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solve cl_crash

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gfuse
2021-09-15 17:30:43 +02:00
parent c726399a42
commit d02b1b2c0b
11 changed files with 91 additions and 180534 deletions
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GPU_version/vio/depth_filter_log.txt
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GPU_version/vio/frame_handler_log.txt
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[14:00:41.185] Init: frame zero: 0.000000, 0.000000 0.000000
[14:00:41.185] Init: Selected first frame.
[14:00:41.287] Init: px average disparity is:0.076591 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:41.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:41.392] Init: px average disparity is:0.100695 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:41.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:41.483] Init: px average disparity is:0.135125 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:41.483] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:41.582] Init: px average disparity is:0.120425 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:41.583] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:41.684] Init: px average disparity is:0.091099 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:41.684] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:41.783] Init: px average disparity is:0.118108 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:41.783] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:41.884] Init: px average disparity is:0.164715 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:41.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:41.983] Init: px average disparity is:0.085203 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:41.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:42.083] Init: px average disparity is:0.131313 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:42.083] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:42.193] Init: px average disparity is:0.088084 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:42.194] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:42.285] Init: px average disparity is:0.113344 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:42.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:42.393] Init: px average disparity is:0.077895 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:42.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:42.495] Init: px average disparity is:0.113223 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:42.495] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:42.595] Init: px average disparity is:0.149691 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:42.595] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:42.694] Init: px average disparity is:0.138464 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:42.694] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:42.792] Init: px average disparity is:0.134895 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:42.792] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:42.894] Init: px average disparity is:0.234517 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:42.894] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:43.001] Init: px average disparity is:1.520578 ,While minimum is: 40.000000 KLT tracked : 106
[14:00:43.001] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:43.098] Init: px average disparity is:6.382511 ,While minimum is: 40.000000 KLT tracked : 105
[14:00:43.098] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:43.194] Init: px average disparity is:5.907005 ,While minimum is: 40.000000 KLT tracked : 105
[14:00:43.195] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:43.296] Init: px average disparity is:9.941722 ,While minimum is: 40.000000 KLT tracked : 105
[14:00:43.297] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:43.397] Init: px average disparity is:14.452203 ,While minimum is: 40.000000 KLT tracked : 105
[14:00:43.397] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:43.498] Init: px average disparity is:20.838370 ,While minimum is: 40.000000 KLT tracked : 102
[14:00:43.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:43.694] Init: px average disparity is:18.247088 ,While minimum is: 40.000000 KLT tracked : 101
[14:00:43.694] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:43.997] Init: px average disparity is:18.041144 ,While minimum is: 40.000000 KLT tracked : 101
[14:00:43.997] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:44.094] Init: px average disparity is:18.019557 ,While minimum is: 40.000000 KLT tracked : 101
[14:00:44.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:44.198] Init: px average disparity is:21.177435 ,While minimum is: 40.000000 KLT tracked : 101
[14:00:44.198] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:44.296] Init: px average disparity is:22.665023 ,While minimum is: 40.000000 KLT tracked : 101
[14:00:44.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:44.395] Init: px average disparity is:24.933604 ,While minimum is: 40.000000 KLT tracked : 100
[14:00:44.396] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:44.496] Init: px average disparity is:27.230490 ,While minimum is: 40.000000 KLT tracked : 100
[14:00:44.496] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:44.601] Init: px average disparity is:31.460753 ,While minimum is: 40.000000 KLT tracked : 98
[14:00:44.601] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:44.698] Init: px average disparity is:38.270198 ,While minimum is: 40.000000 KLT tracked : 98
[14:00:44.698] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:44.798] Init: px average disparity is:37.937124 ,While minimum is: 40.000000 KLT tracked : 97
[14:00:44.798] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:44.896] Init: px average disparity is:37.668077 ,While minimum is: 40.000000 KLT tracked : 97
[14:00:44.896] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[14:00:45.023] homography: x=0.059017 y=0.068739 z=0.136514 roll=0.000000 pitch=-0.029762 yaw=0.000000 ekf: x=-0.003819 z=0.126279 pitch=-0.042064
[14:00:45.023] homography after fuse: x=0.055360 y=0.000000 z=0.135918 pitch=-0.030444 number of outlier: 60
[14:00:45.023] Init finished: Homography RANSAC (inlier) is:37 ,While 20 inliers minimum required. px average disparity is:42.129615 ,While minimum is: 40.000000 KLT tracked: 97
[14:00:45.023] Init: distance between the first and current frame is x:0.055360 ,z=0.135918,angle between two frames: -0.030444
[14:00:45.023] Init: Selected Second frame. The number of features: 37
[14:00:45.182] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:3 ,distance between two frames x:-0.022813 ,z=0.001649,angle between two frames:0.009539
[14:00:45.182] n deleted obs = 1 n obs felt =2 error init =0.423346 error end=0.423346
[14:00:45.182] After pose optimization, distance between two frames x:-0.022813 ,z=0.001649,angle between two frames:0.009539
[14:00:45.182] Update EKF and 3D points, distance between two frames x:-0.022825 ,z=0.001972,angle between two frames:0.008652
[14:00:45.255] After Reprojection Map nPoint:20 ,nCell:18 ,nMatches:3 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:45.255] n deleted obs = 2 n obs felt =2 error init =0.765855 error end=0.735578
[14:00:45.255] After pose optimization, distance between two frames x:-0.006325 ,z=-0.039579,angle between two frames:0.018476
[14:00:45.255] Update EKF and 3D points, distance between two frames x:-0.005667 ,z=-0.033952,angle between two frames:0.018318
[14:00:45.351] After Reprojection Map nPoint:27 ,nCell:26 ,nMatches:9 ,distance between two frames x:0.002962 ,z=0.025317,angle between two frames:0.000544
[14:00:45.351] n deleted obs = 5 n obs felt =4 error init =0.701878 error end=0.701878
[14:00:45.351] After pose optimization, distance between two frames x:0.002962 ,z=0.025317,angle between two frames:0.000544
[14:00:45.351] Update EKF and 3D points, distance between two frames x:0.002961 ,z=0.025316,angle between two frames:0.000628
[14:00:45.452] After Reprojection Map nPoint:26 ,nCell:18 ,nMatches:7 ,distance between two frames x:-0.000175 ,z=0.007711,angle between two frames:0.002218
[14:00:45.452] n deleted obs = 3 n obs felt =8 error init =0.428367 error end=0.428367
[14:00:45.452] After pose optimization, distance between two frames x:-0.000175 ,z=0.007711,angle between two frames:0.002218
[14:00:45.452] Update EKF and 3D points, distance between two frames x:-0.000174 ,z=0.007711,angle between two frames:0.003674
[14:00:45.568] After Reprojection Map nPoint:30 ,nCell:28 ,nMatches:4 ,distance between two frames x:-0.000137 ,z=0.007724,angle between two frames:0.001983
[14:00:45.568] n deleted obs = 3 n obs felt =1 error init =0.640654 error end=0.640654
[14:00:45.568] After pose optimization, distance between two frames x:-0.000137 ,z=0.007724,angle between two frames:0.001983
[14:00:45.568] Update EKF and 3D points, distance between two frames x:-0.000152 ,z=0.008044,angle between two frames:0.003151
[14:00:45.652] After Reprojection Map nPoint:26 ,nCell:21 ,nMatches:5 ,distance between two frames x:-0.000095 ,z=0.001978,angle between two frames:0.005483
[14:00:45.652] n deleted obs = 1 n obs felt =7 error init =0.225894 error end=0.221736
[14:00:45.652] After pose optimization, distance between two frames x:0.021993 ,z=0.003591,angle between two frames:0.005483
[14:00:45.652] Update EKF and 3D points, distance between two frames x:0.020714 ,z=0.003497,angle between two frames:0.006233
[14:00:45.765] After Reprojection Map nPoint:24 ,nCell:23 ,nMatches:3 ,distance between two frames x:-0.000217 ,z=0.007714,angle between two frames:0.008710
[14:00:45.765] n deleted obs = 2 n obs felt =1 error init =0.527332 error end=0.527332
[14:00:45.765] After pose optimization, distance between two frames x:-0.000217 ,z=0.007714,angle between two frames:0.008710
[14:00:45.765] Update EKF and 3D points, distance between two frames x:-0.000237 ,z=0.008037,angle between two frames:0.009866
[14:00:45.852] After Reprojection Map nPoint:26 ,nCell:23 ,nMatches:4 ,distance between two frames x:-0.000115 ,z=0.001987,angle between two frames:0.010538
[14:00:45.852] n deleted obs = 3 n obs felt =3 error init =0.609046 error end=0.608602
[14:00:45.852] After pose optimization, distance between two frames x:0.011935 ,z=0.011247,angle between two frames:0.004943
[14:00:45.852] Update EKF and 3D points, distance between two frames x:0.011233 ,z=0.010708,angle between two frames:0.005816
[14:00:45.954] After Reprojection Map nPoint:27 ,nCell:24 ,nMatches:5 ,distance between two frames x:-0.004604 ,z=0.002342,angle between two frames:0.003521
[14:00:45.955] n deleted obs = 5 n obs felt =1 error init =0.856295 error end=0.830890
[14:00:45.955] After pose optimization, distance between two frames x:0.015429 ,z=-0.086053,angle between two frames:0.003521
[14:00:45.955] Update EKF and 3D points, distance between two frames x:0.013196 ,z=-0.075372,angle between two frames:0.003460
[14:00:46.053] After Reprojection Map nPoint:30 ,nCell:25 ,nMatches:7 ,distance between two frames x:-0.009995 ,z=0.048062,angle between two frames:0.002553
[14:00:46.053] n deleted obs = 6 n obs felt =5 error init =0.563344 error end=0.563344
[14:00:46.053] After pose optimization, distance between two frames x:-0.009995 ,z=0.048062,angle between two frames:0.002553
[14:00:46.053] Update EKF and 3D points, distance between two frames x:-0.010051 ,z=0.049129,angle between two frames:0.003852
[14:00:46.151] After Reprojection Map nPoint:29 ,nCell:25 ,nMatches:7 ,distance between two frames x:-0.000291 ,z=0.004800,angle between two frames:0.003797
[14:00:46.152] n deleted obs = 4 n obs felt =5 error init =0.469792 error end=0.461647
[14:00:46.152] After pose optimization, distance between two frames x:-0.004684 ,z=-0.019871,angle between two frames:0.003795
[14:00:46.152] Update EKF and 3D points, distance between two frames x:-0.004265 ,z=-0.016097,angle between two frames:0.003780
[14:00:46.251] After Reprojection Map nPoint:31 ,nCell:27 ,nMatches:5 ,distance between two frames x:0.001895 ,z=0.016985,angle between two frames:0.006544
[14:00:46.251] n deleted obs = 4 n obs felt =3 error init =0.513258 error end=0.509790
[14:00:46.251] After pose optimization, distance between two frames x:0.004195 ,z=-0.039086,angle between two frames:0.040253
[14:00:46.251] Update EKF and 3D points, distance between two frames x:0.003918 ,z=-0.031905,angle between two frames:0.036809
[14:00:46.351] After Reprojection Map nPoint:29 ,nCell:24 ,nMatches:9 ,distance between two frames x:-0.001312 ,z=0.032314,angle between two frames:0.012852
[14:00:46.351] n deleted obs = 5 n obs felt =7 error init =0.499274 error end=0.477188
[14:00:46.351] After pose optimization, distance between two frames x:0.002137 ,z=-0.066185,angle between two frames:0.012838
[14:00:46.351] Update EKF and 3D points, distance between two frames x:0.001936 ,z=-0.060452,angle between two frames:0.011666
[14:00:46.451] After Reprojection Map nPoint:35 ,nCell:29 ,nMatches:9 ,distance between two frames x:-0.000221 ,z=0.007792,angle between two frames:0.004555
[14:00:46.451] n deleted obs = 8 n obs felt =5 error init =0.692982 error end=0.692982
[14:00:46.451] After pose optimization, distance between two frames x:-0.000221 ,z=0.007792,angle between two frames:0.004555
[14:00:46.451] Update EKF and 3D points, distance between two frames x:-0.000221 ,z=0.007791,angle between two frames:0.003827
[14:00:46.552] After Reprojection Map nPoint:35 ,nCell:29 ,nMatches:8 ,distance between two frames x:-0.000203 ,z=0.007796,angle between two frames:0.003904
[14:00:46.552] n deleted obs = 6 n obs felt =7 error init =0.510581 error end=0.510581
[14:00:46.552] After pose optimization, distance between two frames x:-0.000203 ,z=0.007796,angle between two frames:0.003904
[14:00:46.552] Update EKF and 3D points, distance between two frames x:-0.000227 ,z=0.008840,angle between two frames:0.001749
[14:00:46.652] After Reprojection Map nPoint:28 ,nCell:25 ,nMatches:6 ,distance between two frames x:-0.000030 ,z=0.004700,angle between two frames:0.015289
[14:00:46.652] n deleted obs = 5 n obs felt =3 error init =0.748781 error end=0.748781
[14:00:46.652] After pose optimization, distance between two frames x:-0.000030 ,z=0.004700,angle between two frames:0.015289
[14:00:46.652] Update EKF and 3D points, distance between two frames x:-0.000034 ,z=0.004700,angle between two frames:0.015009
[14:00:46.753] After Reprojection Map nPoint:29 ,nCell:25 ,nMatches:5 ,distance between two frames x:-0.000098 ,z=0.007757,angle between two frames:0.004206
[14:00:46.753] n deleted obs = 2 n obs felt =7 error init =0.336676 error end=0.336676
[14:00:46.753] After pose optimization, distance between two frames x:-0.000098 ,z=0.007757,angle between two frames:0.004206
[14:00:46.753] Update EKF and 3D points, distance between two frames x:-0.000097 ,z=0.007755,angle between two frames:0.005279
[14:00:46.852] After Reprojection Map nPoint:33 ,nCell:29 ,nMatches:8 ,distance between two frames x:-0.000051 ,z=0.008110,angle between two frames:0.000603
[14:00:46.852] n deleted obs = 5 n obs felt =7 error init =0.499242 error end=0.499242
[14:00:46.852] After pose optimization, distance between two frames x:-0.000051 ,z=0.008110,angle between two frames:0.000603
[14:00:46.852] Update EKF and 3D points, distance between two frames x:-0.000052 ,z=0.008110,angle between two frames:0.000883
[14:00:46.970] After Reprojection Map nPoint:33 ,nCell:29 ,nMatches:9 ,distance between two frames x:-0.000056 ,z=0.007724,angle between two frames:0.002538
[14:00:46.970] n deleted obs = 6 n obs felt =10 error init =0.400964 error end=0.400964
[14:00:46.970] After pose optimization, distance between two frames x:-0.000056 ,z=0.007724,angle between two frames:0.002538
[14:00:46.970] Update EKF and 3D points, distance between two frames x:-0.000061 ,z=0.008043,angle between two frames:0.002752
[14:00:47.057] After Reprojection Map nPoint:35 ,nCell:30 ,nMatches:5 ,distance between two frames x:-0.000474 ,z=0.001987,angle between two frames:0.001592
[14:00:47.057] n deleted obs = 4 n obs felt =9 error init =0.259738 error end=0.259738
[14:00:47.057] After pose optimization, distance between two frames x:-0.000474 ,z=0.001987,angle between two frames:0.001592
[14:00:47.057] Update EKF and 3D points, distance between two frames x:-0.000447 ,z=0.002341,angle between two frames:0.000539
[14:00:47.153] After Reprojection Map nPoint:32 ,nCell:29 ,nMatches:12 ,distance between two frames x:0.000162 ,z=0.002093,angle between two frames:0.000863
[14:00:47.153] n deleted obs = 7 n obs felt =13 error init =0.415349 error end=0.415349
[14:00:47.153] After pose optimization, distance between two frames x:0.000162 ,z=0.002093,angle between two frames:0.000863
[14:00:47.153] Update EKF and 3D points, distance between two frames x:0.000144 ,z=0.003178,angle between two frames:0.002086
[14:00:47.256] After Reprojection Map nPoint:40 ,nCell:34 ,nMatches:13 ,distance between two frames x:-0.000146 ,z=0.004881,angle between two frames:0.015566
[14:00:47.256] n deleted obs = 7 n obs felt =16 error init =0.358557 error end=0.358557
[14:00:47.256] After pose optimization, distance between two frames x:-0.000146 ,z=0.004881,angle between two frames:0.015566
[14:00:47.256] Update EKF and 3D points, distance between two frames x:-0.000174 ,z=0.005973,angle between two frames:0.015206
[14:00:47.363] After Reprojection Map nPoint:36 ,nCell:32 ,nMatches:14 ,distance between two frames x:-0.000122 ,z=0.004863,angle between two frames:0.001530
[14:00:47.363] n deleted obs = 7 n obs felt =18 error init =0.306680 error end=0.306680
[14:00:47.363] After pose optimization, distance between two frames x:-0.000122 ,z=0.004863,angle between two frames:0.001530
[14:00:47.363] Update EKF and 3D points, distance between two frames x:-0.000139 ,z=0.005161,angle between two frames:0.003604
[14:00:47.456] After Reprojection Map nPoint:25 ,nCell:21 ,nMatches:9 ,distance between two frames x:-0.000104 ,z=0.001927,angle between two frames:0.020255
[14:00:47.456] n deleted obs = 6 n obs felt =15 error init =0.315984 error end=0.315984
[14:00:47.456] After pose optimization, distance between two frames x:-0.000111 ,z=0.001927,angle between two frames:0.020255
[14:00:47.456] Update EKF and 3D points, distance between two frames x:-0.000180 ,z=0.003064,angle between two frames:0.023183
[14:00:47.568] After Reprojection Map nPoint:34 ,nCell:28 ,nMatches:13 ,distance between two frames x:-0.001113 ,z=0.006574,angle between two frames:0.011066
[14:00:47.568] n deleted obs = 10 n obs felt =16 error init =0.399251 error end=0.399251
[14:00:47.568] After pose optimization, distance between two frames x:-0.001113 ,z=0.006574,angle between two frames:0.011066
[14:00:47.568] Update EKF and 3D points, distance between two frames x:-0.001088 ,z=0.006800,angle between two frames:0.010938
[14:00:47.665] After Reprojection Map nPoint:35 ,nCell:28 ,nMatches:16 ,distance between two frames x:0.000095 ,z=0.002148,angle between two frames:0.002178
[14:00:47.665] n deleted obs = 12 n obs felt =20 error init =0.435101 error end=0.435101
[14:00:47.665] After pose optimization, distance between two frames x:0.000095 ,z=0.002148,angle between two frames:0.002178
[14:00:47.665] Update EKF and 3D points, distance between two frames x:0.000080 ,z=0.002426,angle between two frames:0.001218
[14:00:47.754] After Reprojection Map nPoint:37 ,nCell:30 ,nMatches:13 ,distance between two frames x:-0.000122 ,z=0.001742,angle between two frames:0.009431
[14:00:47.754] n deleted obs = 8 n obs felt =20 error init =0.357180 error end=0.351317
[14:00:47.754] After pose optimization, distance between two frames x:0.021126 ,z=-0.000483,angle between two frames:0.020509
[14:00:47.754] Update EKF and 3D points, distance between two frames x:0.019740 ,z=0.000002,angle between two frames:0.019495
[14:00:47.854] After Reprojection Map nPoint:33 ,nCell:29 ,nMatches:14 ,distance between two frames x:-0.008262 ,z=0.002870,angle between two frames:0.015403
[14:00:47.854] n deleted obs = 9 n obs felt =20 error init =0.376485 error end=0.376485
[14:00:47.854] After pose optimization, distance between two frames x:-0.008262 ,z=0.002870,angle between two frames:0.015403
[14:00:47.854] Update EKF and 3D points, distance between two frames x:-0.008327 ,z=0.004008,angle between two frames:0.013940
[14:00:47.956] After Reprojection Map nPoint:34 ,nCell:32 ,nMatches:17 ,distance between two frames x:-0.000592 ,z=0.004961,angle between two frames:0.011518
[14:00:47.956] n deleted obs = 8 n obs felt =24 error init =0.360918 error end=0.360918
[14:00:47.956] After pose optimization, distance between two frames x:-0.000592 ,z=0.004961,angle between two frames:0.011518
[14:00:47.956] Update EKF and 3D points, distance between two frames x:-0.000609 ,z=0.006055,angle between two frames:0.011587
[14:00:48.062] After Reprojection Map nPoint:44 ,nCell:39 ,nMatches:18 ,distance between two frames x:-0.000042 ,z=0.005308,angle between two frames:0.000521
[14:00:48.062] n deleted obs = 12 n obs felt =22 error init =0.464824 error end=0.464824
[14:00:48.062] After pose optimization, distance between two frames x:-0.000042 ,z=0.005308,angle between two frames:0.000521
[14:00:48.062] Update EKF and 3D points, distance between two frames x:-0.000055 ,z=0.005605,angle between two frames:0.001680
[14:00:48.156] After Reprojection Map nPoint:44 ,nCell:41 ,nMatches:18 ,distance between two frames x:-0.000557 ,z=0.001707,angle between two frames:0.005885
[14:00:48.156] n deleted obs = 10 n obs felt =26 error init =0.329405 error end=0.329405
[14:00:48.156] After pose optimization, distance between two frames x:-0.000557 ,z=0.001707,angle between two frames:0.005885
[14:00:48.156] Update EKF and 3D points, distance between two frames x:-0.000543 ,z=0.002065,angle between two frames:0.005510
[14:00:48.256] After Reprojection Map nPoint:44 ,nCell:39 ,nMatches:12 ,distance between two frames x:-0.000428 ,z=0.001995,angle between two frames:0.002997
[14:00:48.256] n deleted obs = 7 n obs felt =22 error init =0.299401 error end=0.299267
[14:00:48.257] After pose optimization, distance between two frames x:0.000919 ,z=0.001729,angle between two frames:0.002305
[14:00:48.257] Update EKF and 3D points, distance between two frames x:0.000772 ,z=0.002910,angle between two frames:0.002746
[14:00:48.364] After Reprojection Map nPoint:38 ,nCell:35 ,nMatches:17 ,distance between two frames x:-0.001138 ,z=0.005167,angle between two frames:0.001019
[14:00:48.364] n deleted obs = 10 n obs felt =24 error init =0.349895 error end=0.349895
[14:00:48.364] After pose optimization, distance between two frames x:-0.001138 ,z=0.005167,angle between two frames:0.001019
[14:00:48.364] Update EKF and 3D points, distance between two frames x:-0.001121 ,z=0.005499,angle between two frames:0.000341
[14:00:48.455] After Reprojection Map nPoint:46 ,nCell:40 ,nMatches:19 ,distance between two frames x:-0.000242 ,z=0.002004,angle between two frames:0.003686
[14:00:48.455] n deleted obs = 11 n obs felt =30 error init =0.331188 error end=0.331188
[14:00:48.455] After pose optimization, distance between two frames x:-0.000242 ,z=0.002004,angle between two frames:0.003686
[14:00:48.455] Update EKF and 3D points, distance between two frames x:-0.000250 ,z=0.003043,angle between two frames:0.003230
[14:00:48.556] After Reprojection Map nPoint:45 ,nCell:39 ,nMatches:16 ,distance between two frames x:-0.000014 ,z=0.004697,angle between two frames:0.000823
[14:00:48.556] n deleted obs = 10 n obs felt =27 error init =0.252442 error end=0.252321
[14:00:48.556] After pose optimization, distance between two frames x:0.003230 ,z=0.005324,angle between two frames:0.003320
[14:00:48.556] Update EKF and 3D points, distance between two frames x:0.003012 ,z=0.005627,angle between two frames:0.004745
[14:00:48.657] After Reprojection Map nPoint:44 ,nCell:39 ,nMatches:17 ,distance between two frames x:-0.003729 ,z=0.001876,angle between two frames:0.004036
[14:00:48.658] n deleted obs = 11 n obs felt =24 error init =0.390634 error end=0.373454
[14:00:48.658] After pose optimization, distance between two frames x:-0.040197 ,z=-0.033613,angle between two frames:0.037512
[14:00:48.658] Update EKF and 3D points, distance between two frames x:-0.036037 ,z=-0.028621,angle between two frames:0.034645
[14:00:48.755] After Reprojection Map nPoint:47 ,nCell:33 ,nMatches:18 ,distance between two frames x:0.018739 ,z=0.022477,angle between two frames:0.011442
[14:00:48.755] n deleted obs = 6 n obs felt =32 error init =0.263498 error end=0.234826
[14:00:48.755] After pose optimization, distance between two frames x:0.049184 ,z=-0.064053,angle between two frames:0.019188
[14:00:48.755] Update EKF and 3D points, distance between two frames x:0.045786 ,z=-0.053551,angle between two frames:0.013337
[14:00:48.755] Choose frame as a key frame Scene Depth mean:1.005409 ,depth min:-0.797604
[14:00:48.856] After Reprojection Map nPoint:37 ,nCell:29 ,nMatches:17 ,distance between two frames x:-0.015390 ,z=0.047237,angle between two frames:0.018736
[14:00:48.856] n deleted obs = 12 n obs felt =20 error init =0.411663 error end=0.411663
[14:00:48.856] After pose optimization, distance between two frames x:-0.015390 ,z=0.047237,angle between two frames:0.018736
[14:00:48.856] Update EKF and 3D points, distance between two frames x:-0.015450 ,z=0.048304,angle between two frames:0.014896
[14:00:48.958] After Reprojection Map nPoint:59 ,nCell:44 ,nMatches:17 ,distance between two frames x:-0.000426 ,z=0.004954,angle between two frames:0.018099
[14:00:48.958] n deleted obs = 9 n obs felt =28 error init =0.297139 error end=0.292500
[14:00:48.958] After pose optimization, distance between two frames x:0.023127 ,z=0.007154,angle between two frames:0.000681
[14:00:48.958] Update EKF and 3D points, distance between two frames x:0.021585 ,z=0.007349,angle between two frames:0.001426
[14:00:49.057] After Reprojection Map nPoint:58 ,nCell:45 ,nMatches:21 ,distance between two frames x:-0.009360 ,z=0.001147,angle between two frames:0.013261
[14:00:49.057] n deleted obs = 12 n obs felt =26 error init =0.382622 error end=0.382622
[14:00:49.057] After pose optimization, distance between two frames x:-0.009360 ,z=0.001147,angle between two frames:0.013261
[14:00:49.058] Update EKF and 3D points, distance between two frames x:-0.009387 ,z=0.001493,angle between two frames:0.016475
[14:00:49.058] Choose frame as a key frame Scene Depth mean:1.063354 ,depth min:-1.083739
[14:00:49.169] After Reprojection Map nPoint:59 ,nCell:36 ,nMatches:21 ,distance between two frames x:-0.000229 ,z=0.002805,angle between two frames:0.022962
[14:00:49.169] n deleted obs = 10 n obs felt =36 error init =0.280970 error end=0.280970
[14:00:49.169] After pose optimization, distance between two frames x:-0.000229 ,z=0.002805,angle between two frames:0.022962
[14:00:49.169] Update EKF and 3D points, distance between two frames x:-0.000267 ,z=0.003077,angle between two frames:0.023103
[14:00:49.169] Choose frame as a key frame Scene Depth mean:1.022848 ,depth min:0.637258
[14:00:49.263] After Reprojection Map nPoint:72 ,nCell:59 ,nMatches:23 ,distance between two frames x:-0.000338 ,z=0.001701,angle between two frames:0.003445
[14:00:49.263] n deleted obs = 5 n obs felt =41 error init =0.209301 error end=0.209301
[14:00:49.263] After pose optimization, distance between two frames x:-0.000338 ,z=0.001701,angle between two frames:0.003445
[14:00:49.263] Update EKF and 3D points, distance between two frames x:-0.000365 ,z=0.002016,angle between two frames:0.003916
[14:00:49.263] Choose frame as a key frame Scene Depth mean:1.023846 ,depth min:0.643086
[14:00:49.361] After Reprojection Map nPoint:101 ,nCell:70 ,nMatches:23 ,distance between two frames x:-0.000167 ,z=0.001944,angle between two frames:0.004367
[14:00:49.361] n deleted obs = 6 n obs felt =39 error init =0.239382 error end=0.239382
[14:00:49.361] After pose optimization, distance between two frames x:-0.000167 ,z=0.001944,angle between two frames:0.004367
[14:00:49.361] Update EKF and 3D points, distance between two frames x:-0.000202 ,z=0.002266,angle between two frames:0.003868
[14:00:49.361] Choose frame as a key frame Scene Depth mean:1.023389 ,depth min:-1.080304
[14:00:49.465] After Reprojection Map nPoint:109 ,nCell:77 ,nMatches:24 ,distance between two frames x:-0.000214 ,z=0.001972,angle between two frames:0.008106
[14:00:49.465] n deleted obs = 9 n obs felt =37 error init =0.331461 error end=0.331461
[14:00:49.465] After pose optimization, distance between two frames x:-0.000214 ,z=0.001972,angle between two frames:0.008106
[14:00:49.465] Update EKF and 3D points, distance between two frames x:-0.000254 ,z=0.002291,angle between two frames:0.008861
[14:00:49.465] Choose frame as a key frame Scene Depth mean:1.062159 ,depth min:0.642783
[14:00:49.580] After Reprojection Map nPoint:114 ,nCell:87 ,nMatches:21 ,distance between two frames x:-0.000247 ,z=0.001986,angle between two frames:0.009073
[14:00:49.580] n deleted obs = 9 n obs felt =32 error init =0.335184 error end=0.334852
[14:00:49.580] After pose optimization, distance between two frames x:0.005305 ,z=0.003504,angle between two frames:0.003314
[14:00:49.580] Update EKF and 3D points, distance between two frames x:0.004944 ,z=0.003723,angle between two frames:0.003571
[14:00:49.580] Choose frame as a key frame Scene Depth mean:1.064511 ,depth min:0.643021
[14:00:49.670] After Reprojection Map nPoint:159 ,nCell:98 ,nMatches:28 ,distance between two frames x:-0.002230 ,z=0.001349,angle between two frames:0.001425
[14:00:49.670] n deleted obs = 6 n obs felt =52 error init =0.198140 error end=0.186872
[14:00:49.670] After pose optimization, distance between two frames x:-0.000632 ,z=-0.076733,angle between two frames:0.026621
[14:00:49.670] Update EKF and 3D points, distance between two frames x:-0.000764 ,z=-0.071863,angle between two frames:0.024424
[14:00:49.670] Choose frame as a key frame Scene Depth mean:0.947455 ,depth min:0.557933
[14:00:49.767] After Reprojection Map nPoint:175 ,nCell:122 ,nMatches:30 ,distance between two frames x:-0.000814 ,z=0.030074,angle between two frames:0.015643
[14:00:49.767] n deleted obs = 10 n obs felt =50 error init =0.262779 error end=0.262779
[14:00:49.767] After pose optimization, distance between two frames x:-0.000814 ,z=0.030074,angle between two frames:0.015643
[14:00:49.767] Update EKF and 3D points, distance between two frames x:-0.000847 ,z=0.030393,angle between two frames:0.014652
[14:00:49.767] Choose frame as a key frame Scene Depth mean:0.971261 ,depth min:0.577599
[14:00:49.873] After Reprojection Map nPoint:202 ,nCell:109 ,nMatches:27 ,distance between two frames x:-0.000202 ,z=0.001964,angle between two frames:0.009611
[14:00:49.873] n deleted obs = 12 n obs felt =48 error init =0.307781 error end=0.304820
[14:00:49.873] After pose optimization, distance between two frames x:-0.011094 ,z=-0.004631,angle between two frames:0.002863
[14:00:49.873] Update EKF and 3D points, distance between two frames x:-0.010488 ,z=-0.003928,angle between two frames:0.001697
[14:00:49.873] Choose frame as a key frame Scene Depth mean:0.967629 ,depth min:0.549923
[14:00:49.973] After Reprojection Map nPoint:239 ,nCell:132 ,nMatches:31 ,distance between two frames x:0.003747 ,z=0.004342,angle between two frames:0.005878
[14:00:49.973] n deleted obs = 10 n obs felt =62 error init =0.263787 error end=0.263787
[14:00:49.973] After pose optimization, distance between two frames x:0.003747 ,z=0.004342,angle between two frames:0.005878
[14:00:49.973] Update EKF and 3D points, distance between two frames x:0.003714 ,z=0.004659,angle between two frames:0.006257
[14:00:49.973] Choose frame as a key frame Scene Depth mean:0.971182 ,depth min:-1.114557
[14:00:50.073] After Reprojection Map nPoint:212 ,nCell:99 ,nMatches:29 ,distance between two frames x:-0.000207 ,z=0.001954,angle between two frames:0.007772
[14:00:50.073] n deleted obs = 15 n obs felt =49 error init =0.307719 error end=0.307719
[14:00:50.073] After pose optimization, distance between two frames x:-0.000207 ,z=0.001954,angle between two frames:0.007772
[14:00:50.073] Update EKF and 3D points, distance between two frames x:-0.000239 ,z=0.002263,angle between two frames:0.007968
[14:00:50.073] Choose frame as a key frame Scene Depth mean:0.875356 ,depth min:0.589772
[14:00:50.176] After Reprojection Map nPoint:291 ,nCell:129 ,nMatches:39 ,distance between two frames x:-0.000196 ,z=0.001893,angle between two frames:0.000963
[14:00:50.176] n deleted obs = 13 n obs felt =77 error init =0.227774 error end=0.227774
[14:00:50.176] After pose optimization, distance between two frames x:-0.000196 ,z=0.001893,angle between two frames:0.000963
[14:00:50.176] Update EKF and 3D points, distance between two frames x:-0.000228 ,z=0.002214,angle between two frames:0.000819
[14:00:50.176] Choose frame as a key frame Scene Depth mean:0.983462 ,depth min:0.592584
[14:00:50.279] After Reprojection Map nPoint:305 ,nCell:125 ,nMatches:40 ,distance between two frames x:-0.000195 ,z=0.001984,angle between two frames:0.000281
[14:00:50.279] n deleted obs = 18 n obs felt =74 error init =0.276347 error end=0.276347
[14:00:50.279] After pose optimization, distance between two frames x:-0.000195 ,z=0.001984,angle between two frames:0.000281
[14:00:50.279] Update EKF and 3D points, distance between two frames x:-0.000218 ,z=0.002302,angle between two frames:0.001447
[14:00:50.279] Choose frame as a key frame Scene Depth mean:0.977112 ,depth min:0.595940
[14:00:50.383] After Reprojection Map nPoint:343 ,nCell:130 ,nMatches:37 ,distance between two frames x:-0.000143 ,z=0.001968,angle between two frames:0.010986
[14:00:50.383] n deleted obs = 20 n obs felt =77 error init =0.270840 error end=0.270840
[14:00:50.383] After pose optimization, distance between two frames x:-0.000143 ,z=0.001968,angle between two frames:0.010986
[14:00:50.383] Update EKF and 3D points, distance between two frames x:-0.000165 ,z=0.002286,angle between two frames:0.011608
[14:00:50.486] After Reprojection Map nPoint:419 ,nCell:201 ,nMatches:41 ,distance between two frames x:-0.000132 ,z=0.001964,angle between two frames:0.004133
[14:00:50.486] n deleted obs = 11 n obs felt =88 error init =0.208184 error end=0.208184
[14:00:50.486] After pose optimization, distance between two frames x:-0.000132 ,z=0.001964,angle between two frames:0.004133
[14:00:50.486] Update EKF and 3D points, distance between two frames x:-0.000161 ,z=0.002282,angle between two frames:0.003863
[14:00:50.588] After Reprojection Map nPoint:416 ,nCell:197 ,nMatches:39 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:50.588] n deleted obs = 14 n obs felt =89 error init =0.224530 error end=0.224530
[14:00:50.588] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:50.588] Update EKF and 3D points, distance between two frames x:-0.000034 ,z=0.000427,angle between two frames:0.000575
[14:00:50.690] After Reprojection Map nPoint:372 ,nCell:181 ,nMatches:40 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:50.692] n deleted obs = 14 n obs felt =79 error init =0.226671 error end=0.226671
[14:00:50.692] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:50.692] Update EKF and 3D points, distance between two frames x:-0.000045 ,z=0.000477,angle between two frames:0.001421
[14:00:50.794] After Reprojection Map nPoint:408 ,nCell:172 ,nMatches:42 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:50.795] n deleted obs = 18 n obs felt =95 error init =0.229407 error end=0.220917
[14:00:50.795] After pose optimization, distance between two frames x:0.011497 ,z=-0.051391,angle between two frames:0.000044
[14:00:50.795] Update EKF and 3D points, distance between two frames x:0.010780 ,z=-0.047909,angle between two frames:0.001295
[14:00:50.898] After Reprojection Map nPoint:413 ,nCell:182 ,nMatches:42 ,distance between two frames x:-0.004463 ,z=0.021556,angle between two frames:0.008581
[14:00:50.898] n deleted obs = 14 n obs felt =95 error init =0.191427 error end=0.191427
[14:00:50.898] After pose optimization, distance between two frames x:-0.004463 ,z=0.021556,angle between two frames:0.008581
[14:00:50.898] Update EKF and 3D points, distance between two frames x:-0.004491 ,z=0.021869,angle between two frames:0.009658
[14:00:50.898] Choose frame as a key frame Scene Depth mean:0.959958 ,depth min:0.542745
[14:00:51.004] After Reprojection Map nPoint:347 ,nCell:155 ,nMatches:36 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:51.004] n deleted obs = 18 n obs felt =65 error init =0.265706 error end=0.265706
[14:00:51.004] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:51.004] Update EKF and 3D points, distance between two frames x:-0.000041 ,z=0.000414,angle between two frames:0.001054
[14:00:51.004] Choose frame as a key frame Scene Depth mean:0.938311 ,depth min:-51798301640374.523438
[14:00:51.112] After Reprojection Map nPoint:423 ,nCell:172 ,nMatches:44 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:51.112] n deleted obs = 25 n obs felt =69 error init =0.326629 error end=0.326629
[14:00:51.112] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:51.112] Update EKF and 3D points, distance between two frames x:-0.000050 ,z=0.000466,angle between two frames:0.001589
[14:00:51.221] After Reprojection Map nPoint:419 ,nCell:184 ,nMatches:39 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:51.221] n deleted obs = 14 n obs felt =75 error init =0.228211 error end=0.228211
[14:00:51.221] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:51.221] Update EKF and 3D points, distance between two frames x:-0.000050 ,z=0.000487,angle between two frames:0.000052
[14:00:51.357] After Reprojection Map nPoint:393 ,nCell:181 ,nMatches:37 ,distance between two frames x:-0.000308 ,z=0.003009,angle between two frames:0.001430
[14:00:51.357] n deleted obs = 11 n obs felt =63 error init =0.236216 error end=0.236216
[14:00:51.357] After pose optimization, distance between two frames x:-0.000308 ,z=0.003009,angle between two frames:0.001430
[14:00:51.357] Update EKF and 3D points, distance between two frames x:-0.000382 ,z=0.003717,angle between two frames:0.001954
[14:00:51.465] After Reprojection Map nPoint:438 ,nCell:200 ,nMatches:37 ,distance between two frames x:-0.000437 ,z=0.004191,angle between two frames:0.002810
[14:00:51.465] n deleted obs = 16 n obs felt =70 error init =0.278787 error end=0.278787
[14:00:51.465] After pose optimization, distance between two frames x:-0.000437 ,z=0.004191,angle between two frames:0.002810
[14:00:51.465] Update EKF and 3D points, distance between two frames x:-0.000472 ,z=0.004507,angle between two frames:0.003623
[14:00:51.576] After Reprojection Map nPoint:427 ,nCell:195 ,nMatches:35 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:51.576] n deleted obs = 14 n obs felt =65 error init =0.280387 error end=0.280387
[14:00:51.576] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:51.576] Update EKF and 3D points, distance between two frames x:-0.000044 ,z=0.000437,angle between two frames:0.000598
[14:00:51.683] After Reprojection Map nPoint:437 ,nCell:187 ,nMatches:41 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:51.683] n deleted obs = 12 n obs felt =75 error init =0.237251 error end=0.237251
[14:00:51.683] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:51.683] Update EKF and 3D points, distance between two frames x:-0.000049 ,z=0.000477,angle between two frames:0.000135
[14:00:51.791] After Reprojection Map nPoint:404 ,nCell:188 ,nMatches:38 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:51.791] n deleted obs = 8 n obs felt =69 error init =0.204341 error end=0.204341
[14:00:51.791] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:51.791] Update EKF and 3D points, distance between two frames x:-0.000038 ,z=0.000440,angle between two frames:0.001398
[14:00:51.900] After Reprojection Map nPoint:414 ,nCell:176 ,nMatches:36 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:51.900] n deleted obs = 16 n obs felt =68 error init =0.269267 error end=0.269267
[14:00:51.900] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:51.900] Update EKF and 3D points, distance between two frames x:-0.000047 ,z=0.000517,angle between two frames:0.000900
[14:00:52.008] After Reprojection Map nPoint:374 ,nCell:135 ,nMatches:34 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:52.008] n deleted obs = 13 n obs felt =66 error init =0.239323 error end=0.239323
[14:00:52.008] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:52.008] Update EKF and 3D points, distance between two frames x:-0.000043 ,z=0.000505,angle between two frames:0.001912
[14:00:52.117] After Reprojection Map nPoint:368 ,nCell:128 ,nMatches:26 ,distance between two frames x:-0.000267 ,z=0.003121,angle between two frames:0.011927
[14:00:52.118] n deleted obs = 15 n obs felt =56 error init =0.252941 error end=0.252941
[14:00:52.118] After pose optimization, distance between two frames x:-0.000267 ,z=0.003121,angle between two frames:0.011927
[14:00:52.118] Update EKF and 3D points, distance between two frames x:-0.000296 ,z=0.003437,angle between two frames:0.011577
[14:00:52.228] After Reprojection Map nPoint:374 ,nCell:164 ,nMatches:32 ,distance between two frames x:-0.000181 ,z=0.001955,angle between two frames:0.001424
[14:00:52.228] n deleted obs = 10 n obs felt =72 error init =0.207628 error end=0.207628
[14:00:52.228] After pose optimization, distance between two frames x:-0.000181 ,z=0.001955,angle between two frames:0.001424
[14:00:52.228] Update EKF and 3D points, distance between two frames x:-0.000206 ,z=0.002272,angle between two frames:0.000762
[14:00:52.340] After Reprojection Map nPoint:388 ,nCell:173 ,nMatches:34 ,distance between two frames x:-0.000174 ,z=0.001965,angle between two frames:0.003791
[14:00:52.342] n deleted obs = 13 n obs felt =71 error init =0.245554 error end=0.243344
[14:00:52.342] After pose optimization, distance between two frames x:0.012683 ,z=-0.020571,angle between two frames:0.003791
[14:00:52.342] Update EKF and 3D points, distance between two frames x:0.011911 ,z=-0.018941,angle between two frames:0.001934
[14:00:52.450] After Reprojection Map nPoint:335 ,nCell:137 ,nMatches:34 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:52.450] n deleted obs = 14 n obs felt =63 error init =0.255911 error end=0.255911
[14:00:52.450] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:52.450] Update EKF and 3D points, distance between two frames x:-0.000309 ,z=0.000904,angle between two frames:0.001032
[14:00:52.561] After Reprojection Map nPoint:445 ,nCell:182 ,nMatches:41 ,distance between two frames x:-0.001912 ,z=0.005584,angle between two frames:0.007100
[14:00:52.561] n deleted obs = 22 n obs felt =84 error init =0.258671 error end=0.258671
[14:00:52.561] After pose optimization, distance between two frames x:-0.001912 ,z=0.005584,angle between two frames:0.007100
[14:00:52.561] Update EKF and 3D points, distance between two frames x:-0.001981 ,z=0.006230,angle between two frames:0.008924
[14:00:52.670] After Reprojection Map nPoint:368 ,nCell:128 ,nMatches:36 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:52.670] n deleted obs = 19 n obs felt =76 error init =0.258384 error end=0.258384
[14:00:52.670] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:52.670] Update EKF and 3D points, distance between two frames x:-0.000058 ,z=0.000547,angle between two frames:0.000783
[14:00:52.781] After Reprojection Map nPoint:400 ,nCell:129 ,nMatches:36 ,distance between two frames x:-0.000028 ,z=0.000001,angle between two frames:0.000007
[14:00:52.781] n deleted obs = 14 n obs felt =95 error init =0.185263 error end=0.183152
[14:00:52.781] After pose optimization, distance between two frames x:0.014710 ,z=-0.024094,angle between two frames:0.000052
[14:00:52.781] Update EKF and 3D points, distance between two frames x:0.013797 ,z=-0.022177,angle between two frames:0.001918
[14:00:52.891] After Reprojection Map nPoint:346 ,nCell:129 ,nMatches:31 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:52.891] n deleted obs = 14 n obs felt =80 error init =0.235461 error end=0.235461
[14:00:52.891] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:52.891] Update EKF and 3D points, distance between two frames x:-0.000366 ,z=0.001013,angle between two frames:0.001144
[14:00:53.006] After Reprojection Map nPoint:432 ,nCell:156 ,nMatches:45 ,distance between two frames x:-0.000032 ,z=0.000023,angle between two frames:0.000004
[14:00:53.006] n deleted obs = 23 n obs felt =111 error init =0.228161 error end=0.228161
[14:00:53.006] After pose optimization, distance between two frames x:-0.000032 ,z=0.000023,angle between two frames:0.000004
[14:00:53.006] Update EKF and 3D points, distance between two frames x:-0.000202 ,z=0.000686,angle between two frames:0.001355
[14:00:53.122] After Reprojection Map nPoint:503 ,nCell:196 ,nMatches:52 ,distance between two frames x:-0.000024 ,z=0.000183,angle between two frames:0.000000
[14:00:53.125] n deleted obs = 25 n obs felt =131 error init =0.221323 error end=0.220539
[14:00:53.125] After pose optimization, distance between two frames x:0.002955 ,z=-0.007708,angle between two frames:0.000005
[14:00:53.125] Update EKF and 3D points, distance between two frames x:0.002688 ,z=-0.006689,angle between two frames:0.000797
[14:00:53.234] After Reprojection Map nPoint:478 ,nCell:176 ,nMatches:48 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:53.235] n deleted obs = 17 n obs felt =137 error init =0.178493 error end=0.177478
[14:00:53.235] After pose optimization, distance between two frames x:0.003767 ,z=-0.008860,angle between two frames:0.000178
[14:00:53.235] Update EKF and 3D points, distance between two frames x:0.003421 ,z=-0.007677,angle between two frames:0.000750
[14:00:53.347] After Reprojection Map nPoint:407 ,nCell:139 ,nMatches:37 ,distance between two frames x:-0.000013 ,z=0.000010,angle between two frames:0.000000
[14:00:53.347] n deleted obs = 21 n obs felt =113 error init =0.200017 error end=0.200017
[14:00:53.347] After pose optimization, distance between two frames x:-0.000013 ,z=0.000010,angle between two frames:0.000000
[14:00:53.347] Update EKF and 3D points, distance between two frames x:-0.000168 ,z=0.000768,angle between two frames:0.000292
[14:00:53.470] After Reprojection Map nPoint:443 ,nCell:148 ,nMatches:50 ,distance between two frames x:0.000053 ,z=-0.000071,angle between two frames:0.000000
[14:00:53.470] n deleted obs = 22 n obs felt =143 error init =0.198170 error end=0.198170
[14:00:53.470] After pose optimization, distance between two frames x:0.000053 ,z=-0.000071,angle between two frames:0.000000
[14:00:53.470] Update EKF and 3D points, distance between two frames x:-0.000060 ,z=0.000843,angle between two frames:0.001385
[14:00:53.580] After Reprojection Map nPoint:403 ,nCell:136 ,nMatches:38 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:53.583] n deleted obs = 20 n obs felt =122 error init =0.196124 error end=0.192357
[14:00:53.583] After pose optimization, distance between two frames x:-0.002211 ,z=-0.012868,angle between two frames:0.000514
[14:00:53.583] Update EKF and 3D points, distance between two frames x:-0.002151 ,z=-0.011489,angle between two frames:0.000027
[14:00:53.695] After Reprojection Map nPoint:425 ,nCell:114 ,nMatches:46 ,distance between two frames x:-0.000013 ,z=0.000007,angle between two frames:0.000000
[14:00:53.695] n deleted obs = 17 n obs felt =142 error init =0.167438 error end=0.167438
[14:00:53.695] After pose optimization, distance between two frames x:-0.000013 ,z=0.000007,angle between two frames:0.000000
[14:00:53.695] Update EKF and 3D points, distance between two frames x:-0.000016 ,z=0.000822,angle between two frames:0.002126
[14:00:53.806] After Reprojection Map nPoint:420 ,nCell:132 ,nMatches:39 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:53.807] n deleted obs = 21 n obs felt =133 error init =0.181547 error end=0.181547
[14:00:53.807] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:53.807] Update EKF and 3D points, distance between two frames x:-0.000033 ,z=0.000628,angle between two frames:0.000081
[14:00:53.919] After Reprojection Map nPoint:480 ,nCell:169 ,nMatches:48 ,distance between two frames x:-0.000248 ,z=0.003893,angle between two frames:0.001488
[14:00:53.922] n deleted obs = 22 n obs felt =153 error init =0.184922 error end=0.183459
[14:00:53.922] After pose optimization, distance between two frames x:0.000526 ,z=-0.003333,angle between two frames:0.001406
[14:00:53.922] Update EKF and 3D points, distance between two frames x:0.000454 ,z=-0.002618,angle between two frames:0.001539
[14:00:54.033] After Reprojection Map nPoint:461 ,nCell:130 ,nMatches:48 ,distance between two frames x:-0.000007 ,z=0.000016,angle between two frames:0.000000
[14:00:54.033] n deleted obs = 14 n obs felt =173 error init =0.122877 error end=0.122877
[14:00:54.033] After pose optimization, distance between two frames x:-0.000007 ,z=0.000016,angle between two frames:0.000000
[14:00:54.033] Update EKF and 3D points, distance between two frames x:-0.000064 ,z=0.000595,angle between two frames:0.001173
[14:00:54.160] After Reprojection Map nPoint:418 ,nCell:106 ,nMatches:44 ,distance between two frames x:-0.000369 ,z=0.003824,angle between two frames:0.006249
[14:00:54.163] n deleted obs = 19 n obs felt =153 error init =0.179899 error end=0.179779
[14:00:54.163] After pose optimization, distance between two frames x:0.001026 ,z=0.000683,angle between two frames:0.006367
[14:00:54.163] Update EKF and 3D points, distance between two frames x:0.000879 ,z=0.001498,angle between two frames:0.006353
[14:00:54.275] After Reprojection Map nPoint:431 ,nCell:109 ,nMatches:48 ,distance between two frames x:-0.000923 ,z=0.005047,angle between two frames:0.001791
[14:00:54.275] n deleted obs = 12 n obs felt =170 error init =0.137539 error end=0.137539
[14:00:54.275] After pose optimization, distance between two frames x:-0.000923 ,z=0.005047,angle between two frames:0.001791
[14:00:54.275] Update EKF and 3D points, distance between two frames x:-0.000971 ,z=0.005362,angle between two frames:0.003353
[14:00:54.386] After Reprojection Map nPoint:331 ,nCell:86 ,nMatches:36 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:54.386] n deleted obs = 15 n obs felt =137 error init =0.159140 error end=0.157807
[14:00:54.386] After pose optimization, distance between two frames x:-0.003785 ,z=-0.001430,angle between two frames:0.003871
[14:00:54.386] Update EKF and 3D points, distance between two frames x:-0.003621 ,z=-0.000938,angle between two frames:0.005725
[14:00:54.500] After Reprojection Map nPoint:449 ,nCell:122 ,nMatches:44 ,distance between two frames x:0.000993 ,z=0.003063,angle between two frames:0.011482
[14:00:54.500] n deleted obs = 17 n obs felt =165 error init =0.147080 error end=0.147080
[14:00:54.500] After pose optimization, distance between two frames x:0.000993 ,z=0.003063,angle between two frames:0.011482
[14:00:54.500] Update EKF and 3D points, distance between two frames x:0.000964 ,z=0.003383,angle between two frames:0.010591
[14:00:54.613] After Reprojection Map nPoint:413 ,nCell:114 ,nMatches:45 ,distance between two frames x:-0.000034 ,z=0.000013,angle between two frames:0.000003
[14:00:54.613] n deleted obs = 23 n obs felt =150 error init =0.182582 error end=0.182582
[14:00:54.613] After pose optimization, distance between two frames x:-0.000034 ,z=0.000013,angle between two frames:0.000003
[14:00:54.613] Update EKF and 3D points, distance between two frames x:-0.000085 ,z=0.000448,angle between two frames:0.000536
[14:00:54.725] After Reprojection Map nPoint:452 ,nCell:118 ,nMatches:47 ,distance between two frames x:-0.000316 ,z=0.002687,angle between two frames:0.002536
[14:00:54.728] n deleted obs = 23 n obs felt =169 error init =0.168046 error end=0.166379
[14:00:54.728] After pose optimization, distance between two frames x:0.004302 ,z=0.003251,angle between two frames:0.002463
[14:00:54.729] Update EKF and 3D points, distance between two frames x:0.003998 ,z=0.003534,angle between two frames:0.002215
[14:00:54.851] After Reprojection Map nPoint:442 ,nCell:142 ,nMatches:43 ,distance between two frames x:-0.001885 ,z=0.001775,angle between two frames:0.000366
[14:00:54.852] n deleted obs = 21 n obs felt =141 error init =0.162503 error end=0.161845
[14:00:54.852] After pose optimization, distance between two frames x:0.005084 ,z=0.000012,angle between two frames:0.000402
[14:00:54.852] Update EKF and 3D points, distance between two frames x:0.004638 ,z=0.000431,angle between two frames:0.000897
[14:00:54.967] After Reprojection Map nPoint:439 ,nCell:133 ,nMatches:48 ,distance between two frames x:-0.000018 ,z=-0.000007,angle between two frames:0.000000
[14:00:54.967] n deleted obs = 22 n obs felt =159 error init =0.160866 error end=0.160866
[14:00:54.967] After pose optimization, distance between two frames x:-0.000018 ,z=-0.000007,angle between two frames:0.000000
[14:00:54.967] Update EKF and 3D points, distance between two frames x:-0.000114 ,z=0.000755,angle between two frames:0.000759
[14:00:55.078] After Reprojection Map nPoint:392 ,nCell:107 ,nMatches:41 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:55.078] n deleted obs = 20 n obs felt =149 error init =0.144643 error end=0.144643
[14:00:55.078] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:55.078] Update EKF and 3D points, distance between two frames x:-0.000067 ,z=0.000594,angle between two frames:0.001143
[14:00:55.189] After Reprojection Map nPoint:361 ,nCell:90 ,nMatches:39 ,distance between two frames x:-0.000414 ,z=0.003672,angle between two frames:0.006916
[14:00:55.189] n deleted obs = 10 n obs felt =167 error init =0.109969 error end=0.107936
[14:00:55.189] After pose optimization, distance between two frames x:-0.001817 ,z=-0.003612,angle between two frames:0.001039
[14:00:55.189] Update EKF and 3D points, distance between two frames x:-0.001774 ,z=-0.002871,angle between two frames:0.001756
[14:00:55.302] After Reprojection Map nPoint:370 ,nCell:86 ,nMatches:37 ,distance between two frames x:-0.000031 ,z=0.000092,angle between two frames:0.000002
[14:00:55.303] n deleted obs = 15 n obs felt =147 error init =0.134597 error end=0.134597
[14:00:55.303] After pose optimization, distance between two frames x:-0.000031 ,z=0.000091,angle between two frames:0.000002
[14:00:55.303] Update EKF and 3D points, distance between two frames x:-0.000045 ,z=0.000667,angle between two frames:0.000522
[14:00:55.415] After Reprojection Map nPoint:438 ,nCell:112 ,nMatches:48 ,distance between two frames x:-0.000143 ,z=0.003563,angle between two frames:0.003430
[14:00:55.415] n deleted obs = 20 n obs felt =191 error init =0.131663 error end=0.131663
[14:00:55.415] After pose optimization, distance between two frames x:-0.000143 ,z=0.003563,angle between two frames:0.003430
[14:00:55.415] Update EKF and 3D points, distance between two frames x:-0.000173 ,z=0.003881,angle between two frames:0.004377
[14:00:55.533] After Reprojection Map nPoint:434 ,nCell:105 ,nMatches:40 ,distance between two frames x:-0.000006 ,z=-0.000010,angle between two frames:0.000000
[14:00:55.533] n deleted obs = 13 n obs felt =191 error init =0.114045 error end=0.113032
[14:00:55.533] After pose optimization, distance between two frames x:-0.001738 ,z=-0.008162,angle between two frames:0.006895
[14:00:55.533] Update EKF and 3D points, distance between two frames x:-0.001682 ,z=-0.007256,angle between two frames:0.006261
[14:00:55.646] After Reprojection Map nPoint:433 ,nCell:110 ,nMatches:41 ,distance between two frames x:-0.000031 ,z=0.000016,angle between two frames:0.000003
[14:00:55.647] n deleted obs = 16 n obs felt =175 error init =0.122947 error end=0.122947
[14:00:55.647] After pose optimization, distance between two frames x:-0.000031 ,z=0.000016,angle between two frames:0.000003
[14:00:55.647] Update EKF and 3D points, distance between two frames x:-0.000047 ,z=0.000658,angle between two frames:0.000562
[14:00:55.761] After Reprojection Map nPoint:423 ,nCell:91 ,nMatches:41 ,distance between two frames x:-0.000042 ,z=0.000014,angle between two frames:0.000017
[14:00:55.761] n deleted obs = 9 n obs felt =186 error init =0.099546 error end=0.099218
[14:00:55.761] After pose optimization, distance between two frames x:0.007313 ,z=-0.005054,angle between two frames:0.000043
[14:00:55.761] Update EKF and 3D points, distance between two frames x:0.006799 ,z=-0.003876,angle between two frames:0.000213
[14:00:55.893] After Reprojection Map nPoint:389 ,nCell:103 ,nMatches:46 ,distance between two frames x:-0.000016 ,z=0.000002,angle between two frames:0.000000
[14:00:55.893] n deleted obs = 13 n obs felt =176 error init =0.131053 error end=0.131053
[14:00:55.893] After pose optimization, distance between two frames x:-0.000016 ,z=0.000002,angle between two frames:0.000000
[14:00:55.893] Update EKF and 3D points, distance between two frames x:-0.000241 ,z=0.000738,angle between two frames:0.000785
[14:00:56.004] After Reprojection Map nPoint:449 ,nCell:125 ,nMatches:45 ,distance between two frames x:-0.001388 ,z=0.004550,angle between two frames:0.004994
[14:00:56.004] n deleted obs = 21 n obs felt =194 error init =0.133328 error end=0.133328
[14:00:56.004] After pose optimization, distance between two frames x:-0.001388 ,z=0.004550,angle between two frames:0.004994
[14:00:56.004] Update EKF and 3D points, distance between two frames x:-0.001431 ,z=0.004865,angle between two frames:0.005113
[14:00:56.116] After Reprojection Map nPoint:453 ,nCell:132 ,nMatches:45 ,distance between two frames x:-0.000019 ,z=0.000022,angle between two frames:0.000004
[14:00:56.117] n deleted obs = 16 n obs felt =199 error init =0.114841 error end=0.114501
[14:00:56.117] After pose optimization, distance between two frames x:0.003681 ,z=-0.000402,angle between two frames:0.000039
[14:00:56.117] Update EKF and 3D points, distance between two frames x:0.003408 ,z=0.000051,angle between two frames:0.001493
[14:00:56.231] After Reprojection Map nPoint:406 ,nCell:101 ,nMatches:44 ,distance between two frames x:-0.000017 ,z=0.000010,angle between two frames:0.000000
[14:00:56.231] n deleted obs = 11 n obs felt =188 error init =0.111300 error end=0.111300
[14:00:56.231] After pose optimization, distance between two frames x:-0.000017 ,z=0.000010,angle between two frames:0.000000
[14:00:56.231] Update EKF and 3D points, distance between two frames x:-0.000159 ,z=0.000488,angle between two frames:0.001629
[14:00:56.344] After Reprojection Map nPoint:427 ,nCell:103 ,nMatches:43 ,distance between two frames x:-0.000018 ,z=0.000001,angle between two frames:0.000001
[14:00:56.344] n deleted obs = 11 n obs felt =194 error init =0.104373 error end=0.104373
[14:00:56.345] After pose optimization, distance between two frames x:-0.000018 ,z=0.000001,angle between two frames:0.000001
[14:00:56.345] Update EKF and 3D points, distance between two frames x:-0.000116 ,z=0.000489,angle between two frames:0.001502
[14:00:56.473] After Reprojection Map nPoint:403 ,nCell:93 ,nMatches:39 ,distance between two frames x:0.000005 ,z=0.000032,angle between two frames:0.000000
[14:00:56.473] n deleted obs = 15 n obs felt =182 error init =0.120208 error end=0.120208
[14:00:56.473] After pose optimization, distance between two frames x:0.000005 ,z=0.000032,angle between two frames:0.000000
[14:00:56.473] Update EKF and 3D points, distance between two frames x:-0.000118 ,z=0.000840,angle between two frames:0.001118
[14:00:56.586] After Reprojection Map nPoint:388 ,nCell:91 ,nMatches:40 ,distance between two frames x:-0.000790 ,z=0.004997,angle between two frames:0.007866
[14:00:56.589] n deleted obs = 24 n obs felt =173 error init =0.160513 error end=0.157816
[14:00:56.589] After pose optimization, distance between two frames x:0.017009 ,z=-0.003839,angle between two frames:0.007980
[14:00:56.589] Update EKF and 3D points, distance between two frames x:0.015930 ,z=-0.003009,angle between two frames:0.007983
[14:00:56.702] After Reprojection Map nPoint:439 ,nCell:109 ,nMatches:45 ,distance between two frames x:-0.000011 ,z=0.000017,angle between two frames:0.000000
[14:00:56.702] n deleted obs = 18 n obs felt =197 error init =0.117559 error end=0.117559
[14:00:56.702] After pose optimization, distance between two frames x:-0.000011 ,z=0.000017,angle between two frames:0.000000
[14:00:56.702] Update EKF and 3D points, distance between two frames x:-0.000439 ,z=0.000606,angle between two frames:0.001025
[14:00:56.816] After Reprojection Map nPoint:377 ,nCell:100 ,nMatches:38 ,distance between two frames x:-0.000013 ,z=0.000004,angle between two frames:0.000000
[14:00:56.816] n deleted obs = 14 n obs felt =182 error init =0.129571 error end=0.129571
[14:00:56.816] After pose optimization, distance between two frames x:-0.000013 ,z=0.000004,angle between two frames:0.000000
[14:00:56.816] Update EKF and 3D points, distance between two frames x:-0.000207 ,z=0.000552,angle between two frames:0.000448
[14:00:56.928] After Reprojection Map nPoint:376 ,nCell:101 ,nMatches:41 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:56.929] n deleted obs = 13 n obs felt =179 error init =0.112421 error end=0.112421
[14:00:56.929] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:56.929] Update EKF and 3D points, distance between two frames x:-0.000115 ,z=0.000501,angle between two frames:0.000923
[14:00:57.043] After Reprojection Map nPoint:366 ,nCell:105 ,nMatches:43 ,distance between two frames x:-0.000747 ,z=0.003094,angle between two frames:0.006019
[14:00:57.043] n deleted obs = 17 n obs felt =175 error init =0.135963 error end=0.135963
[14:00:57.043] After pose optimization, distance between two frames x:-0.000747 ,z=0.003094,angle between two frames:0.006019
[14:00:57.043] Update EKF and 3D points, distance between two frames x:-0.000788 ,z=0.003421,angle between two frames:0.006389
[14:00:57.186] After Reprojection Map nPoint:427 ,nCell:87 ,nMatches:38 ,distance between two frames x:-0.000037 ,z=-0.000007,angle between two frames:0.000010
[14:00:57.186] n deleted obs = 12 n obs felt =210 error init =0.097727 error end=0.097727
[14:00:57.186] After pose optimization, distance between two frames x:-0.000037 ,z=-0.000007,angle between two frames:0.000010
[14:00:57.186] Update EKF and 3D points, distance between two frames x:-0.000125 ,z=0.000736,angle between two frames:0.001907
[14:00:57.327] After Reprojection Map nPoint:330 ,nCell:74 ,nMatches:37 ,distance between two frames x:-0.000030 ,z=0.000005,angle between two frames:0.000003
[14:00:57.327] n deleted obs = 14 n obs felt =175 error init =0.114097 error end=0.114097
[14:00:57.327] After pose optimization, distance between two frames x:-0.000030 ,z=0.000005,angle between two frames:0.000003
[14:00:57.327] Update EKF and 3D points, distance between two frames x:-0.000090 ,z=0.000568,angle between two frames:0.000072
[14:00:57.439] After Reprojection Map nPoint:365 ,nCell:88 ,nMatches:38 ,distance between two frames x:-0.000405 ,z=0.003487,angle between two frames:0.000900
[14:00:57.440] n deleted obs = 10 n obs felt =193 error init =0.096505 error end=0.095211
[14:00:57.440] After pose optimization, distance between two frames x:-0.000631 ,z=-0.004461,angle between two frames:0.006903
[14:00:57.440] Update EKF and 3D points, distance between two frames x:-0.000663 ,z=-0.003657,angle between two frames:0.004445
[14:00:57.564] After Reprojection Map nPoint:341 ,nCell:88 ,nMatches:35 ,distance between two frames x:-0.000040 ,z=0.000009,angle between two frames:0.000005
[14:00:57.564] n deleted obs = 8 n obs felt =175 error init =0.091609 error end=0.091582
[14:00:57.564] After pose optimization, distance between two frames x:-0.000131 ,z=-0.000557,angle between two frames:0.000567
[14:00:57.564] Update EKF and 3D points, distance between two frames x:-0.000229 ,z=0.000412,angle between two frames:0.002782
[14:00:57.674] After Reprojection Map nPoint:335 ,nCell:76 ,nMatches:32 ,distance between two frames x:-0.000601 ,z=0.005947,angle between two frames:0.014138
[14:00:57.674] n deleted obs = 12 n obs felt =161 error init =0.112167 error end=0.112167
[14:00:57.674] After pose optimization, distance between two frames x:-0.000601 ,z=0.005947,angle between two frames:0.014138
[14:00:57.674] Update EKF and 3D points, distance between two frames x:-0.000651 ,z=0.006264,angle between two frames:0.014693
[14:00:57.675] Choose frame as a key frame Scene Depth mean:0.947064 ,depth min:0.240838
[14:00:57.792] After Reprojection Map nPoint:429 ,nCell:83 ,nMatches:43 ,distance between two frames x:-0.000315 ,z=0.001957,angle between two frames:0.004476
[14:00:57.797] n deleted obs = 12 n obs felt =222 error init =0.104861 error end=0.100003
[14:00:57.798] After pose optimization, distance between two frames x:0.012552 ,z=-0.003234,angle between two frames:0.004385
[14:00:57.798] Update EKF and 3D points, distance between two frames x:0.011744 ,z=-0.002618,angle between two frames:0.006032
[14:00:57.798] Choose frame as a key frame Scene Depth mean:0.906467 ,depth min:0.234960
[14:00:57.916] After Reprojection Map nPoint:466 ,nCell:121 ,nMatches:46 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:57.916] n deleted obs = 14 n obs felt =199 error init =0.116862 error end=0.114488
[14:00:57.916] After pose optimization, distance between two frames x:0.004220 ,z=0.008619,angle between two frames:0.000000
[14:00:57.916] Update EKF and 3D points, distance between two frames x:0.003629 ,z=0.008652,angle between two frames:0.001932
[14:00:57.917] Choose frame as a key frame Scene Depth mean:0.932649 ,depth min:-70294867769528.453125
[14:00:58.035] After Reprojection Map nPoint:453 ,nCell:116 ,nMatches:40 ,distance between two frames x:-0.003650 ,z=0.000204,angle between two frames:0.012484
[14:00:58.036] n deleted obs = 15 n obs felt =192 error init =0.115868 error end=0.115868
[14:00:58.036] After pose optimization, distance between two frames x:-0.003650 ,z=0.000204,angle between two frames:0.012484
[14:00:58.036] Update EKF and 3D points, distance between two frames x:-0.003708 ,z=0.000528,angle between two frames:0.012777
[14:00:58.036] Choose frame as a key frame Scene Depth mean:0.949753 ,depth min:-577316146166877.750000
[14:00:58.155] After Reprojection Map nPoint:591 ,nCell:174 ,nMatches:46 ,distance between two frames x:-0.000353 ,z=0.002002,angle between two frames:0.002109
[14:00:58.156] n deleted obs = 17 n obs felt =230 error init =0.121363 error end=0.121362
[14:00:58.156] After pose optimization, distance between two frames x:-0.000353 ,z=0.002002,angle between two frames:0.002109
[14:00:58.156] Update EKF and 3D points, distance between two frames x:-0.000473 ,z=0.002683,angle between two frames:0.002247
[14:00:58.156] Choose frame as a key frame Scene Depth mean:0.954184 ,depth min:-124331367365961.718750
[14:00:58.282] After Reprojection Map nPoint:626 ,nCell:149 ,nMatches:45 ,distance between two frames x:-0.000711 ,z=0.004030,angle between two frames:0.000810
[14:00:58.282] n deleted obs = 19 n obs felt =228 error init =0.138592 error end=0.138592
[14:00:58.282] After pose optimization, distance between two frames x:-0.000711 ,z=0.004030,angle between two frames:0.000810
[14:00:58.282] Update EKF and 3D points, distance between two frames x:-0.000763 ,z=0.004319,angle between two frames:0.001432
[14:00:58.283] Choose frame as a key frame Scene Depth mean:0.940586 ,depth min:-576750370187611.375000
[14:00:58.404] After Reprojection Map nPoint:472 ,nCell:132 ,nMatches:39 ,distance between two frames x:-0.000319 ,z=0.001768,angle between two frames:0.006654
[14:00:58.404] n deleted obs = 18 n obs felt =185 error init =0.136728 error end=0.136728
[14:00:58.404] After pose optimization, distance between two frames x:-0.000319 ,z=0.001768,angle between two frames:0.006654
[14:00:58.404] Update EKF and 3D points, distance between two frames x:-0.000383 ,z=0.002084,angle between two frames:0.008103
[14:00:58.405] Choose frame as a key frame Scene Depth mean:0.968498 ,depth min:-1136983845423267.750000
[14:00:58.526] After Reprojection Map nPoint:461 ,nCell:153 ,nMatches:34 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:58.526] n deleted obs = 15 n obs felt =165 error init =0.130620 error end=0.130620
[14:00:58.526] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:58.526] Update EKF and 3D points, distance between two frames x:-0.000087 ,z=0.000445,angle between two frames:0.000167
[14:00:58.527] Choose frame as a key frame Scene Depth mean:0.968361 ,depth min:-13579605693149790.000000
[14:00:58.650] After Reprojection Map nPoint:512 ,nCell:175 ,nMatches:36 ,distance between two frames x:-0.000543 ,z=0.002762,angle between two frames:0.000550
[14:00:58.651] n deleted obs = 8 n obs felt =185 error init =0.097534 error end=0.090986
[14:00:58.651] After pose optimization, distance between two frames x:-0.004025 ,z=0.031906,angle between two frames:0.000550
[14:00:58.651] Update EKF and 3D points, distance between two frames x:-0.003889 ,z=0.030571,angle between two frames:0.000568
[14:00:58.651] Choose frame as a key frame Scene Depth mean:0.999117 ,depth min:0.270071
[14:00:58.778] After Reprojection Map nPoint:705 ,nCell:259 ,nMatches:46 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:58.780] n deleted obs = 24 n obs felt =210 error init =0.139209 error end=0.138651
[14:00:58.780] After pose optimization, distance between two frames x:-0.002477 ,z=0.008646,angle between two frames:0.000000
[14:00:58.780] Update EKF and 3D points, distance between two frames x:-0.002468 ,z=0.008923,angle between two frames:0.001815
[14:00:58.781] Choose frame as a key frame Scene Depth mean:0.970331 ,depth min:-8392668143814929.000000
[14:00:58.908] After Reprojection Map nPoint:740 ,nCell:180 ,nMatches:46 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:58.908] n deleted obs = 11 n obs felt =214 error init =0.101173 error end=0.101173
[14:00:58.908] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:58.908] Update EKF and 3D points, distance between two frames x:-0.000052 ,z=0.000438,angle between two frames:0.001596
[14:00:58.909] Choose frame as a key frame Scene Depth mean:0.984873 ,depth min:0.281291
[14:00:59.036] After Reprojection Map nPoint:769 ,nCell:239 ,nMatches:45 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:59.037] n deleted obs = 13 n obs felt =175 error init =0.119569 error end=0.119315
[14:00:59.037] After pose optimization, distance between two frames x:0.001002 ,z=-0.001233,angle between two frames:0.000000
[14:00:59.037] Update EKF and 3D points, distance between two frames x:0.000870 ,z=-0.000692,angle between two frames:0.001232
[14:00:59.037] Choose frame as a key frame Scene Depth mean:0.946965 ,depth min:0.557998
[14:00:59.166] After Reprojection Map nPoint:730 ,nCell:195 ,nMatches:39 ,distance between two frames x:-0.000818 ,z=0.003354,angle between two frames:0.008733
[14:00:59.166] n deleted obs = 10 n obs felt =149 error init =0.118986 error end=0.118986
[14:00:59.166] After pose optimization, distance between two frames x:-0.000818 ,z=0.003354,angle between two frames:0.008733
[14:00:59.166] Update EKF and 3D points, distance between two frames x:-0.000959 ,z=0.004055,angle between two frames:0.010293
[14:00:59.166] Choose frame as a key frame Scene Depth mean:0.967382 ,depth min:-4334921535618.972168
[14:00:59.296] After Reprojection Map nPoint:666 ,nCell:166 ,nMatches:39 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:59.296] n deleted obs = 9 n obs felt =122 error init =0.151156 error end=0.151156
[14:00:59.296] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:59.296] Update EKF and 3D points, distance between two frames x:-0.000109 ,z=0.000556,angle between two frames:0.000228
[14:00:59.296] Choose frame as a key frame Scene Depth mean:0.965434 ,depth min:-423287832043893.375000
[14:00:59.421] After Reprojection Map nPoint:516 ,nCell:154 ,nMatches:31 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:59.424] n deleted obs = 6 n obs felt =102 error init =0.115994 error end=0.113531
[14:00:59.424] After pose optimization, distance between two frames x:0.012886 ,z=-0.008374,angle between two frames:0.001939
[14:00:59.424] Update EKF and 3D points, distance between two frames x:0.012036 ,z=-0.007357,angle between two frames:0.000912
[14:00:59.424] Choose frame as a key frame Scene Depth mean:0.987523 ,depth min:0.554057
[14:00:59.553] After Reprojection Map nPoint:734 ,nCell:205 ,nMatches:39 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:59.553] n deleted obs = 16 n obs felt =116 error init =0.161327 error end=0.161327
[14:00:59.553] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:00:59.553] Update EKF and 3D points, distance between two frames x:-0.000880 ,z=0.002297,angle between two frames:0.001024
[14:00:59.553] Choose frame as a key frame Scene Depth mean:0.989810 ,depth min:0.536323
[14:00:59.685] After Reprojection Map nPoint:741 ,nCell:224 ,nMatches:40 ,distance between two frames x:-0.003943 ,z=0.010340,angle between two frames:0.004466
[14:00:59.685] n deleted obs = 13 n obs felt =110 error init =0.167772 error end=0.167772
[14:00:59.685] After pose optimization, distance between two frames x:-0.003943 ,z=0.010340,angle between two frames:0.004466
[14:00:59.685] Update EKF and 3D points, distance between two frames x:-0.004003 ,z=0.010655,angle between two frames:0.004298
[14:00:59.691] Choose frame as a key frame Scene Depth mean:0.970957 ,depth min:-4448246511822.553711
[14:00:59.825] After Reprojection Map nPoint:805 ,nCell:260 ,nMatches:49 ,distance between two frames x:-0.000374 ,z=0.001941,angle between two frames:0.000642
[14:00:59.825] n deleted obs = 16 n obs felt =115 error init =0.225799 error end=0.225799
[14:00:59.825] After pose optimization, distance between two frames x:-0.000374 ,z=0.001941,angle between two frames:0.000642
[14:00:59.825] Update EKF and 3D points, distance between two frames x:-0.000434 ,z=0.002256,angle between two frames:0.000928
[14:00:59.826] Choose frame as a key frame Scene Depth mean:0.962388 ,depth min:-99994838075919.812500
[14:00:59.955] After Reprojection Map nPoint:754 ,nCell:245 ,nMatches:36 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:59.955] n deleted obs = 14 n obs felt =92 error init =0.208075 error end=0.208075
[14:00:59.955] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:00:59.955] Update EKF and 3D points, distance between two frames x:-0.000351 ,z=0.001844,angle between two frames:0.000434
[14:00:59.956] Choose frame as a key frame Scene Depth mean:1.007734 ,depth min:-19261784319548.140625
[14:01:00.087] After Reprojection Map nPoint:806 ,nCell:231 ,nMatches:44 ,distance between two frames x:-0.001588 ,z=0.008297,angle between two frames:0.002118
[14:01:00.087] n deleted obs = 16 n obs felt =107 error init =0.226991 error end=0.226991
[14:01:00.087] After pose optimization, distance between two frames x:-0.001588 ,z=0.008297,angle between two frames:0.002118
[14:01:00.087] Update EKF and 3D points, distance between two frames x:-0.001648 ,z=0.008603,angle between two frames:0.002503
[14:01:00.087] Choose frame as a key frame Scene Depth mean:0.964725 ,depth min:0.568324
[14:01:00.214] After Reprojection Map nPoint:761 ,nCell:273 ,nMatches:47 ,distance between two frames x:-0.000374 ,z=0.001890,angle between two frames:0.002406
[14:01:00.214] n deleted obs = 21 n obs felt =108 error init =0.225334 error end=0.225334
[14:01:00.214] After pose optimization, distance between two frames x:-0.000374 ,z=0.001890,angle between two frames:0.002406
[14:01:00.214] Update EKF and 3D points, distance between two frames x:-0.000439 ,z=0.002207,angle between two frames:0.003373
[14:01:00.214] Choose frame as a key frame Scene Depth mean:0.986404 ,depth min:-8373216864642193.000000
[14:01:00.341] After Reprojection Map nPoint:817 ,nCell:261 ,nMatches:42 ,distance between two frames x:-0.000399 ,z=0.001962,angle between two frames:0.006026
[14:01:00.341] n deleted obs = 10 n obs felt =118 error init =0.143075 error end=0.142754
[14:01:00.341] After pose optimization, distance between two frames x:0.003133 ,z=-0.004778,angle between two frames:0.008707
[14:01:00.341] Update EKF and 3D points, distance between two frames x:0.002864 ,z=-0.004071,angle between two frames:0.008349
[14:01:00.341] Choose frame as a key frame Scene Depth mean:0.958759 ,depth min:-1431738439109726.750000
[14:01:00.472] After Reprojection Map nPoint:780 ,nCell:201 ,nMatches:38 ,distance between two frames x:-0.001659 ,z=0.004371,angle between two frames:0.002180
[14:01:00.472] n deleted obs = 10 n obs felt =87 error init =0.186454 error end=0.186454
[14:01:00.472] After pose optimization, distance between two frames x:-0.001659 ,z=0.004371,angle between two frames:0.002180
[14:01:00.472] Update EKF and 3D points, distance between two frames x:-0.001786 ,z=0.004999,angle between two frames:0.002344
[14:01:00.472] Choose frame as a key frame Scene Depth mean:0.971389 ,depth min:-959293767273586.125000
[14:01:00.603] After Reprojection Map nPoint:786 ,nCell:245 ,nMatches:41 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:00.605] n deleted obs = 8 n obs felt =91 error init =0.159489 error end=0.156486
[14:01:00.605] After pose optimization, distance between two frames x:0.010900 ,z=-0.014349,angle between two frames:0.000000
[14:01:00.605] Update EKF and 3D points, distance between two frames x:0.010157 ,z=-0.012974,angle between two frames:0.000052
[14:01:00.605] Choose frame as a key frame Scene Depth mean:1.005624 ,depth min:-86016857174723.921875
[14:01:00.734] After Reprojection Map nPoint:777 ,nCell:207 ,nMatches:52 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:00.734] n deleted obs = 23 n obs felt =83 error init =0.256326 error end=0.256326
[14:01:00.734] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:00.734] Update EKF and 3D points, distance between two frames x:-0.000329 ,z=0.000802,angle between two frames:0.000320
[14:01:00.734] Choose frame as a key frame Scene Depth mean:1.036390 ,depth min:0.587838
[14:01:00.866] After Reprojection Map nPoint:774 ,nCell:211 ,nMatches:36 ,distance between two frames x:-0.002033 ,z=0.004955,angle between two frames:0.001903
[14:01:00.866] n deleted obs = 7 n obs felt =74 error init =0.172335 error end=0.172335
[14:01:00.866] After pose optimization, distance between two frames x:-0.002033 ,z=0.004955,angle between two frames:0.001903
[14:01:00.866] Update EKF and 3D points, distance between two frames x:-0.002157 ,z=0.005585,angle between two frames:0.002351
[14:01:00.999] After Reprojection Map nPoint:844 ,nCell:216 ,nMatches:42 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:00.999] n deleted obs = 17 n obs felt =78 error init =0.207905 error end=0.207905
[14:01:00.999] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:00.999] Update EKF and 3D points, distance between two frames x:-0.000104 ,z=0.000538,angle between two frames:0.000522
[14:01:01.153] After Reprojection Map nPoint:775 ,nCell:223 ,nMatches:40 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:01.155] n deleted obs = 14 n obs felt =71 error init =0.230896 error end=0.230896
[14:01:01.155] After pose optimization, distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.000000
[14:01:01.155] Update EKF and 3D points, distance between two frames x:-0.000178 ,z=0.000909,angle between two frames:0.000045
[14:01:01.285] After Reprojection Map nPoint:776 ,nCell:239 ,nMatches:42 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:01.286] n deleted obs = 15 n obs felt =73 error init =0.247794 error end=0.247794
[14:01:01.286] After pose optimization, distance between two frames x:0.000004 ,z=-0.000005,angle between two frames:0.000000
[14:01:01.286] Update EKF and 3D points, distance between two frames x:-0.000122 ,z=0.000624,angle between two frames:0.000281
[14:01:01.421] After Reprojection Map nPoint:773 ,nCell:264 ,nMatches:37 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:01.421] n deleted obs = 11 n obs felt =74 error init =0.205451 error end=0.205451
[14:01:01.421] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:01.421] Update EKF and 3D points, distance between two frames x:-0.000109 ,z=0.000540,angle between two frames:0.000574
[14:01:01.552] After Reprojection Map nPoint:850 ,nCell:316 ,nMatches:41 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:01.552] n deleted obs = 14 n obs felt =71 error init =0.219222 error end=0.219222
[14:01:01.552] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:01.552] Update EKF and 3D points, distance between two frames x:-0.000403 ,z=0.002011,angle between two frames:0.000619
[14:01:01.682] After Reprojection Map nPoint:699 ,nCell:199 ,nMatches:40 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:01.682] n deleted obs = 17 n obs felt =63 error init =0.397409 error end=0.397409
[14:01:01.682] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:01.682] Update EKF and 3D points, distance between two frames x:-0.000176 ,z=0.000841,angle between two frames:0.002060
[14:01:01.812] After Reprojection Map nPoint:667 ,nCell:218 ,nMatches:34 ,distance between two frames x:-0.001091 ,z=0.005199,angle between two frames:0.013969
[14:01:01.815] n deleted obs = 14 n obs felt =64 error init =0.218645 error end=0.218645
[14:01:01.815] After pose optimization, distance between two frames x:-0.001091 ,z=0.005201,angle between two frames:0.013969
[14:01:01.815] Update EKF and 3D points, distance between two frames x:-0.001162 ,z=0.005506,angle between two frames:0.015314
[14:01:01.945] After Reprojection Map nPoint:864 ,nCell:283 ,nMatches:43 ,distance between two frames x:-0.000438 ,z=0.001881,angle between two frames:0.008635
[14:01:01.946] n deleted obs = 9 n obs felt =93 error init =0.180046 error end=0.180046
[14:01:01.946] After pose optimization, distance between two frames x:-0.000438 ,z=0.001881,angle between two frames:0.008635
[14:01:01.946] Update EKF and 3D points, distance between two frames x:-0.000513 ,z=0.002209,angle between two frames:0.009315
[14:01:02.077] After Reprojection Map nPoint:904 ,nCell:291 ,nMatches:43 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:02.079] n deleted obs = 16 n obs felt =85 error init =0.215273 error end=0.213504
[14:01:02.079] After pose optimization, distance between two frames x:-0.003198 ,z=0.019358,angle between two frames:0.000000
[14:01:02.079] Update EKF and 3D points, distance between two frames x:-0.003182 ,z=0.018960,angle between two frames:0.000412
[14:01:02.209] After Reprojection Map nPoint:755 ,nCell:208 ,nMatches:36 ,distance between two frames x:0.000096 ,z=-0.002461,angle between two frames:0.002306
[14:01:02.209] n deleted obs = 13 n obs felt =67 error init =0.315071 error end=0.315071
[14:01:02.209] After pose optimization, distance between two frames x:0.000096 ,z=-0.002461,angle between two frames:0.002306
[14:01:02.209] Update EKF and 3D points, distance between two frames x:0.000025 ,z=-0.002152,angle between two frames:0.002479
[14:01:02.338] After Reprojection Map nPoint:801 ,nCell:204 ,nMatches:39 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:02.338] n deleted obs = 13 n obs felt =81 error init =0.288552 error end=0.288552
[14:01:02.338] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:02.338] Update EKF and 3D points, distance between two frames x:-0.000096 ,z=0.000416,angle between two frames:0.000315
[14:01:02.468] After Reprojection Map nPoint:862 ,nCell:264 ,nMatches:42 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:02.468] n deleted obs = 21 n obs felt =82 error init =0.244642 error end=0.244642
[14:01:02.468] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:02.468] Update EKF and 3D points, distance between two frames x:-0.000179 ,z=0.000778,angle between two frames:0.000247
[14:01:02.603] After Reprojection Map nPoint:871 ,nCell:255 ,nMatches:52 ,distance between two frames x:-0.001108 ,z=0.004806,angle between two frames:0.001771
[14:01:02.608] n deleted obs = 18 n obs felt =97 error init =0.221965 error end=0.221965
[14:01:02.608] After pose optimization, distance between two frames x:-0.001107 ,z=0.004808,angle between two frames:0.001771
[14:01:02.608] Update EKF and 3D points, distance between two frames x:-0.001178 ,z=0.005125,angle between two frames:0.002079
[14:01:02.738] After Reprojection Map nPoint:840 ,nCell:288 ,nMatches:46 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:02.739] n deleted obs = 17 n obs felt =91 error init =0.224273 error end=0.222151
[14:01:02.739] After pose optimization, distance between two frames x:0.004215 ,z=0.006717,angle between two frames:0.000000
[14:01:02.739] Update EKF and 3D points, distance between two frames x:0.003876 ,z=0.006745,angle between two frames:0.000825
[14:01:02.869] After Reprojection Map nPoint:817 ,nCell:226 ,nMatches:42 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:02.870] n deleted obs = 15 n obs felt =81 error init =0.221500 error end=0.221500
[14:01:02.870] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:02.870] Update EKF and 3D points, distance between two frames x:-0.000262 ,z=0.000650,angle between two frames:0.000719
[14:01:03.000] After Reprojection Map nPoint:818 ,nCell:219 ,nMatches:50 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:03.000] n deleted obs = 19 n obs felt =101 error init =0.226672 error end=0.226672
[14:01:03.000] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:03.000] Update EKF and 3D points, distance between two frames x:-0.000160 ,z=0.000538,angle between two frames:0.000575
[14:01:03.130] After Reprojection Map nPoint:796 ,nCell:172 ,nMatches:42 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:03.130] n deleted obs = 15 n obs felt =88 error init =0.187021 error end=0.187021
[14:01:03.130] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:03.130] Update EKF and 3D points, distance between two frames x:-0.000127 ,z=0.000506,angle between two frames:0.000014
[14:01:03.257] After Reprojection Map nPoint:855 ,nCell:210 ,nMatches:45 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:03.258] n deleted obs = 18 n obs felt =100 error init =0.196377 error end=0.196377
[14:01:03.258] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:03.258] Update EKF and 3D points, distance between two frames x:-0.000211 ,z=0.000893,angle between two frames:0.000822
[14:01:03.385] After Reprojection Map nPoint:778 ,nCell:168 ,nMatches:44 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:03.385] n deleted obs = 14 n obs felt =108 error init =0.190796 error end=0.190796
[14:01:03.385] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:03.385] Update EKF and 3D points, distance between two frames x:-0.000143 ,z=0.000616,angle between two frames:0.000456
[14:01:03.520] After Reprojection Map nPoint:739 ,nCell:166 ,nMatches:42 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:03.520] n deleted obs = 23 n obs felt =97 error init =0.228524 error end=0.228524
[14:01:03.520] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:03.520] Update EKF and 3D points, distance between two frames x:-0.000126 ,z=0.000531,angle between two frames:0.001340
[14:01:03.672] After Reprojection Map nPoint:807 ,nCell:200 ,nMatches:49 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:03.673] n deleted obs = 18 n obs felt =119 error init =0.188137 error end=0.188137
[14:01:03.673] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:03.673] Update EKF and 3D points, distance between two frames x:-0.000206 ,z=0.000810,angle between two frames:0.002195
[14:01:03.802] After Reprojection Map nPoint:782 ,nCell:180 ,nMatches:43 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:03.803] n deleted obs = 12 n obs felt =119 error init =0.172737 error end=0.172737
[14:01:03.803] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:03.803] Update EKF and 3D points, distance between two frames x:-0.000152 ,z=0.000601,angle between two frames:0.001238
[14:01:03.803] Choose frame as a key frame Scene Depth mean:0.992093 ,depth min:0.583616
[14:01:03.956] After Reprojection Map nPoint:740 ,nCell:128 ,nMatches:41 ,distance between two frames x:-0.000979 ,z=0.003723,angle between two frames:0.007517
[14:01:03.957] n deleted obs = 12 n obs felt =127 error init =0.206422 error end=0.206422
[14:01:03.957] After pose optimization, distance between two frames x:-0.000979 ,z=0.003723,angle between two frames:0.007517
[14:01:03.957] Update EKF and 3D points, distance between two frames x:-0.001143 ,z=0.004411,angle between two frames:0.007719
[14:01:03.957] Choose frame as a key frame Scene Depth mean:0.994959 ,depth min:-246443611693693.312500
[14:01:04.086] After Reprojection Map nPoint:742 ,nCell:164 ,nMatches:46 ,distance between two frames x:-0.000970 ,z=0.004072,angle between two frames:0.001293
[14:01:04.086] n deleted obs = 16 n obs felt =138 error init =0.161283 error end=0.161283
[14:01:04.086] After pose optimization, distance between two frames x:-0.000970 ,z=0.004072,angle between two frames:0.001293
[14:01:04.086] Update EKF and 3D points, distance between two frames x:-0.001045 ,z=0.004383,angle between two frames:0.001364
[14:01:04.086] Choose frame as a key frame Scene Depth mean:1.011135 ,depth min:-8295255347662993.000000
[14:01:04.216] After Reprojection Map nPoint:773 ,nCell:193 ,nMatches:44 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:04.216] n deleted obs = 21 n obs felt =129 error init =0.180333 error end=0.180333
[14:01:04.216] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:04.216] Update EKF and 3D points, distance between two frames x:-0.000103 ,z=0.000422,angle between two frames:0.000131
[14:01:04.216] Choose frame as a key frame Scene Depth mean:1.025748 ,depth min:-44716365321635.742188
[14:01:04.371] After Reprojection Map nPoint:798 ,nCell:156 ,nMatches:57 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:04.371] n deleted obs = 14 n obs felt =165 error init =0.140665 error end=0.140665
[14:01:04.371] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:04.371] Update EKF and 3D points, distance between two frames x:-0.000186 ,z=0.000775,angle between two frames:0.000140
[14:01:04.371] Choose frame as a key frame Scene Depth mean:1.022940 ,depth min:0.571246
[14:01:04.501] After Reprojection Map nPoint:799 ,nCell:175 ,nMatches:47 ,distance between two frames x:-0.001147 ,z=0.004787,angle between two frames:0.000871
[14:01:04.506] n deleted obs = 16 n obs felt =150 error init =0.153674 error end=0.153674
[14:01:04.506] After pose optimization, distance between two frames x:-0.001146 ,z=0.004787,angle between two frames:0.000871
[14:01:04.506] Update EKF and 3D points, distance between two frames x:-0.001221 ,z=0.005097,angle between two frames:0.001009
[14:01:04.506] Choose frame as a key frame Scene Depth mean:1.001387 ,depth min:0.577147
[14:01:04.639] After Reprojection Map nPoint:813 ,nCell:216 ,nMatches:50 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:04.640] n deleted obs = 20 n obs felt =145 error init =0.176849 error end=0.176849
[14:01:04.640] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:04.640] Update EKF and 3D points, distance between two frames x:-0.000101 ,z=0.000423,angle between two frames:0.000424
[14:01:04.640] Choose frame as a key frame Scene Depth mean:1.022241 ,depth min:-1413739288306581.250000
[14:01:04.768] After Reprojection Map nPoint:826 ,nCell:174 ,nMatches:51 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:04.769] n deleted obs = 17 n obs felt =164 error init =0.163006 error end=0.163006
[14:01:04.769] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:04.769] Update EKF and 3D points, distance between two frames x:-0.000183 ,z=0.000781,angle between two frames:0.000477
[14:01:04.769] Choose frame as a key frame Scene Depth mean:1.007270 ,depth min:-69740561271782.257812
[14:01:04.898] After Reprojection Map nPoint:766 ,nCell:182 ,nMatches:41 ,distance between two frames x:-0.001133 ,z=0.004821,angle between two frames:0.002887
[14:01:04.899] n deleted obs = 10 n obs felt =154 error init =0.124291 error end=0.124291
[14:01:04.899] After pose optimization, distance between two frames x:-0.001133 ,z=0.004821,angle between two frames:0.002887
[14:01:04.899] Update EKF and 3D points, distance between two frames x:-0.001206 ,z=0.005135,angle between two frames:0.003090
[14:01:04.899] Choose frame as a key frame Scene Depth mean:1.005611 ,depth min:-197532543134306.437500
[14:01:05.029] After Reprojection Map nPoint:730 ,nCell:154 ,nMatches:41 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:05.029] n deleted obs = 17 n obs felt =132 error init =0.172433 error end=0.172433
[14:01:05.029] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:05.029] Update EKF and 3D points, distance between two frames x:-0.000100 ,z=0.000425,angle between two frames:0.000118
[14:01:05.159] After Reprojection Map nPoint:738 ,nCell:189 ,nMatches:38 ,distance between two frames x:-0.000617 ,z=0.002626,angle between two frames:0.001007
[14:01:05.159] n deleted obs = 9 n obs felt =132 error init =0.149437 error end=0.149437
[14:01:05.159] After pose optimization, distance between two frames x:-0.000617 ,z=0.002626,angle between two frames:0.001007
[14:01:05.159] Update EKF and 3D points, distance between two frames x:-0.000767 ,z=0.003254,angle between two frames:0.000465
[14:01:05.288] After Reprojection Map nPoint:764 ,nCell:228 ,nMatches:41 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:05.288] n deleted obs = 18 n obs felt =132 error init =0.171794 error end=0.171794
[14:01:05.288] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:05.288] Update EKF and 3D points, distance between two frames x:-0.000131 ,z=0.000543,angle between two frames:0.000561
[14:01:05.439] After Reprojection Map nPoint:824 ,nCell:235 ,nMatches:46 ,distance between two frames x:0.000003 ,z=0.000082,angle between two frames:0.000034
[14:01:05.439] n deleted obs = 16 n obs felt =151 error init =0.169899 error end=0.169899
[14:01:05.439] After pose optimization, distance between two frames x:0.000003 ,z=0.000082,angle between two frames:0.000034
[14:01:05.439] Update EKF and 3D points, distance between two frames x:-0.000117 ,z=0.000572,angle between two frames:0.000654
[14:01:05.585] After Reprojection Map nPoint:748 ,nCell:191 ,nMatches:44 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:05.585] n deleted obs = 16 n obs felt =139 error init =0.175481 error end=0.175481
[14:01:05.585] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:05.586] Update EKF and 3D points, distance between two frames x:-0.000195 ,z=0.000801,angle between two frames:0.000580
[14:01:05.715] After Reprojection Map nPoint:813 ,nCell:214 ,nMatches:46 ,distance between two frames x:-0.001207 ,z=0.004951,angle between two frames:0.003838
[14:01:05.718] n deleted obs = 14 n obs felt =153 error init =0.161339 error end=0.161339
[14:01:05.718] After pose optimization, distance between two frames x:-0.001207 ,z=0.004952,angle between two frames:0.003838
[14:01:05.718] Update EKF and 3D points, distance between two frames x:-0.001280 ,z=0.005255,angle between two frames:0.003901
[14:01:05.847] After Reprojection Map nPoint:768 ,nCell:221 ,nMatches:43 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:05.852] n deleted obs = 12 n obs felt =146 error init =0.146236 error end=0.146236
[14:01:05.852] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:05.852] Update EKF and 3D points, distance between two frames x:-0.000453 ,z=0.001856,angle between two frames:0.000694
[14:01:05.981] After Reprojection Map nPoint:766 ,nCell:202 ,nMatches:46 ,distance between two frames x:-0.002053 ,z=0.008348,angle between two frames:0.003106
[14:01:05.981] n deleted obs = 13 n obs felt =152 error init =0.162774 error end=0.162774
[14:01:05.981] After pose optimization, distance between two frames x:-0.002053 ,z=0.008348,angle between two frames:0.003106
[14:01:05.981] Update EKF and 3D points, distance between two frames x:-0.002130 ,z=0.008661,angle between two frames:0.003270
[14:01:05.982] Choose frame as a key frame Scene Depth mean:1.015683 ,depth min:0.578497
[14:01:06.112] After Reprojection Map nPoint:764 ,nCell:174 ,nMatches:44 ,distance between two frames x:-0.000477 ,z=0.001929,angle between two frames:0.001056
[14:01:06.112] n deleted obs = 11 n obs felt =151 error init =0.135103 error end=0.135103
[14:01:06.112] After pose optimization, distance between two frames x:-0.000477 ,z=0.001929,angle between two frames:0.001056
[14:01:06.112] Update EKF and 3D points, distance between two frames x:-0.000553 ,z=0.002240,angle between two frames:0.000678
[14:01:06.112] Choose frame as a key frame Scene Depth mean:1.017367 ,depth min:-84597788868542.187500
[14:01:06.249] After Reprojection Map nPoint:701 ,nCell:193 ,nMatches:40 ,distance between two frames x:-0.000468 ,z=0.001920,angle between two frames:0.002189
[14:01:06.249] n deleted obs = 13 n obs felt =134 error init =0.152078 error end=0.152078
[14:01:06.249] After pose optimization, distance between two frames x:-0.000468 ,z=0.001920,angle between two frames:0.002189
[14:01:06.249] Update EKF and 3D points, distance between two frames x:-0.000544 ,z=0.002230,angle between two frames:0.002041
[14:01:06.249] Choose frame as a key frame Scene Depth mean:1.030781 ,depth min:0.589347
[14:01:06.393] After Reprojection Map nPoint:776 ,nCell:182 ,nMatches:44 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:06.394] n deleted obs = 15 n obs felt =147 error init =0.161850 error end=0.161850
[14:01:06.394] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:06.394] Update EKF and 3D points, distance between two frames x:-0.000178 ,z=0.000732,angle between two frames:0.000232
[14:01:06.525] After Reprojection Map nPoint:785 ,nCell:183 ,nMatches:44 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:06.525] n deleted obs = 14 n obs felt =142 error init =0.153727 error end=0.153727
[14:01:06.525] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:06.525] Update EKF and 3D points, distance between two frames x:-0.000138 ,z=0.000576,angle between two frames:0.001064
[14:01:06.654] After Reprojection Map nPoint:768 ,nCell:272 ,nMatches:47 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:06.654] n deleted obs = 13 n obs felt =146 error init =0.164386 error end=0.164386
[14:01:06.654] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[14:01:06.654] Update EKF and 3D points, distance between two frames x:-0.000221 ,z=0.000926,angle between two frames:0.000058
[14:01:06.815] After Reprojection Map nPoint:774 ,nCell:244 ,nMatches:46 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:06.816] n deleted obs = 12 n obs felt =148 error init =0.157550 error end=0.157550
[14:01:06.816] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:06.816] Update EKF and 3D points, distance between two frames x:-0.000154 ,z=0.000625,angle between two frames:0.000933
[14:01:06.968] After Reprojection Map nPoint:726 ,nCell:147 ,nMatches:44 ,distance between two frames x:-0.000003 ,z=-0.000001,angle between two frames:0.000000
[14:01:06.971] n deleted obs = 12 n obs felt =148 error init =0.160092 error end=0.160091
[14:01:06.971] After pose optimization, distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000000
[14:01:06.971] Update EKF and 3D points, distance between two frames x:-0.000211 ,z=0.000829,angle between two frames:0.001403
[14:01:06.972] Choose frame as a key frame Scene Depth mean:1.059704 ,depth min:0.588063
[14:01:07.122] After Reprojection Map nPoint:768 ,nCell:220 ,nMatches:49 ,distance between two frames x:-0.001306 ,z=0.005126,angle between two frames:0.009702
[14:01:07.122] n deleted obs = 19 n obs felt =155 error init =0.181024 error end=0.181024
[14:01:07.122] After pose optimization, distance between two frames x:-0.001306 ,z=0.005126,angle between two frames:0.009702
[14:01:07.122] Update EKF and 3D points, distance between two frames x:-0.001391 ,z=0.005434,angle between two frames:0.011302
[14:01:07.123] Choose frame as a key frame Scene Depth mean:1.020651 ,depth min:0.581976
[14:01:07.309] After Reprojection Map nPoint:695 ,nCell:163 ,nMatches:42 ,distance between two frames x:-0.000527 ,z=0.001904,angle between two frames:0.010163
[14:01:07.309] n deleted obs = 18 n obs felt =119 error init =0.190677 error end=0.190677
[14:01:07.309] After pose optimization, distance between two frames x:-0.000527 ,z=0.001904,angle between two frames:0.010163
[14:01:07.309] Update EKF and 3D points, distance between two frames x:-0.000697 ,z=0.002522,angle between two frames:0.010851
[14:01:07.310] Choose frame as a key frame Scene Depth mean:1.040324 ,depth min:-26608217955939.953125
[14:01:07.473] After Reprojection Map nPoint:749 ,nCell:162 ,nMatches:47 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:07.473] n deleted obs = 18 n obs felt =145 error init =0.246970 error end=0.246970
[14:01:07.473] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[14:01:07.473] Update EKF and 3D points, distance between two frames x:-0.000233 ,z=0.000842,angle between two frames:0.000590
[14:01:07.473] Choose frame as a key frame Scene Depth mean:1.051349 ,depth min:0.625176
[14:01:07.719] After Reprojection Map nPoint:794 ,nCell:189 ,nMatches:41 ,distance between two frames x:-0.001439 ,z=0.005197,angle between two frames:0.0
GPU_version/vio/include/vio/cl_class.h
+27 -52
View File
@@ -29,10 +29,10 @@ public:
_buffers.push_back(std::pair<std::pair<cl::Buffer,size_t>,size_t>(std::pair<cl::Buffer,size_t>(cl::Buffer(*context, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR
, sizeof(T) * buf_size,buf,&error),
buf_size),id));
assert(error == CL_SUCCESS);
cl_int err=_kernel->setArg(id,_buffers.back().first.first);
assert(err == CL_SUCCESS);
return CL_SUCCESS;
assert(error == CL_SUCCESS);
return error;
};
int32_t write(size_t id/*buffer ID*/,cv::Mat& buf,cl::Context* context){
@@ -43,32 +43,31 @@ public:
buf.size().height,
0,
reinterpret_cast<uchar*>(buf.data),&error),id));
assert(error == CL_SUCCESS);
cl_int err=_kernel->setArg(id,_images.back().first);
assert(err == CL_SUCCESS);
return CL_SUCCESS;
assert(error == CL_SUCCESS);
return error;
};
template<typename T>
int32_t reload(size_t id,T* buf,cl::CommandQueue* queue){
assert(buf);
cl_int error;
for(auto&& i:_buffers)if(i.second==id){
cl_int error;
cl::Event event;
T* Map_buf=(T*)queue->enqueueMapBuffer(i.first.first,CL_NON_BLOCKING,CL_MAP_WRITE,0,sizeof(T) * i.first.second,NULL,&event,&error);
assert(error == CL_SUCCESS);
event.wait();
memcpy(Map_buf,buf,sizeof(T) * i.first.second);
assert(queue->enqueueUnmapMemObject(i.first.first,Map_buf,NULL,&event)==CL_SUCCESS);
event.wait();
}
return CL_SUCCESS;
assert(error == CL_SUCCESS);
return error;
};
int32_t reload(size_t id,cv::Mat& buf,cl::Context* context){
cl_int error;
try{
for(auto&& i:_images)if(i.second==id){
cl_int error;
i.first.setDestructorCallback((void (*)(_cl_mem *, void *))notify, NULL);
i.first=cl::Image2D(*context, CL_MEM_READ_ONLY | CL_MEM_USE_HOST_PTR,
cl::ImageFormat(CL_R, CL_UNSIGNED_INT8),
@@ -76,11 +75,11 @@ public:
buf.size().height,
0,
reinterpret_cast<uchar*>(buf.data),&error);
assert(error == CL_SUCCESS);
cl_int err=_kernel->setArg(id,i.first);
assert(err == CL_SUCCESS);
}
return CL_SUCCESS;
assert(error == CL_SUCCESS);
return error;
}catch (std::exception& err){
std::cerr<<"Reload buffer on GPU failed\n"<<err.what()<<'\n';
return CL_MAP_FAILURE;
@@ -122,48 +121,29 @@ public:
~opencl();
int32_t make_kernel(std::string name){_kernels.push_back(kernel(program,name));};
template<typename T>
int32_t write_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/, int size,T* buf) {
try{
_kernels.at(id1).write(id2,buf,queue,context,size);
return CL_SUCCESS;
}catch (std::exception& err){
std::cerr<<"Write buffer on GPU failed\n"<<err.what()<<'\n';
return CL_MAP_FAILURE;
}
bool write_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/, int size,T* buf) {
if(_kernels.at(id1).write(id2,buf,queue,context,size)!= CL_SUCCESS)return false;
return true;
}
int32_t write_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,cv::Mat& buf) {
try{
_kernels.at(id1).write(id2,buf,context);
return CL_SUCCESS;
}catch (std::exception& err){
std::cerr<<"Write image on GPU failed\n"<<err.what()<<'\n';
return CL_MAP_FAILURE;
}
bool write_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,cv::Mat& buf) {
if(_kernels.at(id1).write(id2,buf,context)!= CL_SUCCESS)return false;
return true;
}
template<typename T>
int32_t write_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,T&& value){
_kernels.at(id1)._kernel->setArg(id2,value);
bool write_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,T&& value){
if(_kernels.at(id1)._kernel->setArg(id2,value)!= CL_SUCCESS)return false;
return true;
};
template<typename T>
int32_t reload_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,T* buf) {
try{
_kernels.at(id1).reload(id2,buf,queue);
return CL_SUCCESS;
}catch (std::exception& err){
std::cerr<<"Reload buffer on GPU failed\n"<<err.what()<<'\n';
return CL_MAP_FAILURE;
}
bool reload_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,T* buf) {
if(_kernels.at(id1).reload(id2,buf,queue)!= CL_SUCCESS)return false;
return true;
}
int32_t reload_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,cv::Mat& buf) {
try{
_kernels.at(id1).reload(id2,buf,context);
return CL_SUCCESS;
}catch (std::exception& err){
std::cerr<<"Write buffer on GPU failed\n"<<err.what()<<'\n';
return CL_MAP_FAILURE;
}
bool reload_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,cv::Mat& buf) {
if(_kernels.at(id1).reload(id2,buf,context)!= CL_SUCCESS)return false;
return true;
}
int32_t run(size_t id1/*kernal ID*/,std::size_t x=1,std::size_t y=1,std::size_t z=1) {
cl_int run(size_t id1/*kernal ID*/,std::size_t x=1,std::size_t y=1,std::size_t z=1) {
cl_int err=0;
cl::Event event;
queue->flush();
@@ -174,16 +154,11 @@ public:
}else{
err=queue->enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x)/*Global*/, cl::NullRange/*local*/,NULL,&event);
};
assert(err==CL_SUCCESS);
if(err!=CL_SUCCESS)return -1;
event.wait();
return queue->finish();
}
/*
template<typename T>
void read(size_t id1/*kernal ID*///,size_t id2/*buffer ID*/, T* out){
// queue->enqueueReadBuffer(_kernels.at(id1).read(id2).first, CL_TRUE, 0, sizeof(T) * _kernels.at(id1).read(id2).second, out);
// }
template<typename T>
void read(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,size_t size/*size*/, T* out){
cl_int error;
GPU_version/vio/include/vio/sparse_img_align_gpu.h
+1
View File
@@ -63,6 +63,7 @@ protected:
int min_level_; //!< finest pyramid level for the alignment.
size_t feature_counter_=0;
opencl* residual_= nullptr;
std::vector<bool> errors;
// cache:
std::vector<bool> visible_fts_;
GPU_version/vio/kernel/fast-gray.cl
+2 -4
View File
@@ -7,10 +7,8 @@
__kernel void fast_gray(
__read_only image2d_t image,
__global int2 * corners,
__global int * icorner,
int fast_count
__global int * icorner
) {
// Prepare a suitable OpenCL image sampler.
sampler_t const sampler = CLK_ADDRESS_CLAMP | CLK_FILTER_NEAREST;
@@ -72,7 +70,7 @@ __kernel void fast_gray(
if (p00 >= sco) {
// Atomically append to corner buffer.
int const icorn = atom_inc(icorner);
if (icorn < fast_count)
if (icorn < 262144)
corners[icorn] = xy;
}
}
GPU_version/vio/launch/Px30.launch
+1 -1
View File
@@ -1,6 +1,6 @@
<launch>
<node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" />
<!-- node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" / -->
<!-- Camera topic to subscribe to -->
<param name="vio/cam_topic" value="/CoreNode/grey_img" type="str" />
GPU_version/vio/param/vo_fast.yaml
+1 -1
View File
@@ -9,7 +9,7 @@ svo:
structureoptim_max_pts: 50
kfselect_mindist: 0.01
poseoptim_thresh: 8.0
init_min_inliers: 20
init_min_inliers: 30
ACC_noise: 0.5 #acc white noise in continuous in EKF
GYO_noise: 0.5 #gyro white noise in continuous in EKF
svo_ekf: 0.05 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
GPU_version/vio/src/feature_detection.cpp
+9 -3
View File
@@ -77,9 +77,15 @@ void FastDetector::detect(
{
const int scale = (1<<L);
cv::Mat img=img_pyr.at(L);
gpu_fast_->reload_buf(0,0,img);
int icorner[1]={0};
gpu_fast_->reload_buf(0,2,icorner);
if(!gpu_fast_->reload_buf(0,0,img)){
std::cerr<<"Failed to write into GPU goodbye :)"<<'\n';
exit(0);
};
cl_int icorner[1]={0};
if(!gpu_fast_->reload_buf(0,2,icorner)){
std::cerr<<"Failed to write into GPU goodbye :)"<<'\n';
exit(0);
};
gpu_fast_->run(0,img.cols,img.rows);
int count[1]={0};
gpu_fast_->read(0,2,1,count);
GPU_version/vio/src/frame_handler_mono.cpp
+33 -16
View File
@@ -41,30 +41,36 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Eigen::Matrix<double,
gpu_fast_= new opencl(cam_);
gpu_fast_->make_kernel("fast_gray");
cv::Mat img=cv::Mat(cv::Size(700, 500),CV_8UC1);
gpu_fast_->write_buf(0,0,img);
std::vector<bool> errors;
errors.push_back(gpu_fast_->write_buf(0,0,img));
cl_int2 corners_[350000]={0};
gpu_fast_->write_buf(0,1,350000,corners_);
int icorner[1]={0};
gpu_fast_->write_buf(0,2,1,icorner);
gpu_fast_->write_buf(0,3,(1 << 18));
errors.push_back(gpu_fast_->write_buf(0,1,350000,corners_));
cl_int icorner[1]={0};
errors.push_back(gpu_fast_->write_buf(0,2,1,icorner));
gpu_fast_->make_kernel("compute_residual");
gpu_fast_->write_buf(1,0,img);
gpu_fast_->write_buf(1,1,img);
errors.push_back(gpu_fast_->write_buf(1,0,img));
errors.push_back(gpu_fast_->write_buf(1,1,img));
cl_float3 pose[1]={0.0};
gpu_fast_->write_buf(1,2,3,pose);
gpu_fast_->write_buf(1,3,3,pose);
errors.push_back(gpu_fast_->write_buf(1,2,3,pose));
errors.push_back(gpu_fast_->write_buf(1,3,3,pose));
cl_float3 f[300]={0};
gpu_fast_->write_buf(1,4,300,f);
errors.push_back(gpu_fast_->write_buf(1,4,300,f));
cl_float2 px[300]={0};
gpu_fast_->write_buf(1,5,300,px);
errors.push_back(gpu_fast_->write_buf(1,5,300,px));
float e[300]={0};
gpu_fast_->write_buf(1,7,300,e);
errors.push_back(gpu_fast_->write_buf(1,7,300,e));
float H[9*300]={0};
gpu_fast_->write_buf(1,8,9*300,H);
errors.push_back(gpu_fast_->write_buf(1,8,9*300,H));
cl_float3 J[300];
gpu_fast_->write_buf(1,9,300,J);
errors.push_back(gpu_fast_->write_buf(1,9,300,J));
float chi2[300]={0.01};
gpu_fast_->write_buf(1,10,300,chi2);
errors.push_back(gpu_fast_->write_buf(1,10,300,chi2));
for(auto e:errors){
if(e!=true){
std::cerr<<"Failed to write into GPU goodbye :) "<<'\n';
exit(0);
}
}
initialize();
#if VIO_DEBUG
log_ =fopen((std::string(PROJECT_DIR)+"/frame_handler_log.txt").c_str(),"w+");
@@ -175,7 +181,18 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
new_frame_->Cov_ = init_f.first;
// sparse image align
SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_);
if(!img_align.run(last_frame_, new_frame_, log_))new_frame_->T_f_w_=init_f.second;
size_t err=img_align.run(last_frame_, new_frame_, log_);
if(err==-1){
#if VIO_DEBUG
fprintf(log_,"[%s] Image Alignment failed -1\n",vio::time_in_HH_MM_SS_MMM().c_str());
#endif
new_frame_->T_f_w_=init_f.second;
}else if(err==0){
#if VIO_DEBUG
fprintf(log_,"[%s] Image Alignment failed 0\n",vio::time_in_HH_MM_SS_MMM().c_str());
#endif
new_frame_->T_f_w_=init_f.second;
}
reprojector_.reprojectMap2(new_frame_, last_frame_,overlap_kfs_, gpu_fast_);
int n_point=0;
for(auto i:overlap_kfs_)n_point+=i.second;
GPU_version/vio/src/initialization.cpp
+1 -1
View File
@@ -86,7 +86,7 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
{
Vector2d px_cur(px_cur_[*it].x, px_cur_[*it].y);
Vector2d px_ref(px_ref_[*it].x, px_ref_[*it].y);
if(frame_cur->cam_->isInFrame(px_cur.cast<int>(), 10) && frame_ref_->cam_->isInFrame(px_ref.cast<int>(), 10))
if(frame_cur->cam_->isInFrame(px_cur.cast<int>()*(1<<px_level[*it]), 10) && frame_ref_->cam_->isInFrame(px_ref.cast<int>()*(1<<px_level[*it]), 10))
{
Vector3d pos = frame_cur->getSE3Inv() * (xyz_in_cur_[*it]/* *scale */);
std::shared_ptr<Point> new_point = std::make_shared<Point>(pos);
GPU_version/vio/src/sparse_img_align_gpu.cpp
+16 -24
View File
@@ -35,22 +35,11 @@ SparseImgAlignGpu::SparseImgAlignGpu(
size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame, FILE* log)
{
reset();
/*if(ref_frame->fts_.empty()) // more than 10
{
return 0;
}*/
errors.clear();
cl_float3 ref_pos[1]={(float)ref_frame->pos()(0),(float)ref_frame->pos()(1),(float)ref_frame->T_f_w_.pitch()};
/*#if VIO_DEBUG
fprintf(log,"[%s] ref pose : , x:%f, z=%f, pitch:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(),
ref_pos[0].x, ref_pos[0].y, ref_pos[0].z);
#endif*/
cl_float3 cur_pos[1]={(float)cur_frame->pos()(0),(float)cur_frame->pos()(1),(float)cur_frame->T_f_w_.pitch()};
/*#if VIO_DEBUG
fprintf(log,"[%s] cur pose : , x:%f, z=%f, pitch:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(),
cur_pos[0].x, cur_pos[0].y, cur_pos[0].z);
#endif*/
residual_->reload_buf(1,2,cur_pos);
residual_->reload_buf(1,3,ref_pos);
errors.push_back(residual_->reload_buf(1,2,cur_pos));
errors.push_back(residual_->reload_buf(1,3,ref_pos));
cl_float3 features[ref_frame->fts_.size()];
cl_float2 featue_px[ref_frame->fts_.size()];
feature_counter_ = 0; // is used to compute the index of the cached jacobian
@@ -69,19 +58,22 @@ size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame, FILE* log)
{
return 0;
}
residual_->reload_buf(1,4,features);
residual_->reload_buf(1,5,featue_px);
errors.push_back(residual_->reload_buf(1,4,features));
errors.push_back(residual_->reload_buf(1,5,featue_px));
SE2 T_cur(cur_frame->T_f_w_.se2());///TODO temporary, we can remove it
for(level_=max_level_; level_>=min_level_; --level_)
{
cv::Mat cur_img = cur_frame->img_pyr_.at(level_);
cv::Mat ref_img = ref_frame->img_pyr_.at(level_);
residual_->reload_buf(1,0,cur_img);
residual_->reload_buf(1,1,ref_img);
residual_->write_buf(1,6,level_);
errors.push_back(residual_->reload_buf(1,0,cur_img));
errors.push_back(residual_->reload_buf(1,1,ref_img));
errors.push_back(residual_->write_buf(1,6,level_));
mu_ = 1.0;
for(auto&& e:errors)if(!e)return -1;
errors.clear();
optimize(T_cur);
}
for(auto&& e:errors)if(!e)return -1;
cl_float3 pos[1]={0};
residual_->read(1,2,1,pos);
if(isnan(pos[0].x) || isnan(pos[0].y) || isnan(pos[0].z))return 0;
@@ -97,10 +89,10 @@ double SparseImgAlignGpu::computeResiduals(
cl_float3 J[300]={0.0};
float chi2_[300]={0.0};
float scale=(float)scale_;
residual_->write_buf(1,11,scale);
residual_->reload_buf(1,10,chi2_);
residual_->reload_buf(1,8,H);
residual_->reload_buf(1,9,J);
errors.push_back(residual_->write_buf(1,11,scale));
errors.push_back(residual_->reload_buf(1,10,chi2_));
errors.push_back(residual_->reload_buf(1,8,H));
errors.push_back(residual_->reload_buf(1,9,J));
residual_->run(1,feature_counter_);
float error[300]={0.0};
float chi[300]={0.0};
@@ -153,7 +145,7 @@ void SparseImgAlignGpu::update()
pos[0].x=(float)update.translation()(0);
pos[0].y=(float)update.translation()(1);
pos[0].z=(float)atan2(update.so2().unit_complex().imag(),update.so2().unit_complex().real());
residual_->reload_buf(1,2,pos);
errors.push_back(residual_->reload_buf(1,2,pos));
}
void SparseImgAlignGpu::startIteration()