130 the obs is:11 +[22:31:39.036] Odometry x=0.939996, y=2.562355, theta=-2.960801 +[22:31:39.137] Odometry x=0.941639, y=2.555189, theta=-2.982525 +[22:31:39.156] After Reprojection Map nMatches:55 ,distance between ekf and vo x:0.658497 ,z=0.515676,angle between two frames:5.683212 +[22:31:39.156] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =44 error init =0.013077 error end=0.013077 +[22:31:39.157] After pose optimization, distance between ekf and vo x:0.658497 ,z=0.515676,angle between two frames:5.683212 +[22:31:39.157] frame process finished the id is: 1130 the obs is:11 +[22:31:39.235] Odometry x=0.942596, y=2.547777, theta=-2.995298 +[22:31:39.296] After Reprojection Map nMatches:58 ,distance between ekf and vo x:0.675330 ,z=0.493016,angle between two frames:5.683199 +[22:31:39.296] n deleted obs = 28 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.040832 error end=0.040832 +[22:31:39.296] After pose optimization, distance between ekf and vo x:0.675330 ,z=0.493016,angle between two frames:5.683199 +[22:31:39.296] frame process finished the id is: 1130 the obs is:11 +[22:31:39.335] Odometry x=0.944449, y=2.540561, theta=-3.012575 +[22:31:39.434] After Reprojection Map nMatches:56 ,distance between ekf and vo x:0.684420 ,z=0.480729,angle between two frames:5.683213 +[22:31:39.434] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =46 error init =0.011495 error end=0.011495 +[22:31:39.434] After pose optimization, distance between ekf and vo x:0.684420 ,z=0.480729,angle between two frames:5.683213 +[22:31:39.434] frame process finished the id is: 1130 the obs is:11 +[22:31:39.437] Odometry x=0.945289, y=2.532455, theta=-3.029524 +[22:31:39.534] Odometry x=0.946830, y=2.524638, theta=-3.046584 +[22:31:39.568] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.828459 ,z=0.504339,angle between two frames:5.583185 +[22:31:39.569] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.004632 error end=0.004632 +[22:31:39.569] After pose optimization, distance between ekf and vo x:0.828459 ,z=0.504339,angle between two frames:5.583185 +[22:31:39.569] frame process finished the id is: 1130 the obs is:11 +[22:31:39.637] Odometry x=0.947619, y=2.516903, theta=-3.064808 +[22:31:39.694] After Reprojection Map nMatches:41 ,distance between ekf and vo x:0.573850 ,z=0.400965,angle between two frames:5.783213 +[22:31:39.694] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.026900 error end=0.024647 +[22:31:39.694] After pose optimization, distance between ekf and vo x:0.484824 ,z=0.365555,angle between two frames:5.818670 +[22:31:39.694] frame process finished the id is: 1130 the obs is:11 +[22:31:39.733] Odometry x=0.947740, y=2.509172, theta=-3.082127 +[22:31:39.832] After Reprojection Map nMatches:53 ,distance between ekf and vo x:0.854268 ,z=0.459490,angle between two frames:5.583198 +[22:31:39.832] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.275767 error end=0.275767 +[22:31:39.832] After pose optimization, distance between ekf and vo x:0.854268 ,z=0.459490,angle between two frames:5.583198 +[22:31:39.832] frame process finished the id is: 1130 the obs is:11 +[22:31:39.833] Odometry x=0.949378, y=2.501140, theta=-3.097728 +[22:31:39.933] Odometry x=0.949359, y=2.493051, theta=-3.120104 +[22:31:39.956] After Reprojection Map nMatches:41 ,distance between ekf and vo x:0.861546 ,z=0.446094,angle between two frames:5.583211 +[22:31:39.956] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.312707 error end=0.312707 +[22:31:39.956] After pose optimization, distance between ekf and vo x:0.861546 ,z=0.446094,angle between two frames:5.583211 +[22:31:39.956] frame process finished the id is: 1130 the obs is:11 +[22:31:40.037] Odometry x=0.949386, y=2.486045, theta=-3.134369 +[22:31:40.079] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.877115 ,z=0.414388,angle between two frames:5.583206 +[22:31:40.079] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.076203 error end=0.072770 +[22:31:40.079] After pose optimization, distance between ekf and vo x:0.855117 ,z=0.345813,angle between two frames:5.603806 +[22:31:40.079] frame process finished the id is: 1130 the obs is:11 +[22:31:40.134] Odometry x=0.949864, y=2.479024, theta=3.127202 +[22:31:40.218] After Reprojection Map nMatches:48 ,distance between ekf and vo x:1.029485 ,z=0.395535,angle between two frames:0.799956 +[22:31:40.218] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.002115 error end=0.002115 +[22:31:40.218] After pose optimization, distance between ekf and vo x:1.029485 ,z=0.395535,angle between two frames:0.799956 +[22:31:40.218] frame process finished the id is: 1130 the obs is:11 +[22:31:40.236] Odometry x=0.949240, y=2.471674, theta=3.113578 +[22:31:40.348] Odometry x=0.950334, y=2.462856, theta=3.090144 +[22:31:40.355] After Reprojection Map nMatches:46 ,distance between ekf and vo x:0.479249 ,z=0.294046,angle between two frames:0.399965 +[22:31:40.355] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.003343 error end=0.003343 +[22:31:40.355] After pose optimization, distance between ekf and vo x:0.479250 ,z=0.294046,angle between two frames:0.399964 +[22:31:40.355] frame process finished the id is: 1130 the obs is:11 +[22:31:40.432] Odometry x=0.949991, y=2.455354, theta=3.078841 +[22:31:40.469] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.763799 ,z=0.340486,angle between two frames:0.599979 +[22:31:40.469] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.017180 error end=0.017166 +[22:31:40.469] After pose optimization, distance between ekf and vo x:0.762396 ,z=0.338699,angle between two frames:0.599486 +[22:31:40.469] frame process finished the id is: 1130 the obs is:11 +[22:31:40.537] Odometry x=0.949834, y=2.447194, theta=3.054851 +[22:31:40.594] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.771971 ,z=0.321538,angle between two frames:0.599965 +[22:31:40.594] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.369529 error end=0.367080 +[22:31:40.594] After pose optimization, distance between ekf and vo x:0.750208 ,z=0.325252,angle between two frames:0.596102 +[22:31:40.594] frame process finished the id is: 1130 the obs is:11 +[22:31:40.708] After Reprojection Map nMatches:26 ,distance between ekf and vo x:2.167601 ,z=-0.466917,angle between two frames:1.799963 +[22:31:40.708] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.242118 error end=0.242118 +[22:31:40.709] After pose optimization, distance between ekf and vo x:2.167601 ,z=-0.466917,angle between two frames:1.799963 +[22:31:40.709] frame process finished the id is: 1130 the obs is:11 +[22:31:40.823] After Reprojection Map nMatches:35 ,distance between ekf and vo x:2.167603 ,z=-0.466940,angle between two frames:1.799968 +[22:31:40.823] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.009850 error end=0.009850 +[22:31:40.823] After pose optimization, distance between ekf and vo x:2.167603 ,z=-0.466940,angle between two frames:1.799968 +[22:31:40.823] frame process finished the id is: 1130 the obs is:11 +[22:31:40.927] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634770 ,z=0.294897,angle between two frames:0.499963 +[22:31:40.927] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.092644 error end=0.081570 +[22:31:40.927] After pose optimization, distance between ekf and vo x:0.602486 ,z=0.293918,angle between two frames:0.487163 +[22:31:40.927] frame process finished the id is: 1130 the obs is:11 +[22:31:41.033] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634773 ,z=0.294886,angle between two frames:0.499963 +[22:31:41.033] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.001477 error end=0.001477 +[22:31:41.033] After pose optimization, distance between ekf and vo x:0.634773 ,z=0.294886,angle between two frames:0.499963 +[22:31:41.033] frame process finished the id is: 1130 the obs is:11 +[22:31:41.138] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.774982 ,z=0.314056,angle between two frames:0.599963 +[22:31:41.139] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.003476 error end=0.003466 +[22:31:41.139] After pose optimization, distance between ekf and vo x:0.773464 ,z=0.314195,angle between two frames:0.599686 +[22:31:41.139] frame process finished the id is: 1130 the obs is:11 +[22:31:41.245] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.635041 ,z=0.294404,angle between two frames:0.499963 +[22:31:41.245] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.004958 error end=0.004958 +[22:31:41.245] After pose optimization, distance between ekf and vo x:0.635041 ,z=0.294404,angle between two frames:0.499963 +[22:31:41.245] frame process finished the id is: 1130 the obs is:11 +[22:31:41.349] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.634708 ,z=0.295010,angle between two frames:0.499963 +[22:31:41.349] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.036450 error end=0.035708 +[22:31:41.349] After pose optimization, distance between ekf and vo x:0.738660 ,z=0.301236,angle between two frames:0.519759 +[22:31:41.349] frame process finished the id is: 1130 the obs is:11 +[22:31:41.455] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:41.455] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =42 error init =0.000690 error end=0.000690 +[22:31:41.455] After pose optimization, distance between ekf and vo x:0.634698 ,z=0.295024,angle between two frames:0.499963 +[22:31:41.455] frame process finished the id is: 1130 the obs is:11 +[22:31:41.562] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634703 ,z=0.295022,angle between two frames:0.499963 +[22:31:41.562] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 error init =0.000381 error end=0.000381 +[22:31:41.562] After pose optimization, distance between ekf and vo x:0.634680 ,z=0.295018,angle between two frames:0.499961 +[22:31:41.562] frame process finished the id is: 1130 the obs is:11 +[22:31:41.668] After Reprojection Map nMatches:41 ,distance between ekf and vo x:0.634707 ,z=0.295011,angle between two frames:0.499963 +[22:31:41.669] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.063091 error end=0.060001 +[22:31:41.669] After pose optimization, distance between ekf and vo x:0.579296 ,z=0.246478,angle between two frames:0.494125 +[22:31:41.669] frame process finished the id is: 1130 the obs is:11 +[22:31:41.775] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 +[22:31:41.775] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.012572 error end=0.012550 +[22:31:41.775] After pose optimization, distance between ekf and vo x:0.632283 ,z=0.294202,angle between two frames:0.499414 +[22:31:41.775] frame process finished the id is: 1130 the obs is:11 +[22:31:41.881] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 +[22:31:41.881] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.283003 error end=0.283003 +[22:31:41.881] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 +[22:31:41.881] frame process finished the id is: 1130 the obs is:11 +[22:31:41.987] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 +[22:31:41.988] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =1.574750 error end=1.574750 +[22:31:41.988] After pose optimization, distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 +[22:31:41.988] frame process finished the id is: 1130 the obs is:11 +[22:31:42.093] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 +[22:31:42.094] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.126448 error end=0.125329 +[22:31:42.094] After pose optimization, distance between ekf and vo x:0.630280 ,z=0.292662,angle between two frames:0.498828 +[22:31:42.094] frame process finished the id is: 1130 the obs is:11 +[22:31:42.203] After Reprojection Map nMatches:39 ,distance between ekf and vo x:0.634706 ,z=0.295012,angle between two frames:0.499963 +[22:31:42.204] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.229315 error end=0.201345 +[22:31:42.204] After pose optimization, distance between ekf and vo x:0.524488 ,z=0.281938,angle between two frames:0.491762 +[22:31:42.204] frame process finished the id is: 1130 the obs is:11 +[22:31:42.310] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634704 ,z=0.295018,angle between two frames:0.499963 +[22:31:42.310] n deleted obs = 29 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.882823 error end=0.882823 +[22:31:42.311] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295018,angle between two frames:0.499963 +[22:31:42.311] frame process finished the id is: 1130 the obs is:11 +[22:31:42.418] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634706 ,z=0.295012,angle between two frames:0.499963 +[22:31:42.418] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.000757 error end=0.000757 +[22:31:42.418] After pose optimization, distance between ekf and vo x:0.634646 ,z=0.295003,angle between two frames:0.499958 +[22:31:42.418] frame process finished the id is: 1130 the obs is:11 +[22:31:42.524] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 +[22:31:42.524] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.753630 error end=0.356398 +[22:31:42.524] After pose optimization, distance between ekf and vo x:0.269467 ,z=0.042660,angle between two frames:0.399209 +[22:31:42.524] frame process finished the id is: 1130 the obs is:11 +[22:31:42.632] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:42.632] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =43 error init =0.003946 error end=0.003946 +[22:31:42.632] After pose optimization, distance between ekf and vo x:0.635376 ,z=0.295016,angle between two frames:0.500076 +[22:31:42.632] frame process finished the id is: 1130 the obs is:11 +[22:31:42.739] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.634701 ,z=0.295021,angle between two frames:0.499963 +[22:31:42.739] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.163266 error end=0.161193 +[22:31:42.739] After pose optimization, distance between ekf and vo x:0.627130 ,z=0.289582,angle between two frames:0.497479 +[22:31:42.739] frame process finished the id is: 1130 the obs is:11 +[22:31:42.845] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634707 ,z=0.295012,angle between two frames:0.499963 +[22:31:42.845] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.380922 error end=0.327877 +[22:31:42.845] After pose optimization, distance between ekf and vo x:0.559042 ,z=0.283176,angle between two frames:0.456551 +[22:31:42.845] frame process finished the id is: 1130 the obs is:11 +[22:31:42.953] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.634704 ,z=0.295018,angle between two frames:0.499963 +[22:31:42.953] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.079040 error end=0.079040 +[22:31:42.953] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295018,angle between two frames:0.499963 +[22:31:42.953] frame process finished the id is: 1130 the obs is:11 +[22:31:43.060] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 +[22:31:43.060] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.130370 error end=0.130370 +[22:31:43.060] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 +[22:31:43.060] frame process finished the id is: 1130 the obs is:11 +[22:31:43.166] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:43.166] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.000009 error end=0.000009 +[22:31:43.166] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:43.166] frame process finished the id is: 1130 the obs is:11 +[22:31:43.272] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.634705 ,z=0.295015,angle between two frames:0.499963 +[22:31:43.272] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.425220 error end=0.425220 +[22:31:43.272] After pose optimization, distance between ekf and vo x:0.634705 ,z=0.295015,angle between two frames:0.499963 +[22:31:43.272] frame process finished the id is: 1130 the obs is:11 +[22:31:43.378] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634706 ,z=0.295012,angle between two frames:0.499963 +[22:31:43.379] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.460994 error end=0.459152 +[22:31:43.379] After pose optimization, distance between ekf and vo x:0.618713 ,z=0.310681,angle between two frames:0.499460 +[22:31:43.379] frame process finished the id is: 1130 the obs is:11 +[22:31:43.485] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:43.486] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =42 error init =0.000234 error end=0.000234 +[22:31:43.486] After pose optimization, distance between ekf and vo x:0.634973 ,z=0.294992,angle between two frames:0.500009 +[22:31:43.486] frame process finished the id is: 1130 the obs is:11 +[22:31:43.592] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 +[22:31:43.592] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.000044 error end=0.000044 +[22:31:43.592] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 +[22:31:43.592] frame process finished the id is: 1130 the obs is:11 +[22:31:43.698] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:43.698] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.117425 error end=0.116153 +[22:31:43.698] After pose optimization, distance between ekf and vo x:0.633292 ,z=0.284052,angle between two frames:0.498348 +[22:31:43.698] frame process finished the id is: 1130 the obs is:11 +[22:31:43.804] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634705 ,z=0.295014,angle between two frames:0.499963 +[22:31:43.804] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.582735 error end=0.443299 +[22:31:43.804] After pose optimization, distance between ekf and vo x:0.417869 ,z=0.270509,angle between two frames:0.466497 +[22:31:43.804] frame process finished the id is: 1130 the obs is:11 +[22:31:43.911] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 +[22:31:43.912] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.035340 error end=0.035304 +[22:31:43.912] After pose optimization, distance between ekf and vo x:0.633264 ,z=0.294799,angle between two frames:0.499778 +[22:31:43.912] frame process finished the id is: 1130 the obs is:11 +[22:31:44.019] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 +[22:31:44.019] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.407228 error end=0.407228 +[22:31:44.019] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 +[22:31:44.019] frame process finished the id is: 1130 the obs is:11 +[22:31:44.125] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634705 ,z=0.295012,angle between two frames:0.499963 +[22:31:44.126] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.032745 error end=0.032740 +[22:31:44.126] After pose optimization, distance between ekf and vo x:0.634429 ,z=0.294741,angle between two frames:0.499866 +[22:31:44.126] frame process finished the id is: 1130 the obs is:11 +[22:31:44.232] After Reprojection Map nMatches:39 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 +[22:31:44.232] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.014466 error end=0.014466 +[22:31:44.232] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 +[22:31:44.232] frame process finished the id is: 1130 the obs is:11 +[22:31:44.338] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 +[22:31:44.338] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.129083 error end=0.125997 +[22:31:44.338] After pose optimization, distance between ekf and vo x:0.630397 ,z=0.293842,angle between two frames:0.499091 +[22:31:44.338] frame process finished the id is: 1130 the obs is:11 +[22:31:44.444] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634701 ,z=0.295020,angle between two frames:0.499963 +[22:31:44.444] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.032734 error end=0.032730 +[22:31:44.444] After pose optimization, distance between ekf and vo x:0.635556 ,z=0.295003,angle between two frames:0.500114 +[22:31:44.444] frame process finished the id is: 1130 the obs is:11 +[22:31:44.550] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 +[22:31:44.550] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.128700 error end=0.127711 +[22:31:44.550] After pose optimization, distance between ekf and vo x:0.627260 ,z=0.290986,angle between two frames:0.498055 +[22:31:44.550] frame process finished the id is: 1130 the obs is:11 +[22:31:44.656] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634706 ,z=0.295012,angle between two frames:0.499963 +[22:31:44.657] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.011525 error end=0.011524 +[22:31:44.657] After pose optimization, distance between ekf and vo x:0.634654 ,z=0.294970,angle between two frames:0.499947 +[22:31:44.657] frame process finished the id is: 1130 the obs is:11 +[22:31:44.763] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 +[22:31:44.763] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.070953 error end=0.066289 +[22:31:44.763] After pose optimization, distance between ekf and vo x:0.601269 ,z=0.287866,angle between two frames:0.485563 +[22:31:44.763] frame process finished the id is: 1130 the obs is:11 +[22:31:44.868] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 +[22:31:44.869] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.055165 error end=0.055054 +[22:31:44.869] After pose optimization, distance between ekf and vo x:0.631444 ,z=0.294510,angle between two frames:0.499657 +[22:31:44.869] frame process finished the id is: 1130 the obs is:11 +[22:31:44.974] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 +[22:31:44.975] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.189174 error end=0.189114 +[22:31:44.975] After pose optimization, distance between ekf and vo x:0.637199 ,z=0.290701,angle between two frames:0.499414 +[22:31:44.975] frame process finished the id is: 1130 the obs is:11 +[22:31:45.081] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.634705 ,z=0.295012,angle between two frames:0.499963 +[22:31:45.081] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.134818 error end=0.134333 +[22:31:45.081] After pose optimization, distance between ekf and vo x:0.631679 ,z=0.293395,angle between two frames:0.499714 +[22:31:45.081] frame process finished the id is: 1130 the obs is:11 +[22:31:45.187] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634705 ,z=0.295015,angle between two frames:0.499963 +[22:31:45.187] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.000074 error end=0.000074 +[22:31:45.187] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295015,angle between two frames:0.499963 +[22:31:45.187] frame process finished the id is: 1130 the obs is:11 +[22:31:45.293] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634700 ,z=0.295021,angle between two frames:0.499963 +[22:31:45.293] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.652044 error end=0.497021 +[22:31:45.293] After pose optimization, distance between ekf and vo x:0.429785 ,z=0.276928,angle between two frames:0.461234 +[22:31:45.293] frame process finished the id is: 1130 the obs is:11 +[22:31:45.399] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 +[22:31:45.399] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.003353 error end=0.003353 +[22:31:45.399] After pose optimization, distance between ekf and vo x:0.634681 ,z=0.295009,angle between two frames:0.499958 +[22:31:45.399] frame process finished the id is: 1130 the obs is:11 +[22:31:45.505] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 +[22:31:45.505] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.259879 error end=0.233592 +[22:31:45.505] After pose optimization, distance between ekf and vo x:0.515006 ,z=0.279155,angle between two frames:0.493897 +[22:31:45.505] frame process finished the id is: 1130 the obs is:11 +[22:31:45.611] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634704 ,z=0.295015,angle between two frames:0.499963 +[22:31:45.611] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.050427 error end=0.050427 +[22:31:45.611] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295015,angle between two frames:0.499963 +[22:31:45.611] frame process finished the id is: 1130 the obs is:11 +[22:31:45.718] After Reprojection Map nMatches:44 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 +[22:31:45.719] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.233715 error end=0.216100 +[22:31:45.719] After pose optimization, distance between ekf and vo x:0.543939 ,z=0.292941,angle between two frames:0.481785 +[22:31:45.719] frame process finished the id is: 1130 the obs is:11 +[22:31:45.824] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634705 ,z=0.295015,angle between two frames:0.499963 +[22:31:45.824] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.246933 error end=0.224738 +[22:31:45.825] After pose optimization, distance between ekf and vo x:0.561106 ,z=0.271742,angle between two frames:0.483401 +[22:31:45.825] frame process finished the id is: 1130 the obs is:11 +[22:31:45.930] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:45.930] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.039285 error end=0.039285 +[22:31:45.930] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:45.930] frame process finished the id is: 1130 the obs is:11 +[22:31:46.036] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634705 ,z=0.295012,angle between two frames:0.499963 +[22:31:46.036] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.000019 error end=0.000019 +[22:31:46.036] After pose optimization, distance between ekf and vo x:0.634705 ,z=0.295012,angle between two frames:0.499963 +[22:31:46.036] frame process finished the id is: 1130 the obs is:11 +[22:31:46.142] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634704 ,z=0.295014,angle between two frames:0.499963 +[22:31:46.142] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.017672 error end=0.017672 +[22:31:46.142] After pose optimization, distance between ekf and vo x:0.634704 ,z=0.295014,angle between two frames:0.499963 +[22:31:46.142] frame process finished the id is: 1130 the obs is:11 +[22:31:46.247] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634703 ,z=0.295018,angle between two frames:0.499963 +[22:31:46.247] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.003579 error end=0.003579 +[22:31:46.247] After pose optimization, distance between ekf and vo x:0.634829 ,z=0.295038,angle between two frames:0.499897 +[22:31:46.247] frame process finished the id is: 1130 the obs is:11 +[22:31:46.353] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634704 ,z=0.295018,angle between two frames:0.499963 +[22:31:46.353] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.867568 error end=0.380914 +[22:31:46.353] After pose optimization, distance between ekf and vo x:0.202375 ,z=-0.032683,angle between two frames:0.371708 +[22:31:46.353] frame process finished the id is: 1130 the obs is:11 +[22:31:46.458] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634705 ,z=0.295012,angle between two frames:0.499963 +[22:31:46.458] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.070033 error end=0.070033 +[22:31:46.458] After pose optimization, distance between ekf and vo x:0.634705 ,z=0.295012,angle between two frames:0.499963 +[22:31:46.458] frame process finished the id is: 1130 the obs is:11 +[22:31:46.564] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 +[22:31:46.564] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.238647 error end=0.238300 +[22:31:46.564] After pose optimization, distance between ekf and vo x:0.632975 ,z=0.294108,angle between two frames:0.499500 +[22:31:46.564] frame process finished the id is: 1130 the obs is:11 +[22:31:46.670] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.634705 ,z=0.295011,angle between two frames:0.499963 +[22:31:46.671] n deleted obs = 29 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.621872 error end=0.532938 +[22:31:46.671] After pose optimization, distance between ekf and vo x:0.508590 ,z=0.256264,angle between two frames:0.490608 +[22:31:46.671] frame process finished the id is: 1130 the obs is:11 +[22:31:46.776] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:46.777] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.297205 error end=0.297205 +[22:31:46.777] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:46.777] frame process finished the id is: 1130 the obs is:11 +[22:31:46.882] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:46.882] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.000233 error end=0.000233 +[22:31:46.882] After pose optimization, distance between ekf and vo x:0.634701 ,z=0.295018,angle between two frames:0.499963 +[22:31:46.882] frame process finished the id is: 1130 the obs is:11 +[22:31:46.988] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 +[22:31:46.988] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =1.384560 error end=1.185316 +[22:31:46.988] After pose optimization, distance between ekf and vo x:0.587404 ,z=0.291789,angle between two frames:0.492477 +[22:31:46.988] frame process finished the id is: 1130 the obs is:11 +[22:31:47.094] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.634702 ,z=0.295020,angle between two frames:0.499963 +[22:31:47.094] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.657782 error end=0.393631 +[22:31:47.094] After pose optimization, distance between ekf and vo x:0.413715 ,z=0.206001,angle between two frames:0.422464 +[22:31:47.094] frame process finished the id is: 1130 the obs is:11 +[22:31:47.200] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.634708 ,z=0.295009,angle between two frames:0.499963 +[22:31:47.201] n deleted obs = 28 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.356199 error end=0.355301 +[22:31:47.201] After pose optimization, distance between ekf and vo x:0.623924 ,z=0.291871,angle between two frames:0.497739 +[22:31:47.201] frame process finished the id is: 1130 the obs is:11 +[22:31:47.307] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.634708 ,z=0.295010,angle between two frames:0.499963 +[22:31:47.307] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.004386 error end=0.004386 +[22:31:47.307] After pose optimization, distance between ekf and vo x:0.634689 ,z=0.295033,angle between two frames:0.499963 +[22:31:47.307] frame process finished the id is: 1130 the obs is:11 +[22:31:47.412] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 +[22:31:47.412] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.124497 error end=0.123758 +[22:31:47.412] After pose optimization, distance between ekf and vo x:0.592290 ,z=0.276716,angle between two frames:0.500514 +[22:31:47.412] frame process finished the id is: 1130 the obs is:11 +[22:31:47.518] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.634704 ,z=0.295018,angle between two frames:0.499963 +[22:31:47.518] n deleted obs = 40 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =1.107929 error end=1.087799 +[22:31:47.518] After pose optimization, distance between ekf and vo x:0.621113 ,z=0.296425,angle between two frames:0.495899 +[22:31:47.518] frame process finished the id is: 1130 the obs is:11 +[22:31:47.623] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634702 ,z=0.295018,angle between two frames:0.499963 +[22:31:47.623] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.044010 error end=0.044010 +[22:31:47.623] After pose optimization, distance between ekf and vo x:0.634702 ,z=0.295018,angle between two frames:0.499963 +[22:31:47.623] frame process finished the id is: 1130 the obs is:11 +[22:31:47.731] After Reprojection Map nMatches:39 ,distance between ekf and vo x:0.634701 ,z=0.295019,angle between two frames:0.499963 +[22:31:47.731] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.030571 error end=0.030567 +[22:31:47.731] After pose optimization, distance between ekf and vo x:0.634486 ,z=0.294920,angle between two frames:0.499911 +[22:31:47.731] frame process finished the id is: 1130 the obs is:11 +[22:31:47.836] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634699 ,z=0.295026,angle between two frames:0.499963 +[22:31:47.836] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.380056 error end=0.177152 +[22:31:47.836] After pose optimization, distance between ekf and vo x:0.368617 ,z=0.097582,angle between two frames:0.416976 +[22:31:47.836] frame process finished the id is: 1130 the obs is:11 +[22:31:47.942] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634704 ,z=0.295015,angle between two frames:0.499963 +[22:31:47.942] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.000035 error end=0.000035 +[22:31:47.942] After pose optimization, distance between ekf and vo x:0.634698 ,z=0.295015,angle between two frames:0.499962 +[22:31:47.942] frame process finished the id is: 1130 the obs is:11 +[22:31:48.050] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:48.050] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.092785 error end=0.092742 +[22:31:48.050] After pose optimization, distance between ekf and vo x:0.633866 ,z=0.294691,angle between two frames:0.499779 +[22:31:48.050] frame process finished the id is: 1130 the obs is:11 +[22:31:48.157] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.634706 ,z=0.295011,angle between two frames:0.499963 +[22:31:48.157] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.001254 error end=0.001253 +[22:31:48.157] After pose optimization, distance between ekf and vo x:0.634464 ,z=0.294988,angle between two frames:0.499922 +[22:31:48.157] frame process finished the id is: 1130 the obs is:11 +[22:31:48.265] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:48.265] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.526224 error end=0.526224 +[22:31:48.265] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:48.265] frame process finished the id is: 1130 the obs is:11 +[22:31:48.369] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 +[22:31:48.369] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.079752 error end=0.077417 +[22:31:48.369] After pose optimization, distance between ekf and vo x:0.613215 ,z=0.297939,angle between two frames:0.492960 +[22:31:48.369] frame process finished the id is: 1130 the obs is:11 +[22:31:48.425] After Reprojection Map nMatches:41 ,distance between ekf and vo x:0.634704 ,z=0.295017,angle between two frames:0.499963 +[22:31:48.425] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.203983 error end=0.187840 +[22:31:48.425] After pose optimization, distance between ekf and vo x:0.553060 ,z=0.287136,angle between two frames:0.484257 +[22:31:48.425] frame process finished the id is: 1130 the obs is:11 +[22:31:48.481] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.634701 ,z=0.295019,angle between two frames:0.499963 +[22:31:48.481] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.559123 error end=0.559123 +[22:31:48.481] After pose optimization, distance between ekf and vo x:0.634701 ,z=0.295019,angle between two frames:0.499963 +[22:31:48.481] frame process finished the id is: 1130 the obs is:11 +[22:31:48.582] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634702 ,z=0.295018,angle between two frames:0.499963 +[22:31:48.582] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.000953 error end=0.000953 +[22:31:48.582] After pose optimization, distance between ekf and vo x:0.634702 ,z=0.295018,angle between two frames:0.499963 +[22:31:48.582] frame process finished the id is: 1130 the obs is:11 +[22:31:48.681] After Reprojection Map nMatches:46 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:48.681] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.187921 error end=0.182924 +[22:31:48.681] After pose optimization, distance between ekf and vo x:0.607667 ,z=0.292009,angle between two frames:0.496558 +[22:31:48.681] frame process finished the id is: 1130 the obs is:11 +[22:31:48.781] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 +[22:31:48.781] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.008722 error end=0.008722 +[22:31:48.781] After pose optimization, distance between ekf and vo x:0.634702 ,z=0.295019,angle between two frames:0.499963 +[22:31:48.781] frame process finished the id is: 1130 the obs is:11 +[22:31:48.799] Odometry x=0.950490, y=2.439466, theta=3.044905 +[22:31:48.890] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:48.890] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.028460 error end=0.028460 +[22:31:48.890] After pose optimization, distance between ekf and vo x:0.634703 ,z=0.295019,angle between two frames:0.499963 +[22:31:48.890] frame process finished the id is: 1130 the obs is:11 +[22:31:48.898] Odometry x=0.949764, y=2.431742, theta=3.035342 +[22:31:48.984] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.637690 ,z=0.288502,angle between two frames:0.499956 +[22:31:48.984] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.364451 error end=0.364451 +[22:31:48.984] After pose optimization, distance between ekf and vo x:0.637690 ,z=0.288502,angle between two frames:0.499956 +[22:31:48.984] frame process finished the id is: 1130 the obs is:11 +[22:31:49.003] Odometry x=0.948178, y=2.424173, theta=3.034842 +[22:31:49.084] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.636820 ,z=0.290379,angle between two frames:0.499978 +[22:31:49.084] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.000272 error end=0.000272 +[22:31:49.084] After pose optimization, distance between ekf and vo x:0.636820 ,z=0.290379,angle between two frames:0.499978 +[22:31:49.084] frame process finished the id is: 1130 the obs is:11 +[22:31:49.100] Odometry x=0.947144, y=2.416247, theta=3.037172 +[22:31:49.180] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.638841 ,z=0.285938,angle between two frames:0.499964 +[22:31:49.180] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.165505 error end=0.165452 +[22:31:49.180] After pose optimization, distance between ekf and vo x:0.704533 ,z=0.277733,angle between two frames:0.510461 +[22:31:49.180] frame process finished the id is: 1130 the obs is:11 +[22:31:49.199] Odometry x=0.945717, y=2.409544, theta=3.031597 +[22:31:49.299] Odometry x=0.945267, y=2.403460, theta=3.038538 +[22:31:49.308] After Reprojection Map nMatches:39 ,distance between ekf and vo x:0.636458 ,z=0.291187,angle between two frames:0.499978 +[22:31:49.308] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.145030 error end=0.145016 +[22:31:49.308] After pose optimization, distance between ekf and vo x:0.636533 ,z=0.290854,angle between two frames:0.499938 +[22:31:49.308] frame process finished the id is: 1130 the obs is:11 +[22:31:49.385] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.636579 ,z=0.290929,angle between two frames:0.499978 +[22:31:49.385] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.000341 error end=0.000341 +[22:31:49.385] After pose optimization, distance between ekf and vo x:0.636490 ,z=0.290951,angle between two frames:0.499970 +[22:31:49.385] frame process finished the id is: 1130 the obs is:11 +[22:31:49.397] Odometry x=0.944493, y=2.395881, theta=3.038151 +[22:31:49.488] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.637760 ,z=0.288397,angle between two frames:0.499957 +[22:31:49.488] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.340559 error end=0.289096 +[22:31:49.488] After pose optimization, distance between ekf and vo x:0.501195 ,z=0.276680,angle between two frames:0.479423 +[22:31:49.488] frame process finished the id is: 1130 the obs is:11 +[22:31:49.502] Odometry x=0.943372, y=2.387910, theta=3.035693 +[22:31:49.590] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.364250 ,z=0.214288,angle between two frames:0.299971 +[22:31:49.590] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.003031 error end=0.002973 +[22:31:49.590] After pose optimization, distance between ekf and vo x:0.360389 ,z=0.210965,angle between two frames:0.298795 +[22:31:49.590] frame process finished the id is: 1130 the obs is:11 +[22:31:49.606] Odometry x=0.941986, y=2.381812, theta=3.042871 +[22:31:49.681] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.365101 ,z=0.212777,angle between two frames:0.299971 +[22:31:49.681] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.268674 error end=0.268674 +[22:31:49.681] After pose optimization, distance between ekf and vo x:0.365101 ,z=0.212777,angle between two frames:0.299971 +[22:31:49.681] frame process finished the id is: 1130 the obs is:11 +[22:31:49.702] Odometry x=0.942052, y=2.373812, theta=3.039952 +[22:31:49.792] After Reprojection Map nMatches:44 ,distance between ekf and vo x:0.365033 ,z=0.212902,angle between two frames:0.299971 +[22:31:49.792] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.118256 error end=0.118256 +[22:31:49.792] After pose optimization, distance between ekf and vo x:0.365033 ,z=0.212902,angle between two frames:0.299971 +[22:31:49.792] frame process finished the id is: 1130 the obs is:11 +[22:31:49.806] Odometry x=0.941079, y=2.367005, theta=3.043780 +[22:31:49.879] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.364441 ,z=0.213900,angle between two frames:0.299964 +[22:31:49.879] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.056569 error end=0.056569 +[22:31:49.879] After pose optimization, distance between ekf and vo x:0.364441 ,z=0.213900,angle between two frames:0.299964 +[22:31:49.879] frame process finished the id is: 1130 the obs is:11 +[22:31:49.900] Odometry x=0.940980, y=2.359012, theta=3.037029 +[22:31:49.983] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.364146 ,z=0.214451,angle between two frames:0.299971 +[22:31:49.983] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.579742 error end=0.579742 +[22:31:49.983] After pose optimization, distance between ekf and vo x:0.364146 ,z=0.214451,angle between two frames:0.299971 +[22:31:49.983] frame process finished the id is: 1130 the obs is:11 +[22:31:50.002] Odometry x=0.940828, y=2.351362, theta=3.043855 +[22:31:50.082] After Reprojection Map nMatches:39 ,distance between ekf and vo x:0.634434 ,z=0.295637,angle between two frames:0.499963 +[22:31:50.082] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.874806 error end=0.188219 +[22:31:50.083] After pose optimization, distance between ekf and vo x:1.751604 ,z=0.460265,angle between two frames:0.734870 +[22:31:50.083] frame process finished the id is: 1130 the obs is:11 +[22:31:50.095] Odometry x=0.940183, y=2.343529, theta=3.046208 +[22:31:50.175] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.634425 ,z=0.295654,angle between two frames:0.499963 +[22:31:50.175] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.009682 error end=0.009412 +[22:31:50.175] After pose optimization, distance between ekf and vo x:0.622178 ,z=0.294462,angle between two frames:0.499021 +[22:31:50.175] frame process finished the id is: 1130 the obs is:11 +[22:31:50.200] Odometry x=0.938164, y=2.334636, theta=3.041953 +[22:31:50.289] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.772701 ,z=0.319199,angle between two frames:0.599984 +[22:31:50.289] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.075246 error end=0.075246 +[22:31:50.289] After pose optimization, distance between ekf and vo x:0.772701 ,z=0.319199,angle between two frames:0.599984 +[22:31:50.289] frame process finished the id is: 1130 the obs is:11 +[22:31:50.299] Odometry x=0.938265, y=2.327472, theta=3.049608 +[22:31:50.375] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.775100 ,z=0.313618,angle between two frames:0.599971 +[22:31:50.375] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.808794 error end=0.808794 +[22:31:50.375] After pose optimization, distance between ekf and vo x:0.775100 ,z=0.313618,angle between two frames:0.599971 +[22:31:50.375] frame process finished the id is: 1130 the obs is:11 +[22:31:50.395] Odometry x=0.937388, y=2.319540, theta=3.043822 +[22:31:50.496] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.365059 ,z=0.212869,angle between two frames:0.299978 +[22:31:50.496] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.018542 error end=0.018542 +[22:31:50.496] After pose optimization, distance between ekf and vo x:0.365059 ,z=0.212869,angle between two frames:0.299978 +[22:31:50.496] frame process finished the id is: 1130 the obs is:11 +[22:31:50.497] Odometry x=0.937103, y=2.311793, theta=3.039527 +[22:31:50.580] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.775165 ,z=0.313294,angle between two frames:0.599971 +[22:31:50.580] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.056826 error end=0.056826 +[22:31:50.580] After pose optimization, distance between ekf and vo x:0.775165 ,z=0.313294,angle between two frames:0.599971 +[22:31:50.580] frame process finished the id is: 1130 the obs is:11 +[22:31:50.600] Odometry x=0.936327, y=2.304496, theta=3.042559 +[22:31:50.685] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.775167 ,z=0.313399,angle between two frames:0.599971 +[22:31:50.685] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.041339 error end=0.041339 +[22:31:50.685] After pose optimization, distance between ekf and vo x:0.775167 ,z=0.313399,angle between two frames:0.599971 +[22:31:50.685] frame process finished the id is: 1130 the obs is:11 +[22:31:50.698] Odometry x=0.935144, y=2.297209, theta=3.043131 +[22:31:50.783] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.496281 ,z=0.263615,angle between two frames:0.399964 +[22:31:50.783] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.001558 error end=0.001557 +[22:31:50.783] After pose optimization, distance between ekf and vo x:0.496225 ,z=0.263484,angle between two frames:0.399973 +[22:31:50.783] frame process finished the id is: 1130 the obs is:11 +[22:31:50.801] Odometry x=0.933862, y=2.289519, theta=3.048548 +[22:31:50.885] After Reprojection Map nMatches:41 ,distance between ekf and vo x:0.498934 ,z=0.258551,angle between two frames:0.399978 +[22:31:50.886] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.009395 error end=0.009354 +[22:31:50.886] After pose optimization, distance between ekf and vo x:0.499488 ,z=0.259016,angle between two frames:0.400137 +[22:31:50.886] frame process finished the id is: 1130 the obs is:11 +[22:31:50.900] Odometry x=0.932818, y=2.281572, theta=3.038671 +[22:31:50.991] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.637889 ,z=0.288113,angle between two frames:0.499957 +[22:31:50.991] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.234562 error end=0.234562 +[22:31:50.991] After pose optimization, distance between ekf and vo x:0.637889 ,z=0.288113,angle between two frames:0.499957 +[22:31:50.991] frame process finished the id is: 1130 the obs is:11 +[22:31:50.995] Odometry x=0.931592, y=2.274203, theta=3.034844 +[22:31:51.094] After Reprojection Map nMatches:38 ,distance between ekf and vo x:0.498575 ,z=0.259246,angle between two frames:0.399978 +[22:31:51.094] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.020422 error end=0.019856 +[22:31:51.094] After pose optimization, distance between ekf and vo x:0.499024 ,z=0.262561,angle between two frames:0.400973 +[22:31:51.094] frame process finished the id is: 1130 the obs is:11 +[22:31:51.100] Odometry x=0.931327, y=2.265441, theta=3.039831 +[22:31:51.188] After Reprojection Map nMatches:44 ,distance between ekf and vo x:0.498595 ,z=0.259235,angle between two frames:0.399978 +[22:31:51.188] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =44 error init =0.000037 error end=0.000037 +[22:31:51.188] After pose optimization, distance between ekf and vo x:0.498604 ,z=0.259260,angle between two frames:0.399975 +[22:31:51.188] frame process finished the id is: 1130 the obs is:11 +[22:31:51.199] Odometry x=0.931898, y=2.256688, theta=3.040196 +[22:31:51.287] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.499912 ,z=0.256665,angle between two frames:0.399957 +[22:31:51.288] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.498451 error end=0.383976 +[22:31:51.288] After pose optimization, distance between ekf and vo x:0.235159 ,z=-0.051007,angle between two frames:0.303641 +[22:31:51.288] frame process finished the id is: 1130 the obs is:11 +[22:31:51.302] Odometry x=0.931748, y=2.249679, theta=3.036498 +[22:31:51.388] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.777950 ,z=0.306685,angle between two frames:0.599961 +[22:31:51.388] n deleted obs = 27 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.438555 error end=0.438555 +[22:31:51.388] After pose optimization, distance between ekf and vo x:0.777950 ,z=0.306685,angle between two frames:0.599961 +[22:31:51.388] frame process finished the id is: 1130 the obs is:11 +[22:31:51.396] Odometry x=0.930770, y=2.241535, theta=3.035791 +[22:31:51.487] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.777057 ,z=0.308784,angle between two frames:0.599964 +[22:31:51.487] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.000133 error end=0.000133 +[22:31:51.487] After pose optimization, distance between ekf and vo x:0.777041 ,z=0.308785,angle between two frames:0.599963 +[22:31:51.487] frame process finished the id is: 1130 the obs is:11 +[22:31:51.493] Odometry x=0.929291, y=2.233430, theta=3.037747 +[22:31:51.594] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.634019 ,z=0.296517,angle between two frames:0.499971 +[22:31:51.594] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =41 error init =0.000418 error end=0.000418 +[22:31:51.594] After pose optimization, distance between ekf and vo x:0.634019 ,z=0.296517,angle between two frames:0.499971 +[22:31:51.594] frame process finished the id is: 1130 the obs is:11 +[22:31:51.598] Odometry x=0.927934, y=2.224541, theta=3.047458 +[22:31:51.707] Odometry x=0.927271, y=2.215531, theta=3.053863 +[22:31:51.712] After Reprojection Map nMatches:46 ,distance between ekf and vo x:0.633958 ,z=0.296629,angle between two frames:0.499970 +[22:31:51.712] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.098876 error end=0.098622 +[22:31:51.712] After pose optimization, distance between ekf and vo x:0.628373 ,z=0.300592,angle between two frames:0.499039 +[22:31:51.712] frame process finished the id is: 1130 the obs is:11 +[22:31:51.795] Odometry x=0.926288, y=2.207289, theta=3.048256 +[22:31:51.800] After Reprojection Map nMatches:43 ,distance between ekf and vo x:0.496575 ,z=0.263070,angle between two frames:0.399970 +[22:31:51.801] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.019810 error end=0.019808 +[22:31:51.801] After pose optimization, distance between ekf and vo x:0.495954 ,z=0.263131,angle between two frames:0.400000 +[22:31:51.801] frame process finished the id is: 1130 the obs is:11 +[22:31:51.902] Odometry x=0.926288, y=2.207289, theta=3.048256 +[22:31:51.926] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.496549 ,z=0.263115,angle between two frames:0.399970 +[22:31:51.926] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.315116 error end=0.040319 +[22:31:51.926] After pose optimization, distance between ekf and vo x:0.987725 ,z=2.534606,angle between two frames:0.355368 +[22:31:51.926] frame process finished the id is: 1130 the obs is:11 +[22:31:51.993] Odometry x=0.926288, y=2.207289, theta=3.048256 +[22:31:52.037] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.497121 ,z=0.262064,angle between two frames:0.399963 +[22:31:52.037] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.168629 error end=0.168607 +[22:31:52.037] After pose optimization, distance between ekf and vo x:0.507823 ,z=0.255849,angle between two frames:0.400796 +[22:31:52.037] frame process finished the id is: 1130 the obs is:11 +[22:31:52.100] Odometry x=0.923842, y=2.194575, theta=3.043839 +[22:31:52.147] After Reprojection Map nMatches:40 ,distance between ekf and vo x:0.636290 ,z=0.291755,angle between two frames:0.499962 +[22:31:52.147] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.110944 error end=0.108861 +[22:31:52.147] After pose optimization, distance between ekf and vo x:0.628858 ,z=0.788560,angle between two frames:0.456675 +[22:31:52.147] frame process finished the id is: 1130 the obs is:11 +[22:31:52.194] Odometry x=0.923842, y=2.194575, theta=3.043839 +[22:31:52.252] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.497425 ,z=0.261421,angle between two frames:0.399978 +[22:31:52.252] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.136227 error end=0.136227 +[22:31:52.252] After pose optimization, distance between ekf and vo x:0.497425 ,z=0.261421,angle between two frames:0.399978 +[22:31:52.252] frame process finished the id is: 1130 the obs is:11 +[22:31:52.295] Odometry x=0.923842, y=2.194575, theta=3.043839 +[22:31:52.361] After Reprojection Map nMatches:53 ,distance between ekf and vo x:0.634837 ,z=0.294665,angle between two frames:0.499977 +[22:31:52.361] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.028601 error end=0.028601 +[22:31:52.361] After pose optimization, distance between ekf and vo x:0.634837 ,z=0.294665,angle between two frames:0.499977 +[22:31:52.361] frame process finished the id is: 1130 the obs is:11 +[22:31:52.397] Odometry x=0.923842, y=2.194575, theta=3.043839 +[22:31:52.464] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.497421 ,z=0.261431,angle between two frames:0.399978 +[22:31:52.464] n deleted obs = 22 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.200594 error end=0.199949 +[22:31:52.464] After pose optimization, distance between ekf and vo x:0.492693 ,z=0.263171,angle between two frames:0.400044 +[22:31:52.464] frame process finished the id is: 1130 the obs is:11 +[22:31:52.501] Odometry x=0.929540, y=2.183627, theta=3.044414 +[22:31:52.571] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.496959 ,z=0.262367,angle between two frames:0.399971 +[22:31:52.572] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.003189 error end=0.003159 +[22:31:52.572] After pose optimization, distance between ekf and vo x:0.494608 ,z=0.259804,angle between two frames:0.399146 +[22:31:52.572] frame process finished the id is: 1130 the obs is:11 +[22:31:52.594] Odometry x=0.928593, y=2.176514, theta=3.048392 +[22:31:52.678] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.496309 ,z=0.263589,angle between two frames:0.399968 +[22:31:52.678] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =1.076299 error end=0.528261 +[22:31:52.678] After pose optimization, distance between ekf and vo x:2.893077 ,z=3.229070,angle between two frames:0.211940 +[22:31:52.678] frame process finished the id is: 1130 the obs is:11 +[22:31:52.704] Odometry x=0.928105, y=2.168974, theta=3.042479 +[22:31:52.788] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.497839 ,z=0.260672,angle between two frames:0.399983 +[22:31:52.788] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.032539 error end=0.032539 +[22:31:52.788] After pose optimization, distance between ekf and vo x:0.497839 ,z=0.260672,angle between two frames:0.399983 +[22:31:52.788] frame process finished the id is: 1130 the obs is:11 +[22:31:52.798] Odometry x=0.927182, y=2.161341, theta=3.040031 +[22:31:52.899] Odometry x=0.926933, y=2.153568, theta=3.038923 +[22:31:52.904] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.776202 ,z=0.310849,angle between two frames:0.599956 +[22:31:52.904] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.002215 error end=0.002203 +[22:31:52.905] After pose optimization, distance between ekf and vo x:0.780946 ,z=0.309969,angle between two frames:0.602844 +[22:31:52.905] frame process finished the id is: 1130 the obs is:11 +[22:31:52.996] Odometry x=0.926335, y=2.145806, theta=3.037350 +[22:31:53.021] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.776633 ,z=0.309818,angle between two frames:0.599956 +[22:31:53.022] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.534038 error end=0.534038 +[22:31:53.022] After pose optimization, distance between ekf and vo x:0.776633 ,z=0.309818,angle between two frames:0.599956 +[22:31:53.022] frame process finished the id is: 1130 the obs is:11 +[22:31:53.094] Odometry x=0.925390, y=2.138126, theta=3.036154 +[22:31:53.137] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.777423 ,z=0.307778,angle between two frames:0.599951 +[22:31:53.138] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 error init =0.023408 error end=0.023201 +[22:31:53.138] After pose optimization, distance between ekf and vo x:0.770128 ,z=0.308593,angle between two frames:0.599170 +[22:31:53.138] frame process finished the id is: 1130 the obs is:11 +[22:31:53.197] Odometry x=0.924433, y=2.130347, theta=3.038839 +[22:31:53.254] After Reprojection Map nMatches:39 ,distance between ekf and vo x:0.498786 ,z=0.258818,angle between two frames:0.399957 +[22:31:53.254] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.000203 error end=0.000203 +[22:31:53.254] After pose optimization, distance between ekf and vo x:0.498786 ,z=0.258818,angle between two frames:0.399957 +[22:31:53.254] frame process finished the id is: 1130 the obs is:11 +[22:31:53.294] Odometry x=0.923684, y=2.122681, theta=3.040406 +[22:31:53.371] After Reprojection Map nMatches:37 ,distance between ekf and vo x:0.498514 ,z=0.259352,angle between two frames:0.399957 +[22:31:53.371] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.000056 error end=0.000056 +[22:31:53.371] After pose optimization, distance between ekf and vo x:0.498514 ,z=0.259352,angle between two frames:0.399957 +[22:31:53.371] frame process finished the id is: 1130 the obs is:11 +[22:31:53.398] Odometry x=0.922758, y=2.114786, theta=3.040166 +[22:31:53.487] After Reprojection Map nMatches:49 ,distance between ekf and vo x:0.498695 ,z=0.259010,angle between two frames:0.399950 +[22:31:53.487] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =37 error init =0.648671 error end=0.648671 +[22:31:53.487] After pose optimization, distance between ekf and vo x:0.498695 ,z=0.259010,angle between two frames:0.399950 +[22:31:53.487] frame process finished the id is: 1130 the obs is:11 +[22:31:53.494] Odometry x=0.922035, y=2.106689, theta=3.039822 +[22:31:53.598] After Reprojection Map nMatches:47 ,distance between ekf and vo x:0.499069 ,z=0.258254,angle between two frames:0.399949 +[22:31:53.598] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.184312 error end=0.184110 +[22:31:53.598] After pose optimization, distance between ekf and vo x:0.496901 ,z=0.260257,angle between two frames:0.399974 +[22:31:53.598] frame process finished the id is: 1130 the obs is:11 +[22:31:53.598] Odometry x=0.921154, y=2.098467, theta=3.041725 +[22:31:53.692] Odometry x=0.919943, y=2.090249, theta=3.049169 +[22:31:53.709] After Reprojection Map nMatches:42 ,distance between ekf and vo x:0.775388 ,z=0.312703,angle between two frames:0.599963 +[22:31:53.709] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.230325 error end=0.230325 +[22:31:53.709] After pose optimization, distance between ekf and vo x:0.775388 ,z=0.312703,angle between two frames:0.599963 +[22:31:53.709] frame process finished the id is: 1130 the obs is:11 +[22:31:53.796] Odometry x=0.919250, y=2.082416, theta=3.045972 +[22:31:53.825] After Reprojection Map nMatches:48 ,distance between ekf and vo x:0.497826 ,z=0.260733,angle between two frames:0.399949 +[22:31:53.825] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.052827 error end=0.052135 +[22:31:53.825] After pose optimization, distance between ekf and vo x:0.501650 ,z=0.260462,angle between two frames:0.391460 +[22:31:53.825] frame process finished the id is: 1130 the obs is:11 +[22:31:53.898] Odometry x=0.918622, y=2.073879, theta=3.044702 +[22:31:53.928] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.496787 ,z=0.262610,angle between two frames:0.399991 +[22:31:53.928] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.057618 error end=0.057618 +[22:31:53.928] After pose optimization, distance between ekf and vo x:0.496787 ,z=0.262610,angle between two frames:0.399991 +[22:31:53.928] frame process finished the id is: 1130 the obs is:11 +[22:31:53.994] Odometry x=0.917825, y=2.066540, theta=3.047447 +[22:31:54.045] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.774473 ,z=0.315507,angle between two frames:0.599956 +[22:31:54.045] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.124587 error end=0.120975 +[22:31:54.045] After pose optimization, distance between ekf and vo x:0.743499 ,z=0.308059,angle between two frames:0.591218 +[22:31:54.045] frame process finished the id is: 1130 the obs is:11 +[22:31:54.098] Odometry x=0.917283, y=2.058734, theta=3.044732 +[22:31:54.167] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.774822 ,z=0.314351,angle between two frames:0.599957 +[22:31:54.168] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.219028 error end=0.218493 +[22:31:54.168] After pose optimization, distance between ekf and vo x:0.798489 ,z=0.329127,angle between two frames:0.592992 +[22:31:54.168] frame process finished the id is: 1130 the obs is:11 +[22:31:54.194] Odometry x=0.915941, y=2.050804, theta=3.047699 +[22:31:54.283] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.774068 ,z=0.316310,angle between two frames:0.599949 +[22:31:54.284] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.868858 error end=0.502621 +[22:31:54.284] After pose optimization, distance between ekf and vo x:0.702542 ,z=0.402616,angle between two frames:0.600310 +[22:31:54.284] frame process finished the id is: 1130 the obs is:11 +[22:31:54.298] Odometry x=0.915182, y=2.042832, theta=3.042485 +[22:31:54.397] Odometry x=0.914221, y=2.035608, theta=3.042746 +[22:31:54.401] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.775654 ,z=0.312330,angle between two frames:0.599957 +[22:31:54.401] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.219439 error end=0.219439 +[22:31:54.401] After pose optimization, distance between ekf and vo x:0.775654 ,z=0.312330,angle between two frames:0.599957 +[22:31:54.401] frame process finished the id is: 1130 the obs is:11 +[22:31:54.498] Odometry x=0.913600, y=2.027253, theta=3.041979 +[22:31:54.508] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.774667 ,z=0.314242,angle between two frames:0.599978 +[22:31:54.508] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.290365 error end=0.221649 +[22:31:54.508] After pose optimization, distance between ekf and vo x:0.111508 ,z=0.045168,angle between two frames:0.568612 +[22:31:54.508] frame process finished the id is: 1130 the obs is:11 +[22:31:54.595] Odometry x=0.912281, y=2.020085, theta=3.041898 +[22:31:54.624] After Reprojection Map nMatches:52 ,distance between ekf and vo x:0.775265 ,z=0.312997,angle between two frames:0.599963 +[22:31:54.624] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.973667 error end=0.261825 +[22:31:54.624] After pose optimization, distance between ekf and vo x:0.491398 ,z=0.148897,angle between two frames:0.546343 +[22:31:54.624] frame process finished the id is: 1130 the obs is:11 +[22:31:54.698] Odometry x=0.911507, y=2.012136, theta=3.045798 +[22:31:54.734] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.497377 ,z=0.261555,angle between two frames:0.399956 +[22:31:54.734] n deleted obs = 27 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.456389 error end=0.456389 +[22:31:54.734] After pose optimization, distance between ekf and vo x:0.497377 ,z=0.261555,angle between two frames:0.399956 +[22:31:54.734] frame process finished the id is: 1130 the obs is:11 +[22:31:54.795] Odometry x=0.910198, y=2.004195, theta=3.045239 +[22:31:54.840] After Reprojection Map nMatches:50 ,distance between ekf and vo x:0.497654 ,z=0.261024,angle between two frames:0.399956 +[22:31:54.840] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.124857 error end=0.079214 +[22:31:54.840] After pose optimization, distance between ekf and vo x:0.138862 ,z=-0.053205,angle between two frames:0.673487 +[22:31:54.840] frame process finished the id is: 1130 the obs is:11 +[22:31:54.901] Odometry x=0.909413, y=1.996195, theta=3.045253 +[22:31:54.949] After Reprojection Map nMatches:45 ,distance between ekf and vo x:0.496632 ,z=0.262914,angle between two frames:0.399991 +[22:31:54.950] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.031274 error end=0.031274 +[22:31:54.950] After pose optimization, distance between ekf and vo x:0.496632 ,z=0.262914,angle between two frames:0.399991 +[22:31:54.950] frame process finished the id is: 1130 the obs is:11 +[22:31:54.998] Odometry x=0.908325, y=1.988262, theta=3.045152 +[22:31:55.047] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.496669 ,z=0.262822,angle between two frames:0.399991 +[22:31:55.047] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.013004 error end=0.013003 +[22:31:55.047] After pose optimization, distance between ekf and vo x:0.496061 ,z=0.262461,angle between two frames:0.400035 +[22:31:55.047] frame process finished the id is: 1130 the obs is:11 +[22:31:55.097] Odometry x=0.907372, y=1.980184, theta=3.046988 +[22:31:55.152] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.634679 ,z=0.295224,angle between two frames:0.499953 +[22:31:55.153] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.001892 error end=0.001892 +[22:31:55.153] After pose optimization, distance between ekf and vo x:0.634571 ,z=0.295247,angle between two frames:0.499940 +[22:31:55.153] frame process finished the id is: 1130 the obs is:11 +[22:31:55.197] Odometry x=0.906637, y=1.972825, theta=3.047000 +[22:31:55.258] After Reprojection Map nMatches:21 ,distance between ekf and vo x:0.634882 ,z=0.294851,angle between two frames:0.499949 +[22:31:55.258] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.008027 error end=0.008027 +[22:31:55.258] After pose optimization, distance between ekf and vo x:0.634882 ,z=0.294851,angle between two frames:0.499949 +[22:31:55.258] frame process finished the id is: 1130 the obs is:11 +[22:31:55.302] Odometry x=0.905720, y=1.964688, theta=3.047829 +[22:31:55.351] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.632731 ,z=0.298891,angle between two frames:0.499997 +[22:31:55.351] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.025266 error end=0.025208 +[22:31:55.351] After pose optimization, distance between ekf and vo x:0.631701 ,z=0.301069,angle between two frames:0.500449 +[22:31:55.351] frame process finished the id is: 1130 the obs is:11 +[22:31:55.412] Odometry x=0.905085, y=1.957253, theta=3.047929 +[22:31:55.443] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.633012 ,z=0.298384,angle between two frames:0.499976 +[22:31:55.443] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =1.812181 error end=1.812181 +[22:31:55.443] After pose optimization, distance between ekf and vo x:0.633012 ,z=0.298384,angle between two frames:0.499976 +[22:31:55.443] frame process finished the id is: 1130 the obs is:11 +[22:31:55.499] Odometry x=0.904455, y=1.949103, theta=3.047153 +[22:31:55.535] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.633512 ,z=0.297395,angle between two frames:0.499964 +[22:31:55.535] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.450373 error end=0.450373 +[22:31:55.535] After pose optimization, distance between ekf and vo x:0.633512 ,z=0.297395,angle between two frames:0.499964 +[22:31:55.535] frame process finished the id is: 1130 the obs is:11 +[22:31:55.597] Odometry x=0.903338, y=1.941442, theta=3.052071 +[22:31:55.633] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.495344 ,z=0.265353,angle between two frames:0.399957 +[22:31:55.633] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.071487 error end=0.070023 +[22:31:55.633] After pose optimization, distance between ekf and vo x:0.477141 ,z=0.258987,angle between two frames:0.403703 +[22:31:55.633] frame process finished the id is: 1130 the obs is:11 +[22:31:55.701] Odometry x=0.902759, y=1.933285, theta=3.051003 +[22:31:55.732] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.495820 ,z=0.264472,angle between two frames:0.399956 +[22:31:55.732] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.547812 error end=0.547812 +[22:31:55.732] After pose optimization, distance between ekf and vo x:0.495820 ,z=0.264472,angle between two frames:0.399956 +[22:31:55.732] frame process finished the id is: 1130 the obs is:11 +[22:31:55.801] Odometry x=0.902294, y=1.925268, theta=3.052823 +[22:31:55.823] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.494173 ,z=0.267487,angle between two frames:0.399998 +[22:31:55.823] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.000034 error end=0.000034 +[22:31:55.823] After pose optimization, distance between ekf and vo x:0.494173 ,z=0.267487,angle between two frames:0.399998 +[22:31:55.823] frame process finished the id is: 1130 the obs is:11 +[22:31:55.899] Odometry x=0.901593, y=1.917040, theta=3.048293 +[22:31:55.923] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.495530 ,z=0.264955,angle between two frames:0.399992 +[22:31:55.923] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.009566 error end=0.009566 +[22:31:55.923] After pose optimization, distance between ekf and vo x:0.495530 ,z=0.264955,angle between two frames:0.399992 +[22:31:55.923] frame process finished the id is: 1130 the obs is:11 +[22:31:55.996] Odometry x=0.900812, y=1.909116, theta=3.048914 +[22:31:56.024] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.495521 ,z=0.264982,angle between two frames:0.399991 +[22:31:56.024] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000067 error end=0.000067 +[22:31:56.024] After pose optimization, distance between ekf and vo x:0.495521 ,z=0.264982,angle between two frames:0.399991 +[22:31:56.024] frame process finished the id is: 1130 the obs is:11 +[22:31:56.095] Odometry x=0.900193, y=1.901034, theta=3.049305 +[22:31:56.123] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.495552 ,z=0.264932,angle between two frames:0.399991 +[22:31:56.123] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.126587 error end=0.125594 +[22:31:56.123] After pose optimization, distance between ekf and vo x:0.512620 ,z=0.268457,angle between two frames:0.406030 +[22:31:56.123] frame process finished the id is: 1130 the obs is:11 +[22:31:56.200] Odometry x=0.899291, y=1.893066, theta=3.044102 +[22:31:56.221] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.496856 ,z=0.262462,angle between two frames:0.399991 +[22:31:56.221] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000531 error end=0.000531 +[22:31:56.221] After pose optimization, distance between ekf and vo x:0.496827 ,z=0.262463,angle between two frames:0.399987 +[22:31:56.221] frame process finished the id is: 1130 the obs is:11 +[22:31:56.326] Odometry x=0.898612, y=1.884904, theta=3.047425 +[22:31:56.406] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.496154 ,z=0.263804,angle between two frames:0.399991 +[22:31:56.406] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.003830 error end=0.003827 +[22:31:56.406] After pose optimization, distance between ekf and vo x:0.493117 ,z=0.263467,angle between two frames:0.399241 +[22:31:56.406] frame process finished the id is: 1130 the obs is:11 +[22:31:56.426] Odometry x=0.897693, y=1.877011, theta=3.045021 +[22:31:56.457] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.496777 ,z=0.262621,angle between two frames:0.399991 +[22:31:56.457] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.028101 error end=0.020874 +[22:31:56.457] After pose optimization, distance between ekf and vo x:0.621679 ,z=0.299531,angle between two frames:0.455128 +[22:31:56.457] frame process finished the id is: 1130 the obs is:11 +[22:31:56.498] Odometry x=0.896834, y=1.868706, theta=3.047599 +[22:31:56.505] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.495550 ,z=0.264923,angle between two frames:0.399998 +[22:31:56.505] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.000001 error end=0.000001 +[22:31:56.505] After pose optimization, distance between ekf and vo x:0.495550 ,z=0.264923,angle between two frames:0.399998 +[22:31:56.505] frame process finished the id is: 1130 the obs is:11 +[22:31:56.568] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.495548 ,z=0.264925,angle between two frames:0.399998 +[22:31:56.568] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =8.368444 error end=8.368444 +[22:31:56.568] After pose optimization, distance between ekf and vo x:0.495548 ,z=0.264925,angle between two frames:0.399998 +[22:31:56.568] frame process finished the id is: 1130 the obs is:11 +[22:31:56.596] Odometry x=0.895965, y=1.860734, theta=3.047272 +[22:31:56.694] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.633509 ,z=0.297414,angle between two frames:0.499964 +[22:31:56.695] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.021076 error end=0.021076 +[22:31:56.695] After pose optimization, distance between ekf and vo x:0.633509 ,z=0.297414,angle between two frames:0.499964 +[22:31:56.695] frame process finished the id is: 1130 the obs is:11 +[22:31:56.698] Odometry x=0.895244, y=1.853327, theta=3.047414 +[22:31:56.780] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.633178 ,z=0.298198,angle between two frames:0.499964 +[22:31:56.780] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =2.517346 error end=3.501261 +[22:31:56.780] After pose optimization, distance between ekf and vo x:-3.568255 ,z=0.589618,angle between two frames:0.700434 +[22:31:56.780] frame process finished the id is: 1130 the obs is:11 +[22:31:56.799] Odometry x=0.894455, y=1.845433, theta=3.049371 +[22:31:56.889] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.362818 ,z=0.216633,angle between two frames:0.299964 +[22:31:56.889] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.002204 error end=0.002204 +[22:31:56.889] After pose optimization, distance between ekf and vo x:0.362818 ,z=0.216633,angle between two frames:0.299964 +[22:31:56.889] frame process finished the id is: 1130 the obs is:11 +[22:31:56.902] Odometry x=0.893517, y=1.837246, theta=3.049975 +[22:31:56.997] Odometry x=0.892503, y=1.829370, theta=3.048828 +[22:31:57.007] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.363065 ,z=0.216211,angle between two frames:0.299964 +[22:31:57.007] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.011256 error end=0.011243 +[22:31:57.007] After pose optimization, distance between ekf and vo x:0.362927 ,z=0.216020,angle between two frames:0.299540 +[22:31:57.007] frame process finished the id is: 1130 the obs is:11 +[22:31:57.080] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.495653 ,z=0.264758,angle between two frames:0.399964 +[22:31:57.080] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.016676 error end=0.016676 +[22:31:57.080] After pose optimization, distance between ekf and vo x:0.495653 ,z=0.264758,angle between two frames:0.399964 +[22:31:57.080] frame process finished the id is: 1130 the obs is:11 +[22:31:57.100] Odometry x=0.891674, y=1.821364, theta=3.049928 +[22:31:57.193] Odometry x=0.890816, y=1.813677, theta=3.052122 +[22:31:57.214] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.496002 ,z=0.264165,angle between two frames:0.399950 +[22:31:57.214] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.000020 error end=0.000020 +[22:31:57.214] After pose optimization, distance between ekf and vo x:0.495984 ,z=0.264166,angle between two frames:0.399947 +[22:31:57.214] frame process finished the id is: 1130 the obs is:11 +[22:31:57.280] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.495542 ,z=0.265029,angle between two frames:0.399950 +[22:31:57.280] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.000000 error end=0.000000 +[22:31:57.280] After pose optimization, distance between ekf and vo x:0.495542 ,z=0.265029,angle between two frames:0.399950 +[22:31:57.280] frame process finished the id is: 1130 the obs is:11 +[22:31:57.303] Odometry x=0.889820, y=1.805776, theta=3.053566 +[22:31:57.389] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.496144 ,z=0.263875,angle between two frames:0.399957 +[22:31:57.389] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.014023 error end=0.014023 +[22:31:57.389] After pose optimization, distance between ekf and vo x:0.496144 ,z=0.263875,angle between two frames:0.399957 +[22:31:57.389] frame process finished the id is: 1130 the obs is:11 +[22:31:57.408] Odometry x=0.888711, y=1.797548, theta=3.051033 +[22:31:57.480] After Reprojection Map nMatches:20 ,distance between ekf and vo x:0.495457 ,z=0.265180,angle between two frames:0.399950 +[22:31:57.480] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.067817 error end=0.067817 +[22:31:57.480] After pose optimization, distance between ekf and vo x:0.495457 ,z=0.265180,angle between two frames:0.399950 +[22:31:57.480] frame process finished the id is: 1130 the obs is:11 +[22:31:57.494] Odometry x=0.887997, y=1.789761, theta=3.053905 +[22:31:57.590] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.631946 ,z=0.301004,angle between two frames:0.499950 +[22:31:57.590] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.059508 error end=0.059508 +[22:31:57.590] After pose optimization, distance between ekf and vo x:0.631946 ,z=0.301004,angle between two frames:0.499950 +[22:31:57.590] frame process finished the id is: 1130 the obs is:11 +[22:31:57.599] Odometry x=0.887024, y=1.781666, theta=3.055507 +[22:31:57.685] After Reprojection Map nMatches:20 ,distance between ekf and vo x:0.631306 ,z=0.302370,angle between two frames:0.499957 +[22:31:57.685] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.066946 error end=0.066835 +[22:31:57.685] After pose optimization, distance between ekf and vo x:0.635026 ,z=0.297701,angle between two frames:0.500007 +[22:31:57.685] frame process finished the id is: 1130 the obs is:11 +[22:31:57.695] Odometry x=0.886236, y=1.773914, theta=3.057718 +[22:31:57.783] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.631929 ,z=0.301138,angle between two frames:0.499957 +[22:31:57.783] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.000170 error end=0.000170 +[22:31:57.783] After pose optimization, distance between ekf and vo x:0.631929 ,z=0.301138,angle between two frames:0.499957 +[22:31:57.783] frame process finished the id is: 1130 the obs is:11 +[22:31:57.797] Odometry x=0.885250, y=1.766380, theta=3.056386 +[22:31:57.880] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.630729 ,z=0.303242,angle between two frames:0.499991 +[22:31:57.880] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.409839 error end=0.142331 +[22:31:57.880] After pose optimization, distance between ekf and vo x:0.440424 ,z=-0.240485,angle between two frames:0.194847 +[22:31:57.880] frame process finished the id is: 1130 the obs is:11 +[22:31:57.899] Odometry x=0.884258, y=1.758599, theta=3.056140 +[22:31:57.986] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.632277 ,z=0.300417,angle between two frames:0.499949 +[22:31:57.986] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000655 error end=0.000655 +[22:31:57.986] After pose optimization, distance between ekf and vo x:0.632277 ,z=0.300417,angle between two frames:0.499949 +[22:31:57.986] frame process finished the id is: 1130 the obs is:11 +[22:31:57.995] Odometry x=0.883504, y=1.750763, theta=3.055452 +[22:31:58.081] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.633030 ,z=0.298832,angle between two frames:0.499949 +[22:31:58.081] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000313 error end=0.000313 +[22:31:58.081] After pose optimization, distance between ekf and vo x:0.633030 ,z=0.298832,angle between two frames:0.499949 +[22:31:58.081] frame process finished the id is: 1130 the obs is:11 +[22:31:58.098] Odometry x=0.882650, y=1.742560, theta=3.053154 +[22:31:58.193] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.632850 ,z=0.299212,angle between two frames:0.499949 +[22:31:58.193] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.003767 error end=0.003766 +[22:31:58.193] After pose optimization, distance between ekf and vo x:0.632741 ,z=0.299229,angle between two frames:0.499933 +[22:31:58.193] frame process finished the id is: 1130 the obs is:11 +[22:31:58.195] Odometry x=0.881708, y=1.734693, theta=3.053722 +[22:31:58.282] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.633040 ,z=0.298819,angle between two frames:0.499949 +[22:31:58.282] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =1.327712 error end=0.178323 +[22:31:58.282] After pose optimization, distance between ekf and vo x:0.297676 ,z=-0.027522,angle between two frames:0.083086 +[22:31:58.282] frame process finished the id is: 1130 the obs is:11 +[22:31:58.300] Odometry x=0.880794, y=1.726814, theta=3.053217 +[22:31:58.384] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.495406 ,z=0.265313,angle between two frames:0.399949 +[22:31:58.384] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.362339 error end=0.080296 +[22:31:58.384] After pose optimization, distance between ekf and vo x:1.426000 ,z=0.658932,angle between two frames:0.639133 +[22:31:58.384] frame process finished the id is: 1130 the obs is:11 +[22:31:58.395] Odometry x=0.879866, y=1.719701, theta=3.055145 +[22:31:58.482] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.495675 ,z=0.264788,angle between two frames:0.399950 +[22:31:58.482] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =4.321110 error end=4.321110 +[22:31:58.482] After pose optimization, distance between ekf and vo x:0.495675 ,z=0.264788,angle between two frames:0.399950 +[22:31:58.482] frame process finished the id is: 1130 the obs is:11 +[22:31:58.503] Odometry x=0.878924, y=1.712028, theta=3.053748 +[22:31:58.585] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.495445 ,z=0.265198,angle between two frames:0.399950 +[22:31:58.585] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.000406 error end=0.000406 +[22:31:58.585] After pose optimization, distance between ekf and vo x:0.495445 ,z=0.265198,angle between two frames:0.399950 +[22:31:58.585] frame process finished the id is: 1130 the obs is:11 +[22:31:58.594] Odometry x=0.878137, y=1.704232, theta=3.053952 +[22:31:58.696] Odometry x=0.877193, y=1.696340, theta=3.054582 +[22:31:58.705] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.495159 ,z=0.265726,angle between two frames:0.399949 +[22:31:58.705] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.012388 error end=0.012387 +[22:31:58.705] After pose optimization, distance between ekf and vo x:0.494366 ,z=0.265877,angle between two frames:0.400006 +[22:31:58.705] frame process finished the id is: 1130 the obs is:11 +[22:31:58.779] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.495377 ,z=0.265322,angle between two frames:0.399957 +[22:31:58.779] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.000029 error end=0.000029 +[22:31:58.779] After pose optimization, distance between ekf and vo x:0.495377 ,z=0.265322,angle between two frames:0.399957 +[22:31:58.779] frame process finished the id is: 1130 the obs is:11 +[22:31:58.797] Odometry x=0.876517, y=1.688212, theta=3.053810 +[22:31:58.887] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.493554 ,z=0.268649,angle between two frames:0.399991 +[22:31:58.887] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.000137 error end=0.000137 +[22:31:58.887] After pose optimization, distance between ekf and vo x:0.493548 ,z=0.268648,angle between two frames:0.399989 +[22:31:58.887] frame process finished the id is: 1130 the obs is:11 +[22:31:58.893] Odometry x=0.874981, y=1.680636, theta=3.056674 +[22:31:58.981] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.629837 ,z=0.305427,angle between two frames:0.499957 +[22:31:58.981] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000999 error end=0.000999 +[22:31:58.981] After pose optimization, distance between ekf and vo x:0.629837 ,z=0.305427,angle between two frames:0.499957 +[22:31:58.981] frame process finished the id is: 1130 the obs is:11 +[22:31:59.002] Odometry x=0.874363, y=1.672100, theta=3.062315 +[22:31:59.080] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.910811 ,z=0.333741,angle between two frames:0.699991 +[22:31:59.080] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.007419 error end=0.007419 +[22:31:59.080] After pose optimization, distance between ekf and vo x:0.910811 ,z=0.333741,angle between two frames:0.699991 +[22:31:59.080] frame process finished the id is: 1130 the obs is:11 +[22:31:59.101] Odometry x=0.873624, y=1.664160, theta=3.058496 +[22:31:59.190] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.629341 ,z=0.306091,angle between two frames:0.499991 +[22:31:59.190] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.008480 error end=0.008477 +[22:31:59.190] After pose optimization, distance between ekf and vo x:0.629247 ,z=0.306096,angle between two frames:0.499971 +[22:31:59.190] frame process finished the id is: 1130 the obs is:11 +[22:31:59.196] Odometry x=0.872689, y=1.656040, theta=3.060404 +[22:31:59.285] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.493062 ,z=0.269657,angle between two frames:0.399957 +[22:31:59.285] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000619 error end=0.000619 +[22:31:59.285] After pose optimization, distance between ekf and vo x:0.493062 ,z=0.269657,angle between two frames:0.399957 +[22:31:59.285] frame process finished the id is: 1130 the obs is:11 +[22:31:59.298] Odometry x=0.871745, y=1.648194, theta=3.062553 +[22:31:59.386] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.493249 ,z=0.269322,angle between two frames:0.399957 +[22:31:59.386] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.160900 error end=0.160900 +[22:31:59.386] After pose optimization, distance between ekf and vo x:0.493249 ,z=0.269322,angle between two frames:0.399957 +[22:31:59.386] frame process finished the id is: 1130 the obs is:11 +[22:31:59.399] Odometry x=0.870803, y=1.640301, theta=3.062104 +[22:31:59.481] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.492491 ,z=0.270715,angle between two frames:0.399957 +[22:31:59.481] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.010617 error end=0.010616 +[22:31:59.481] After pose optimization, distance between ekf and vo x:0.492175 ,z=0.270700,angle between two frames:0.399902 +[22:31:59.481] frame process finished the id is: 1130 the obs is:11 +[22:31:59.499] Odometry x=0.869384, y=1.632877, theta=3.064711 +[22:31:59.592] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.492271 ,z=0.271114,angle between two frames:0.399957 +[22:31:59.592] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.010181 error end=0.010181 +[22:31:59.592] After pose optimization, distance between ekf and vo x:0.492271 ,z=0.271114,angle between two frames:0.399957 +[22:31:59.592] frame process finished the id is: 1130 the obs is:11 +[22:31:59.594] Odometry x=0.868812, y=1.624851, theta=3.065410 +[22:31:59.681] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.492554 ,z=0.270482,angle between two frames:0.399991 +[22:31:59.681] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.005538 error end=0.005538 +[22:31:59.681] After pose optimization, distance between ekf and vo x:0.492391 ,z=0.270499,angle between two frames:0.399963 +[22:31:59.681] frame process finished the id is: 1130 the obs is:11 +[22:31:59.696] Odometry x=0.868174, y=1.617398, theta=3.060353 +[22:31:59.783] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.494539 ,z=0.266889,angle between two frames:0.399950 +[22:31:59.783] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.339037 error end=0.339037 +[22:31:59.783] After pose optimization, distance between ekf and vo x:0.494539 ,z=0.266889,angle between two frames:0.399950 +[22:31:59.783] frame process finished the id is: 1130 the obs is:11 +[22:31:59.800] Odometry x=0.867460, y=1.609217, theta=3.056998 +[22:31:59.895] Odometry x=0.866529, y=1.601614, theta=3.054713 +[22:31:59.939] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.495137 ,z=0.265768,angle between two frames:0.399957 +[22:31:59.939] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.007296 error end=0.007285 +[22:31:59.939] After pose optimization, distance between ekf and vo x:0.494487 ,z=0.265358,angle between two frames:0.399534 +[22:31:59.939] frame process finished the id is: 1130 the obs is:11 +[22:31:59.998] Odometry x=0.865341, y=1.594433, theta=3.063985 +[22:32:00.036] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.491594 ,z=0.272235,angle between two frames:0.399991 +[22:32:00.036] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.182178 error end=0.182178 +[22:32:00.036] After pose optimization, distance between ekf and vo x:0.491594 ,z=0.272235,angle between two frames:0.399991 +[22:32:00.036] frame process finished the id is: 1130 the obs is:11 +[22:32:00.095] Odometry x=0.865271, y=1.587546, theta=3.060267 +[22:32:00.133] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.492600 ,z=0.270400,angle between two frames:0.399991 +[22:32:00.133] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.038853 error end=0.038853 +[22:32:00.133] After pose optimization, distance between ekf and vo x:0.492600 ,z=0.270400,angle between two frames:0.399991 +[22:32:00.133] frame process finished the id is: 1130 the obs is:11 +[22:32:00.198] Odometry x=0.864475, y=1.579533, theta=3.058633 +[22:32:00.229] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.493049 ,z=0.269578,angle between two frames:0.399991 +[22:32:00.230] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.008806 error end=0.008806 +[22:32:00.230] After pose optimization, distance between ekf and vo x:0.493049 ,z=0.269578,angle between two frames:0.399991 +[22:32:00.230] frame process finished the id is: 1130 the obs is:11 +[22:32:00.299] Odometry x=0.863776, y=1.572184, theta=3.058801 +[22:32:00.327] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.493005 ,z=0.269657,angle between two frames:0.399991 +[22:32:00.327] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.558076 error end=0.552233 +[22:32:00.327] After pose optimization, distance between ekf and vo x:0.465982 ,z=0.264681,angle between two frames:0.397937 +[22:32:00.327] frame process finished the id is: 1130 the obs is:11 +[22:32:00.396] Odometry x=0.862911, y=1.564444, theta=3.058280 +[22:32:00.425] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.493147 ,z=0.269397,angle between two frames:0.399991 +[22:32:00.425] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.003567 error end=0.003566 +[22:32:00.425] After pose optimization, distance between ekf and vo x:0.492990 ,z=0.269367,angle between two frames:0.399956 +[22:32:00.425] frame process finished the id is: 1130 the obs is:11 +[22:32:00.498] Odometry x=0.862237, y=1.556652, theta=3.056670 +[22:32:00.530] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.494628 ,z=0.266724,angle between two frames:0.399957 +[22:32:00.530] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.074209 error end=0.073752 +[22:32:00.530] After pose optimization, distance between ekf and vo x:0.489387 ,z=0.265137,angle between two frames:0.397190 +[22:32:00.530] frame process finished the id is: 1130 the obs is:11 +[22:32:00.597] Odometry x=0.861331, y=1.548529, theta=3.064552 +[22:32:00.635] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.629080 ,z=0.306961,angle between two frames:0.499957 +[22:32:00.635] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =8.318102 error end=0.762282 +[22:32:00.635] After pose optimization, distance between ekf and vo x:-43.823752 ,z=6.542996,angle between two frames:1.067160 +[22:32:00.635] frame process finished the id is: 1130 the obs is:11 +[22:32:00.699] Odometry x=0.861181, y=1.540818, theta=3.058513 +[22:32:00.733] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.493116 ,z=0.269455,angle between two frames:0.399991 +[22:32:00.733] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.038520 error end=0.038520 +[22:32:00.733] After pose optimization, distance between ekf and vo x:0.493116 ,z=0.269455,angle between two frames:0.399991 +[22:32:00.733] frame process finished the id is: 1130 the obs is:11 +[22:32:00.796] Odometry x=0.860572, y=1.532649, theta=3.056543 +[22:32:00.837] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.494706 ,z=0.266576,angle between two frames:0.399957 +[22:32:00.837] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.053353 error end=0.053353 +[22:32:00.837] After pose optimization, distance between ekf and vo x:0.494706 ,z=0.266576,angle between two frames:0.399957 +[22:32:00.837] frame process finished the id is: 1130 the obs is:11 +[22:32:00.899] Odometry x=0.859962, y=1.525211, theta=3.055758 +[22:32:00.941] After Reprojection Map nMatches:17 ,distance between ekf and vo x:0.494898 ,z=0.266217,angle between two frames:0.399957 +[22:32:00.942] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.034607 error end=0.034164 +[22:32:00.942] After pose optimization, distance between ekf and vo x:0.540473 ,z=0.285276,angle between two frames:0.412211 +[22:32:00.942] frame process finished the id is: 1130 the obs is:11 +[22:32:00.995] Odometry x=0.859024, y=1.517287, theta=3.058535 +[22:32:01.046] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.630936 ,z=0.303102,angle between two frames:0.499957 +[22:32:01.046] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.756706 error end=0.317908 +[22:32:01.046] After pose optimization, distance between ekf and vo x:0.525139 ,z=-0.050874,angle between two frames:0.212399 +[22:32:01.046] frame process finished the id is: 1130 the obs is:11 +[22:32:01.102] Odometry x=0.858184, y=1.509553, theta=3.059085 +[22:32:01.145] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.629772 ,z=0.305211,angle between two frames:0.499991 +[22:32:01.145] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.020023 error end=0.019998 +[22:32:01.145] After pose optimization, distance between ekf and vo x:0.628979 ,z=0.305653,angle between two frames:0.499895 +[22:32:01.145] frame process finished the id is: 1130 the obs is:11 +[22:32:01.201] Odometry x=0.857472, y=1.501778, theta=3.059322 +[22:32:01.242] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.629706 ,z=0.305350,angle between two frames:0.499991 +[22:32:01.243] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.214757 error end=0.211650 +[22:32:01.243] After pose optimization, distance between ekf and vo x:0.743331 ,z=0.311987,angle between two frames:0.536485 +[22:32:01.243] frame process finished the id is: 1130 the obs is:11 +[22:32:01.299] Odometry x=0.856351, y=1.494662, theta=3.061327 +[22:32:01.339] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.492318 ,z=0.270920,angle between two frames:0.399992 +[22:32:01.340] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.009977 error end=0.009977 +[22:32:01.340] After pose optimization, distance between ekf and vo x:0.492318 ,z=0.270920,angle between two frames:0.399992 +[22:32:01.340] frame process finished the id is: 1130 the obs is:11 +[22:32:01.403] Odometry x=0.855283, y=1.486598, theta=3.059227 +[22:32:01.437] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.492892 ,z=0.269869,angle between two frames:0.399992 +[22:32:01.437] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.000039 error end=0.000039 +[22:32:01.437] After pose optimization, distance between ekf and vo x:0.492889 ,z=0.269869,angle between two frames:0.399991 +[22:32:01.437] frame process finished the id is: 1130 the obs is:11 +[22:32:01.503] Odometry x=0.854426, y=1.479152, theta=3.060678 +[22:32:01.535] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.492511 ,z=0.270569,angle between two frames:0.399992 +[22:32:01.535] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.000382 error end=0.000382 +[22:32:01.535] After pose optimization, distance between ekf and vo x:0.492510 ,z=0.270570,angle between two frames:0.399992 +[22:32:01.535] frame process finished the id is: 1130 the obs is:11 +[22:32:01.597] Odometry x=0.853482, y=1.471221, theta=3.059610 +[22:32:01.632] After Reprojection Map nMatches:21 ,distance between ekf and vo x:0.492811 ,z=0.270020,angle between two frames:0.399991 +[22:32:01.633] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.631303 error end=0.249826 +[22:32:01.633] After pose optimization, distance between ekf and vo x:0.213334 ,z=0.117651,angle between two frames:0.319265 +[22:32:01.633] frame process finished the id is: 1130 the obs is:11 +[22:32:01.704] Odometry x=0.852612, y=1.463465, theta=3.059734 +[22:32:01.732] After Reprojection Map nMatches:23 ,distance between ekf and vo x:0.492786 ,z=0.270067,angle between two frames:0.399991 +[22:32:01.732] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.027129 error end=0.027129 +[22:32:01.732] After pose optimization, distance between ekf and vo x:0.492786 ,z=0.270067,angle between two frames:0.399991 +[22:32:01.732] frame process finished the id is: 1130 the obs is:11 +[22:32:01.798] Odometry x=0.851697, y=1.455463, theta=3.060953 +[22:32:01.831] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.492468 ,z=0.270650,angle between two frames:0.399992 +[22:32:01.831] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.025317 error end=0.025316 +[22:32:01.831] After pose optimization, distance between ekf and vo x:0.492489 ,z=0.270635,angle between two frames:0.399989 +[22:32:01.831] frame process finished the id is: 1130 the obs is:11 +[22:32:01.905] Odometry x=0.850683, y=1.447870, theta=3.061605 +[22:32:01.928] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.492299 ,z=0.270961,angle between two frames:0.399991 +[22:32:01.928] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000002 error end=0.000002 +[22:32:01.928] After pose optimization, distance between ekf and vo x:0.492299 ,z=0.270961,angle between two frames:0.399991 +[22:32:01.928] frame process finished the id is: 1130 the obs is:11 +[22:32:01.998] Odometry x=0.850027, y=1.440145, theta=3.057359 +[22:32:02.032] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.494450 ,z=0.267067,angle between two frames:0.399964 +[22:32:02.032] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.240319 error end=0.240319 +[22:32:02.032] After pose optimization, distance between ekf and vo x:0.494450 ,z=0.267067,angle between two frames:0.399964 +[22:32:02.033] frame process finished the id is: 1130 the obs is:11 +[22:32:02.096] Odometry x=0.849248, y=1.432319, theta=3.059018 +[22:32:02.136] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.494050 ,z=0.267822,angle between two frames:0.399964 +[22:32:02.136] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.032302 error end=0.031975 +[22:32:02.136] After pose optimization, distance between ekf and vo x:0.492298 ,z=0.268216,angle between two frames:0.400449 +[22:32:02.136] frame process finished the id is: 1130 the obs is:11 +[22:32:02.197] Odometry x=0.848205, y=1.424500, theta=3.059459 +[22:32:02.233] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.492868 ,z=0.269917,angle between two frames:0.399991 +[22:32:02.233] n deleted obs = 34 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 error init =0.268065 error end=0.267696 +[22:32:02.233] After pose optimization, distance between ekf and vo x:0.488118 ,z=0.270493,angle between two frames:0.399130 +[22:32:02.233] frame process finished the id is: 1130 the obs is:11 +[22:32:02.296] Odometry x=0.847456, y=1.417038, theta=3.061897 +[22:32:02.331] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.628932 ,z=0.306950,angle between two frames:0.499991 +[22:32:02.331] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.003415 error end=0.003415 +[22:32:02.331] After pose optimization, distance between ekf and vo x:0.628753 ,z=0.306962,angle between two frames:0.499955 +[22:32:02.331] frame process finished the id is: 1130 the obs is:11 +[22:32:02.396] Odometry x=0.846660, y=1.409076, theta=3.061714 +[22:32:02.428] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.628967 ,z=0.306871,angle between two frames:0.499991 +[22:32:02.428] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.055994 error end=0.055932 +[22:32:02.428] After pose optimization, distance between ekf and vo x:0.623308 ,z=0.308878,angle between two frames:0.499498 +[22:32:02.428] frame process finished the id is: 1130 the obs is:11 +[22:32:02.498] Odometry x=0.845427, y=1.401137, theta=3.064658 +[22:32:02.527] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.628080 ,z=0.308695,angle between two frames:0.499991 +[22:32:02.527] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.000666 error end=0.000666 +[22:32:02.527] After pose optimization, distance between ekf and vo x:0.628080 ,z=0.308695,angle between two frames:0.499991 +[22:32:02.527] frame process finished the id is: 1130 the obs is:11 +[22:32:02.596] Odometry x=0.845075, y=1.393707, theta=3.066308 +[22:32:02.624] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.358621 ,z=0.223640,angle between two frames:0.299991 +[22:32:02.625] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.218045 error end=0.218045 +[22:32:02.625] After pose optimization, distance between ekf and vo x:0.358621 ,z=0.223640,angle between two frames:0.299991 +[22:32:02.625] frame process finished the id is: 1130 the obs is:11 +[22:32:02.692] Odometry x=0.844299, y=1.385820, theta=3.065074 +[22:32:02.723] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.358911 ,z=0.223172,angle between two frames:0.299992 +[22:32:02.724] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.028413 error end=0.028397 +[22:32:02.724] After pose optimization, distance between ekf and vo x:0.358150 ,z=0.223247,angle between two frames:0.299588 +[22:32:02.724] frame process finished the id is: 1130 the obs is:11 +[22:32:02.797] Odometry x=0.843837, y=1.378129, theta=3.067133 +[22:32:02.822] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358460 ,z=0.223899,angle between two frames:0.299991 +[22:32:02.822] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000005 error end=0.000005 +[22:32:02.822] After pose optimization, distance between ekf and vo x:0.358460 ,z=0.223899,angle between two frames:0.299991 +[22:32:02.822] frame process finished the id is: 1130 the obs is:11 +[22:32:02.896] Odometry x=0.842783, y=1.370178, theta=3.065774 +[22:32:02.923] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.358785 ,z=0.223373,angle between two frames:0.299991 +[22:32:02.923] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000497 error end=0.000497 +[22:32:02.923] After pose optimization, distance between ekf and vo x:0.358785 ,z=0.223373,angle between two frames:0.299991 +[22:32:02.923] frame process finished the id is: 1130 the obs is:11 +[22:32:02.993] Odometry x=0.842452, y=1.362269, theta=3.066049 +[22:32:03.020] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.358724 ,z=0.223471,angle between two frames:0.299991 +[22:32:03.020] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.175625 error end=0.099579 +[22:32:03.020] After pose optimization, distance between ekf and vo x:0.479283 ,z=0.119333,angle between two frames:0.070849 +[22:32:03.020] frame process finished the id is: 1130 the obs is:11 +[22:32:03.098] Odometry x=0.841439, y=1.354299, theta=3.066317 +[22:32:03.122] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358690 ,z=0.223524,angle between two frames:0.299991 +[22:32:03.122] n deleted obs = 28 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.415983 error end=0.415983 +[22:32:03.122] After pose optimization, distance between ekf and vo x:0.358690 ,z=0.223524,angle between two frames:0.299991 +[22:32:03.122] frame process finished the id is: 1130 the obs is:11 +[22:32:03.198] Odometry x=0.840753, y=1.346337, theta=3.067472 +[22:32:03.223] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.358425 ,z=0.223951,angle between two frames:0.299991 +[22:32:03.223] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.007294 error end=0.007286 +[22:32:03.223] After pose optimization, distance between ekf and vo x:0.357864 ,z=0.223626,angle between two frames:0.299870 +[22:32:03.223] frame process finished the id is: 1130 the obs is:11 +[22:32:03.293] Odometry x=0.839776, y=1.337895, theta=3.068764 +[22:32:03.330] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.359268 ,z=0.222496,angle between two frames:0.299957 +[22:32:03.330] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.043715 error end=0.043715 +[22:32:03.330] After pose optimization, distance between ekf and vo x:0.359268 ,z=0.222496,angle between two frames:0.299957 +[22:32:03.330] frame process finished the id is: 1130 the obs is:11 +[22:32:03.396] Odometry x=0.839315, y=1.330064, theta=3.067522 +[22:32:03.428] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.358410 ,z=0.223976,angle between two frames:0.299991 +[22:32:03.428] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.014104 error end=0.014083 +[22:32:03.428] After pose optimization, distance between ekf and vo x:0.357763 ,z=0.223872,angle between two frames:0.299931 +[22:32:03.428] frame process finished the id is: 1130 the obs is:11 +[22:32:03.496] Odometry x=0.838704, y=1.322420, theta=3.065154 +[22:32:03.526] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.358950 ,z=0.223104,angle between two frames:0.299992 +[22:32:03.526] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.152040 error end=0.152040 +[22:32:03.526] After pose optimization, distance between ekf and vo x:0.358950 ,z=0.223104,angle between two frames:0.299992 +[22:32:03.526] frame process finished the id is: 1130 the obs is:11 +[22:32:03.595] Odometry x=0.838082, y=1.314227, theta=3.067494 +[22:32:03.631] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.359555 ,z=0.222023,angle between two frames:0.299957 +[22:32:03.631] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000555 error end=0.000555 +[22:32:03.631] After pose optimization, distance between ekf and vo x:0.359505 ,z=0.222014,angle between two frames:0.299970 +[22:32:03.631] frame process finished the id is: 1130 the obs is:11 +[22:32:03.701] Odometry x=0.837371, y=1.306676, theta=3.066765 +[22:32:03.728] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.358603 ,z=0.223664,angle between two frames:0.299991 +[22:32:03.728] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.010640 error end=0.010640 +[22:32:03.728] After pose optimization, distance between ekf and vo x:0.358603 ,z=0.223664,angle between two frames:0.299991 +[22:32:03.728] frame process finished the id is: 1130 the obs is:11 +[22:32:03.801] Odometry x=0.836805, y=1.298597, theta=3.067477 +[22:32:03.826] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.627249 ,z=0.310399,angle between two frames:0.499991 +[22:32:03.827] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.718849 error end=0.630400 +[22:32:03.827] After pose optimization, distance between ekf and vo x:0.516493 ,z=0.274564,angle between two frames:0.459281 +[22:32:03.827] frame process finished the id is: 1130 the obs is:11 +[22:32:03.898] Odometry x=0.836143, y=1.290768, theta=3.067311 +[22:32:03.925] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.627308 ,z=0.310284,angle between two frames:0.499991 +[22:32:03.926] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.293755 error end=0.289515 +[22:32:03.926] After pose optimization, distance between ekf and vo x:0.540644 ,z=0.280277,angle between two frames:0.519729 +[22:32:03.926] frame process finished the id is: 1130 the obs is:11 +[22:32:03.997] Odometry x=0.835370, y=1.282771, theta=3.066666 +[22:32:04.024] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.627515 ,z=0.309865,angle between two frames:0.499991 +[22:32:04.025] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =1.944721 error end=1.371721 +[22:32:04.025] After pose optimization, distance between ekf and vo x:1.516615 ,z=0.285483,angle between two frames:0.689997 +[22:32:04.025] frame process finished the id is: 1130 the obs is:11 +[22:32:04.098] Odometry x=0.834546, y=1.275058, theta=3.066012 +[22:32:04.124] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.627730 ,z=0.309432,angle between two frames:0.499992 +[22:32:04.124] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.416636 error end=0.411787 +[22:32:04.124] After pose optimization, distance between ekf and vo x:0.610656 ,z=0.310339,angle between two frames:0.496708 +[22:32:04.124] frame process finished the id is: 1130 the obs is:11 +[22:32:04.201] Odometry x=0.834159, y=1.266924, theta=3.068713 +[22:32:04.223] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.358204 ,z=0.224303,angle between two frames:0.299992 +[22:32:04.223] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.001812 error end=0.001812 +[22:32:04.223] After pose optimization, distance between ekf and vo x:0.358135 ,z=0.224293,angle between two frames:0.299974 +[22:32:04.223] frame process finished the id is: 1130 the obs is:11 +[22:32:04.296] Odometry x=0.833115, y=1.259360, theta=3.066695 +[22:32:04.323] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.358664 ,z=0.223564,angle between two frames:0.299992 +[22:32:04.323] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000864 error end=0.000859 +[22:32:04.323] After pose optimization, distance between ekf and vo x:0.356871 ,z=0.218037,angle between two frames:0.298507 +[22:32:04.323] frame process finished the id is: 1130 the obs is:11 +[22:32:04.396] Odometry x=0.832539, y=1.251910, theta=3.068800 +[22:32:04.405] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.358190 ,z=0.224327,angle between two frames:0.299992 +[22:32:04.405] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.000338 error end=0.000338 +[22:32:04.405] After pose optimization, distance between ekf and vo x:0.358178 ,z=0.224321,angle between two frames:0.299993 +[22:32:04.405] frame process finished the id is: 1130 the obs is:11 +[22:32:04.484] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358545 ,z=0.223753,angle between two frames:0.299992 +[22:32:04.484] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.020494 error end=0.020479 +[22:32:04.484] After pose optimization, distance between ekf and vo x:0.357559 ,z=0.223772,angle between two frames:0.299819 +[22:32:04.484] frame process finished the id is: 1130 the obs is:11 +[22:32:04.498] Odometry x=0.831724, y=1.244199, theta=3.067292 +[22:32:04.591] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.359409 ,z=0.222262,angle between two frames:0.299964 +[22:32:04.591] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.061620 error end=0.061620 +[22:32:04.591] After pose optimization, distance between ekf and vo x:0.359409 ,z=0.222262,angle between two frames:0.299964 +[22:32:04.591] frame process finished the id is: 1130 the obs is:11 +[22:32:04.607] Odometry x=0.831118, y=1.236314, theta=3.068554 +[22:32:04.681] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.359425 ,z=0.222233,angle between two frames:0.299964 +[22:32:04.681] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.006024 error end=0.006024 +[22:32:04.681] After pose optimization, distance between ekf and vo x:0.359425 ,z=0.222233,angle between two frames:0.299964 +[22:32:04.681] frame process finished the id is: 1130 the obs is:11 +[22:32:04.702] Odometry x=0.830078, y=1.228449, theta=3.069637 +[22:32:04.783] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.767161 ,z=0.333002,angle between two frames:0.599956 +[22:32:04.783] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.226803 error end=0.226803 +[22:32:04.783] After pose optimization, distance between ekf and vo x:0.767161 ,z=0.333002,angle between two frames:0.599956 +[22:32:04.783] frame process finished the id is: 1130 the obs is:11 +[22:32:04.802] Odometry x=0.829333, y=1.220641, theta=3.070123 +[22:32:04.881] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.766900 ,z=0.332882,angle between two frames:0.599991 +[22:32:04.881] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.052850 error end=0.051389 +[22:32:04.881] After pose optimization, distance between ekf and vo x:0.753558 ,z=0.328182,angle between two frames:0.590307 +[22:32:04.881] frame process finished the id is: 1130 the obs is:11 +[22:32:04.902] Odometry x=0.828707, y=1.212593, theta=3.067413 +[22:32:04.983] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.357158 ,z=0.225933,angle between two frames:0.299964 +[22:32:04.983] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.038728 error end=0.038728 +[22:32:04.983] After pose optimization, distance between ekf and vo x:0.357158 ,z=0.225933,angle between two frames:0.299964 +[22:32:04.983] frame process finished the id is: 1130 the obs is:11 +[22:32:04.997] Odometry x=0.828495, y=1.205321, theta=3.078481 +[22:32:05.078] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.626992 ,z=0.310912,angle between two frames:0.499991 +[22:32:05.078] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.025925 error end=0.025866 +[22:32:05.078] After pose optimization, distance between ekf and vo x:0.622907 ,z=0.284793,angle between two frames:0.497199 +[22:32:05.078] frame process finished the id is: 1130 the obs is:11 +[22:32:05.101] Odometry x=0.827631, y=1.197120, theta=3.068215 +[22:32:05.187] After Reprojection Map nMatches:25 ,distance between ekf and vo x:1.048857 ,z=0.337111,angle between two frames:0.799991 +[22:32:05.187] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.006862 error end=0.006862 +[22:32:05.187] After pose optimization, distance between ekf and vo x:1.048857 ,z=0.337111,angle between two frames:0.799991 +[22:32:05.187] frame process finished the id is: 1130 the obs is:11 +[22:32:05.199] Odometry x=0.826933, y=1.189228, theta=3.068840 +[22:32:05.278] After Reprojection Map nMatches:33 ,distance between ekf and vo x:1.048826 ,z=0.337228,angle between two frames:0.799991 +[22:32:05.278] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.002659 error end=0.002659 +[22:32:05.278] After pose optimization, distance between ekf and vo x:1.048826 ,z=0.337228,angle between two frames:0.799991 +[22:32:05.278] frame process finished the id is: 1130 the obs is:11 +[22:32:05.300] Odometry x=0.826317, y=1.181687, theta=3.068353 +[22:32:05.398] Odometry x=0.825663, y=1.173764, theta=3.067739 +[22:32:05.404] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.627164 ,z=0.310574,angle between two frames:0.499991 +[22:32:05.404] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.021995 error end=0.021978 +[22:32:05.404] After pose optimization, distance between ekf and vo x:0.626579 ,z=0.310486,angle between two frames:0.499700 +[22:32:05.404] frame process finished the id is: 1130 the obs is:11 +[22:32:05.499] Odometry x=0.825067, y=1.166097, theta=3.067367 +[22:32:05.507] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.627295 ,z=0.310313,angle between two frames:0.499992 +[22:32:05.507] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.038419 error end=0.038325 +[22:32:05.507] After pose optimization, distance between ekf and vo x:0.625606 ,z=0.310117,angle between two frames:0.499357 +[22:32:05.507] frame process finished the id is: 1130 the obs is:11 +[22:32:05.577] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.627101 ,z=0.310710,angle between two frames:0.499991 +[22:32:05.577] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.123149 error end=0.122237 +[22:32:05.577] After pose optimization, distance between ekf and vo x:0.618339 ,z=0.310579,angle between two frames:0.497447 +[22:32:05.577] frame process finished the id is: 1130 the obs is:11 +[22:32:05.593] Odometry x=0.824449, y=1.158470, theta=3.068024 +[22:32:05.697] Odometry x=0.823739, y=1.150974, theta=3.068108 +[22:32:05.709] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.359402 ,z=0.222281,angle between two frames:0.299964 +[22:32:05.709] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.033672 error end=0.033670 +[22:32:05.709] After pose optimization, distance between ekf and vo x:0.359346 ,z=0.222221,angle between two frames:0.299910 +[22:32:05.709] frame process finished the id is: 1130 the obs is:11 +[22:32:05.785] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.359244 ,z=0.222540,angle between two frames:0.299964 +[22:32:05.785] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.083333 error end=0.083330 +[22:32:05.785] After pose optimization, distance between ekf and vo x:0.358837 ,z=0.222846,angle between two frames:0.299947 +[22:32:05.785] frame process finished the id is: 1130 the obs is:11 +[22:32:05.798] Odometry x=0.823146, y=1.143147, theta=3.068857 +[22:32:05.876] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.358300 ,z=0.224152,angle between two frames:0.299992 +[22:32:05.876] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.107007 error end=0.107007 +[22:32:05.876] After pose optimization, distance between ekf and vo x:0.358300 ,z=0.224152,angle between two frames:0.299992 +[22:32:05.876] frame process finished the id is: 1130 the obs is:11 +[22:32:05.898] Odometry x=0.822278, y=1.135021, theta=3.068272 +[22:32:05.987] After Reprojection Map nMatches:17 ,distance between ekf and vo x:0.359409 ,z=0.222267,angle between two frames:0.299964 +[22:32:05.987] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.552177 error end=0.552177 +[22:32:05.987] After pose optimization, distance between ekf and vo x:0.359409 ,z=0.222267,angle between two frames:0.299964 +[22:32:05.987] frame process finished the id is: 1130 the obs is:11 +[22:32:05.999] Odometry x=0.821551, y=1.127009, theta=3.068317 +[22:32:06.078] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.359500 ,z=0.222116,angle between two frames:0.299964 +[22:32:06.078] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.067016 error end=0.067016 +[22:32:06.078] After pose optimization, distance between ekf and vo x:0.359500 ,z=0.222116,angle between two frames:0.299964 +[22:32:06.078] frame process finished the id is: 1130 the obs is:11 +[22:32:06.096] Odometry x=0.821055, y=1.119802, theta=3.067939 +[22:32:06.199] Odometry x=0.820367, y=1.111608, theta=3.069905 +[22:32:06.205] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.359093 ,z=0.222785,angle between two frames:0.299964 +[22:32:06.205] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.069777 error end=0.069777 +[22:32:06.205] After pose optimization, distance between ekf and vo x:0.359093 ,z=0.222785,angle between two frames:0.299964 +[22:32:06.205] frame process finished the id is: 1130 the obs is:11 +[22:32:06.279] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.359688 ,z=0.221804,angle between two frames:0.299964 +[22:32:06.279] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.000623 error end=0.000623 +[22:32:06.279] After pose optimization, distance between ekf and vo x:0.359684 ,z=0.221805,angle between two frames:0.299963 +[22:32:06.279] frame process finished the id is: 1130 the obs is:11 +[22:32:06.298] Odometry x=0.819774, y=1.104089, theta=3.067134 +[22:32:06.383] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.359139 ,z=0.222708,angle between two frames:0.299964 +[22:32:06.383] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.106938 error end=0.106814 +[22:32:06.383] After pose optimization, distance between ekf and vo x:0.347093 ,z=0.223780,angle between two frames:0.298008 +[22:32:06.383] frame process finished the id is: 1130 the obs is:11 +[22:32:06.399] Odometry x=0.819104, y=1.096560, theta=3.069935 +[22:32:06.489] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.359503 ,z=0.222108,angle between two frames:0.299964 +[22:32:06.489] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.133209 error end=0.130992 +[22:32:06.489] After pose optimization, distance between ekf and vo x:0.313114 ,z=0.235076,angle between two frames:0.294418 +[22:32:06.489] frame process finished the id is: 1130 the obs is:11 +[22:32:06.497] Odometry x=0.818444, y=1.088911, theta=3.068305 +[22:32:06.576] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.626259 ,z=0.312430,angle between two frames:0.499991 +[22:32:06.576] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.455886 error end=0.455886 +[22:32:06.576] After pose optimization, distance between ekf and vo x:0.626259 ,z=0.312430,angle between two frames:0.499991 +[22:32:06.576] frame process finished the id is: 1130 the obs is:11 +[22:32:06.605] Odometry x=0.817688, y=1.080902, theta=3.070920 +[22:32:06.698] Odometry x=0.816799, y=1.072777, theta=3.069228 +[22:32:06.701] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.626782 ,z=0.311375,angle between two frames:0.499991 +[22:32:06.701] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.437994 error end=0.437994 +[22:32:06.701] After pose optimization, distance between ekf and vo x:0.626782 ,z=0.311375,angle between two frames:0.499991 +[22:32:06.701] frame process finished the id is: 1130 the obs is:11 +[22:32:06.774] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.626277 ,z=0.312397,angle between two frames:0.499991 +[22:32:06.774] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.004828 error end=0.004828 +[22:32:06.774] After pose optimization, distance between ekf and vo x:0.626277 ,z=0.312397,angle between two frames:0.499991 +[22:32:06.774] frame process finished the id is: 1130 the obs is:11 +[22:32:06.800] Odometry x=0.816106, y=1.064866, theta=3.070886 +[22:32:06.889] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.357707 ,z=0.225101,angle between two frames:0.299992 +[22:32:06.889] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.204115 error end=0.204115 +[22:32:06.889] After pose optimization, distance between ekf and vo x:0.357707 ,z=0.225101,angle between two frames:0.299992 +[22:32:06.889] frame process finished the id is: 1130 the obs is:11 +[22:32:06.898] Odometry x=0.815305, y=1.056984, theta=3.071141 +[22:32:06.980] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.627117 ,z=0.311054,angle between two frames:0.499964 +[22:32:06.980] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000292 error end=0.000292 +[22:32:06.980] After pose optimization, distance between ekf and vo x:0.626999 ,z=0.311014,angle between two frames:0.499938 +[22:32:06.980] frame process finished the id is: 1130 the obs is:11 +[22:32:06.997] Odometry x=0.814402, y=1.048979, theta=3.071516 +[22:32:07.086] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.626377 ,z=0.312193,angle between two frames:0.499991 +[22:32:07.086] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.014901 error end=0.014901 +[22:32:07.086] After pose optimization, distance between ekf and vo x:0.626377 ,z=0.312193,angle between two frames:0.499991 +[22:32:07.086] frame process finished the id is: 1130 the obs is:11 +[22:32:07.099] Odometry x=0.813815, y=1.040926, theta=3.070534 +[22:32:07.190] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.358906 ,z=0.223088,angle between two frames:0.299964 +[22:32:07.190] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.000251 error end=0.000251 +[22:32:07.190] After pose optimization, distance between ekf and vo x:0.360670 ,z=0.222295,angle between two frames:0.298483 +[22:32:07.190] frame process finished the id is: 1130 the obs is:11 +[22:32:07.198] Odometry x=0.813080, y=1.033262, theta=3.070413 +[22:32:07.282] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358921 ,z=0.223062,angle between two frames:0.299964 +[22:32:07.282] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.003762 error end=0.003762 +[22:32:07.282] After pose optimization, distance between ekf and vo x:0.358900 ,z=0.223065,angle between two frames:0.299963 +[22:32:07.282] frame process finished the id is: 1130 the obs is:11 +[22:32:07.296] Odometry x=0.812368, y=1.025453, theta=3.070347 +[22:32:07.381] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.358969 ,z=0.222984,angle between two frames:0.299964 +[22:32:07.381] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.147308 error end=0.145183 +[22:32:07.381] After pose optimization, distance between ekf and vo x:0.092897 ,z=0.621616,angle between two frames:0.335025 +[22:32:07.381] frame process finished the id is: 1130 the obs is:11 +[22:32:07.407] Odometry x=0.811711, y=1.017484, theta=3.070214 +[22:32:07.491] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.359038 ,z=0.222869,angle between two frames:0.299964 +[22:32:07.491] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.001614 error end=0.001614 +[22:32:07.491] After pose optimization, distance between ekf and vo x:0.359038 ,z=0.222869,angle between two frames:0.299964 +[22:32:07.491] frame process finished the id is: 1130 the obs is:11 +[22:32:07.496] Odometry x=0.810892, y=1.009839, theta=3.069883 +[22:32:07.581] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.358998 ,z=0.222934,angle between two frames:0.299964 +[22:32:07.581] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.030302 error end=0.030302 +[22:32:07.581] After pose optimization, distance between ekf and vo x:0.358998 ,z=0.222934,angle between two frames:0.299964 +[22:32:07.581] frame process finished the id is: 1130 the obs is:11 +[22:32:07.605] Odometry x=0.810112, y=1.001791, theta=3.070167 +[22:32:07.684] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358485 ,z=0.223848,angle between two frames:0.299992 +[22:32:07.684] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000147 error end=0.000147 +[22:32:07.684] After pose optimization, distance between ekf and vo x:0.358483 ,z=0.223848,angle between two frames:0.299991 +[22:32:07.684] frame process finished the id is: 1130 the obs is:11 +[22:32:07.702] Odometry x=0.809375, y=0.994513, theta=3.067813 +[22:32:07.790] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358906 ,z=0.223081,angle between two frames:0.299964 +[22:32:07.791] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.230195 error end=0.224794 +[22:32:07.791] After pose optimization, distance between ekf and vo x:0.261166 ,z=0.164906,angle between two frames:0.317750 +[22:32:07.791] frame process finished the id is: 1130 the obs is:11 +[22:32:07.798] Odometry x=0.808678, y=0.986901, theta=3.071381 +[22:32:07.902] Odometry x=0.808017, y=0.979114, theta=3.071540 +[22:32:07.942] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.766855 ,z=0.333820,angle between two frames:0.599964 +[22:32:07.942] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.426183 error end=0.390108 +[22:32:07.942] After pose optimization, distance between ekf and vo x:0.745656 ,z=0.351148,angle between two frames:0.603741 +[22:32:07.942] frame process finished the id is: 1130 the obs is:11 +[22:32:07.996] Odometry x=0.807142, y=0.971295, theta=3.075549 +[22:32:08.040] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.764212 ,z=0.339057,angle between two frames:0.599991 +[22:32:08.040] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =4.161342 error end=1.442966 +[22:32:08.040] After pose optimization, distance between ekf and vo x:0.607910 ,z=0.541690,angle between two frames:0.580326 +[22:32:08.040] frame process finished the id is: 1130 the obs is:11 +[22:32:08.100] Odometry x=0.806598, y=0.963384, theta=3.078065 +[22:32:08.145] After Reprojection Map nMatches:20 ,distance between ekf and vo x:0.357340 ,z=0.225625,angle between two frames:0.299964 +[22:32:08.145] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.173313 error end=0.173274 +[22:32:08.145] After pose optimization, distance between ekf and vo x:0.357017 ,z=0.225619,angle between two frames:0.299884 +[22:32:08.145] frame process finished the id is: 1130 the obs is:11 +[22:32:08.205] Odometry x=0.805788, y=0.955494, theta=3.078740 +[22:32:08.249] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.357229 ,z=0.225803,angle between two frames:0.299964 +[22:32:08.250] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.157523 error end=0.157046 +[22:32:08.250] After pose optimization, distance between ekf and vo x:0.365206 ,z=0.223021,angle between two frames:0.300773 +[22:32:08.250] frame process finished the id is: 1130 the obs is:11 +[22:32:08.304] Odometry x=0.805122, y=0.947310, theta=3.078552 +[22:32:08.354] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.357291 ,z=0.225703,angle between two frames:0.299964 +[22:32:08.354] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.025440 error end=0.020907 +[22:32:08.354] After pose optimization, distance between ekf and vo x:0.336423 ,z=0.225182,angle between two frames:0.277024 +[22:32:08.354] frame process finished the id is: 1130 the obs is:11 +[22:32:08.407] Odometry x=0.804790, y=0.939302, theta=3.078778 +[22:32:08.459] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.357255 ,z=0.225762,angle between two frames:0.299964 +[22:32:08.459] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.027875 error end=0.027837 +[22:32:08.459] After pose optimization, distance between ekf and vo x:0.353309 ,z=0.223707,angle between two frames:0.300518 +[22:32:08.459] frame process finished the id is: 1130 the obs is:11 +[22:32:08.500] Odometry x=0.804203, y=0.931408, theta=3.075127 +[22:32:08.564] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.358004 ,z=0.224549,angle between two frames:0.299964 +[22:32:08.564] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.093658 error end=0.093605 +[22:32:08.564] After pose optimization, distance between ekf and vo x:0.357466 ,z=0.225075,angle between two frames:0.299966 +[22:32:08.564] frame process finished the id is: 1130 the obs is:11 +[22:32:08.599] Odometry x=0.803904, y=0.923596, theta=3.081764 +[22:32:08.669] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356699 ,z=0.226668,angle between two frames:0.299964 +[22:32:08.669] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.310036 error end=0.253796 +[22:32:08.669] After pose optimization, distance between ekf and vo x:0.201679 ,z=0.227696,angle between two frames:0.272589 +[22:32:08.669] frame process finished the id is: 1130 the obs is:11 +[22:32:08.698] Odometry x=0.803235, y=0.915294, theta=3.077829 +[22:32:08.773] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.357426 ,z=0.225484,angle between two frames:0.299964 +[22:32:08.773] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.002332 error end=0.002332 +[22:32:08.773] After pose optimization, distance between ekf and vo x:0.357428 ,z=0.225483,angle between two frames:0.299964 +[22:32:08.773] frame process finished the id is: 1130 the obs is:11 +[22:32:08.799] Odometry x=0.802930, y=0.907633, theta=3.079653 +[22:32:08.877] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.357022 ,z=0.226135,angle between two frames:0.299964 +[22:32:08.877] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.084693 error end=0.084654 +[22:32:08.877] After pose optimization, distance between ekf and vo x:0.355315 ,z=0.226006,angle between two frames:0.300093 +[22:32:08.877] frame process finished the id is: 1130 the obs is:11 +[22:32:08.897] Odometry x=0.802131, y=0.900194, theta=3.076906 +[22:32:08.982] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.357588 ,z=0.225222,angle between two frames:0.299964 +[22:32:08.982] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.137018 error end=0.136960 +[22:32:08.982] After pose optimization, distance between ekf and vo x:0.357517 ,z=0.225397,angle between two frames:0.299963 +[22:32:08.982] frame process finished the id is: 1130 the obs is:11 +[22:32:08.998] Odometry x=0.801664, y=0.892586, theta=3.080226 +[22:32:09.087] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.356885 ,z=0.226355,angle between two frames:0.299964 +[22:32:09.087] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.056654 error end=0.056654 +[22:32:09.087] After pose optimization, distance between ekf and vo x:0.356885 ,z=0.226355,angle between two frames:0.299964 +[22:32:09.087] frame process finished the id is: 1130 the obs is:11 +[22:32:09.098] Odometry x=0.801089, y=0.884912, theta=3.075742 +[22:32:09.191] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.357825 ,z=0.224838,angle between two frames:0.299964 +[22:32:09.191] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.166004 error end=0.165515 +[22:32:09.191] After pose optimization, distance between ekf and vo x:0.356080 ,z=0.224542,angle between two frames:0.299561 +[22:32:09.191] frame process finished the id is: 1130 the obs is:11 +[22:32:09.198] Odometry x=0.800559, y=0.877188, theta=3.077272 +[22:32:09.295] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.357514 ,z=0.225342,angle between two frames:0.299964 +[22:32:09.295] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.286377 error end=0.283264 +[22:32:09.295] After pose optimization, distance between ekf and vo x:0.337637 ,z=0.233010,angle between two frames:0.297995 +[22:32:09.295] frame process finished the id is: 1130 the obs is:11 +[22:32:09.297] Odometry x=0.799698, y=0.869453, theta=3.074163 +[22:32:09.397] Odometry x=0.799161, y=0.861867, theta=3.078064 +[22:32:09.399] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.358232 ,z=0.224177,angle between two frames:0.299964 +[22:32:09.399] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =2.272994 error end=0.558327 +[22:32:09.399] After pose optimization, distance between ekf and vo x:-0.277591 ,z=-0.153529,angle between two frames:1.297454 +[22:32:09.399] frame process finished the id is: 1130 the obs is:11 +[22:32:09.499] Odometry x=0.797986, y=0.854121, theta=3.077724 +[22:32:09.504] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.625338 ,z=0.314746,angle between two frames:0.499964 +[22:32:09.504] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.077582 error end=0.076728 +[22:32:09.504] After pose optimization, distance between ekf and vo x:0.621709 ,z=0.314948,angle between two frames:0.499082 +[22:32:09.504] frame process finished the id is: 1130 the obs is:11 +[22:32:09.597] Odometry x=0.797455, y=0.846342, theta=3.081391 +[22:32:09.610] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.625585 ,z=0.314307,angle between two frames:0.499964 +[22:32:09.610] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.350562 error end=0.350562 +[22:32:09.610] After pose optimization, distance between ekf and vo x:0.625585 ,z=0.314307,angle between two frames:0.499964 +[22:32:09.610] frame process finished the id is: 1130 the obs is:11 +[22:32:09.700] Odometry x=0.796524, y=0.838547, theta=3.078041 +[22:32:09.714] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.625538 ,z=0.314423,angle between two frames:0.499964 +[22:32:09.715] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =2.009657 error end=0.668554 +[22:32:09.715] After pose optimization, distance between ekf and vo x:0.090962 ,z=0.471268,angle between two frames:0.613867 +[22:32:09.715] frame process finished the id is: 1130 the obs is:11 +[22:32:09.799] Odometry x=0.795985, y=0.830767, theta=3.081838 +[22:32:09.812] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.622975 ,z=0.319013,angle between two frames:0.499991 +[22:32:09.812] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.470171 error end=0.363284 +[22:32:09.812] After pose optimization, distance between ekf and vo x:0.790680 ,z=0.338770,angle between two frames:0.230282 +[22:32:09.812] frame process finished the id is: 1130 the obs is:11 +[22:32:09.896] Odometry x=0.795244, y=0.822882, theta=3.083031 +[22:32:09.910] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.761789 ,z=0.344572,angle between two frames:0.599991 +[22:32:09.910] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.833400 error end=0.775562 +[22:32:09.910] After pose optimization, distance between ekf and vo x:0.753268 ,z=0.346062,angle between two frames:0.597665 +[22:32:09.910] frame process finished the id is: 1130 the obs is:11 +[22:32:09.999] Odometry x=0.794784, y=0.815364, theta=3.084106 +[22:32:10.007] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.761790 ,z=0.344569,angle between two frames:0.599991 +[22:32:10.007] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.053338 error end=0.053338 +[22:32:10.007] After pose optimization, distance between ekf and vo x:0.761790 ,z=0.344569,angle between two frames:0.599991 +[22:32:10.007] frame process finished the id is: 1130 the obs is:11 +[22:32:10.095] Odometry x=0.794061, y=0.807785, theta=3.080783 +[22:32:10.105] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.761429 ,z=0.345376,angle between two frames:0.599991 +[22:32:10.105] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.024573 error end=0.024492 +[22:32:10.105] After pose optimization, distance between ekf and vo x:0.777455 ,z=0.341774,angle between two frames:0.603725 +[22:32:10.105] frame process finished the id is: 1130 the obs is:11 +[22:32:10.197] Odometry x=0.793530, y=0.800116, theta=3.085218 +[22:32:10.203] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.762531 ,z=0.342899,angle between two frames:0.599991 +[22:32:10.203] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =1.023188 error end=0.829193 +[22:32:10.203] After pose optimization, distance between ekf and vo x:0.647024 ,z=0.323300,angle between two frames:0.549800 +[22:32:10.203] frame process finished the id is: 1130 the obs is:11 +[22:32:10.299] Odometry x=0.792605, y=0.792862, theta=3.082946 +[22:32:10.308] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.762956 ,z=0.342679,angle between two frames:0.599964 +[22:32:10.308] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.023551 error end=0.023361 +[22:32:10.308] After pose optimization, distance between ekf and vo x:0.753954 ,z=0.343242,angle between two frames:0.597768 +[22:32:10.308] frame process finished the id is: 1130 the obs is:11 +[22:32:10.395] Odometry x=0.791858, y=0.784920, theta=3.085933 +[22:32:10.405] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.760826 ,z=0.346726,angle between two frames:0.599991 +[22:32:10.405] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.424937 error end=0.424937 +[22:32:10.405] After pose optimization, distance between ekf and vo x:0.760826 ,z=0.346726,angle between two frames:0.599991 +[22:32:10.405] frame process finished the id is: 1130 the obs is:11 +[22:32:10.494] Odometry x=0.791436, y=0.777504, theta=3.082647 +[22:32:10.509] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.487933 ,z=0.278987,angle between two frames:0.399964 +[22:32:10.509] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.006346 error end=0.006346 +[22:32:10.509] After pose optimization, distance between ekf and vo x:0.487933 ,z=0.278987,angle between two frames:0.399964 +[22:32:10.509] frame process finished the id is: 1130 the obs is:11 +[22:32:10.603] Odometry x=0.791005, y=0.769468, theta=3.083831 +[22:32:10.613] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.487566 ,z=0.279632,angle between two frames:0.399965 +[22:32:10.613] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.018684 error end=0.018615 +[22:32:10.613] After pose optimization, distance between ekf and vo x:0.483457 ,z=0.277798,angle between two frames:0.399755 +[22:32:10.613] frame process finished the id is: 1130 the obs is:11 +[22:32:10.718] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.488193 ,z=0.278520,angle between two frames:0.399964 +[22:32:10.718] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.035958 error end=0.035928 +[22:32:10.718] After pose optimization, distance between ekf and vo x:0.487657 ,z=0.278737,angle between two frames:0.399880 +[22:32:10.718] frame process finished the id is: 1130 the obs is:11 +[22:32:10.822] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.488184 ,z=0.278536,angle between two frames:0.399964 +[22:32:10.822] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.346475 error end=0.346475 +[22:32:10.822] After pose optimization, distance between ekf and vo x:0.488184 ,z=0.278536,angle between two frames:0.399964 +[22:32:10.822] frame process finished the id is: 1130 the obs is:11 +[22:32:10.927] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.488138 ,z=0.278607,angle between two frames:0.399964 +[22:32:10.927] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.000584 error end=0.000584 +[22:32:10.927] After pose optimization, distance between ekf and vo x:0.488121 ,z=0.278621,angle between two frames:0.399963 +[22:32:10.927] frame process finished the id is: 1130 the obs is:11 +[22:32:11.031] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.488087 ,z=0.278688,angle between two frames:0.399964 +[22:32:11.032] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.005229 error end=0.005229 +[22:32:11.032] After pose optimization, distance between ekf and vo x:0.488087 ,z=0.278688,angle between two frames:0.399964 +[22:32:11.032] frame process finished the id is: 1130 the obs is:11 +[22:32:11.135] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.488078 ,z=0.278703,angle between two frames:0.399964 +[22:32:11.136] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.004780 error end=0.004779 +[22:32:11.136] After pose optimization, distance between ekf and vo x:0.487956 ,z=0.278709,angle between two frames:0.399950 +[22:32:11.136] frame process finished the id is: 1130 the obs is:11 +[22:32:11.241] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.488060 ,z=0.278731,angle between two frames:0.399964 +[22:32:11.241] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.002301 error end=0.002299 +[22:32:11.241] After pose optimization, distance between ekf and vo x:0.487549 ,z=0.278509,angle between two frames:0.399938 +[22:32:11.241] frame process finished the id is: 1130 the obs is:11 +[22:32:11.346] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.488060 ,z=0.278730,angle between two frames:0.399964 +[22:32:11.346] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.003693 error end=0.003693 +[22:32:11.346] After pose optimization, distance between ekf and vo x:0.488060 ,z=0.278730,angle between two frames:0.399964 +[22:32:11.346] frame process finished the id is: 1130 the obs is:11 +[22:32:11.454] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.488025 ,z=0.278786,angle between two frames:0.399964 +[22:32:11.455] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.062479 error end=0.062479 +[22:32:11.455] After pose optimization, distance between ekf and vo x:0.488025 ,z=0.278786,angle between two frames:0.399964 +[22:32:11.455] frame process finished the id is: 1130 the obs is:11 +[22:32:11.559] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356510 ,z=0.226947,angle between two frames:0.299964 +[22:32:11.559] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.011179 error end=0.011179 +[22:32:11.559] After pose optimization, distance between ekf and vo x:0.356510 ,z=0.226947,angle between two frames:0.299964 +[22:32:11.559] frame process finished the id is: 1130 the obs is:11 +[22:32:11.665] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.356511 ,z=0.226946,angle between two frames:0.299964 +[22:32:11.665] n deleted obs = 22 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.373939 error end=0.373939 +[22:32:11.665] After pose optimization, distance between ekf and vo x:0.356511 ,z=0.226946,angle between two frames:0.299964 +[22:32:11.665] frame process finished the id is: 1130 the obs is:11 +[22:32:11.770] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356519 ,z=0.226932,angle between two frames:0.299964 +[22:32:11.770] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.921729 error end=0.921729 +[22:32:11.770] After pose optimization, distance between ekf and vo x:0.356519 ,z=0.226932,angle between two frames:0.299964 +[22:32:11.770] frame process finished the id is: 1130 the obs is:11 +[22:32:11.875] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356501 ,z=0.226960,angle between two frames:0.299964 +[22:32:11.875] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.007228 error end=0.007228 +[22:32:11.875] After pose optimization, distance between ekf and vo x:0.356501 ,z=0.226960,angle between two frames:0.299964 +[22:32:11.875] frame process finished the id is: 1130 the obs is:11 +[22:32:11.979] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356521 ,z=0.226928,angle between two frames:0.299964 +[22:32:11.979] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.011574 error end=0.011574 +[22:32:11.979] After pose optimization, distance between ekf and vo x:0.356491 ,z=0.227002,angle between two frames:0.299972 +[22:32:11.979] frame process finished the id is: 1130 the obs is:11 +[22:32:12.084] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356537 ,z=0.226904,angle between two frames:0.299964 +[22:32:12.084] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.003240 error end=0.003239 +[22:32:12.084] After pose optimization, distance between ekf and vo x:0.356469 ,z=0.226890,angle between two frames:0.299947 +[22:32:12.084] frame process finished the id is: 1130 the obs is:11 +[22:32:12.188] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356535 ,z=0.226908,angle between two frames:0.299964 +[22:32:12.189] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.010573 error end=0.010573 +[22:32:12.189] After pose optimization, distance between ekf and vo x:0.356704 ,z=0.226818,angle between two frames:0.299971 +[22:32:12.189] frame process finished the id is: 1130 the obs is:11 +[22:32:12.293] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356538 ,z=0.226901,angle between two frames:0.299964 +[22:32:12.293] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.115763 error end=0.115763 +[22:32:12.293] After pose optimization, distance between ekf and vo x:0.356538 ,z=0.226901,angle between two frames:0.299964 +[22:32:12.293] frame process finished the id is: 1130 the obs is:11 +[22:32:12.397] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.356544 ,z=0.226893,angle between two frames:0.299964 +[22:32:12.397] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.066298 error end=0.066298 +[22:32:12.397] After pose optimization, distance between ekf and vo x:0.356544 ,z=0.226893,angle between two frames:0.299964 +[22:32:12.397] frame process finished the id is: 1130 the obs is:11 +[22:32:12.500] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.356532 ,z=0.226911,angle between two frames:0.299964 +[22:32:12.501] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.013964 error end=0.013759 +[22:32:12.501] After pose optimization, distance between ekf and vo x:0.353559 ,z=0.209709,angle between two frames:0.295401 +[22:32:12.501] frame process finished the id is: 1130 the obs is:11 +[22:32:12.605] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.356537 ,z=0.226903,angle between two frames:0.299964 +[22:32:12.605] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000059 error end=0.000059 +[22:32:12.605] After pose optimization, distance between ekf and vo x:0.356537 ,z=0.226903,angle between two frames:0.299964 +[22:32:12.605] frame process finished the id is: 1130 the obs is:11 +[22:32:12.710] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356545 ,z=0.226891,angle between two frames:0.299964 +[22:32:12.710] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000002 error end=0.000002 +[22:32:12.710] After pose optimization, distance between ekf and vo x:0.356545 ,z=0.226891,angle between two frames:0.299964 +[22:32:12.710] frame process finished the id is: 1130 the obs is:11 +[22:32:12.815] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 +[22:32:12.815] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.002616 error end=0.002616 +[22:32:12.815] After pose optimization, distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 +[22:32:12.815] frame process finished the id is: 1130 the obs is:11 +[22:32:12.919] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.356541 ,z=0.226897,angle between two frames:0.299964 +[22:32:12.920] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.023085 error end=0.023043 +[22:32:12.920] After pose optimization, distance between ekf and vo x:0.355444 ,z=0.225986,angle between two frames:0.299543 +[22:32:12.920] frame process finished the id is: 1130 the obs is:11 +[22:32:13.024] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356535 ,z=0.226906,angle between two frames:0.299964 +[22:32:13.024] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.106018 error end=0.105972 +[22:32:13.024] After pose optimization, distance between ekf and vo x:0.355572 ,z=0.227310,angle between two frames:0.299849 +[22:32:13.024] frame process finished the id is: 1130 the obs is:11 +[22:32:13.128] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356536 ,z=0.226906,angle between two frames:0.299964 +[22:32:13.128] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.078470 error end=0.078404 +[22:32:13.128] After pose optimization, distance between ekf and vo x:0.355176 ,z=0.227622,angle between two frames:0.298279 +[22:32:13.128] frame process finished the id is: 1130 the obs is:11 +[22:32:13.232] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356540 ,z=0.226899,angle between two frames:0.299964 +[22:32:13.232] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.176326 error end=0.176217 +[22:32:13.232] After pose optimization, distance between ekf and vo x:0.357183 ,z=0.226601,angle between two frames:0.299996 +[22:32:13.232] frame process finished the id is: 1130 the obs is:11 +[22:32:13.337] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356539 ,z=0.226901,angle between two frames:0.299964 +[22:32:13.337] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.013011 error end=0.013010 +[22:32:13.337] After pose optimization, distance between ekf and vo x:0.356692 ,z=0.226820,angle between two frames:0.299970 +[22:32:13.337] frame process finished the id is: 1130 the obs is:11 +[22:32:13.442] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.356547 ,z=0.226889,angle between two frames:0.299964 +[22:32:13.442] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.041282 error end=0.041281 +[22:32:13.442] After pose optimization, distance between ekf and vo x:0.356679 ,z=0.226820,angle between two frames:0.299961 +[22:32:13.442] frame process finished the id is: 1130 the obs is:11 +[22:32:13.547] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356543 ,z=0.226895,angle between two frames:0.299964 +[22:32:13.548] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.000063 error end=0.000063 +[22:32:13.548] After pose optimization, distance between ekf and vo x:0.356542 ,z=0.226895,angle between two frames:0.299964 +[22:32:13.548] frame process finished the id is: 1130 the obs is:11 +[22:32:13.652] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356539 ,z=0.226902,angle between two frames:0.299964 +[22:32:13.653] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.013665 error end=0.013663 +[22:32:13.653] After pose optimization, distance between ekf and vo x:0.356467 ,z=0.226943,angle between two frames:0.299819 +[22:32:13.653] frame process finished the id is: 1130 the obs is:11 +[22:32:13.759] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356547 ,z=0.226889,angle between two frames:0.299964 +[22:32:13.759] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000079 error end=0.000079 +[22:32:13.759] After pose optimization, distance between ekf and vo x:0.356530 ,z=0.226887,angle between two frames:0.299961 +[22:32:13.759] frame process finished the id is: 1130 the obs is:11 +[22:32:13.865] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.356544 ,z=0.226893,angle between two frames:0.299964 +[22:32:13.865] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.064162 error end=0.064162 +[22:32:13.865] After pose optimization, distance between ekf and vo x:0.356544 ,z=0.226893,angle between two frames:0.299964 +[22:32:13.865] frame process finished the id is: 1130 the obs is:11 +[22:32:13.970] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356541 ,z=0.226898,angle between two frames:0.299964 +[22:32:13.970] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.006697 error end=0.006697 +[22:32:13.970] After pose optimization, distance between ekf and vo x:0.356569 ,z=0.226885,angle between two frames:0.299965 +[22:32:13.970] frame process finished the id is: 1130 the obs is:11 +[22:32:14.076] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356537 ,z=0.226904,angle between two frames:0.299964 +[22:32:14.076] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.107801 error end=0.107776 +[22:32:14.076] After pose optimization, distance between ekf and vo x:0.356165 ,z=0.227090,angle between two frames:0.299915 +[22:32:14.076] frame process finished the id is: 1130 the obs is:11 +[22:32:14.181] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356542 ,z=0.226896,angle between two frames:0.299964 +[22:32:14.181] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.017788 error end=0.017787 +[22:32:14.181] After pose optimization, distance between ekf and vo x:0.356359 ,z=0.226996,angle between two frames:0.299946 +[22:32:14.181] frame process finished the id is: 1130 the obs is:11 +[22:32:14.286] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.356534 ,z=0.226908,angle between two frames:0.299964 +[22:32:14.286] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.050239 error end=0.050210 +[22:32:14.286] After pose optimization, distance between ekf and vo x:0.355703 ,z=0.227239,angle between two frames:0.299872 +[22:32:14.286] frame process finished the id is: 1130 the obs is:11 +[22:32:14.392] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356541 ,z=0.226898,angle between two frames:0.299964 +[22:32:14.392] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.039861 error end=0.039861 +[22:32:14.392] After pose optimization, distance between ekf and vo x:0.356541 ,z=0.226898,angle between two frames:0.299964 +[22:32:14.392] frame process finished the id is: 1130 the obs is:11 +[22:32:14.496] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356543 ,z=0.226895,angle between two frames:0.299964 +[22:32:14.496] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.011617 error end=0.011617 +[22:32:14.496] After pose optimization, distance between ekf and vo x:0.356580 ,z=0.226876,angle between two frames:0.299963 +[22:32:14.496] frame process finished the id is: 1130 the obs is:11 +[22:32:14.600] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.356542 ,z=0.226896,angle between two frames:0.299964 +[22:32:14.600] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.311707 error end=0.222342 +[22:32:14.600] After pose optimization, distance between ekf and vo x:0.229509 ,z=0.209361,angle between two frames:0.272547 +[22:32:14.600] frame process finished the id is: 1130 the obs is:11 +[22:32:14.705] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356541 ,z=0.226898,angle between two frames:0.299964 +[22:32:14.705] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.012843 error end=0.012843 +[22:32:14.705] After pose optimization, distance between ekf and vo x:0.356541 ,z=0.226898,angle between two frames:0.299964 +[22:32:14.705] frame process finished the id is: 1130 the obs is:11 +[22:32:14.811] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356546 ,z=0.226889,angle between two frames:0.299964 +[22:32:14.811] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000416 error end=0.000416 +[22:32:14.811] After pose optimization, distance between ekf and vo x:0.356532 ,z=0.226883,angle between two frames:0.299960 +[22:32:14.811] frame process finished the id is: 1130 the obs is:11 +[22:32:14.917] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356542 ,z=0.226896,angle between two frames:0.299964 +[22:32:14.917] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.248213 error end=0.248167 +[22:32:14.917] After pose optimization, distance between ekf and vo x:0.356314 ,z=0.227021,angle between two frames:0.299912 +[22:32:14.917] frame process finished the id is: 1130 the obs is:11 +[22:32:15.022] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356549 ,z=0.226885,angle between two frames:0.299964 +[22:32:15.022] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.044683 error end=0.044676 +[22:32:15.022] After pose optimization, distance between ekf and vo x:0.356711 ,z=0.226810,angle between two frames:0.299972 +[22:32:15.022] frame process finished the id is: 1130 the obs is:11 +[22:32:15.128] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.356549 ,z=0.226884,angle between two frames:0.299964 +[22:32:15.128] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.109726 error end=0.109525 +[22:32:15.128] After pose optimization, distance between ekf and vo x:0.352694 ,z=0.228703,angle between two frames:0.299634 +[22:32:15.128] frame process finished the id is: 1130 the obs is:11 +[22:32:15.233] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.356537 ,z=0.226904,angle between two frames:0.299964 +[22:32:15.233] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.000234 error end=0.000234 +[22:32:15.233] After pose optimization, distance between ekf and vo x:0.356140 ,z=0.226885,angle between two frames:0.299965 +[22:32:15.233] frame process finished the id is: 1130 the obs is:11 +[22:32:15.339] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.356540 ,z=0.226899,angle between two frames:0.299964 +[22:32:15.339] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.063097 error end=0.063097 +[22:32:15.339] After pose optimization, distance between ekf and vo x:0.356540 ,z=0.226899,angle between two frames:0.299964 +[22:32:15.339] frame process finished the id is: 1130 the obs is:11 +[22:32:15.444] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356537 ,z=0.226904,angle between two frames:0.299964 +[22:32:15.445] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.014104 error end=0.014099 +[22:32:15.445] After pose optimization, distance between ekf and vo x:0.356256 ,z=0.226950,angle between two frames:0.299919 +[22:32:15.445] frame process finished the id is: 1130 the obs is:11 +[22:32:15.549] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356544 ,z=0.226894,angle between two frames:0.299964 +[22:32:15.549] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000571 error end=0.000571 +[22:32:15.549] After pose optimization, distance between ekf and vo x:0.356544 ,z=0.226894,angle between two frames:0.299964 +[22:32:15.549] frame process finished the id is: 1130 the obs is:11 +[22:32:15.652] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356545 ,z=0.226892,angle between two frames:0.299964 +[22:32:15.653] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.220887 error end=0.220817 +[22:32:15.653] After pose optimization, distance between ekf and vo x:0.358183 ,z=0.226128,angle between two frames:0.300047 +[22:32:15.653] frame process finished the id is: 1130 the obs is:11 +[22:32:15.757] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 +[22:32:15.757] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.181484 error end=0.181342 +[22:32:15.757] After pose optimization, distance between ekf and vo x:0.359305 ,z=0.225425,angle between two frames:0.300085 +[22:32:15.757] frame process finished the id is: 1130 the obs is:11 +[22:32:15.832] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356546 ,z=0.226889,angle between two frames:0.299964 +[22:32:15.832] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.002098 error end=0.002098 +[22:32:15.832] After pose optimization, distance between ekf and vo x:0.356546 ,z=0.226889,angle between two frames:0.299964 +[22:32:15.832] frame process finished the id is: 1130 the obs is:11 +[22:32:15.887] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.356538 ,z=0.226903,angle between two frames:0.299964 +[22:32:15.887] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.013451 error end=0.013445 +[22:32:15.887] After pose optimization, distance between ekf and vo x:0.356232 ,z=0.226897,angle between two frames:0.299928 +[22:32:15.887] frame process finished the id is: 1130 the obs is:11 +[22:32:15.981] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356541 ,z=0.226898,angle between two frames:0.299964 +[22:32:15.981] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.205728 error end=0.188499 +[22:32:15.981] After pose optimization, distance between ekf and vo x:0.315278 ,z=0.193010,angle between two frames:0.299993 +[22:32:15.981] frame process finished the id is: 1130 the obs is:11 +[22:32:16.083] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356546 ,z=0.226890,angle between two frames:0.299964 +[22:32:16.083] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.020232 error end=0.020231 +[22:32:16.083] After pose optimization, distance between ekf and vo x:0.356577 ,z=0.226876,angle between two frames:0.299965 +[22:32:16.083] frame process finished the id is: 1130 the obs is:11 +[22:32:16.189] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356546 ,z=0.226889,angle between two frames:0.299964 +[22:32:16.189] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.228255 error end=0.228255 +[22:32:16.189] After pose optimization, distance between ekf and vo x:0.356546 ,z=0.226889,angle between two frames:0.299964 +[22:32:16.189] frame process finished the id is: 1130 the obs is:11 +[22:32:16.301] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356546 ,z=0.226888,angle between two frames:0.299964 +[22:32:16.301] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.057111 error end=0.057107 +[22:32:16.301] After pose optimization, distance between ekf and vo x:0.356956 ,z=0.226697,angle between two frames:0.299985 +[22:32:16.301] frame process finished the id is: 1130 the obs is:11 +[22:32:16.384] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.356541 ,z=0.226897,angle between two frames:0.299964 +[22:32:16.384] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.019663 error end=0.019660 +[22:32:16.384] After pose optimization, distance between ekf and vo x:0.356375 ,z=0.226922,angle between two frames:0.299934 +[22:32:16.384] frame process finished the id is: 1130 the obs is:11 +[22:32:16.493] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.356537 ,z=0.226903,angle between two frames:0.299964 +[22:32:16.493] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.000008 error end=0.000008 +[22:32:16.493] After pose optimization, distance between ekf and vo x:0.356537 ,z=0.226904,angle between two frames:0.299964 +[22:32:16.493] frame process finished the id is: 1130 the obs is:11 +[22:32:16.587] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226903,angle between two frames:0.299964 +[22:32:16.587] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.236972 error end=0.236972 +[22:32:16.587] After pose optimization, distance between ekf and vo x:0.356538 ,z=0.226903,angle between two frames:0.299964 +[22:32:16.587] frame process finished the id is: 1130 the obs is:11 +[22:32:16.699] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.356539 ,z=0.226901,angle between two frames:0.299964 +[22:32:16.700] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.260341 error end=0.260289 +[22:32:16.700] After pose optimization, distance between ekf and vo x:0.353810 ,z=0.229575,angle between two frames:0.299994 +[22:32:16.700] frame process finished the id is: 1130 the obs is:11 +[22:32:16.781] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.356536 ,z=0.226904,angle between two frames:0.299964 +[22:32:16.781] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.239946 error end=0.239936 +[22:32:16.781] After pose optimization, distance between ekf and vo x:0.356626 ,z=0.226867,angle between two frames:0.299962 +[22:32:16.781] frame process finished the id is: 1130 the obs is:11 +[22:32:16.890] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356544 ,z=0.226894,angle between two frames:0.299964 +[22:32:16.890] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.105416 error end=0.105416 +[22:32:16.890] After pose optimization, distance between ekf and vo x:0.356544 ,z=0.226894,angle between two frames:0.299964 +[22:32:16.890] frame process finished the id is: 1130 the obs is:11 +[22:32:16.985] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226901,angle between two frames:0.299964 +[22:32:16.985] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.011162 error end=0.011161 +[22:32:16.985] After pose optimization, distance between ekf and vo x:0.356577 ,z=0.226884,angle between two frames:0.299966 +[22:32:16.985] frame process finished the id is: 1130 the obs is:11 +[22:32:17.082] After Reprojection Map nMatches:35 ,distance between ekf and vo x:0.356542 ,z=0.226897,angle between two frames:0.299964 +[22:32:17.082] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.111553 error end=0.111348 +[22:32:17.082] After pose optimization, distance between ekf and vo x:0.357333 ,z=0.226528,angle between two frames:0.300018 +[22:32:17.082] frame process finished the id is: 1130 the obs is:11 +[22:32:17.192] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356540 ,z=0.226899,angle between two frames:0.299964 +[22:32:17.192] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.235357 error end=0.235357 +[22:32:17.192] After pose optimization, distance between ekf and vo x:0.356540 ,z=0.226899,angle between two frames:0.299964 +[22:32:17.192] frame process finished the id is: 1130 the obs is:11 +[22:32:17.282] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356539 ,z=0.226900,angle between two frames:0.299964 +[22:32:17.282] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.144585 error end=0.144520 +[22:32:17.282] After pose optimization, distance between ekf and vo x:0.354156 ,z=0.228188,angle between two frames:0.299811 +[22:32:17.282] frame process finished the id is: 1130 the obs is:11 +[22:32:17.409] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356542 ,z=0.226897,angle between two frames:0.299964 +[22:32:17.410] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.025893 error end=0.025885 +[22:32:17.410] After pose optimization, distance between ekf and vo x:0.355511 ,z=0.226525,angle between two frames:0.299954 +[22:32:17.410] frame process finished the id is: 1130 the obs is:11 +[22:32:17.480] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356536 ,z=0.226906,angle between two frames:0.299964 +[22:32:17.480] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.001734 error end=0.001734 +[22:32:17.480] After pose optimization, distance between ekf and vo x:0.356437 ,z=0.226855,angle between two frames:0.299959 +[22:32:17.480] frame process finished the id is: 1130 the obs is:11 +[22:32:17.584] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226901,angle between two frames:0.299964 +[22:32:17.584] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.326599 error end=0.324290 +[22:32:17.584] After pose optimization, distance between ekf and vo x:0.349379 ,z=0.226116,angle between two frames:0.298711 +[22:32:17.584] frame process finished the id is: 1130 the obs is:11 +[22:32:17.719] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356540 ,z=0.226897,angle between two frames:0.299964 +[22:32:17.720] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.045265 error end=0.045255 +[22:32:17.720] After pose optimization, distance between ekf and vo x:0.357232 ,z=0.226528,angle between two frames:0.299994 +[22:32:17.720] frame process finished the id is: 1130 the obs is:11 +[22:32:17.783] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 +[22:32:17.783] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.043409 error end=0.043409 +[22:32:17.783] After pose optimization, distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 +[22:32:17.783] frame process finished the id is: 1130 the obs is:11 +[22:32:17.904] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356539 ,z=0.226901,angle between two frames:0.299964 +[22:32:17.904] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.041753 error end=0.041753 +[22:32:17.904] After pose optimization, distance between ekf and vo x:0.356558 ,z=0.226926,angle between two frames:0.299964 +[22:32:17.904] frame process finished the id is: 1130 the obs is:11 +[22:32:17.994] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 +[22:32:17.994] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.030177 error end=0.030176 +[22:32:17.994] After pose optimization, distance between ekf and vo x:0.356627 ,z=0.226860,angle between two frames:0.299966 +[22:32:17.994] frame process finished the id is: 1130 the obs is:11 +[22:32:18.095] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356543 ,z=0.226895,angle between two frames:0.299964 +[22:32:18.095] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.038974 error end=0.038951 +[22:32:18.095] After pose optimization, distance between ekf and vo x:0.355799 ,z=0.227016,angle between two frames:0.299843 +[22:32:18.095] frame process finished the id is: 1130 the obs is:11 +[22:32:18.184] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.356546 ,z=0.226890,angle between two frames:0.299964 +[22:32:18.184] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.034024 error end=0.034015 +[22:32:18.184] After pose optimization, distance between ekf and vo x:0.354762 ,z=0.221851,angle between two frames:0.298448 +[22:32:18.184] frame process finished the id is: 1130 the obs is:11 +[22:32:18.291] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 +[22:32:18.291] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.000909 error end=0.000909 +[22:32:18.291] After pose optimization, distance between ekf and vo x:0.356538 ,z=0.226902,angle between two frames:0.299964 +[22:32:18.291] frame process finished the id is: 1130 the obs is:11 +[22:32:18.392] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.356548 ,z=0.226886,angle between two frames:0.299964 +[22:32:18.392] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.029463 error end=0.029463 +[22:32:18.392] After pose optimization, distance between ekf and vo x:0.356548 ,z=0.226886,angle between two frames:0.299964 +[22:32:18.392] frame process finished the id is: 1130 the obs is:11 +[22:32:18.409] Odometry x=0.790503, y=0.761841, theta=3.081635 +[22:32:18.502] Odometry x=0.789979, y=0.754200, theta=3.068541 +[22:32:18.511] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.491754 ,z=0.272074,angle between two frames:0.399964 +[22:32:18.511] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.751951 error end=0.745142 +[22:32:18.511] After pose optimization, distance between ekf and vo x:0.483042 ,z=0.280841,angle between two frames:0.399573 +[22:32:18.511] frame process finished the id is: 1130 the obs is:11 +[22:32:18.589] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.362794 ,z=0.216561,angle between two frames:0.299964 +[22:32:18.589] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.043975 error end=0.043975 +[22:32:18.589] After pose optimization, distance between ekf and vo x:0.362794 ,z=0.216561,angle between two frames:0.299964 +[22:32:18.589] frame process finished the id is: 1130 the obs is:11 +[22:32:18.607] Odometry x=0.789355, y=0.746578, theta=3.052661 +[22:32:18.684] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.362790 ,z=0.216568,angle between two frames:0.299964 +[22:32:18.684] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.026138 error end=0.026134 +[22:32:18.684] After pose optimization, distance between ekf and vo x:0.362472 ,z=0.216764,angle between two frames:0.299937 +[22:32:18.684] frame process finished the id is: 1130 the obs is:11 +[22:32:18.709] Odometry x=0.789457, y=0.737713, theta=3.040819 +[22:32:18.807] Odometry x=0.788749, y=0.730767, theta=3.022393 +[22:32:18.819] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.503532 ,z=0.249211,angle between two frames:0.399964 +[22:32:18.819] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.020515 error end=0.020058 +[22:32:18.819] After pose optimization, distance between ekf and vo x:0.480597 ,z=0.237789,angle between two frames:0.406545 +[22:32:18.819] frame process finished the id is: 1130 the obs is:11 +[22:32:18.892] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.372754 ,z=0.198536,angle between two frames:0.299964 +[22:32:18.892] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.332751 error end=0.332751 +[22:32:18.892] After pose optimization, distance between ekf and vo x:0.372754 ,z=0.198536,angle between two frames:0.299964 +[22:32:18.892] frame process finished the id is: 1130 the obs is:11 +[22:32:18.905] Odometry x=0.787818, y=0.723207, theta=3.004444 +[22:32:18.981] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.511095 ,z=0.233339,angle between two frames:0.399992 +[22:32:18.981] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.007880 error end=0.007063 +[22:32:18.981] After pose optimization, distance between ekf and vo x:0.501163 ,z=0.238308,angle between two frames:0.401457 +[22:32:18.981] frame process finished the id is: 1130 the obs is:11 +[22:32:19.008] Odometry x=0.786676, y=0.715174, theta=2.986837 +[22:32:19.097] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.654912 ,z=0.246453,angle between two frames:0.499999 +[22:32:19.097] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.170409 error end=0.148543 +[22:32:19.097] After pose optimization, distance between ekf and vo x:0.698739 ,z=0.229117,angle between two frames:0.516801 +[22:32:19.097] frame process finished the id is: 1130 the obs is:11 +[22:32:19.104] Odometry x=0.785510, y=0.707137, theta=2.966701 +[22:32:19.191] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.654908 ,z=0.246465,angle between two frames:0.499999 +[22:32:19.191] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.394809 error end=0.394809 +[22:32:19.191] After pose optimization, distance between ekf and vo x:0.654908 ,z=0.246465,angle between two frames:0.499999 +[22:32:19.191] frame process finished the id is: 1130 the obs is:11 +[22:32:19.200] Odometry x=0.784102, y=0.699110, theta=2.953482 +[22:32:19.295] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.385746 ,z=0.171391,angle between two frames:0.299957 +[22:32:19.295] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.042749 error end=0.042539 +[22:32:19.295] After pose optimization, distance between ekf and vo x:0.376834 ,z=0.174875,angle between two frames:0.298288 +[22:32:19.295] frame process finished the id is: 1130 the obs is:11 +[22:32:19.303] Odometry x=0.782742, y=0.690997, theta=2.932220 +[22:32:19.379] After Reprojection Map nMatches:21 ,distance between ekf and vo x:0.387178 ,z=0.168911,angle between two frames:0.299992 +[22:32:19.379] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.001624 error end=0.001623 +[22:32:19.379] After pose optimization, distance between ekf and vo x:0.386968 ,z=0.168858,angle between two frames:0.299975 +[22:32:19.379] frame process finished the id is: 1130 the obs is:11 +[22:32:19.406] Odometry x=0.780764, y=0.683662, theta=2.920951 +[22:32:19.489] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.529946 ,z=0.186105,angle between two frames:0.399992 +[22:32:19.489] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.215830 error end=0.206527 +[22:32:19.489] After pose optimization, distance between ekf and vo x:0.523442 ,z=0.102897,angle between two frames:0.382715 +[22:32:19.489] frame process finished the id is: 1130 the obs is:11 +[22:32:19.505] Odometry x=0.778910, y=0.675606, theta=2.896831 +[22:32:19.583] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.394034 ,z=0.150401,angle between two frames:0.299957 +[22:32:19.584] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.200139 error end=0.200139 +[22:32:19.584] After pose optimization, distance between ekf and vo x:0.394034 ,z=0.150401,angle between two frames:0.299957 +[22:32:19.584] frame process finished the id is: 1130 the obs is:11 +[22:32:19.607] Odometry x=0.776848, y=0.668381, theta=2.880839 +[22:32:19.691] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.396203 ,z=0.147085,angle between two frames:0.299998 +[22:32:19.691] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.018684 error end=0.018531 +[22:32:19.691] After pose optimization, distance between ekf and vo x:0.384975 ,z=0.144208,angle between two frames:0.300222 +[22:32:19.691] frame process finished the id is: 1130 the obs is:11 +[22:32:19.704] Odometry x=0.774460, y=0.660481, theta=2.862160 +[22:32:19.766] After Reprojection Map nMatches:17 ,distance between ekf and vo x:0.538214 ,z=0.161278,angle between two frames:0.399997 +[22:32:19.766] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.032100 error end=0.032100 +[22:32:19.766] After pose optimization, distance between ekf and vo x:0.538214 ,z=0.161278,angle between two frames:0.399997 +[22:32:19.766] frame process finished the id is: 1130 the obs is:11 +[22:32:19.805] Odometry x=0.771762, y=0.653421, theta=2.847887 +[22:32:19.898] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.823583 ,z=0.142596,angle between two frames:0.599998 +[22:32:19.898] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.003497 error end=0.003497 +[22:32:19.898] After pose optimization, distance between ekf and vo x:0.823583 ,z=0.142596,angle between two frames:0.599998 +[22:32:19.898] frame process finished the id is: 1130 the obs is:11 +[22:32:19.903] Odometry x=0.769283, y=0.645660, theta=2.827842 +[22:32:19.969] After Reprojection Map nMatches:30 ,distance between ekf and vo x:0.543915 ,z=0.140884,angle between two frames:0.399996 +[22:32:19.969] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000191 error end=0.000191 +[22:32:19.969] After pose optimization, distance between ekf and vo x:0.543915 ,z=0.140884,angle between two frames:0.399996 +[22:32:19.969] frame process finished the id is: 1130 the obs is:11 +[22:32:20.005] Odometry x=0.766723, y=0.637997, theta=2.810050 +[22:32:20.094] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.546085 ,z=0.132223,angle between two frames:0.399996 +[22:32:20.094] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000368 error end=0.000368 +[22:32:20.094] After pose optimization, distance between ekf and vo x:0.546085 ,z=0.132223,angle between two frames:0.399996 +[22:32:20.094] frame process finished the id is: 1130 the obs is:11 +[22:32:20.105] Odometry x=0.764102, y=0.630814, theta=2.794136 +[22:32:20.171] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.689799 ,z=0.117347,angle between two frames:0.499997 +[22:32:20.171] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.000092 error end=0.000092 +[22:32:20.171] After pose optimization, distance between ekf and vo x:0.689601 ,z=0.117357,angle between two frames:0.499929 +[22:32:20.171] frame process finished the id is: 1130 the obs is:11 +[22:32:20.202] Odometry x=0.761266, y=0.623464, theta=2.775039 +[22:32:20.301] Odometry x=0.758502, y=0.616477, theta=2.760775 +[22:32:20.302] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.831270 ,z=0.087020,angle between two frames:0.599997 +[22:32:20.302] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.861340 error end=0.861340 +[22:32:20.302] After pose optimization, distance between ekf and vo x:0.831270 ,z=0.087020,angle between two frames:0.599997 +[22:32:20.302] frame process finished the id is: 1130 the obs is:11 +[22:32:20.369] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.693217 ,z=0.095023,angle between two frames:0.499997 +[22:32:20.369] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.023159 error end=0.023159 +[22:32:20.369] After pose optimization, distance between ekf and vo x:0.693217 ,z=0.095023,angle between two frames:0.499997 +[22:32:20.369] frame process finished the id is: 1130 the obs is:11 +[22:32:20.403] Odometry x=0.755631, y=0.609216, theta=2.742771 +[22:32:20.497] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.833775 ,z=0.058204,angle between two frames:0.599997 +[22:32:20.497] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.315449 error end=0.315449 +[22:32:20.497] After pose optimization, distance between ekf and vo x:0.833775 ,z=0.058204,angle between two frames:0.599997 +[22:32:20.497] frame process finished the id is: 1130 the obs is:11 +[22:32:20.506] Odometry x=0.752363, y=0.601988, theta=2.726169 +[22:32:20.570] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.555432 ,z=0.084552,angle between two frames:0.399997 +[22:32:20.570] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.063108 error end=0.063108 +[22:32:20.570] After pose optimization, distance between ekf and vo x:0.555432 ,z=0.084552,angle between two frames:0.399997 +[22:32:20.570] frame process finished the id is: 1130 the obs is:11 +[22:32:20.604] Odometry x=0.749256, y=0.594936, theta=2.707721 +[22:32:20.672] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.556775 ,z=0.075209,angle between two frames:0.399997 +[22:32:20.672] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.055057 error end=0.055057 +[22:32:20.672] After pose optimization, distance between ekf and vo x:0.556775 ,z=0.075209,angle between two frames:0.399997 +[22:32:20.672] frame process finished the id is: 1130 the obs is:11 +[22:32:20.708] Odometry x=0.745907, y=0.587791, theta=2.690890 +[22:32:20.795] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.835697 ,z=0.012072,angle between two frames:0.599997 +[22:32:20.795] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.045995 error end=0.045995 +[22:32:20.795] After pose optimization, distance between ekf and vo x:0.835697 ,z=0.012072,angle between two frames:0.599997 +[22:32:20.795] frame process finished the id is: 1130 the obs is:11 +[22:32:20.801] Odometry x=0.742252, y=0.580593, theta=2.670945 +[22:32:20.870] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.698874 ,z=0.033549,angle between two frames:0.499997 +[22:32:20.870] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000911 error end=0.000901 +[22:32:20.870] After pose optimization, distance between ekf and vo x:0.694849 ,z=0.036298,angle between two frames:0.496898 +[22:32:20.870] frame process finished the id is: 1130 the obs is:11 +[22:32:20.903] Odometry x=0.738850, y=0.573476, theta=2.654502 +[22:32:20.975] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.835644 ,z=-0.016095,angle between two frames:0.599998 +[22:32:20.975] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.995101 error end=0.360502 +[22:32:20.975] After pose optimization, distance between ekf and vo x:0.557488 ,z=-3.598679,angle between two frames:0.214329 +[22:32:20.975] frame process finished the id is: 1130 the obs is:11 +[22:32:21.004] Odometry x=0.734918, y=0.566514, theta=2.637155 +[22:32:21.089] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.699647 ,z=0.008315,angle between two frames:0.499998 +[22:32:21.089] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.002616 error end=0.002577 +[22:32:21.089] After pose optimization, distance between ekf and vo x:0.686656 ,z=0.012308,angle between two frames:0.494787 +[22:32:21.089] frame process finished the id is: 1130 the obs is:11 +[22:32:21.106] Odometry x=0.730865, y=0.559634, theta=2.618321 +[22:32:21.174] After Reprojection Map nMatches:33 ,distance between ekf and vo x:0.699696 ,z=-0.002022,angle between two frames:0.499998 +[22:32:21.174] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.226328 error end=0.029663 +[22:32:21.174] After pose optimization, distance between ekf and vo x:-0.577653 ,z=0.992692,angle between two frames:0.054722 +[22:32:21.174] frame process finished the id is: 1130 the obs is:11 +[22:32:21.208] Odometry x=0.726805, y=0.552677, theta=2.603530 +[22:32:21.288] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.421226 ,z=0.033324,angle between two frames:0.299997 +[22:32:21.289] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.194049 error end=0.194049 +[22:32:21.289] After pose optimization, distance between ekf and vo x:0.421226 ,z=0.033324,angle between two frames:0.299997 +[22:32:21.289] frame process finished the id is: 1130 the obs is:11 +[22:32:21.300] Odometry x=0.722576, y=0.546198, theta=2.585700 +[22:32:21.374] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.699235 ,z=-0.025355,angle between two frames:0.499998 +[22:32:21.374] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.841127 error end=0.159326 +[22:32:21.374] After pose optimization, distance between ekf and vo x:-0.911828 ,z=0.828192,angle between two frames:0.042274 +[22:32:21.374] frame process finished the id is: 1130 the obs is:11 +[22:32:21.405] Odometry x=0.718475, y=0.539836, theta=2.570169 +[22:32:21.486] After Reprojection Map nMatches:27 ,distance between ekf and vo x:0.698413 ,z=-0.041444,angle between two frames:0.499996 +[22:32:21.486] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.095355 error end=0.095355 +[22:32:21.486] After pose optimization, distance between ekf and vo x:0.698413 ,z=-0.041444,angle between two frames:0.499996 +[22:32:21.486] frame process finished the id is: 1130 the obs is:11 +[22:32:21.503] Odometry x=0.714068, y=0.533229, theta=2.547282 +[22:32:21.577] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.697793 ,z=-0.051353,angle between two frames:0.499998 +[22:32:21.577] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.000003 error end=0.000003 +[22:32:21.577] After pose optimization, distance between ekf and vo x:0.697775 ,z=-0.051336,angle between two frames:0.499990 +[22:32:21.577] frame process finished the id is: 1130 the obs is:11 +[22:32:21.607] Odometry x=0.709530, y=0.526245, theta=2.532973 +[22:32:21.678] After Reprojection Map nMatches:28 ,distance between ekf and vo x:0.422507 ,z=0.003045,angle between two frames:0.299996 +[22:32:21.678] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.323779 error end=0.223276 +[22:32:21.678] After pose optimization, distance between ekf and vo x:-0.108443 ,z=0.016568,angle between two frames:0.121904 +[22:32:21.678] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 +[22:32:21.678] need key frame pitch dis: 5.381977 translation dif:2.665059 +[22:32:21.678] Choose frame as a key frame Scene Depth mean:-1.127731 ,depth min:-4.649684 +[22:32:21.678] frame process finished the id is: 1551 the obs is:21 +[22:32:21.703] Odometry x=0.622274, y=0.533237, theta=-2.862784 +[22:32:21.793] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.611081 ,z=0.570295,angle between two frames:5.683186 +[22:32:21.793] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.132850 error end=0.132850 +[22:32:21.793] After pose optimization, distance between ekf and vo x:0.611081 ,z=0.570295,angle between two frames:5.683186 +[22:32:21.793] frame process finished the id is: 1551 the obs is:21 +[22:32:21.799] Odometry x=0.624747, y=0.524915, theta=-2.876102 +[22:32:21.873] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.620715 ,z=0.559786,angle between two frames:5.683186 +[22:32:21.873] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.395347 error end=0.040155 +[22:32:21.873] After pose optimization, distance between ekf and vo x:-0.517295 ,z=0.382116,angle between two frames:0.107527 +[22:32:21.873] frame process finished the id is: 1551 the obs is:21 +[22:32:21.906] Odometry x=0.626677, y=0.516878, theta=-2.893154 +[22:32:21.976] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.629156 ,z=0.550328,angle between two frames:5.683186 +[22:32:21.976] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.546549 error end=0.083733 +[22:32:21.976] After pose optimization, distance between ekf and vo x:9.589277 ,z=2.175474,angle between two frames:4.699984 +[22:32:21.976] frame process finished the id is: 1551 the obs is:21 +[22:32:22.002] Odometry x=0.628704, y=0.508736, theta=-2.908358 +[22:32:22.087] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.629296 ,z=0.548851,angle between two frames:5.683149 +[22:32:22.087] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.142751 error end=0.142751 +[22:32:22.087] After pose optimization, distance between ekf and vo x:0.629296 ,z=0.548851,angle between two frames:5.683149 +[22:32:22.087] frame process finished the id is: 1551 the obs is:21 +[22:32:22.113] Odometry x=0.630515, y=0.500747, theta=-2.927195 +[22:32:22.235] After Reprojection Map nMatches:34 ,distance between ekf and vo x:0.649340 ,z=0.525012,angle between two frames:5.683155 +[22:32:22.235] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.000045 error end=0.000045 +[22:32:22.235] After pose optimization, distance between ekf and vo x:0.649340 ,z=0.525012,angle between two frames:5.683155 +[22:32:22.235] frame process finished the id is: 1551 the obs is:21 +[22:32:22.375] Odometry x=0.632061, y=0.493198, theta=-2.945809 +[22:32:22.403] Odometry x=0.632061, y=0.493198, theta=-2.945809 +[22:32:22.450] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.649340 ,z=0.524971,angle between two frames:5.683153 +[22:32:22.450] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000415 error end=0.000415 +[22:32:22.450] After pose optimization, distance between ekf and vo x:0.649449 ,z=0.524971,angle between two frames:5.683139 +[22:32:22.451] frame process finished the id is: 1551 the obs is:21 +[22:32:22.497] After Reprojection Map nMatches:21 ,distance between ekf and vo x:0.531883 ,z=0.453372,angle between two frames:5.783155 +[22:32:22.497] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.648441 error end=0.648441 +[22:32:22.497] After pose optimization, distance between ekf and vo x:0.531883 ,z=0.453372,angle between two frames:5.783155 +[22:32:22.497] frame process finished the id is: 1551 the obs is:21 +[22:32:22.501] Odometry x=0.633575, y=0.484288, theta=-2.969744 +[22:32:22.568] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.540651 ,z=0.444376,angle between two frames:5.783184 +[22:32:22.568] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.003131 error end=0.003131 +[22:32:22.568] After pose optimization, distance between ekf and vo x:0.540651 ,z=0.444376,angle between two frames:5.783184 +[22:32:22.568] frame process finished the id is: 1551 the obs is:21 +[22:32:22.612] Odometry x=0.634763, y=0.476681, theta=-2.989120 +[22:32:22.697] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.815797 ,z=0.524582,angle between two frames:5.583192 +[22:32:22.697] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.570908 error end=0.551902 +[22:32:22.697] After pose optimization, distance between ekf and vo x:0.618113 ,z=0.508723,angle between two frames:5.531462 +[22:32:22.697] frame process finished the id is: 1551 the obs is:21 +[22:32:22.703] Odometry x=0.636021, y=0.468769, theta=-3.005593 +[22:32:22.770] After Reprojection Map nMatches:26 ,distance between ekf and vo x:0.688232 ,z=0.474437,angle between two frames:5.683285 +[22:32:22.770] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.310657 error end=0.310593 +[22:32:22.770] After pose optimization, distance between ekf and vo x:0.687479 ,z=0.474538,angle between two frames:5.683324 +[22:32:22.770] frame process finished the id is: 1551 the obs is:21 +[22:32:22.802] Odometry x=0.636951, y=0.460766, theta=-3.023757 +[22:32:22.891] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.562057 ,z=0.416848,angle between two frames:5.783186 +[22:32:22.891] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.655725 error end=0.655676 +[22:32:22.891] After pose optimization, distance between ekf and vo x:0.558026 ,z=0.415903,angle between two frames:5.781368 +[22:32:22.891] frame process finished the id is: 1551 the obs is:21 +[22:32:22.904] Odometry x=0.637919, y=0.452835, theta=-3.038858 +[22:32:22.967] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.568919 ,z=0.407432,angle between two frames:5.783186 +[22:32:22.967] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.775796 error end=0.775796 +[22:32:22.967] After pose optimization, distance between ekf and vo x:0.568919 ,z=0.407432,angle between two frames:5.783186 +[22:32:22.967] frame process finished the id is: 1551 the obs is:21 +[22:32:23.004] Odometry x=0.638594, y=0.445042, theta=-3.055507 +[22:32:23.086] After Reprojection Map nMatches:31 ,distance between ekf and vo x:0.576234 ,z=0.397019,angle between two frames:5.783186 +[22:32:23.086] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =1.127701 error end=1.098411 +[22:32:23.086] After pose optimization, distance between ekf and vo x:0.598033 ,z=0.381920,angle between two frames:5.788894 +[22:32:23.086] frame process finished the id is: 1551 the obs is:21 +[22:32:23.108] Odometry x=0.639288, y=0.437623, theta=-3.073692 +[22:32:23.195] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.718831 ,z=0.426543,angle between two frames:5.683186 +[22:32:23.195] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.552170 error end=0.552170 +[22:32:23.195] After pose optimization, distance between ekf and vo x:0.718831 ,z=0.426543,angle between two frames:5.683186 +[22:32:23.195] frame process finished the id is: 1551 the obs is:21 +[22:32:23.207] Odometry x=0.639917, y=0.429592, theta=-3.091450 +[22:32:23.267] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.718831 ,z=0.426543,angle between two frames:5.683186 +[22:32:23.267] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.206481 error end=0.206481 +[22:32:23.267] After pose optimization, distance between ekf and vo x:0.718831 ,z=0.426543,angle between two frames:5.683186 +[22:32:23.267] frame process finished the id is: 1551 the obs is:21 +[22:32:23.308] Odometry x=0.640033, y=0.421899, theta=-3.105501 +[22:32:23.382] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.461955 ,z=0.319928,angle between two frames:5.883186 +[22:32:23.382] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000085 error end=0.000085 +[22:32:23.382] After pose optimization, distance between ekf and vo x:0.461954 ,z=0.319928,angle between two frames:5.883186 +[22:32:23.382] frame process finished the id is: 1551 the obs is:21 +[22:32:23.401] Odometry x=0.640162, y=0.413825, theta=-3.121281 +[22:32:23.491] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.738169 ,z=0.392128,angle between two frames:5.683186 +[22:32:23.491] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.003879 error end=0.003879 +[22:32:23.491] After pose optimization, distance between ekf and vo x:0.738145 ,z=0.392136,angle between two frames:5.683193 +[22:32:23.491] frame process finished the id is: 1551 the obs is:21 +[22:32:23.506] Odometry x=0.639805, y=0.405733, theta=-3.138683 +[22:32:23.585] After Reprojection Map nMatches:18 ,distance between ekf and vo x:0.606444 ,z=0.349135,angle between two frames:0.499999 +[22:32:23.585] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.029975 error end=0.029906 +[22:32:23.585] After pose optimization, distance between ekf and vo x:0.613508 ,z=0.347683,angle between two frames:0.501782 +[22:32:23.585] frame process finished the id is: 1551 the obs is:21 +[22:32:23.605] Odometry x=0.639977, y=0.397481, theta=3.128560 +[22:32:23.683] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.892762 ,z=0.378956,angle between two frames:0.699999 +[22:32:23.683] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.113944 error end=0.113944 +[22:32:23.683] After pose optimization, distance between ekf and vo x:0.892762 ,z=0.378956,angle between two frames:0.699999 +[22:32:23.683] frame process finished the id is: 1551 the obs is:21 +[22:32:23.705] Odometry x=0.639930, y=0.389063, theta=3.107621 +[22:32:23.794] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.483224 ,z=0.286794,angle between two frames:0.400000 +[22:32:23.794] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000149 error end=0.000149 +[22:32:23.794] After pose optimization, distance between ekf and vo x:0.483224 ,z=0.286794,angle between two frames:0.400000 +[22:32:23.794] frame process finished the id is: 1551 the obs is:21 +[22:32:23.804] Odometry x=0.639774, y=0.380984, theta=3.091821 +[22:32:23.865] After Reprojection Map nMatches:19 ,distance between ekf and vo x:0.488629 ,z=0.277485,angle between two frames:0.400000 +[22:32:23.865] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.002137 error end=0.002136 +[22:32:23.865] After pose optimization, distance between ekf and vo x:0.487965 ,z=0.277517,angle between two frames:0.399296 +[22:32:23.865] frame process finished the id is: 1551 the obs is:21 +[22:32:23.907] Odometry x=0.639149, y=0.373028, theta=3.072666 +[22:32:24.004] Odometry x=0.638055, y=0.365343, theta=3.055728 +[22:32:24.098] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.635009 ,z=0.293995,angle between two frames:0.500000 +[22:32:24.098] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000000 error end=0.000000 +[22:32:24.098] After pose optimization, distance between ekf and vo x:0.635009 ,z=0.293995,angle between two frames:0.500000 +[22:32:24.098] frame process finished the id is: 1551 the obs is:21 +[22:32:24.108] Odometry x=0.637156, y=0.357399, theta=3.039787 +[22:32:24.163] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.635009 ,z=0.293995,angle between two frames:0.500000 +[22:32:24.163] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.005164 error end=0.005164 +[22:32:24.163] After pose optimization, distance between ekf and vo x:0.634921 ,z=0.294018,angle between two frames:0.499957 +[22:32:24.163] frame process finished the id is: 1551 the obs is:21 +[22:32:24.208] Odometry x=0.636257, y=0.349676, theta=3.022544 +[22:32:24.306] Odometry x=0.635023, y=0.342097, theta=3.003889 +[22:32:24.306] After Reprojection Map nMatches:25 ,distance between ekf and vo x:0.507164 ,z=0.241789,angle between two frames:0.399992 +[22:32:24.306] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.000012 error end=0.000012 +[22:32:24.306] After pose optimization, distance between ekf and vo x:0.507164 ,z=0.241789,angle between two frames:0.399992 +[22:32:24.306] frame process finished the id is: 1551 the obs is:21 +[22:32:24.383] After Reprojection Map nMatches:29 ,distance between ekf and vo x:0.376328 ,z=0.191335,angle between two frames:0.299957 +[22:32:24.383] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.095616 error end=0.095567 +[22:32:24.383] After pose optimization, distance between ekf and vo x:0.374812 ,z=0.191433,angle between two frames:0.299854 +[22:32:24.383] frame process finished the id is: 1551 the obs is:21 +[22:32:24.408] Odometry x=0.633838, y=0.334772, theta=2.987245 +[22:32:24.478] After Reprojection Map nMatches:24 ,distance between ekf and vo x:0.378925 ,z=0.186796,angle between two frames:0.299992 +[22:32:24.478] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000003 error end=0.000003 +[22:32:24.478] After pose optimization, distance between ekf and vo x:0.378925 ,z=0.186796,angle between two frames:0.299992 +[22:32:24.478] frame process finished the id is: 1551 the obs is:21 +[22:32:24.509] Odometry x=0.632470, y=0.327100, theta=2.967979 +[22:32:24.607] Odometry x=0.631821, y=0.320656, theta=2.954659 +[22:32:24.705] Odometry x=0.629809, y=0.312888, theta=2.931986 +[22:32:24.710] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.945560 ,z=0.215921,angle between two frames:0.699991 +[22:32:24.710] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.059182 error end=0.059182 +[22:32:24.710] After pose optimization, distance between ekf and vo x:0.945560 ,z=0.215921,angle between two frames:0.699991 +[22:32:24.710] frame process finished the id is: 1551 the obs is:21 +[22:32:24.807] Odometry x=0.628529, y=0.305885, theta=2.916288 +[22:32:24.907] Odometry x=0.626435, y=0.298056, theta=2.901921 +[22:32:25.011] Odometry x=0.624705, y=0.292046, theta=2.877894 +[22:32:25.108] Odometry x=0.623393, y=0.285167, theta=2.868094 +[22:32:25.203] Odometry x=0.623393, y=0.285167, theta=2.868094 +[22:32:25.304] Odometry x=0.623393, y=0.285167, theta=2.868094 +[22:32:25.406] Odometry x=0.622449, y=0.272433, theta=2.842623 +[22:32:25.503] Odometry x=0.620698, y=0.263615, theta=2.827506 +[22:32:25.613] Odometry x=0.619577, y=0.255591, theta=2.811164 +[22:32:25.715] Odometry x=0.618516, y=0.248085, theta=2.793426 +[22:32:25.810] Odometry x=0.616723, y=0.239588, theta=2.779504 +[22:32:25.911] Odometry x=0.613916, y=0.232269, theta=2.759815 diff --git a/GPU_version/vio/include/vio/ukf.h b/GPU_version/vio/include/vio/ukf.h index 02d4c6a..b8d6b53 100644 --- a/GPU_version/vio/include/vio/ukf.h +++ b/GPU_version/vio/include/vio/ukf.h @@ -30,7 +30,7 @@ public: }*/ t_cmd=time; state_h_(2)=state_(2)+dt*dpitch; - state_h_(1)=state_(1)+dt*/*2.0**/(dy*cos(state_(2))-dx*sin(state_(2))); + state_h_(1)=state_(1)+dt*(dy*cos(state_(2))-dx*sin(state_(2))); state_h_(0)=state_(0)+dt*(dx*cos(state_(2))+dy*sin(state_(2))); state_h_(3)=dpitch; Eigen::Matrix R; @@ -40,13 +40,13 @@ public: 0,0,0,vio::Config::Cmd_Cov(); Eigen::Matrix G; G<<1.0,0,dt*(-dx*sin(state_(2))+dy*cos(state_(2))),0.0, - 0,1.0,dt*/*2.0**/(-dy*sin(state_(2))-dx*cos(state_(2))),0.0, + 0,1.0,dt*(-dy*sin(state_(2))-dx*cos(state_(2))),0.0, 0,0,1.0,dt, 0,0,0,1.0; cov_h_=G*cov_*G.transpose()+R; } void correct(double ddx, double ddy, double dpitch, double time){ - double dt=0.01; + double dt=0.05; /*if(t_imu==0.0){ t_imu=time; return; @@ -57,11 +57,11 @@ public: Eigen::Matrix E; Eigen::Matrix k; E(0)=state_(0)+pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2)))-state_h_(0); - E(1)=state_(1)+/*2.0**/pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)))-state_h_(1); + E(1)=state_(1)+pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)))-state_h_(1); E(2)=state_(2)+dt*state_(3)-state_h_(2); E(3)=dpitch-state_h_(3); H<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))),0.0, - 0,1.0,-/*2.0**/pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0.0, + 0,1.0,-pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0.0, 0,0,1.0,dt, 0,0,0,1.0; Q< R; @@ -82,7 +82,7 @@ public: 0,0,0,vio::Config::GYO_Noise(); Eigen::Matrix G; G<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))),0, - 0,1.0,/*2.0**/pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0, + 0,1.0,pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0, 0,0,1.0,dt, 0,0,0,1.0; cov_h_=G*cov_*G.transpose()+R; @@ -98,7 +98,7 @@ public: 0,0,1.0,0; Q< left hands (theta counts from y) void UpdateCmd(double x/*in imu frame*/,double y/*in imu frame*/,double theta/*in imu frame*/,const ros::Time& time) { - cam_syn_[cmd_syn_count_ % 7]=true; - imu_syn_[cmd_syn_count_ % 7]=true; + cam_syn_[cmd_syn_count_ % 4]=true; + imu_syn_[cmd_syn_count_ % 4]=true; ++cmd_syn_count_; if(cmd_syn_count_>50)cmd_syn_count_=0; boost::unique_lock lock(ekf_mut_); @@ -164,8 +164,8 @@ public: } size_t cmd_syn_count_=0; size_t imu_syn_count_=2; - bool cam_syn_[7]={false,false,false,false,false,false,false}; - bool imu_syn_[7]={false,false,false,false,false,false,false}; + bool cam_syn_[4]={false,false,false,false}; + bool imu_syn_[4]={false,false,false,false}; private: Base* filter_= nullptr; boost::mutex ekf_mut_; diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index ced9f82..e838924 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -10,7 +10,7 @@ svo: kfselect_mindist: 0.01 poseoptim_thresh: 8.0 init_min_inliers: 50 - ACC_noise: 0.3 #acc white noise in continuous in EKF - GYO_noise: 0.3 #gyro white noise in continuous in EKF - svo_ekf: 0.2 #Svo noise that will be devided by number of Reprojected points after opmization in EKF + ACC_noise: 0.1 #acc white noise in continuous in EKF + GYO_noise: 0.05 #gyro white noise in continuous in EKF + svo_ekf: 0.05 #VO noise in EKF Cmd_Cov: 0.1 #control vector noise in EKF diff --git a/GPU_version/vio/src/frame.cpp b/GPU_version/vio/src/frame.cpp index b32a208..3f58dfc 100644 --- a/GPU_version/vio/src/frame.cpp +++ b/GPU_version/vio/src/frame.cpp @@ -143,8 +143,8 @@ void Frame::removeKeyPoint(std::shared_ptr ftr) bool Frame::isVisible(const Vector3d& xyz_w) const { - if(!id_)return false; - assert(!xyz_w.hasNaN()); + if(!id_)return false; + if(xyz_w.hasNaN())return false; Vector3d xyz_f = this->se3().inverse()*xyz_w; if(xyz_f.z() < 0.0) return false; // point is behind the camera diff --git a/GPU_version/vio/src/global_optimizer.cpp b/GPU_version/vio/src/global_optimizer.cpp index b55143f..ba4851f 100644 --- a/GPU_version/vio/src/global_optimizer.cpp +++ b/GPU_version/vio/src/global_optimizer.cpp @@ -139,6 +139,7 @@ namespace vio { } } } + if(optimizer.vertices().size()<1)continue; // Optimization optimizer.initializeOptimization(); optimizer.computeActiveErrors(); @@ -146,7 +147,7 @@ namespace vio { fprintf(log_,"[%s] init error: %f \n", vio::time_in_HH_MM_SS_MMM().c_str(),optimizer.activeChi2()); #endif - optimizer.optimize(vio::Config::lobaNumIter()); + if(optimizer.optimize(vio::Config::lobaNumIter())<1)continue; #if VIO_DEBUG fprintf(log_,"[%s] end error: %f \n", vio::time_in_HH_MM_SS_MMM().c_str(),optimizer.activeChi2()); diff --git a/GPU_version/vio/src/math_utils.cpp b/GPU_version/vio/src/math_utils.cpp index af9c615..777daac 100644 --- a/GPU_version/vio/src/math_utils.cpp +++ b/GPU_version/vio/src/math_utils.cpp @@ -37,8 +37,8 @@ triangulateFeatureNonLin(const Matrix3d& R, const Vector3d& t, double lamda0 = z.dot(b0)/pow(z.norm(), 2); double lamda1 = z.dot(b1)/pow(z.norm(), 2); //if (lamda0 <= 0 || lamda1 <= 0)return Vector3d(0.0,0.0,0.0); - if (max(m0_hat.dot(R_F2_p), feature1.dot(f1_p)) > 1.1781)return Vector3d(0.0,0.0,0.0); - if(R_F2_p.dot(f1_p) < 0.005)return Vector3d(0.0,0.0,0.0); + if (max(m0_hat.dot(R_F2_p), feature1.dot(f1_p)) > M_PI_2)return Vector3d(0.0,0.0,0.0); + if(R_F2_p.dot(f1_p) < 0.01)return Vector3d(0.0,0.0,0.0); Vector3d xm = lamda1 * f1_p; Vector3d xn = t + lamda0 * R_F2_p; return ( xm + xn )/2; diff --git a/GPU_version/vio/src/pose_optimizer.cpp b/GPU_version/vio/src/pose_optimizer.cpp index 8601edb..fde83f4 100644 --- a/GPU_version/vio/src/pose_optimizer.cpp +++ b/GPU_version/vio/src/pose_optimizer.cpp @@ -53,6 +53,10 @@ void optimizeGaussNewton( //Reprojection error Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_)); + if(std::isnan(e.norm())){ + map.safeDeletePoint((*it)->point); + it = frame->fts_.erase(it); + } e *= 1.0 / (1<<(*it)->level); chi2_vec_init.push_back(e.norm()); // just for debug errors.push_back(e.norm());