From d1fb2b4914212b6f061e936228dbc885b4a1f28a Mon Sep 17 00:00:00 2001 From: gfuse Date: Sat, 2 Oct 2021 14:19:25 +0200 Subject: [PATCH] solve bandle adjustment sync issue --- GPU_version/vio/depth_filter_log.txt | 332 ++- GPU_version/vio/frame_handler_log.txt | 1799 +++++++++++------ .../vio/include/vio/global_optimizer.h | 1 + GPU_version/vio/include/vio/initialization.h | 11 + GPU_version/vio/include/vio/map.h | 4 +- GPU_version/vio/include/vio/ukf.h | 4 +- GPU_version/vio/launch/Px30.launch | 2 +- GPU_version/vio/src/feature_detection.cpp | 2 +- GPU_version/vio/src/frame_handler_mono.cpp | 2 + GPU_version/vio/src/global_optimizer.cpp | 19 +- GPU_version/vio/src/initialization.cpp | 1 + GPU_version/vio/src/map.cpp | 22 +- GPU_version/vio/src/point.cpp | 1 - GPU_version/vio/src/pose_optimizer.cpp | 7 +- GPU_version/vio/src/reprojector.cpp | 27 +- GPU_version/vio/src/vo_node.cpp | 17 +- 16 files changed, 1516 insertions(+), 735 deletions(-) diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt index 6f9845e..7bd8636 100755 --- a/GPU_version/vio/depth_filter_log.txt +++ b/GPU_version/vio/depth_filter_log.txt @@ -1,60 +1,272 @@ -[16:55:41.271] New key frame -[16:55:41.271] BA loop run -[16:55:41.272] init error: 575.642695 -[16:55:41.273] end error: 0.013166 -[16:55:41.405] New key frame -[16:55:41.405] BA loop run -[16:55:41.405] init error: 189.835833 -[16:55:41.407] end error: 0.468588 -[16:55:41.507] New key frame -[16:55:41.507] BA loop run -[16:55:41.508] init error: 911.856919 -[16:55:41.510] end error: 1.789062 -[16:55:41.611] New key frame -[16:55:41.611] BA loop run -[16:55:41.612] init error: 18717.033656 -[16:55:41.613] end error: 4.936020 -[16:55:44.998] New key frame -[16:55:44.998] BA loop run -[16:55:44.998] init error: 39.791183 -[16:55:45.001] end error: 10.492954 -[16:55:45.116] New key frame -[16:55:45.116] BA loop run -[16:55:45.117] init error: 786.965335 -[16:55:45.122] end error: 1.421966 -[16:55:45.268] New key frame -[16:55:45.268] BA loop run -[16:55:45.270] init error: 1782.595577 -[16:55:45.277] end error: 2.222177 -[16:55:45.468] New key frame -[16:55:45.469] BA loop run -[16:55:45.473] init error: 3538.063991 -[16:55:45.484] end error: 15.716388 -[16:55:45.749] New key frame -[16:55:45.749] BA loop run -[16:55:45.753] init error: 16354.561639 -[16:55:45.761] end error: 8.216372 -[16:55:46.186] New key frame -[16:55:46.186] BA loop run -[16:55:46.206] init error: 414249.527414 -[16:55:46.289] end error: 138.234439 -[16:55:48.072] New key frame -[16:55:48.072] BA loop run -[16:55:48.108] init error: 627388.776280 -[16:55:48.264] end error: 1448.316701 -[16:55:48.945] New key frame -[16:55:48.945] BA loop run -[16:55:49.017] init error: 146955.415274 -[16:55:49.918] end error: 941.453528 -[16:56:07.244] New key frame -[16:56:07.244] BA loop run -[16:56:07.330] init error: 125101697.443424 -[16:56:08.112] end error: 7023.248058 -[16:56:29.389] New key frame -[16:56:29.389] BA loop run -[16:56:29.529] init error: 258236615.290955 -[16:56:31.054] end error: 24797.607025 -[16:56:52.584] New key frame -[16:56:52.584] BA loop run -[16:56:52.866] init error: 8329221.907695 -[16:57:03.183] end error: 3862.867416 +[14:17:35.009] New key frame +[14:17:35.009] BA loop run +[14:17:35.010] init error: 148.036207 +[14:17:35.011] end error: 0.026000 +[14:17:35.957] New key frame +[14:17:35.957] BA loop run +[14:17:35.958] init error: 38918.365174 +[14:17:35.958] end error: 0.013444 +[14:17:36.925] New key frame +[14:17:36.925] BA loop run +[14:17:36.926] init error: 212.526317 +[14:17:36.927] end error: 0.000262 +[14:17:37.760] New key frame +[14:17:37.760] BA loop run +[14:17:37.760] init error: 138.384450 +[14:17:37.761] end error: 0.000041 +[14:17:37.847] New key frame +[14:17:37.847] BA loop run +[14:17:37.847] init error: 89.222508 +[14:17:37.848] end error: 0.000252 +[14:17:38.645] New key frame +[14:17:38.645] BA loop run +[14:17:38.645] init error: 10.820945 +[14:17:38.646] end error: 0.000143 +[14:17:39.342] New key frame +[14:17:39.342] BA loop run +[14:17:39.343] init error: 8.056582 +[14:17:39.343] end error: 0.000025 +[14:17:39.768] New key frame +[14:17:39.769] BA loop run +[14:17:39.769] init error: 17.415217 +[14:17:39.770] end error: 0.000767 +[14:17:40.130] New key frame +[14:17:40.130] BA loop run +[14:17:40.130] init error: 32.854374 +[14:17:40.131] end error: 0.000032 +[14:17:40.925] New key frame +[14:17:40.925] BA loop run +[14:17:40.925] init error: 78.734056 +[14:17:40.926] end error: 0.000000 +[14:17:41.579] New key frame +[14:17:41.579] BA loop run +[14:17:41.579] init error: 60.909114 +[14:17:41.580] end error: 0.000000 +[14:17:41.938] New key frame +[14:17:41.938] BA loop run +[14:17:41.939] init error: 46.031892 +[14:17:41.940] end error: 0.000042 +[14:17:42.150] New key frame +[14:17:42.150] BA loop run +[14:17:42.150] init error: 1076.813205 +[14:17:42.152] end error: 0.000812 +[14:17:42.345] New key frame +[14:17:42.345] BA loop run +[14:17:42.346] init error: 754.379730 +[14:17:42.347] end error: 0.081436 +[14:17:42.756] New key frame +[14:17:42.756] BA loop run +[14:17:42.757] init error: 2677.765414 +[14:17:42.895] end error: 0.001519 +[14:17:43.028] New key frame +[14:17:43.028] BA loop run +[14:17:43.029] init error: 146.947081 +[14:17:43.145] end error: 0.002729 +[14:17:43.437] New key frame +[14:17:43.437] BA loop run +[14:17:43.438] init error: 13982.056448 +[14:17:43.553] end error: 0.004119 +[14:17:43.771] New key frame +[14:17:43.771] BA loop run +[14:17:43.772] init error: 76.715863 +[14:17:43.773] end error: 0.007292 +[14:17:43.858] New key frame +[14:17:43.858] BA loop run +[14:17:43.858] init error: 215.511731 +[14:17:43.860] end error: 0.000221 +[14:17:43.938] New key frame +[14:17:43.938] BA loop run +[14:17:43.939] init error: 81.875323 +[14:17:43.940] end error: 0.000025 +[14:17:44.118] New key frame +[14:17:44.118] BA loop run +[14:17:44.118] init error: 2422.342876 +[14:17:44.119] end error: 0.000097 +[14:17:44.221] New key frame +[14:17:44.221] BA loop run +[14:17:44.221] init error: 207.581916 +[14:17:44.223] end error: 0.000000 +[14:17:44.328] New key frame +[14:17:44.328] BA loop run +[14:17:44.328] init error: 162.566432 +[14:17:44.329] end error: 0.001409 +[14:17:44.422] New key frame +[14:17:44.422] BA loop run +[14:17:44.423] init error: 14435.424627 +[14:17:44.425] end error: 7.540367 +[14:17:44.519] New key frame +[14:17:44.519] BA loop run +[14:17:44.520] init error: 133.788853 +[14:17:44.524] end error: 1.809725 +[14:17:44.638] New key frame +[14:17:44.638] BA loop run +[14:17:44.639] init error: 1324.756419 +[14:17:44.641] end error: 0.000203 +[14:17:44.720] New key frame +[14:17:44.720] BA loop run +[14:17:44.721] init error: 566.029171 +[14:17:44.723] end error: 0.000364 +[14:17:44.827] New key frame +[14:17:44.827] BA loop run +[14:17:44.828] init error: 13851.507144 +[14:17:44.829] end error: 0.000267 +[14:17:44.934] New key frame +[14:17:44.934] BA loop run +[14:17:44.935] init error: 187.782764 +[14:17:44.937] end error: 0.000267 +[14:17:45.035] New key frame +[14:17:45.035] BA loop run +[14:17:45.035] init error: 839.892009 +[14:17:45.037] end error: 0.000267 +[14:17:45.135] New key frame +[14:17:45.135] BA loop run +[14:17:45.136] init error: 82.259093 +[14:17:45.138] end error: 0.004693 +[14:17:45.222] New key frame +[14:17:45.222] BA loop run +[14:17:45.223] init error: 1073.580439 +[14:17:45.224] end error: 0.001541 +[14:17:45.328] New key frame +[14:17:45.328] BA loop run +[14:17:45.329] init error: 893.975632 +[14:17:45.331] end error: 0.001541 +[14:17:45.435] New key frame +[14:17:45.435] BA loop run +[14:17:45.436] init error: 162.307891 +[14:17:45.439] end error: 0.001541 +[14:17:45.537] New key frame +[14:17:45.538] BA loop run +[14:17:45.539] init error: 494869.499643 +[14:17:45.541] end error: 0.502589 +[14:17:45.636] New key frame +[14:17:45.636] BA loop run +[14:17:45.637] init error: 713.370566 +[14:17:45.638] end error: 0.058017 +[14:17:45.744] New key frame +[14:17:45.744] BA loop run +[14:17:45.745] init error: 749.167754 +[14:17:45.749] end error: 0.779043 +[14:17:45.846] New key frame +[14:17:45.846] BA loop run +[14:17:45.847] init error: 12412.756356 +[14:17:45.850] end error: 1.941401 +[14:17:45.938] New key frame +[14:17:45.938] BA loop run +[14:17:45.939] init error: 1009.645679 +[14:17:45.943] end error: 1.298569 +[14:17:46.130] New key frame +[14:17:46.130] BA loop run +[14:17:46.131] init error: 1805.845656 +[14:17:46.136] end error: 52.687598 +[14:17:46.225] New key frame +[14:17:46.225] BA loop run +[14:17:46.227] init error: 1384.023739 +[14:17:46.231] end error: 3.293355 +[14:17:46.332] New key frame +[14:17:46.332] BA loop run +[14:17:46.334] init error: 1916.816311 +[14:17:46.340] end error: 15.678229 +[14:17:46.422] New key frame +[14:17:46.422] BA loop run +[14:17:46.424] init error: 1364.949035 +[14:17:46.430] end error: 11.994543 +[14:17:46.542] New key frame +[14:17:46.542] BA loop run +[14:17:46.544] init error: 1803.705818 +[14:17:46.549] end error: 13.248052 +[14:17:46.735] New key frame +[14:17:46.735] BA loop run +[14:17:46.737] init error: 359.627244 +[14:17:46.744] end error: 15.917097 +[14:17:46.848] New key frame +[14:17:46.848] BA loop run +[14:17:46.850] init error: 132.767637 +[14:17:46.859] end error: 7.496239 +[14:17:46.942] New key frame +[14:17:46.942] BA loop run +[14:17:46.945] init error: 273.140713 +[14:17:46.955] end error: 9.084497 +[14:17:47.035] New key frame +[14:17:47.035] BA loop run +[14:17:47.038] init error: 44858.514613 +[14:17:47.092] end error: 23.858194 +[14:17:47.261] New key frame +[14:17:47.261] BA loop run +[14:17:47.265] init error: 19240.174352 +[14:17:47.425] end error: 33.269102 +[14:17:47.443] New key frame +[14:17:47.443] BA loop run +[14:17:47.451] init error: 9490.855291 +[14:17:47.791] end error: 60.008907 +[14:17:47.877] New key frame +[14:17:47.877] BA loop run +[14:17:47.885] init error: 250641.349869 +[14:17:48.203] end error: 95.233779 +[14:17:49.274] New key frame +[14:17:49.274] BA loop run +[14:17:49.278] init error: 9949.519439 +[14:17:49.559] end error: 50.564651 +[14:17:50.848] New key frame +[14:17:50.848] BA loop run +[14:17:50.852] init error: 5178.825342 +[14:17:50.979] end error: 22.268369 +[14:17:51.763] New key frame +[14:17:51.764] BA loop run +[14:17:51.767] init error: 543.547794 +[14:17:52.061] end error: 17.817167 +[14:17:52.065] New key frame +[14:17:52.066] BA loop run +[14:17:52.077] init error: 1339.153605 +[14:17:52.261] end error: 20.246683 +[14:17:56.550] New key frame +[14:17:56.550] BA loop run +[14:17:56.554] init error: 8303.291564 +[14:17:56.629] end error: 26.594103 +[14:17:57.059] New key frame +[14:17:57.059] BA loop run +[14:17:57.063] init error: 91935.690165 +[14:17:57.271] end error: 38.526509 +[14:17:57.852] New key frame +[14:17:57.852] BA loop run +[14:17:57.858] init error: 232131.159180 +[14:17:57.996] end error: 61.418385 +[14:17:58.081] New key frame +[14:17:58.081] BA loop run +[14:17:58.089] init error: 9070.775705 +[14:17:58.447] end error: 34.291902 +[14:17:58.494] New key frame +[14:17:58.494] BA loop run +[14:17:58.500] init error: 68366.090407 +[14:17:58.991] end error: 113.614379 +[14:17:59.249] New key frame +[14:17:59.249] BA loop run +[14:17:59.253] init error: 1635180.603207 +[14:17:59.360] end error: 198.804844 +[14:18:00.085] New key frame +[14:18:00.085] BA loop run +[14:18:00.090] init error: 131349.804393 +[14:18:00.273] end error: 1609.872889 +[14:18:00.682] New key frame +[14:18:00.682] BA loop run +[14:18:00.687] init error: 12215847.631416 +[14:18:00.909] end error: 523.178192 +[14:18:01.335] New key frame +[14:18:01.335] BA loop run +[14:18:01.341] init error: 1425.392849 +[14:18:01.786] end error: 104.404989 +[14:18:01.795] New key frame +[14:18:01.795] BA loop run +[14:18:01.803] init error: 65647.241336 +[14:18:02.125] end error: 85.889376 +[14:18:02.141] New key frame +[14:18:02.141] BA loop run +[14:18:02.149] init error: 556607.881609 +[14:18:02.371] end error: 312.798019 +[14:18:02.682] New key frame +[14:18:02.682] BA loop run +[14:18:02.688] init error: 1285.331214 +[14:18:02.907] end error: 54.310029 +[14:18:02.923] New key frame +[14:18:02.923] BA loop run +[14:18:02.932] init error: 63079.696761 +[14:18:03.756] end error: 27.679050 diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index ba66c40..58c01c6 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,627 +1,1172 @@ -[16:55:37.887] frame process finished the id is: 0 the obs is:0 -[16:55:37.970] frame process finished the id is: 1 the obs is:0 -[16:55:38.070] frame process finished the id is: 2 the obs is:0 -[16:55:38.176] frame process finished the id is: 3 the obs is:0 -[16:55:38.273] frame process finished the id is: 4 the obs is:0 -[16:55:38.373] frame process finished the id is: 5 the obs is:0 -[16:55:38.471] frame process finished the id is: 6 the obs is:0 -[16:55:38.572] frame process finished the id is: 7 the obs is:0 -[16:55:38.674] frame process finished the id is: 8 the obs is:0 -[16:55:38.774] frame process finished the id is: 9 the obs is:0 -[16:55:38.801] Odometry x=0.000000, y=0.000000, theta=-0.000000 -[16:55:38.877] frame process finished the id is: 10 the obs is:0 -[16:55:38.894] Odometry x=0.000000, y=0.000001, theta=-0.016692 -[16:55:38.972] frame process finished the id is: 11 the obs is:0 -[16:55:38.993] Odometry x=0.000000, y=0.000002, theta=-0.029624 -[16:55:39.069] frame process finished the id is: 12 the obs is:0 -[16:55:39.095] Odometry x=0.000003, y=0.000003, theta=-0.041902 -[16:55:39.169] frame process finished the id is: 13 the obs is:0 -[16:55:39.193] Odometry x=0.000002, y=0.000007, theta=-0.054684 -[16:55:39.271] frame process finished the id is: 14 the obs is:0 -[16:55:39.295] Odometry x=0.000004, y=0.000009, theta=-0.067464 -[16:55:39.371] frame process finished the id is: 15 the obs is:0 -[16:55:39.394] Odometry x=0.000005, y=0.000012, theta=-0.085202 -[16:55:39.474] frame process finished the id is: 16 the obs is:0 -[16:55:39.492] Odometry x=0.000008, y=0.000012, theta=-0.101424 -[16:55:39.571] Init: frame zero: 0.000000, 0.000000 0.000000 -[16:55:39.571] Init: Selected first frame. -[16:55:39.571] frame process finished the id is: 17 the obs is:0 -[16:55:39.598] Odometry x=0.000009, y=0.000014, theta=-0.120277 -[16:55:39.694] Odometry x=0.000013, y=0.000014, theta=-0.132865 -[16:55:39.696] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required. px average disparity is:12.042246 ,While minimum is: 10.000000 KLT tracked: 138 -[16:55:39.696] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:39.696] frame process finished the id is: 18 the obs is:0 -[16:55:39.767] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required. px average disparity is:20.367628 ,While minimum is: 10.000000 KLT tracked: 138 -[16:55:39.767] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:39.767] frame process finished the id is: 19 the obs is:0 -[16:55:39.794] Odometry x=0.000015, y=0.000015, theta=-0.147741 -[16:55:39.868] Init: Homography RANSAC (inlier) is:1 ,While 30 inliers minimum required. px average disparity is:31.280340 ,While minimum is: 10.000000 KLT tracked: 138 -[16:55:39.868] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:39.868] frame process finished the id is: 20 the obs is:0 -[16:55:39.895] Odometry x=0.000019, y=0.000017, theta=-0.163803 -[16:55:39.968] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required. px average disparity is:42.420543 ,While minimum is: 10.000000 KLT tracked: 138 -[16:55:39.968] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:39.968] frame process finished the id is: 21 the obs is:0 -[16:55:39.992] Odometry x=0.000021, y=0.000021, theta=-0.183352 -[16:55:40.072] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required. px average disparity is:53.315898 ,While minimum is: 10.000000 KLT tracked: 138 -[16:55:40.072] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:40.072] frame process finished the id is: 22 the obs is:0 -[16:55:40.092] Odometry x=0.000022, y=0.000021, theta=-0.198868 -[16:55:40.173] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required. px average disparity is:61.301365 ,While minimum is: 10.000000 KLT tracked: 138 -[16:55:40.173] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:40.173] frame process finished the id is: 23 the obs is:0 -[16:55:40.196] Odometry x=0.000023, y=0.000024, theta=-0.214805 -[16:55:40.271] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required. px average disparity is:72.550034 ,While minimum is: 10.000000 KLT tracked: 138 -[16:55:40.271] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:40.271] frame process finished the id is: 24 the obs is:0 -[16:55:40.292] Odometry x=0.000024, y=0.000028, theta=-0.230656 -[16:55:40.369] Init: Homography RANSAC (inlier) is:10 ,While 30 inliers minimum required. px average disparity is:79.853727 ,While minimum is: 10.000000 KLT tracked: 137 -[16:55:40.369] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:40.369] frame process finished the id is: 25 the obs is:0 -[16:55:40.392] Odometry x=0.000027, y=0.000029, theta=-0.245516 -[16:55:40.471] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required. px average disparity is:88.832735 ,While minimum is: 10.000000 KLT tracked: 137 -[16:55:40.471] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:40.471] frame process finished the id is: 26 the obs is:0 -[16:55:40.494] Odometry x=0.000030, y=0.000032, theta=-0.260413 -[16:55:40.572] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required. px average disparity is:96.126849 ,While minimum is: 10.000000 KLT tracked: 137 -[16:55:40.572] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:40.572] frame process finished the id is: 27 the obs is:0 -[16:55:40.592] Odometry x=0.000030, y=0.000031, theta=-0.273378 -[16:55:40.671] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:104.884985 ,While minimum is: 10.000000 KLT tracked: 137 -[16:55:40.671] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:40.671] frame process finished the id is: 28 the obs is:0 -[16:55:40.694] Odometry x=0.000030, y=0.000033, theta=-0.287993 -[16:55:40.771] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required. px average disparity is:114.438048 ,While minimum is: 10.000000 KLT tracked: 137 -[16:55:40.771] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:40.771] frame process finished the id is: 29 the obs is:0 -[16:55:40.792] Odometry x=0.000031, y=0.000036, theta=-0.303427 -[16:55:40.871] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required. px average disparity is:124.795832 ,While minimum is: 10.000000 KLT tracked: 136 -[16:55:40.871] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:40.871] frame process finished the id is: 30 the obs is:0 -[16:55:40.894] Odometry x=0.000036, y=0.000034, theta=-0.316234 -[16:55:40.972] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required. px average disparity is:133.346868 ,While minimum is: 10.000000 KLT tracked: 136 -[16:55:40.972] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:40.972] frame process finished the id is: 31 the obs is:0 -[16:55:40.992] Odometry x=0.000040, y=0.000036, theta=-0.330751 -[16:55:41.074] Init: Homography RANSAC (inlier) is:23 ,While 30 inliers minimum required. px average disparity is:142.333118 ,While minimum is: 10.000000 KLT tracked: 136 -[16:55:41.074] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:41.074] frame process finished the id is: 32 the obs is:0 -[16:55:41.095] Odometry x=0.000042, y=0.000038, theta=-0.346449 -[16:55:41.171] Init: Homography RANSAC (inlier) is:28 ,While 30 inliers minimum required. px average disparity is:153.694782 ,While minimum is: 10.000000 KLT tracked: 136 -[16:55:41.171] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:55:41.171] frame process finished the id is: 33 the obs is:0 -[16:55:41.193] Odometry x=0.000041, y=0.000043, theta=-0.362070 -[16:55:41.271] Init finished: Homography RANSAC (inlier) is:44 ,While 30 inliers minimum required. px average disparity is:163.639865 ,While minimum is: 10.000000 KLT tracked: 136 -[16:55:41.271] Init: distance between the first and current frame is x:0.000045 ,z=0.000044,angle between two frames: -0.376743 -[16:55:41.271] Init: Selected Second frame. The number of features: 44 depth mean:-0.000055 min:-0.000800 -[16:55:41.272] frame process finished the id is: 34 the obs is:44 -[16:55:41.293] Odometry x=0.000045, y=0.000044, theta=-0.376743 -[16:55:41.393] Odometry x=0.000046, y=0.000046, theta=-0.390755 -[16:55:41.404] After Reprojection Map nPoint:44 ,nCell:15 ,nMatches:8 ,distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000568 -[16:55:41.404] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.000427 error end=0.000427 -[16:55:41.404] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000568 -[16:55:41.404] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 -[16:55:41.405] need key frame pitch dis: 0.385991 translation dif:0.000063 -[16:55:41.405] Choose frame as a key frame Scene Depth mean:-0.020245 ,depth min:-0.272245 -[16:55:41.405] frame process finished the id is: 35 the obs is:35 -[16:55:41.495] Odometry x=0.000047, y=0.000046, theta=-0.403314 -[16:55:41.507] After Reprojection Map nPoint:35 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000001 ,z=0.000002,angle between two frames:0.000792 -[16:55:41.507] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 error init =0.000144 error end=0.000144 -[16:55:41.507] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000002,angle between two frames:0.000792 -[16:55:41.507] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29 -[16:55:41.507] need key frame pitch dis: 0.390538 translation dif:0.000064 -[16:55:41.507] Choose frame as a key frame Scene Depth mean:0.006342 ,depth min:-0.000773 -[16:55:41.507] frame process finished the id is: 36 the obs is:29 -[16:55:41.596] Odometry x=0.000045, y=0.000046, theta=-0.390538 -[16:55:41.611] After Reprojection Map nPoint:58 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000295 -[16:55:41.611] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.000030 error end=0.000030 -[16:55:41.611] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000295 -[16:55:41.611] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48 -[16:55:41.611] need key frame pitch dis: 0.397529 translation dif:0.000064 -[16:55:41.611] Choose frame as a key frame Scene Depth mean:0.042627 ,depth min:-0.001467 -[16:55:41.611] frame process finished the id is: 37 the obs is:48 -[16:55:41.693] Odometry x=0.000046, y=0.000047, theta=-0.405617 -[16:55:41.718] After Reprojection Map nPoint:93 ,nCell:22 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000626 -[16:55:41.718] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =92 error init =0.000002 error end=0.000002 -[16:55:41.718] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000626 -[16:55:41.718] Update EKF and 3D points the number of feature in the new frame: 92 and number of obs: 92 -[16:55:41.718] need key frame pitch dis: 0.011416 translation dif:0.000482 -[16:55:41.718] frame process finished the id is: 38 the obs is:92 -[16:55:41.793] Odometry x=0.000046, y=0.000046, theta=-0.401002 -[16:55:41.821] After Reprojection Map nPoint:153 ,nCell:27 ,nMatches:9 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000001 -[16:55:41.821] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =93 error init =0.000682 error end=0.000682 -[16:55:41.821] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000001 -[16:55:41.821] Update EKF and 3D points the number of feature in the new frame: 93 and number of obs: 93 -[16:55:41.821] need key frame pitch dis: 0.040040 translation dif:0.000339 -[16:55:41.821] frame process finished the id is: 39 the obs is:93 -[16:55:41.894] Odometry x=0.000048, y=0.000047, theta=-0.416952 -[16:55:41.927] After Reprojection Map nPoint:148 ,nCell:23 ,nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000004 -[16:55:41.927] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =112 error init =0.000187 error end=0.000187 -[16:55:41.927] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000004 -[16:55:41.927] Update EKF and 3D points the number of feature in the new frame: 112 and number of obs: 112 -[16:55:41.928] need key frame pitch dis: 0.029272 translation dif:0.000482 -[16:55:41.928] frame process finished the id is: 40 the obs is:112 -[16:55:41.993] Odometry x=0.000048, y=0.000047, theta=-0.418859 -[16:55:42.035] After Reprojection Map nPoint:170 ,nCell:18 ,nMatches:11 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000006 -[16:55:42.035] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =162 error init =0.000012 error end=0.000012 -[16:55:42.035] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000006 -[16:55:42.035] Update EKF and 3D points the number of feature in the new frame: 162 and number of obs: 162 -[16:55:42.036] need key frame pitch dis: 0.053902 translation dif:0.000336 -[16:55:42.036] frame process finished the id is: 41 the obs is:162 -[16:55:42.093] Odometry x=0.000051, y=0.000048, theta=-0.421652 -[16:55:42.143] After Reprojection Map nPoint:216 ,nCell:30 ,nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000007 -[16:55:42.143] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =202 error init =0.000206 error end=0.000206 -[16:55:42.143] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000007 -[16:55:42.143] Update EKF and 3D points the number of feature in the new frame: 202 and number of obs: 202 -[16:55:42.144] need key frame pitch dis: 0.033925 translation dif:0.000481 -[16:55:42.144] frame process finished the id is: 42 the obs is:202 -[16:55:42.193] Odometry x=0.000052, y=0.000047, theta=-0.423512 -[16:55:42.255] After Reprojection Map nPoint:253 ,nCell:47 ,nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000008 -[16:55:42.256] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =133 error init =0.000098 error end=0.000098 -[16:55:42.256] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000008 -[16:55:42.256] Update EKF and 3D points the number of feature in the new frame: 133 and number of obs: 133 -[16:55:42.256] need key frame pitch dis: 0.036148 translation dif:0.000481 -[16:55:42.256] frame process finished the id is: 43 the obs is:133 -[16:55:42.295] Odometry x=0.000052, y=0.000048, theta=-0.425735 -[16:55:42.369] After Reprojection Map nPoint:187 ,nCell:28 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000381 -[16:55:42.369] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =67 error init =0.000599 error end=0.000599 -[16:55:42.369] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000381 -[16:55:42.369] Update EKF and 3D points the number of feature in the new frame: 67 and number of obs: 67 -[16:55:42.369] need key frame pitch dis: 0.038797 translation dif:0.000482 -[16:55:42.369] frame process finished the id is: 44 the obs is:67 -[16:55:42.388] Odometry x=0.000053, y=0.000049, theta=-0.428383 -[16:55:42.481] After Reprojection Map nPoint:121 ,nCell:33 ,nMatches:8 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000994 -[16:55:42.482] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =77 error init =0.000397 error end=0.000397 -[16:55:42.482] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000994 -[16:55:42.482] Update EKF and 3D points the number of feature in the new frame: 77 and number of obs: 77 -[16:55:42.482] need key frame pitch dis: 0.042453 translation dif:0.000483 -[16:55:42.482] frame process finished the id is: 45 the obs is:77 -[16:55:42.485] Odometry x=0.000053, y=0.000050, theta=-0.432040 -[16:55:42.586] After Reprojection Map nPoint:128 ,nCell:32 ,nMatches:8 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000772 -[16:55:42.586] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =60 error init =0.000374 error end=0.000374 -[16:55:42.586] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000772 -[16:55:42.586] Update EKF and 3D points the number of feature in the new frame: 60 and number of obs: 60 -[16:55:42.586] need key frame pitch dis: 0.045628 translation dif:0.000484 -[16:55:42.586] frame process finished the id is: 46 the obs is:60 -[16:55:42.587] Odometry x=0.000054, y=0.000052, theta=-0.435215 -[16:55:42.686] Odometry x=0.000055, y=0.000053, theta=-0.448856 -[16:55:42.691] After Reprojection Map nPoint:111 ,nCell:25 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.001138 -[16:55:42.692] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =101 error init =0.000088 error end=0.000088 -[16:55:42.692] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.001138 -[16:55:42.692] Update EKF and 3D points the number of feature in the new frame: 101 and number of obs: 101 -[16:55:42.692] need key frame pitch dis: 0.056182 translation dif:0.000485 -[16:55:42.692] frame process finished the id is: 47 the obs is:101 -[16:55:42.794] Odometry x=0.000055, y=0.000056, theta=-0.467529 -[16:55:42.800] After Reprojection Map nPoint:155 ,nCell:23 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000081 -[16:55:42.800] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =154 error init =0.000011 error end=0.000011 -[16:55:42.800] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000081 -[16:55:42.800] Update EKF and 3D points the number of feature in the new frame: 154 and number of obs: 154 -[16:55:42.801] need key frame pitch dis: 0.067553 translation dif:0.000486 -[16:55:42.801] frame process finished the id is: 48 the obs is:154 -[16:55:42.887] Odometry x=0.000059, y=0.000056, theta=-0.482540 -[16:55:42.915] After Reprojection Map nPoint:205 ,nCell:36 ,nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000073 -[16:55:42.916] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =118 error init =0.000990 error end=0.000990 -[16:55:42.916] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000073 -[16:55:42.916] Update EKF and 3D points the number of feature in the new frame: 118 and number of obs: 118 -[16:55:42.916] need key frame pitch dis: 0.094805 translation dif:0.000486 -[16:55:42.916] frame process finished the id is: 49 the obs is:118 -[16:55:42.985] Odometry x=0.000061, y=0.000056, theta=-0.484391 -[16:55:43.028] After Reprojection Map nPoint:169 ,nCell:34 ,nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000181 -[16:55:43.028] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =139 error init =0.000800 error end=0.000800 -[16:55:43.028] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000181 -[16:55:43.028] Update EKF and 3D points the number of feature in the new frame: 139 and number of obs: 139 -[16:55:43.029] need key frame pitch dis: 0.097780 translation dif:0.000486 -[16:55:43.029] frame process finished the id is: 50 the obs is:139 -[16:55:43.088] Odometry x=0.000062, y=0.000056, theta=-0.487367 -[16:55:43.133] After Reprojection Map nPoint:190 ,nCell:53 ,nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000072 -[16:55:43.133] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =162 error init =0.000769 error end=0.000769 -[16:55:43.133] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000072 -[16:55:43.133] Update EKF and 3D points the number of feature in the new frame: 162 and number of obs: 162 -[16:55:43.134] need key frame pitch dis: 0.101227 translation dif:0.000486 -[16:55:43.134] frame process finished the id is: 51 the obs is:162 -[16:55:43.195] Odometry x=0.000063, y=0.000057, theta=-0.490813 -[16:55:43.244] After Reprojection Map nPoint:213 ,nCell:31 ,nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000305 -[16:55:43.245] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =123 error init =0.000739 error end=0.000727 -[16:55:43.245] After pose optimization, distance between ekf and vo x:-0.000003 ,z=-0.000007,angle between two frames:0.007530 -[16:55:43.245] Update EKF and 3D points the number of feature in the new frame: 123 and number of obs: 123 -[16:55:43.246] need key frame pitch dis: 0.110745 translation dif:0.000481 -[16:55:43.246] frame process finished the id is: 52 the obs is:123 -[16:55:43.287] Odometry x=0.000061, y=0.000051, theta=-0.500331 -[16:55:43.348] After Reprojection Map nPoint:174 ,nCell:44 ,nMatches:8 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000058 -[16:55:43.348] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =147 error init =0.000234 error end=0.000234 -[16:55:43.348] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000211 -[16:55:43.348] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147 -[16:55:43.349] need key frame pitch dis: 0.113330 translation dif:0.000482 -[16:55:43.349] frame process finished the id is: 53 the obs is:147 -[16:55:43.385] Odometry x=0.000061, y=0.000052, theta=-0.502917 -[16:55:43.447] After Reprojection Map nPoint:198 ,nCell:22 ,nMatches:7 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000012 -[16:55:43.448] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =147 error init =0.000399 error end=0.000397 -[16:55:43.448] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000001,angle between two frames:0.000129 -[16:55:43.448] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147 -[16:55:43.449] need key frame pitch dis: 0.115796 translation dif:0.000479 -[16:55:43.449] frame process finished the id is: 54 the obs is:147 -[16:55:43.487] Odometry x=0.000065, y=0.000051, theta=-0.505383 -[16:55:43.548] After Reprojection Map nPoint:198 ,nCell:35 ,nMatches:6 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000019 -[16:55:43.555] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =186 error init =0.000329 error end=0.000328 -[16:55:43.555] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000000,angle between two frames:0.000074 -[16:55:43.555] Update EKF and 3D points the number of feature in the new frame: 186 and number of obs: 186 -[16:55:43.556] need key frame pitch dis: 0.118198 translation dif:0.000480 -[16:55:43.556] frame process finished the id is: 55 the obs is:186 -[16:55:43.590] Odometry x=0.000068, y=0.000052, theta=-0.507784 -[16:55:43.653] After Reprojection Map nPoint:237 ,nCell:16 ,nMatches:7 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000003 -[16:55:43.658] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =184 error init =0.000109 error end=0.000106 -[16:55:43.658] After pose optimization, distance between ekf and vo x:0.000039 ,z=0.000002,angle between two frames:0.012853 -[16:55:43.658] Update EKF and 3D points the number of feature in the new frame: 184 and number of obs: 184 -[16:55:43.659] need key frame pitch dis: 0.109763 translation dif:0.000472 -[16:55:43.659] frame process finished the id is: 56 the obs is:184 -[16:55:43.686] Odometry x=0.000103, y=0.000054, theta=-0.499349 -[16:55:43.773] After Reprojection Map nPoint:235 ,nCell:21 ,nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000057 -[16:55:43.774] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =200 error init =0.000066 error end=0.000066 -[16:55:43.774] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000057 -[16:55:43.774] Update EKF and 3D points the number of feature in the new frame: 200 and number of obs: 200 -[16:55:43.774] need key frame pitch dis: 0.112107 translation dif:0.000472 -[16:55:43.775] frame process finished the id is: 57 the obs is:200 -[16:55:43.788] Odometry x=0.000106, y=0.000055, theta=-0.501694 -[16:55:43.874] After Reprojection Map nPoint:252 ,nCell:13 ,nMatches:10 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000014 -[16:55:43.876] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =213 error init =0.001268 error end=0.001251 -[16:55:43.876] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000003,angle between two frames:0.003420 -[16:55:43.876] Update EKF and 3D points the number of feature in the new frame: 213 and number of obs: 213 -[16:55:43.877] need key frame pitch dis: 0.116573 translation dif:0.000469 -[16:55:43.877] frame process finished the id is: 58 the obs is:213 -[16:55:43.889] Odometry x=0.000110, y=0.000053, theta=-0.506159 -[16:55:43.986] Odometry x=0.000111, y=0.000055, theta=-0.519646 -[16:55:43.988] After Reprojection Map nPoint:264 ,nCell:50 ,nMatches:7 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000027 -[16:55:43.988] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 error init =0.000182 error end=0.000182 -[16:55:43.988] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000027 -[16:55:43.988] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189 -[16:55:43.989] need key frame pitch dis: 0.126293 translation dif:0.000469 -[16:55:43.989] frame process finished the id is: 59 the obs is:189 -[16:55:44.090] Odometry x=0.000110, y=0.000052, theta=-0.531247 -[16:55:44.098] After Reprojection Map nPoint:242 ,nCell:24 ,nMatches:9 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000053 -[16:55:44.098] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =220 error init =0.000086 error end=0.000086 -[16:55:44.098] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000053 -[16:55:44.098] Update EKF and 3D points the number of feature in the new frame: 220 and number of obs: 220 -[16:55:44.099] need key frame pitch dis: 0.135912 translation dif:0.000469 -[16:55:44.099] frame process finished the id is: 60 the obs is:220 -[16:55:44.186] Odometry x=0.000112, y=0.000052, theta=-0.543471 -[16:55:44.212] After Reprojection Map nPoint:274 ,nCell:24 ,nMatches:11 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000078 -[16:55:44.213] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =236 error init =0.000031 error end=0.000031 -[16:55:44.213] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000078 -[16:55:44.213] Update EKF and 3D points the number of feature in the new frame: 236 and number of obs: 236 -[16:55:44.214] need key frame pitch dis: 0.159216 translation dif:0.000467 -[16:55:44.214] frame process finished the id is: 61 the obs is:236 -[16:55:44.288] Odometry x=0.000112, y=0.000052, theta=-0.563214 -[16:55:44.326] After Reprojection Map nPoint:290 ,nCell:35 ,nMatches:11 ,distance between ekf and vo x:0.000001 ,z=-0.000000,angle between two frames:0.000193 -[16:55:44.331] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =137 error init =0.000164 error end=0.000164 -[16:55:44.331] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000000,angle between two frames:0.000140 -[16:55:44.331] Update EKF and 3D points the number of feature in the new frame: 137 and number of obs: 137 -[16:55:44.331] need key frame pitch dis: 0.175738 translation dif:0.000467 -[16:55:44.331] frame process finished the id is: 62 the obs is:137 -[16:55:44.389] Odometry x=0.000113, y=0.000051, theta=-0.565324 -[16:55:44.440] After Reprojection Map nPoint:191 ,nCell:26 ,nMatches:9 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000132 -[16:55:44.441] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =155 error init =0.000650 error end=0.000650 -[16:55:44.441] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000132 -[16:55:44.441] Update EKF and 3D points the number of feature in the new frame: 155 and number of obs: 155 -[16:55:44.441] need key frame pitch dis: 0.178349 translation dif:0.000466 -[16:55:44.441] frame process finished the id is: 63 the obs is:155 -[16:55:44.488] Odometry x=0.000114, y=0.000051, theta=-0.567936 -[16:55:44.543] After Reprojection Map nPoint:209 ,nCell:69 ,nMatches:10 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000051 -[16:55:44.544] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =151 error init =0.000529 error end=0.000529 -[16:55:44.544] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000051 -[16:55:44.544] Update EKF and 3D points the number of feature in the new frame: 151 and number of obs: 151 -[16:55:44.544] need key frame pitch dis: 0.181154 translation dif:0.000466 -[16:55:44.544] frame process finished the id is: 64 the obs is:151 -[16:55:44.585] Odometry x=0.000114, y=0.000050, theta=-0.570740 -[16:55:44.654] After Reprojection Map nPoint:206 ,nCell:31 ,nMatches:12 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000069 -[16:55:44.661] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =195 error init =0.000151 error end=0.000145 -[16:55:44.661] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000002,angle between two frames:0.003458 -[16:55:44.661] Update EKF and 3D points the number of feature in the new frame: 195 and number of obs: 195 -[16:55:44.662] need key frame pitch dis: 0.181130 translation dif:0.000466 -[16:55:44.662] frame process finished the id is: 65 the obs is:195 -[16:55:44.688] Odometry x=0.000113, y=0.000051, theta=-0.570716 -[16:55:44.771] After Reprojection Map nPoint:249 ,nCell:28 ,nMatches:12 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000035 -[16:55:44.779] n deleted obs = 43 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =163 error init =0.001093 error end=0.001089 -[16:55:44.779] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.002918 -[16:55:44.779] Update EKF and 3D points the number of feature in the new frame: 163 and number of obs: 163 -[16:55:44.779] need key frame pitch dis: 0.180883 translation dif:0.000466 -[16:55:44.779] frame process finished the id is: 66 the obs is:163 -[16:55:44.790] Odometry x=0.000116, y=0.000051, theta=-0.570470 -[16:55:44.883] After Reprojection Map nPoint:217 ,nCell:17 ,nMatches:13 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000057 -[16:55:44.887] Odometry x=0.000117, y=0.000052, theta=-0.586364 -[16:55:44.890] n deleted obs = 36 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =145 error init =0.002335 error end=0.002328 -[16:55:44.890] After pose optimization, distance between ekf and vo x:0.000002 ,z=-0.000001,angle between two frames:0.000207 -[16:55:44.890] Update EKF and 3D points the number of feature in the new frame: 145 and number of obs: 145 -[16:55:44.890] need key frame pitch dis: 0.191428 translation dif:0.000465 -[16:55:44.890] frame process finished the id is: 67 the obs is:145 -[16:55:44.989] Odometry x=0.000119, y=0.000051, theta=-0.600715 -[16:55:44.992] After Reprojection Map nPoint:199 ,nCell:21 ,nMatches:11 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000097 -[16:55:44.997] n deleted obs = 31 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =113 error init =0.001302 error end=0.001297 -[16:55:44.997] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000000,angle between two frames:0.001943 -[16:55:44.997] Update EKF and 3D points the number of feature in the new frame: 113 and number of obs: 113 -[16:55:44.998] need key frame pitch dis: 0.200765 translation dif:0.000465 -[16:55:44.998] Choose frame as a key frame Scene Depth mean:0.046026 ,depth min:-0.000298 -[16:55:44.998] frame process finished the id is: 68 the obs is:113 -[16:55:45.093] Odometry x=0.000120, y=0.000052, theta=-0.615310 -[16:55:45.104] After Reprojection Map nPoint:284 ,nCell:14 ,nMatches:13 ,distance between ekf and vo x:0.000012 ,z=0.000025,angle between two frames:0.000508 -[16:55:45.114] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =273 error init =0.000591 error end=0.000573 -[16:55:45.114] After pose optimization, distance between ekf and vo x:0.000010 ,z=0.000006,angle between two frames:0.005552 -[16:55:45.114] Update EKF and 3D points the number of feature in the new frame: 273 and number of obs: 273 -[16:55:45.116] need key frame pitch dis: 0.230280 translation dif:0.003171 -[16:55:45.116] Choose frame as a key frame Scene Depth mean:-0.587807 ,depth min:-1.438362 -[16:55:45.116] frame process finished the id is: 69 the obs is:273 -[16:55:45.187] Odometry x=0.000128, y=0.000057, theta=-0.600739 -[16:55:45.239] After Reprojection Map nPoint:686 ,nCell:77 ,nMatches:15 ,distance between ekf and vo x:0.000001 ,z=-0.000001,angle between two frames:0.000067 -[16:55:45.256] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =452 error init =0.000285 error end=0.000285 -[16:55:45.256] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000002,angle between two frames:0.000544 -[16:55:45.256] Update EKF and 3D points the number of feature in the new frame: 452 and number of obs: 452 -[16:55:45.267] need key frame pitch dis: 3.043893 translation dif:0.170329 -[16:55:45.267] Choose frame as a key frame Scene Depth mean:-0.554315 ,depth min:-2.148506 -[16:55:45.268] frame process finished the id is: 70 the obs is:452 -[16:55:45.292] Odometry x=0.000137, y=0.000055, theta=-0.602091 -[16:55:45.395] Odometry x=0.000141, y=0.000056, theta=-0.611977 -[16:55:45.406] After Reprojection Map nPoint:874 ,nCell:23 ,nMatches:14 ,distance between ekf and vo x:0.000001 ,z=-0.000001,angle between two frames:0.000051 -[16:55:45.434] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =740 error init =0.000215 error end=0.000214 -[16:55:45.434] After pose optimization, distance between ekf and vo x:0.000110 ,z=-0.000091,angle between two frames:0.000019 -[16:55:45.434] Update EKF and 3D points the number of feature in the new frame: 740 and number of obs: 740 -[16:55:45.468] need key frame pitch dis: 0.047271 translation dif:0.662814 -[16:55:45.468] Choose frame as a key frame Scene Depth mean:-0.272693 ,depth min:-2.713587 -[16:55:45.468] frame process finished the id is: 71 the obs is:740 -[16:55:45.486] Odometry x=0.000233, y=-0.000024, theta=-0.606274 -[16:55:45.592] Odometry x=0.000236, y=-0.000024, theta=-0.624740 -[16:55:45.653] After Reprojection Map nPoint:2399 ,nCell:19 ,nMatches:12 ,distance between ekf and vo x:0.000005 ,z=-0.000003,angle between two frames:0.000037 -[16:55:45.657] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1990 error init =0.000012 error end=0.000012 -[16:55:45.657] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000003,angle between two frames:0.000037 -[16:55:45.657] Update EKF and 3D points the number of feature in the new frame: 1990 and number of obs: 1990 -[16:55:45.690] Odometry x=0.000239, y=-0.000025, theta=-0.610072 -[16:55:45.747] need key frame pitch dis: 1.482740 translation dif:1.287434 -[16:55:45.748] Choose frame as a key frame Scene Depth mean:1.676695 ,depth min:-2.528245 -[16:55:45.749] frame process finished the id is: 72 the obs is:1990 -[16:55:45.789] Odometry x=0.000244, y=-0.000025, theta=-0.624620 -[16:55:45.886] Odometry x=0.000246, y=-0.000026, theta=-0.643258 -[16:55:45.986] Odometry x=0.000252, y=-0.000025, theta=-0.661127 -[16:55:46.024] After Reprojection Map nPoint:5476 ,nCell:24 ,nMatches:16 ,distance between ekf and vo x:-0.000030 ,z=-0.000006,angle between two frames:0.000003 -[16:55:46.033] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5410 error init =0.000014 error end=0.000014 -[16:55:46.033] After pose optimization, distance between ekf and vo x:-0.000030 ,z=-0.000006,angle between two frames:0.000003 -[16:55:46.033] Update EKF and 3D points the number of feature in the new frame: 5410 and number of obs: 5410 -[16:55:46.086] Odometry x=0.000220, y=-0.000030, theta=-0.631328 -[16:55:46.181] need key frame pitch dis: 0.139811 translation dif:5.916744 -[16:55:46.185] Choose frame as a key frame Scene Depth mean:1.396429 ,depth min:-4.514228 -[16:55:46.186] frame process finished the id is: 73 the obs is:5410 -[16:55:46.192] Odometry x=0.000221, y=-0.000030, theta=-0.648036 -[16:55:46.286] Odometry x=0.000222, y=-0.000028, theta=-0.662706 -[16:55:46.385] Odometry x=0.000225, y=-0.000029, theta=-0.670302 -[16:55:46.492] Odometry x=0.000224, y=-0.000029, theta=-0.687659 -[16:55:46.585] After Reprojection Map nPoint:8924 ,nCell:73 ,nMatches:19 ,distance between ekf and vo x:0.000227 ,z=-0.000221,angle between two frames:0.000013 -[16:55:46.586] Odometry x=0.000228, y=-0.000029, theta=-0.702703 -[16:55:46.599] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8856 error init =0.000084 error end=0.000084 -[16:55:46.599] After pose optimization, distance between ekf and vo x:0.000227 ,z=-0.000221,angle between two frames:0.000013 -[16:55:46.599] Update EKF and 3D points the number of feature in the new frame: 8856 and number of obs: 8856 -[16:55:46.686] Odometry x=0.000288, y=-0.000087, theta=-0.705542 -[16:55:46.792] Odometry x=0.000294, y=-0.000087, theta=-0.718877 -[16:55:46.886] Odometry x=0.000296, y=-0.000085, theta=-0.732890 -[16:55:46.992] Odometry x=0.000301, y=-0.000084, theta=-0.747237 -[16:55:47.085] Odometry x=0.000306, y=-0.000085, theta=-0.755336 -[16:55:47.192] Odometry x=0.000309, y=-0.000085, theta=-0.764779 -[16:55:47.286] Odometry x=0.000308, y=-0.000084, theta=-0.781195 -[16:55:47.386] Odometry x=0.000306, y=-0.000081, theta=-0.797692 -[16:55:47.492] Odometry x=0.000309, y=-0.000079, theta=-0.814358 -[16:55:47.587] Odometry x=0.000309, y=-0.000076, theta=-0.831700 -[16:55:47.687] Odometry x=0.000311, y=-0.000076, theta=-0.845763 -[16:55:47.796] Odometry x=0.000314, y=-0.000079, theta=-0.860176 -[16:55:47.889] Odometry x=0.000316, y=-0.000078, theta=-0.873648 -[16:55:47.989] Odometry x=0.000316, y=-0.000079, theta=-0.887851 -[16:55:48.065] need key frame pitch dis: 1.446223 translation dif:5.097205 -[16:55:48.071] Choose frame as a key frame Scene Depth mean:0.914334 ,depth min:-4.351765 -[16:55:48.072] frame process finished the id is: 74 the obs is:8856 -[16:55:48.092] Odometry x=0.000318, y=-0.000079, theta=-0.904363 -[16:55:48.195] Odometry x=0.000322, y=-0.000079, theta=-0.916767 -[16:55:48.287] Odometry x=0.000320, y=-0.000079, theta=-0.932939 -[16:55:48.391] Odometry x=0.000321, y=-0.000079, theta=-0.946078 -[16:55:48.423] After Reprojection Map nPoint:26608 ,nCell:16 ,nMatches:14 ,distance between ekf and vo x:0.000021 ,z=-0.000056,angle between two frames:0.000001 -[16:55:48.445] n deleted obs = 28 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8523 error init =0.000030 error end=0.000030 -[16:55:48.445] After pose optimization, distance between ekf and vo x:0.000021 ,z=-0.000056,angle between two frames:0.000001 -[16:55:48.445] Update EKF and 3D points the number of feature in the new frame: 8523 and number of obs: 8523 -[16:55:48.488] Odometry x=0.000338, y=-0.000129, theta=-0.911696 -[16:55:48.590] Odometry x=0.000338, y=-0.000129, theta=-0.918475 -[16:55:48.688] Odometry x=0.000342, y=-0.000130, theta=-0.938474 -[16:55:48.788] Odometry x=0.000346, y=-0.000129, theta=-0.957995 -[16:55:48.890] Odometry x=0.000347, y=-0.000132, theta=-0.974795 -[16:55:48.937] need key frame pitch dis: 1.755360 translation dif:2.541028 -[16:55:48.944] Choose frame as a key frame Scene Depth mean:0.737434 ,depth min:-3.309082 -[16:55:48.945] frame process finished the id is: 75 the obs is:8523 -[16:55:48.987] Odometry x=0.000349, y=-0.000134, theta=-0.991838 -[16:55:49.090] Odometry x=0.000352, y=-0.000133, theta=-1.005504 -[16:55:49.187] Odometry x=0.000354, y=-0.000132, theta=-1.018390 -[16:55:49.275] After Reprojection Map nPoint:34737 ,nCell:15 ,nMatches:11 ,distance between ekf and vo x:-0.000153 ,z=0.000654,angle between two frames:0.000246 -[16:55:49.290] Odometry x=0.000354, y=-0.000133, theta=-1.033412 -[16:55:49.315] n deleted obs = 214 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20604 error init =0.000123 error end=0.000123 -[16:55:49.315] After pose optimization, distance between ekf and vo x:-0.000153 ,z=0.000654,angle between two frames:0.000246 -[16:55:49.315] Update EKF and 3D points the number of feature in the new frame: 20604 and number of obs: 20604 -[16:55:49.387] Odometry x=0.000219, y=0.000435, theta=-0.999727 -[16:55:49.492] Odometry x=0.000219, y=0.000435, theta=-1.017193 -[16:55:49.593] Odometry x=0.000221, y=0.000435, theta=-1.032763 -[16:55:49.690] Odometry x=0.000222, y=0.000433, theta=-1.047788 -[16:55:49.787] Odometry x=0.000223, y=0.000436, theta=-1.064296 -[16:55:49.890] Odometry x=0.000223, y=0.000436, theta=-1.081655 -[16:55:49.987] Odometry x=0.000224, y=0.000435, theta=-1.095887 -[16:55:50.092] Odometry x=0.000225, y=0.000434, theta=-1.109906 -[16:55:50.190] Odometry x=0.000227, y=0.000434, theta=-1.123459 -[16:55:50.287] Odometry x=0.000227, y=0.000436, theta=-1.137988 -[16:55:50.391] Odometry x=0.000228, y=0.000437, theta=-1.152585 -[16:55:50.493] Odometry x=0.000230, y=0.000434, theta=-1.166423 -[16:55:50.595] Odometry x=0.000233, y=0.000432, theta=-1.178947 -[16:55:50.693] Odometry x=0.000233, y=0.000431, theta=-1.195897 -[16:55:50.793] Odometry x=0.000235, y=0.000427, theta=-1.208819 -[16:55:50.896] Odometry x=0.000235, y=0.000427, theta=-1.225128 -[16:55:50.993] Odometry x=0.000235, y=0.000429, theta=-1.238891 -[16:55:51.086] Odometry x=0.000237, y=0.000429, theta=-1.255879 -[16:55:51.194] Odometry x=0.000238, y=0.000430, theta=-1.270591 -[16:55:51.286] Odometry x=0.000241, y=0.000430, theta=-1.285238 -[16:55:51.392] Odometry x=0.000239, y=0.000428, theta=-1.301978 -[16:55:51.489] Odometry x=0.000241, y=0.000427, theta=-1.316494 -[16:55:51.592] Odometry x=0.000242, y=0.000425, theta=-1.331310 -[16:55:51.690] Odometry x=0.000245, y=0.000425, theta=-1.347195 -[16:55:51.788] Odometry x=0.000245, y=0.000424, theta=-1.360758 -[16:55:51.891] Odometry x=0.000247, y=0.000424, theta=-1.373346 -[16:55:51.988] Odometry x=0.000249, y=0.000424, theta=-1.385174 -[16:55:52.091] Odometry x=0.000249, y=0.000423, theta=-1.395704 -[16:55:52.190] Odometry x=0.000249, y=0.000422, theta=-1.408263 -[16:55:52.294] Odometry x=0.000252, y=0.000422, theta=-1.419406 -[16:55:52.396] Odometry x=0.000253, y=0.000425, theta=-1.435929 -[16:55:52.495] Odometry x=0.000257, y=0.000423, theta=-1.446711 -[16:55:52.594] Odometry x=0.000256, y=0.000422, theta=-1.460688 -[16:55:52.694] Odometry x=0.000257, y=0.000423, theta=-1.476951 -[16:55:52.791] Odometry x=0.000256, y=0.000423, theta=-1.491462 -[16:55:52.889] Odometry x=0.000257, y=0.000422, theta=-1.505780 -[16:55:52.992] Odometry x=0.000259, y=0.000421, theta=-1.519898 -[16:55:53.089] Odometry x=0.000258, y=0.000420, theta=-1.535115 -[16:55:53.189] Odometry x=0.000259, y=0.000420, theta=-1.551987 -[16:55:53.290] Odometry x=0.000258, y=0.000419, theta=-1.568101 -[16:55:53.388] Odometry x=0.000258, y=0.000416, theta=-1.582376 -[16:55:53.489] Odometry x=0.000258, y=0.000417, theta=-1.596463 -[16:55:53.586] Odometry x=0.000258, y=0.000417, theta=-1.612488 -[16:55:53.689] Odometry x=0.000257, y=0.000418, theta=-1.627195 -[16:55:53.795] Odometry x=0.000258, y=0.000416, theta=-1.640572 -[16:55:53.892] Odometry x=0.000257, y=0.000419, theta=-1.655473 -[16:55:53.993] Odometry x=0.000257, y=0.000417, theta=-1.670893 -[16:55:54.092] Odometry x=0.000256, y=0.000417, theta=-1.684016 -[16:55:54.190] Odometry x=0.000259, y=0.000419, theta=-1.699336 -[16:55:54.293] Odometry x=0.000260, y=0.000419, theta=-1.713497 -[16:55:54.390] Odometry x=0.000259, y=0.000422, theta=-1.728989 -[16:55:54.492] Odometry x=0.000262, y=0.000418, theta=-1.744598 -[16:55:54.590] Odometry x=0.000259, y=0.000418, theta=-1.758657 -[16:55:54.693] Odometry x=0.000261, y=0.000417, theta=-1.771967 -[16:55:54.790] Odometry x=0.000261, y=0.000418, theta=-1.788028 -[16:55:54.887] Odometry x=0.000259, y=0.000419, theta=-1.802722 -[16:55:54.990] Odometry x=0.000259, y=0.000420, theta=-1.818776 -[16:55:55.088] Odometry x=0.000259, y=0.000420, theta=-1.832863 -[16:55:55.186] Odometry x=0.000260, y=0.000418, theta=-1.847017 -[16:55:55.287] Odometry x=0.000260, y=0.000418, theta=-1.861103 -[16:55:55.387] Odometry x=0.000261, y=0.000417, theta=-1.876659 -[16:55:55.490] Odometry x=0.000262, y=0.000413, theta=-1.891223 -[16:55:55.589] Odometry x=0.000262, y=0.000411, theta=-1.904474 -[16:55:55.687] Odometry x=0.000264, y=0.000411, theta=-1.916146 -[16:55:55.789] Odometry x=0.000267, y=0.000407, theta=-1.931326 -[16:55:55.888] Odometry x=0.000266, y=0.000407, theta=-1.945780 -[16:55:55.988] Odometry x=0.000269, y=0.000407, theta=-1.960530 -[16:55:56.086] Odometry x=0.000268, y=0.000407, theta=-1.975339 -[16:55:56.186] Odometry x=0.000269, y=0.000406, theta=-1.989276 -[16:55:56.291] Odometry x=0.000267, y=0.000405, theta=-2.004603 -[16:55:56.388] Odometry x=0.000269, y=0.000405, theta=-2.020424 -[16:55:56.488] Odometry x=0.000271, y=0.000407, theta=-2.034850 -[16:55:56.589] Odometry x=0.000270, y=0.000405, theta=-2.048465 -[16:55:56.689] Odometry x=0.000270, y=0.000406, theta=-2.060825 -[16:55:56.792] Odometry x=0.000271, y=0.000406, theta=-2.072639 -[16:55:56.895] Odometry x=0.000273, y=0.000405, theta=-2.087420 -[16:55:56.992] Odometry x=0.000274, y=0.000405, theta=-2.102340 -[16:55:57.092] Odometry x=0.000275, y=0.000406, theta=-2.117059 -[16:55:57.192] Odometry x=0.000275, y=0.000406, theta=-2.132235 -[16:55:57.290] Odometry x=0.000278, y=0.000406, theta=-2.147950 -[16:55:57.392] Odometry x=0.000279, y=0.000405, theta=-2.159999 -[16:55:57.497] Odometry x=0.000280, y=0.000408, theta=-2.173578 -[16:55:57.592] Odometry x=0.000279, y=0.000410, theta=-2.190738 -[16:55:57.692] Odometry x=0.000280, y=0.000409, theta=-2.206414 -[16:55:57.797] Odometry x=0.000280, y=0.000411, theta=-2.224126 -[16:55:57.893] Odometry x=0.000274, y=0.000410, theta=-2.238488 -[16:55:57.993] Odometry x=0.000274, y=0.000410, theta=-2.252699 -[16:55:58.092] Odometry x=0.000274, y=0.000410, theta=-2.266122 -[16:55:58.192] Odometry x=0.000274, y=0.000409, theta=-2.283644 -[16:55:58.289] Odometry x=0.000275, y=0.000408, theta=-2.297620 -[16:55:58.396] Odometry x=0.000273, y=0.000411, theta=-2.312131 -[16:55:58.490] Odometry x=0.000268, y=0.000414, theta=-2.327208 -[16:55:58.592] Odometry x=0.000265, y=0.000413, theta=-2.343238 -[16:55:58.702] Odometry x=0.000266, y=0.000409, theta=-2.357483 -[16:55:58.790] Odometry x=0.000269, y=0.000409, theta=-2.370111 -[16:55:58.892] Odometry x=0.000269, y=0.000410, theta=-2.384292 -[16:55:58.998] Odometry x=0.000266, y=0.000407, theta=-2.399346 -[16:55:59.090] Odometry x=0.000268, y=0.000406, theta=-2.414979 -[16:55:59.187] Odometry x=0.000271, y=0.000403, theta=-2.427611 -[16:55:59.289] Odometry x=0.000272, y=0.000405, theta=-2.446517 -[16:55:59.392] Odometry x=0.000272, y=0.000403, theta=-2.459861 -[16:55:59.494] Odometry x=0.000272, y=0.000402, theta=-2.475039 -[16:55:59.591] Odometry x=0.000273, y=0.000401, theta=-2.491607 -[16:55:59.688] Odometry x=0.000275, y=0.000402, theta=-2.505830 -[16:55:59.785] Odometry x=0.000277, y=0.000401, theta=-2.519634 -[16:55:59.893] Odometry x=0.000277, y=0.000402, theta=-2.534518 -[16:55:59.990] Odometry x=0.000279, y=0.000401, theta=-2.549331 -[16:56:00.092] Odometry x=0.000277, y=0.000400, theta=-2.564336 -[16:56:00.189] Odometry x=0.000276, y=0.000395, theta=-2.578386 -[16:56:00.287] Odometry x=0.000276, y=0.000391, theta=-2.592576 -[16:56:00.386] Odometry x=0.000276, y=0.000390, theta=-2.605407 -[16:56:00.489] Odometry x=0.000276, y=0.000389, theta=-2.618590 -[16:56:00.592] Odometry x=0.000276, y=0.000388, theta=-2.634325 -[16:56:00.695] Odometry x=0.000274, y=0.000384, theta=-2.651535 -[16:56:00.788] Odometry x=0.000272, y=0.000382, theta=-2.665530 -[16:56:00.896] Odometry x=0.000270, y=0.000380, theta=-2.680403 -[16:56:00.988] Odometry x=0.000268, y=0.000381, theta=-2.698124 -[16:56:01.091] Odometry x=0.000266, y=0.000378, theta=-2.712508 -[16:56:01.195] Odometry x=0.000268, y=0.000377, theta=-2.726215 -[16:56:01.294] Odometry x=0.000269, y=0.000373, theta=-2.739595 -[16:56:01.391] Odometry x=0.000269, y=0.000374, theta=-2.752714 -[16:56:01.486] Odometry x=0.000269, y=0.000372, theta=-2.765220 -[16:56:01.592] Odometry x=0.000269, y=0.000370, theta=-2.777869 -[16:56:01.693] Odometry x=0.000270, y=0.000368, theta=-2.788378 -[16:56:01.791] Odometry x=0.000270, y=0.000368, theta=-2.800770 -[16:56:01.886] Odometry x=0.000270, y=0.000366, theta=-2.817256 -[16:56:01.985] Odometry x=0.000271, y=0.000365, theta=-2.831320 -[16:56:02.093] Odometry x=0.000272, y=0.000363, theta=-2.849205 -[16:56:02.190] Odometry x=0.000273, y=0.000364, theta=-2.864641 -[16:56:02.287] Odometry x=0.000276, y=0.000364, theta=-2.880231 -[16:56:02.390] Odometry x=0.000277, y=0.000362, theta=-2.895271 -[16:56:02.492] Odometry x=0.000276, y=0.000359, theta=-2.910902 -[16:56:02.591] Odometry x=0.000280, y=0.000356, theta=-2.924176 -[16:56:02.693] Odometry x=0.000278, y=0.000355, theta=-2.937882 -[16:56:02.787] Odometry x=0.000280, y=0.000354, theta=-2.953226 -[16:56:02.889] Odometry x=0.000277, y=0.000349, theta=-2.967799 -[16:56:02.992] Odometry x=0.000277, y=0.000346, theta=-2.982379 -[16:56:03.091] Odometry x=0.000276, y=0.000344, theta=-2.995213 -[16:56:03.194] Odometry x=0.000275, y=0.000343, theta=-3.009291 -[16:56:03.286] Odometry x=0.000274, y=0.000343, theta=-3.024566 -[16:56:03.389] Odometry x=0.000275, y=0.000341, theta=-3.038711 -[16:56:03.491] Odometry x=0.000272, y=0.000339, theta=-3.052319 -[16:56:03.593] Odometry x=0.000271, y=0.000338, theta=-3.065466 -[16:56:03.695] Odometry x=0.000270, y=0.000337, theta=-3.078874 -[16:56:03.788] Odometry x=0.000272, y=0.000334, theta=-3.092363 -[16:56:03.891] Odometry x=0.000269, y=0.000335, theta=-3.106243 -[16:56:03.988] Odometry x=0.000269, y=0.000334, theta=-3.120336 -[16:56:04.094] Odometry x=0.000270, y=0.000332, theta=-3.134867 -[16:56:04.199] Odometry x=0.000270, y=0.000332, theta=3.132880 -[16:56:04.288] Odometry x=0.000269, y=0.000331, theta=3.117569 -[16:56:04.399] Odometry x=0.000269, y=0.000329, theta=3.103612 -[16:56:04.491] Odometry x=0.000270, y=0.000326, theta=3.091106 -[16:56:04.589] Odometry x=0.000271, y=0.000327, theta=3.073651 -[16:56:04.687] Odometry x=0.000268, y=0.000323, theta=3.058868 -[16:56:04.789] Odometry x=0.000265, y=0.000324, theta=3.042610 -[16:56:04.892] Odometry x=0.000265, y=0.000323, theta=3.028995 -[16:56:04.989] Odometry x=0.000261, y=0.000321, theta=3.014594 -[16:56:05.092] Odometry x=0.000260, y=0.000320, theta=3.000010 -[16:56:05.189] Odometry x=0.000259, y=0.000319, theta=2.983048 -[16:56:05.292] Odometry x=0.000256, y=0.000321, theta=2.968136 -[16:56:05.389] Odometry x=0.000253, y=0.000318, theta=2.954905 -[16:56:05.491] Odometry x=0.000250, y=0.000319, theta=2.941394 -[16:56:05.588] Odometry x=0.000248, y=0.000320, theta=2.922966 -[16:56:05.691] Odometry x=0.000247, y=0.000320, theta=2.908258 -[16:56:05.788] Odometry x=0.000245, y=0.000320, theta=2.894536 -[16:56:05.891] Odometry x=0.000246, y=0.000318, theta=2.880925 -[16:56:05.988] Odometry x=0.000246, y=0.000317, theta=2.866190 -[16:56:06.091] Odometry x=0.000245, y=0.000315, theta=2.849562 -[16:56:06.189] Odometry x=0.000243, y=0.000314, theta=2.835554 -[16:56:06.292] Odometry x=0.000242, y=0.000312, theta=2.821857 -[16:56:06.390] Odometry x=0.000240, y=0.000311, theta=2.806810 -[16:56:07.018] need key frame pitch dis: 1.972542 translation dif:0.630753 -[16:56:07.032] Choose frame as a key frame Scene Depth mean:-0.047723 ,depth min:-4.803723 -[16:56:07.244] frame process finished the id is: 76 the obs is:20604 -[16:56:10.003] After Reprojection Map nPoint:45798 ,nCell:3046 ,nMatches:14 ,distance between ekf and vo x:-0.000235 ,z=-0.000137,angle between two frames:0.000014 -[16:56:10.085] n deleted obs = 4858 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38966 error init =0.000848 error end=0.000848 -[16:56:10.085] After pose optimization, distance between ekf and vo x:-0.000235 ,z=-0.000137,angle between two frames:0.000014 -[16:56:10.085] Update EKF and 3D points the number of feature in the new frame: 38966 and number of obs: 38966 -[16:56:29.349] need key frame pitch dis: 0.829004 translation dif:4.101427 -[16:56:29.380] Choose frame as a key frame Scene Depth mean:0.134766 ,depth min:-20.659755 -[16:56:29.389] frame process finished the id is: 77 the obs is:38966 -[16:56:33.798] After Reprojection Map nPoint:59137 ,nCell:24803 ,nMatches:7 ,distance between ekf and vo x:0.000008 ,z=-0.000016,angle between two frames:0.000000 -[16:56:34.061] n deleted obs = 40 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =57689 error init =0.000006 error end=0.000006 -[16:56:34.061] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000108,angle between two frames:0.000022 -[16:56:34.061] Update EKF and 3D points the number of feature in the new frame: 57689 and number of obs: 57689 -[16:56:52.526] need key frame pitch dis: 3.269412 translation dif:0.218190 -[16:56:52.571] Choose frame as a key frame Scene Depth mean:0.659520 ,depth min:-17.692447 -[16:56:52.584] frame process finished the id is: 78 the obs is:57689 +[14:17:33.040] frame process finished the id is: 0 the obs is:0 +[14:17:33.114] frame process finished the id is: 1 the obs is:0 +[14:17:33.211] Init: frame zero: 0.000000, 0.000000 0.000000 +[14:17:33.211] Init: Selected first frame. +[14:17:33.211] frame process finished the id is: 2 the obs is:0 +[14:17:33.247] Init: px average disparity is:0.152753 ,While minimum is: 10.000000 KLT tracked : 109 +[14:17:33.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:33.247] frame process finished the id is: 3 the obs is:0 +[14:17:33.354] Init: px average disparity is:0.221920 ,While minimum is: 10.000000 KLT tracked : 109 +[14:17:33.354] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:33.354] frame process finished the id is: 4 the obs is:0 +[14:17:33.454] Init: px average disparity is:0.152235 ,While minimum is: 10.000000 KLT tracked : 109 +[14:17:33.454] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:33.454] frame process finished the id is: 5 the obs is:0 +[14:17:33.553] Init: px average disparity is:0.197958 ,While minimum is: 10.000000 KLT tracked : 109 +[14:17:33.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:33.553] frame process finished the id is: 6 the obs is:0 +[14:17:33.652] Init: px average disparity is:0.221111 ,While minimum is: 10.000000 KLT tracked : 109 +[14:17:33.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:33.653] frame process finished the id is: 7 the obs is:0 +[14:17:33.753] Init: px average disparity is:0.224726 ,While minimum is: 10.000000 KLT tracked : 109 +[14:17:33.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:33.754] frame process finished the id is: 8 the obs is:0 +[14:17:33.853] Init: px average disparity is:0.158653 ,While minimum is: 10.000000 KLT tracked : 109 +[14:17:33.854] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:33.854] frame process finished the id is: 9 the obs is:0 +[14:17:33.953] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[14:17:33.959] Init: px average disparity is:0.179287 ,While minimum is: 10.000000 KLT tracked : 109 +[14:17:33.959] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:33.959] frame process finished the id is: 10 the obs is:0 +[14:17:34.032] Odometry x=0.000001, y=0.000002, theta=-0.033384 +[14:17:34.053] Init: px average disparity is:0.148421 ,While minimum is: 10.000000 KLT tracked : 109 +[14:17:34.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:34.053] frame process finished the id is: 11 the obs is:0 +[14:17:34.133] Odometry x=0.000002, y=0.000006, theta=-0.059152 +[14:17:34.152] Init: px average disparity is:0.137330 ,While minimum is: 10.000000 KLT tracked : 109 +[14:17:34.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:34.153] frame process finished the id is: 12 the obs is:0 +[14:17:34.233] Odometry x=-0.000001, y=0.000007, theta=-0.010588 +[14:17:34.254] Init: px average disparity is:4.945143 ,While minimum is: 10.000000 KLT tracked : 109 +[14:17:34.254] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:34.254] frame process finished the id is: 13 the obs is:0 +[14:17:34.333] Odometry x=0.000001, y=0.000014, theta=-0.041203 +[14:17:34.426] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required. px average disparity is:11.912397 ,While minimum is: 10.000000 KLT tracked: 109 +[14:17:34.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:34.426] frame process finished the id is: 14 the obs is:0 +[14:17:34.436] Odometry x=-0.000005, y=0.000005, theta=-0.060683 +[14:17:34.508] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required. px average disparity is:19.121424 ,While minimum is: 10.000000 KLT tracked: 109 +[14:17:34.508] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:34.508] frame process finished the id is: 15 the obs is:0 +[14:17:34.534] Odometry x=0.000001, y=0.000008, theta=-0.096554 +[14:17:34.608] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required. px average disparity is:29.212896 ,While minimum is: 10.000000 KLT tracked: 109 +[14:17:34.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:34.609] frame process finished the id is: 16 the obs is:0 +[14:17:34.632] Odometry x=0.000010, y=0.000007, theta=-0.128577 +[14:17:34.710] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required. px average disparity is:40.866547 ,While minimum is: 10.000000 KLT tracked: 109 +[14:17:34.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:34.710] frame process finished the id is: 17 the obs is:0 +[14:17:34.734] Odometry x=0.000007, y=0.000021, theta=-0.161569 +[14:17:34.810] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required. px average disparity is:51.065260 ,While minimum is: 10.000000 KLT tracked: 109 +[14:17:34.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:34.810] frame process finished the id is: 18 the obs is:0 +[14:17:34.835] Odometry x=0.000028, y=0.000021, theta=-0.186796 +[14:17:34.909] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:58.238817 ,While minimum is: 10.000000 KLT tracked: 108 +[14:17:34.909] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:17:34.909] frame process finished the id is: 19 the obs is:0 +[14:17:34.935] Odometry x=0.000061, y=0.030524, theta=-0.027505 +[14:17:35.009] Init finished: Homography RANSAC (inlier) is:32 ,While 30 inliers minimum required. px average disparity is:68.778966 ,While minimum is: 10.000000 KLT tracked: 106 +[14:17:35.009] Init: distance between the first and current frame is x:0.000072 ,z=0.030526,angle between two frames: -0.066461 +[14:17:35.009] Init: Selected Second frame. The number of features: 32 depth mean:-0.088795 min:-0.104966 +[14:17:35.009] frame process finished the id is: 20 the obs is:32 +[14:17:35.036] Odometry x=0.000072, y=0.030526, theta=-0.066461 +[14:17:35.132] After Reprojection Map nPoint:30 ,nCell:13 ,nMatches:7 ,distance between ekf and vo x:-0.000056 ,z=0.000083,angle between two frames:0.002048 +[14:17:35.132] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.166260 error end=0.166260 +[14:17:35.132] After pose optimization, distance between ekf and vo x:-0.000056 ,z=0.000083,angle between two frames:0.002048 +[14:17:35.132] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[14:17:35.132] need key frame pitch dis: 0.073403 translation dif:0.030599 +[14:17:35.132] frame process finished the id is: 21 the obs is:16 +[14:17:35.134] Odometry x=0.000027, y=0.030599, theta=-0.073403 +[14:17:35.232] Odometry x=0.000029, y=0.030602, theta=-0.108281 +[14:17:35.233] After Reprojection Map nPoint:16 ,nCell:8 ,nMatches:4 ,distance between ekf and vo x:-0.000039 ,z=0.000109,angle between two frames:0.001623 +[14:17:35.233] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.115153 error end=0.115153 +[14:17:35.233] After pose optimization, distance between ekf and vo x:-0.000039 ,z=0.000109,angle between two frames:0.001623 +[14:17:35.233] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:17:35.233] need key frame pitch dis: 0.094771 translation dif:0.030676 +[14:17:35.233] frame process finished the id is: 22 the obs is:12 +[14:17:35.336] Odometry x=0.000019, y=0.030631, theta=-0.133360 +[14:17:35.346] After Reprojection Map nPoint:12 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000069 ,z=0.000227,angle between two frames:0.000541 +[14:17:35.346] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.008140 error end=0.008140 +[14:17:35.346] After pose optimization, distance between ekf and vo x:0.000069 ,z=0.000227,angle between two frames:0.000541 +[14:17:35.346] frame process finished the id is: 22 the obs is:12 +[14:17:35.432] Odometry x=0.000022, y=0.030634, theta=-0.169501 +[14:17:35.449] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000038 ,z=0.000095,angle between two frames:0.000450 +[14:17:35.449] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.038191 error end=0.001896 +[14:17:35.449] After pose optimization, distance between ekf and vo x:-0.022580 ,z=-0.020162,angle between two frames:0.364014 +[14:17:35.449] frame process finished the id is: 22 the obs is:12 +[14:17:35.533] Odometry x=0.000032, y=0.030640, theta=-0.199362 +[14:17:35.552] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000042 ,z=0.000092,angle between two frames:0.000422 +[14:17:35.553] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.002990 error end=0.002033 +[14:17:35.553] After pose optimization, distance between ekf and vo x:-0.004065 ,z=-0.005341,angle between two frames:0.091732 +[14:17:35.553] frame process finished the id is: 22 the obs is:12 +[14:17:35.634] Odometry x=0.000031, y=0.030652, theta=-0.229320 +[14:17:35.653] After Reprojection Map nPoint:12 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:-0.000019 ,z=0.000051,angle between two frames:0.000675 +[14:17:35.653] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 error init =0.316580 error end=0.316580 +[14:17:35.653] After pose optimization, distance between ekf and vo x:-0.000019 ,z=0.000051,angle between two frames:0.000675 +[14:17:35.653] frame process finished the id is: 22 the obs is:12 +[14:17:35.733] Odometry x=0.000038, y=0.030655, theta=-0.257499 +[14:17:35.749] After Reprojection Map nPoint:12 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:-0.000006 ,z=0.000036,angle between two frames:0.000346 +[14:17:35.749] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =0.443885 error end=0.443885 +[14:17:35.749] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000036,angle between two frames:0.000346 +[14:17:35.749] frame process finished the id is: 22 the obs is:12 +[14:17:35.833] Odometry x=0.000044, y=0.030664, theta=-0.287655 +[14:17:35.856] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000066 ,z=0.000030,angle between two frames:0.000769 +[14:17:35.857] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.250647 error end=0.211315 +[14:17:35.857] After pose optimization, distance between ekf and vo x:-0.004850 ,z=-0.004684,angle between two frames:0.093950 +[14:17:35.857] frame process finished the id is: 22 the obs is:12 +[14:17:35.933] Odometry x=0.000047, y=0.030673, theta=-0.317832 +[14:17:35.957] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000026 ,z=0.000006,angle between two frames:0.000117 +[14:17:35.957] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001963 error end=0.001958 +[14:17:35.957] After pose optimization, distance between ekf and vo x:-0.000052 ,z=-0.000064,angle between two frames:0.001379 +[14:17:35.957] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 +[14:17:35.957] need key frame pitch dis: 0.320719 translation dif:0.030618 +[14:17:35.957] Choose frame as a key frame Scene Depth mean:-0.118279 ,depth min:-0.263959 +[14:17:35.957] frame process finished the id is: 29 the obs is:10 +[14:17:36.035] Odometry x=0.000005, y=0.030618, theta=-0.320719 +[14:17:36.064] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:0.000008 ,z=0.000007,angle between two frames:0.000839 +[14:17:36.064] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.058377 error end=0.058377 +[14:17:36.064] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000007,angle between two frames:0.000839 +[14:17:36.064] frame process finished the id is: 29 the obs is:10 +[14:17:36.133] Odometry x=0.000013, y=0.030631, theta=-0.357805 +[14:17:36.172] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000828 +[14:17:36.172] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.888757 error end=0.123728 +[14:17:36.172] After pose optimization, distance between ekf and vo x:0.076042 ,z=0.364257,angle between two frames:1.524953 +[14:17:36.172] frame process finished the id is: 29 the obs is:10 +[14:17:36.235] Odometry x=0.000017, y=0.030635, theta=-0.390466 +[14:17:36.280] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000006 ,z=0.000002,angle between two frames:0.000778 +[14:17:36.280] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.002256 error end=0.002256 +[14:17:36.280] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000002,angle between two frames:0.000778 +[14:17:36.280] frame process finished the id is: 29 the obs is:10 +[14:17:36.333] Odometry x=0.000020, y=0.030647, theta=-0.423969 +[14:17:36.380] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000008 ,z=0.000010,angle between two frames:0.000415 +[14:17:36.381] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.235785 error end=0.005178 +[14:17:36.381] After pose optimization, distance between ekf and vo x:0.170064 ,z=0.137829,angle between two frames:2.649012 +[14:17:36.381] frame process finished the id is: 29 the obs is:10 +[14:17:36.435] Odometry x=0.000026, y=0.030654, theta=-0.453336 +[14:17:36.488] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000026 ,z=0.000004,angle between two frames:0.000416 +[14:17:36.489] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.057739 error end=0.057739 +[14:17:36.489] After pose optimization, distance between ekf and vo x:0.000026 ,z=0.000004,angle between two frames:0.000416 +[14:17:36.489] frame process finished the id is: 29 the obs is:10 +[14:17:36.533] Odometry x=0.000031, y=0.030661, theta=-0.482162 +[14:17:36.598] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000010 ,z=-0.000003,angle between two frames:0.000804 +[14:17:36.598] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =0.483707 error end=0.038380 +[14:17:36.598] After pose optimization, distance between ekf and vo x:0.188485 ,z=0.151080,angle between two frames:2.570711 +[14:17:36.598] frame process finished the id is: 29 the obs is:10 +[14:17:36.633] Odometry x=0.000040, y=0.030661, theta=-0.510375 +[14:17:36.707] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:-0.000011 ,z=0.000005,angle between two frames:0.000741 +[14:17:36.707] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.316954 error end=0.316954 +[14:17:36.707] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000005,angle between two frames:0.000741 +[14:17:36.707] frame process finished the id is: 29 the obs is:10 +[14:17:36.737] Odometry x=0.000050, y=0.030654, theta=-0.533616 +[14:17:36.816] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=-0.000008,angle between two frames:0.000568 +[14:17:36.816] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 error init =0.018561 error end=0.011371 +[14:17:36.816] After pose optimization, distance between ekf and vo x:-0.021599 ,z=-0.001631,angle between two frames:0.134262 +[14:17:36.816] frame process finished the id is: 29 the obs is:10 +[14:17:36.834] Odometry x=0.000057, y=0.030661, theta=-0.557850 +[14:17:36.925] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000012 ,z=-0.000004,angle between two frames:0.000782 +[14:17:36.925] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000110 error end=0.000108 +[14:17:36.925] After pose optimization, distance between ekf and vo x:0.000240 ,z=0.000127,angle between two frames:0.005032 +[14:17:36.925] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 +[14:17:36.925] need key frame pitch dis: 0.565626 translation dif:0.030775 +[14:17:36.925] Choose frame as a key frame Scene Depth mean:-0.121912 ,depth min:-0.234133 +[14:17:36.925] frame process finished the id is: 38 the obs is:10 +[14:17:36.933] Odometry x=0.000269, y=0.030774, theta=-0.565626 +[14:17:37.033] Odometry x=0.000275, y=0.030780, theta=-0.592936 +[14:17:37.034] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000062 ,z=0.000043,angle between two frames:0.000899 +[14:17:37.034] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 error init =0.633928 error end=0.311548 +[14:17:37.034] After pose optimization, distance between ekf and vo x:-0.008634 ,z=-0.008228,angle between two frames:0.164363 +[14:17:37.034] frame process finished the id is: 38 the obs is:10 +[14:17:37.133] Odometry x=0.000281, y=0.030786, theta=-0.620030 +[14:17:37.135] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000085 ,z=0.000036,angle between two frames:0.000804 +[14:17:37.135] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.237053 error end=0.237053 +[14:17:37.135] After pose optimization, distance between ekf and vo x:-0.000085 ,z=0.000036,angle between two frames:0.000804 +[14:17:37.135] frame process finished the id is: 38 the obs is:10 +[14:17:37.233] Odometry x=0.000297, y=0.030789, theta=-0.653528 +[14:17:37.244] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000005 ,z=0.000027,angle between two frames:0.000498 +[14:17:37.244] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =15.939688 error end=0.492550 +[14:17:37.244] After pose optimization, distance between ekf and vo x:36.716784 ,z=22.151519,angle between two frames:3.101275 +[14:17:37.244] frame process finished the id is: 38 the obs is:10 +[14:17:37.333] Odometry x=0.000299, y=0.030793, theta=-0.678943 +[14:17:37.353] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000001 ,z=0.000028,angle between two frames:0.000480 +[14:17:37.353] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 error init =7.645796 error end=0.188832 +[14:17:37.353] After pose optimization, distance between ekf and vo x:-0.336405 ,z=-0.329852,angle between two frames:1.083767 +[14:17:37.353] frame process finished the id is: 38 the obs is:10 +[14:17:37.435] Odometry x=0.000300, y=0.030793, theta=-0.706659 +[14:17:37.449] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:-0.000013 ,z=0.000017,angle between two frames:0.000239 +[14:17:37.449] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.107943 error end=0.003017 +[14:17:37.449] After pose optimization, distance between ekf and vo x:0.013908 ,z=0.013177,angle between two frames:0.214052 +[14:17:37.449] frame process finished the id is: 38 the obs is:10 +[14:17:37.529] Odometry x=0.000305, y=0.030800, theta=-0.733274 +[14:17:37.557] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000019 ,z=0.000021,angle between two frames:0.000446 +[14:17:37.557] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =1.539121 error end=0.181546 +[14:17:37.557] After pose optimization, distance between ekf and vo x:-0.056209 ,z=-0.016987,angle between two frames:0.244516 +[14:17:37.557] frame process finished the id is: 38 the obs is:10 +[14:17:37.625] Odometry x=0.000305, y=0.030800, theta=-0.765872 +[14:17:37.656] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:-0.000043 ,z=0.000030,angle between two frames:0.000427 +[14:17:37.656] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 error init =0.686621 error end=0.413722 +[14:17:37.656] After pose optimization, distance between ekf and vo x:0.025241 ,z=0.008801,angle between two frames:0.397557 +[14:17:37.656] frame process finished the id is: 38 the obs is:10 +[14:17:37.728] Odometry x=0.000316, y=0.030812, theta=-0.794576 +[14:17:37.759] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000051 ,z=0.000028,angle between two frames:0.000547 +[14:17:37.759] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000004 error end=0.000004 +[14:17:37.759] After pose optimization, distance between ekf and vo x:-0.000050 ,z=0.000028,angle between two frames:0.000552 +[14:17:37.760] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 +[14:17:37.760] need key frame pitch dis: 0.804916 translation dif:0.030834 +[14:17:37.760] Choose frame as a key frame Scene Depth mean:-0.115129 ,depth min:-0.215199 +[14:17:37.760] frame process finished the id is: 46 the obs is:10 +[14:17:37.827] Odometry x=0.000316, y=0.030828, theta=-0.829949 +[14:17:37.846] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000005 ,z=-0.000010,angle between two frames:0.000067 +[14:17:37.846] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001287 error end=0.001281 +[14:17:37.846] After pose optimization, distance between ekf and vo x:-0.000129 ,z=-0.000075,angle between two frames:0.001607 +[14:17:37.846] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 +[14:17:37.847] need key frame pitch dis: 0.819847 translation dif:0.030777 +[14:17:37.847] Choose frame as a key frame Scene Depth mean:-0.018546 ,depth min:-0.191593 +[14:17:37.847] frame process finished the id is: 47 the obs is:10 +[14:17:37.935] Odometry x=0.000278, y=0.030820, theta=-0.855971 +[14:17:37.946] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000070 ,z=0.000000,angle between two frames:0.000527 +[14:17:37.946] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 error init =0.376051 error end=0.376051 +[14:17:37.946] After pose optimization, distance between ekf and vo x:-0.000070 ,z=0.000000,angle between two frames:0.000527 +[14:17:37.946] frame process finished the id is: 47 the obs is:10 +[14:17:38.028] Odometry x=0.000297, y=0.030815, theta=-0.886126 +[14:17:38.052] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000082 ,z=0.000013,angle between two frames:0.000704 +[14:17:38.052] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =0.041952 error end=0.041952 +[14:17:38.052] After pose optimization, distance between ekf and vo x:-0.000082 ,z=0.000013,angle between two frames:0.000704 +[14:17:38.052] frame process finished the id is: 47 the obs is:10 +[14:17:38.126] Odometry x=0.000313, y=0.030811, theta=-0.915540 +[14:17:38.151] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:3 ,distance between ekf and vo x:-0.000085 ,z=0.000253,angle between two frames:0.001308 +[14:17:38.151] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.039391 error end=0.039391 +[14:17:38.151] After pose optimization, distance between ekf and vo x:-0.000085 ,z=0.000253,angle between two frames:0.001308 +[14:17:38.151] frame process finished the id is: 47 the obs is:10 +[14:17:38.228] Odometry x=0.000324, y=0.030811, theta=-0.945050 +[14:17:38.243] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:3 ,distance between ekf and vo x:-0.000012 ,z=0.000005,angle between two frames:0.000112 +[14:17:38.243] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.296844 error end=0.286874 +[14:17:38.243] After pose optimization, distance between ekf and vo x:0.000705 ,z=-0.016588,angle between two frames:0.012527 +[14:17:38.243] frame process finished the id is: 47 the obs is:10 +[14:17:38.334] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:3 ,distance between ekf and vo x:-0.000011 ,z=0.000006,angle between two frames:0.000110 +[14:17:38.334] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.088800 error end=0.082173 +[14:17:38.334] After pose optimization, distance between ekf and vo x:0.001177 ,z=0.020047,angle between two frames:0.020569 +[14:17:38.334] frame process finished the id is: 47 the obs is:10 +[14:17:38.336] Odometry x=0.000329, y=0.030811, theta=-0.979453 +[14:17:38.428] Odometry x=0.000338, y=0.030804, theta=-1.007612 +[14:17:38.429] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:-0.000011 ,z=0.000007,angle between two frames:0.000114 +[14:17:38.429] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.061262 error end=0.061262 +[14:17:38.429] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000007,angle between two frames:0.000114 +[14:17:38.429] frame process finished the id is: 47 the obs is:10 +[14:17:38.526] Odometry x=0.000342, y=0.030812, theta=-1.035196 +[14:17:38.544] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000090 ,z=0.000034,angle between two frames:0.000704 +[14:17:38.545] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 error init =0.438534 error end=0.304894 +[14:17:38.545] After pose optimization, distance between ekf and vo x:-0.025264 ,z=0.086070,angle between two frames:0.253255 +[14:17:38.545] frame process finished the id is: 47 the obs is:10 +[14:17:38.628] Odometry x=0.000348, y=0.030810, theta=-1.062313 +[14:17:38.644] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:-0.000029 ,z=0.000009,angle between two frames:0.000251 +[14:17:38.644] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000823 error end=0.000823 +[14:17:38.644] After pose optimization, distance between ekf and vo x:-0.000107 ,z=0.000223,angle between two frames:0.000383 +[14:17:38.644] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 +[14:17:38.645] need key frame pitch dis: 1.072530 translation dif:0.030975 +[14:17:38.645] Choose frame as a key frame Scene Depth mean:-0.129660 ,depth min:-0.477509 +[14:17:38.645] frame process finished the id is: 55 the obs is:10 +[14:17:38.726] Odometry x=0.000324, y=0.030861, theta=-1.092317 +[14:17:38.751] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000008 ,z=0.000006,angle between two frames:0.000867 +[14:17:38.751] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.676896 error end=0.676896 +[14:17:38.751] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000006,angle between two frames:0.000867 +[14:17:38.751] frame process finished the id is: 55 the obs is:10 +[14:17:38.828] Odometry x=0.000331, y=0.030853, theta=-1.120743 +[14:17:38.858] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000635 +[14:17:38.858] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.129702 error end=0.129702 +[14:17:38.858] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000635 +[14:17:38.858] frame process finished the id is: 55 the obs is:10 +[14:17:38.926] Odometry x=0.000350, y=0.030853, theta=-1.147164 +[14:17:38.950] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000007 ,z=-0.000003,angle between two frames:0.000472 +[14:17:38.951] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =0.216056 error end=0.110136 +[14:17:38.951] After pose optimization, distance between ekf and vo x:-0.010617 ,z=0.018821,angle between two frames:0.140903 +[14:17:38.951] frame process finished the id is: 55 the obs is:10 +[14:17:39.028] Odometry x=0.000358, y=0.030851, theta=-1.169404 +[14:17:39.052] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000003 ,z=0.000002,angle between two frames:0.000292 +[14:17:39.052] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.025889 error end=0.025889 +[14:17:39.052] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000002,angle between two frames:0.000292 +[14:17:39.052] frame process finished the id is: 55 the obs is:10 +[14:17:39.130] Odometry x=0.000359, y=0.030845, theta=-1.194154 +[14:17:39.146] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:0.000004 ,z=0.000010,angle between two frames:0.000142 +[14:17:39.146] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.224238 error end=0.224238 +[14:17:39.146] After pose optimization, distance between ekf and vo x:0.000004 ,z=0.000010,angle between two frames:0.000142 +[14:17:39.146] frame process finished the id is: 55 the obs is:10 +[14:17:39.226] Odometry x=0.000365, y=0.030844, theta=-1.218433 +[14:17:39.240] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000004 ,z=0.000010,angle between two frames:0.000141 +[14:17:39.240] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.015633 error end=0.015633 +[14:17:39.240] After pose optimization, distance between ekf and vo x:0.000004 ,z=0.000010,angle between two frames:0.000141 +[14:17:39.240] frame process finished the id is: 55 the obs is:10 +[14:17:39.328] Odometry x=0.000370, y=0.030844, theta=-1.246419 +[14:17:39.342] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000005 ,z=0.000013,angle between two frames:0.000289 +[14:17:39.342] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000049 error end=0.000049 +[14:17:39.342] After pose optimization, distance between ekf and vo x:-0.000014 ,z=0.000014,angle between two frames:0.000258 +[14:17:39.342] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 +[14:17:39.342] need key frame pitch dis: 1.235503 translation dif:0.030856 +[14:17:39.342] Choose frame as a key frame Scene Depth mean:-0.120012 ,depth min:-0.379499 +[14:17:39.342] frame process finished the id is: 62 the obs is:10 +[14:17:39.430] Odometry x=0.000365, y=0.030846, theta=-1.276010 +[14:17:39.451] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:-0.000033 ,z=0.000074,angle between two frames:0.000495 +[14:17:39.452] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.007541 error end=0.004142 +[14:17:39.452] After pose optimization, distance between ekf and vo x:0.018390 ,z=0.005584,angle between two frames:0.599523 +[14:17:39.452] frame process finished the id is: 62 the obs is:10 +[14:17:39.527] Odometry x=0.000377, y=0.030846, theta=-1.302286 +[14:17:39.554] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000020 ,z=0.000041,angle between two frames:0.000094 +[14:17:39.554] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.001756 error end=0.001381 +[14:17:39.554] After pose optimization, distance between ekf and vo x:-0.015433 ,z=-0.008083,angle between two frames:0.109007 +[14:17:39.554] frame process finished the id is: 62 the obs is:10 +[14:17:39.630] Odometry x=0.000382, y=0.030839, theta=-1.333366 +[14:17:39.658] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000016 ,z=0.000066,angle between two frames:0.000570 +[14:17:39.658] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.025968 error end=0.005834 +[14:17:39.659] After pose optimization, distance between ekf and vo x:-0.062477 ,z=-0.020906,angle between two frames:0.407186 +[14:17:39.659] frame process finished the id is: 62 the obs is:10 +[14:17:39.728] Odometry x=0.000375, y=0.030840, theta=-1.365034 +[14:17:39.768] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000012 ,z=0.000051,angle between two frames:0.000258 +[14:17:39.768] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000283 error end=0.000279 +[14:17:39.768] After pose optimization, distance between ekf and vo x:0.000640 ,z=0.000316,angle between two frames:0.012433 +[14:17:39.768] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 +[14:17:39.768] need key frame pitch dis: 1.380491 translation dif:0.031124 +[14:17:39.768] Choose frame as a key frame Scene Depth mean:-0.128732 ,depth min:-0.470421 +[14:17:39.768] frame process finished the id is: 66 the obs is:10 +[14:17:39.831] Odometry x=0.000937, y=0.031110, theta=-1.380491 +[14:17:39.856] After Reprojection Map nPoint:20 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000024 +[14:17:39.856] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.390052 error end=0.066300 +[14:17:39.856] After pose optimization, distance between ekf and vo x:0.020317 ,z=0.009093,angle between two frames:0.417515 +[14:17:39.856] frame process finished the id is: 66 the obs is:10 +[14:17:39.928] Odometry x=0.000942, y=0.031108, theta=-1.411656 +[14:17:39.948] After Reprojection Map nPoint:20 ,nCell:5 ,nMatches:3 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000024 +[14:17:39.948] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.020333 error end=0.020135 +[14:17:39.948] After pose optimization, distance between ekf and vo x:-0.003272 ,z=0.001843,angle between two frames:0.004904 +[14:17:39.948] frame process finished the id is: 66 the obs is:10 +[14:17:40.030] Odometry x=0.000946, y=0.031098, theta=-1.440146 +[14:17:40.039] After Reprojection Map nPoint:20 ,nCell:5 ,nMatches:3 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000034 +[14:17:40.040] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.180772 error end=0.152976 +[14:17:40.040] After pose optimization, distance between ekf and vo x:-0.041685 ,z=0.017411,angle between two frames:0.030760 +[14:17:40.040] frame process finished the id is: 66 the obs is:10 +[14:17:40.129] Odometry x=0.000950, y=0.031093, theta=-1.470239 +[14:17:40.129] After Reprojection Map nPoint:20 ,nCell:5 ,nMatches:3 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000034 +[14:17:40.129] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.000004 error end=0.000004 +[14:17:40.130] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000034 +[14:17:40.130] Update EKF and 3D points the number of feature in the new frame: 20 and number of obs: 20 +[14:17:40.130] need key frame pitch dis: 1.457643 translation dif:0.031110 +[14:17:40.130] Choose frame as a key frame Scene Depth mean:-0.100051 ,depth min:-0.387941 +[14:17:40.130] frame process finished the id is: 70 the obs is:20 +[14:17:40.233] Odometry x=0.000956, y=0.031090, theta=-1.499245 +[14:17:40.234] After Reprojection Map nPoint:26 ,nCell:9 ,nMatches:4 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000025 +[14:17:40.234] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.048872 error end=0.048872 +[14:17:40.234] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000025 +[14:17:40.234] Update EKF and 3D points the number of feature in the new frame: 19 and number of obs: 19 +[14:17:40.234] need key frame pitch dis: 0.097405 translation dif:0.000021 +[14:17:40.234] frame process finished the id is: 71 the obs is:19 +[14:17:40.328] After Reprojection Map nPoint:29 ,nCell:15 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000022 +[14:17:40.328] Odometry x=0.000953, y=0.031084, theta=-1.521393 +[14:17:40.328] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.008707 error end=0.008707 +[14:17:40.328] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000022 +[14:17:40.328] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[14:17:40.328] need key frame pitch dis: 0.118114 translation dif:0.000024 +[14:17:40.328] frame process finished the id is: 72 the obs is:16 +[14:17:40.432] Odometry x=0.000955, y=0.031079, theta=-1.534832 +[14:17:40.434] After Reprojection Map nPoint:26 ,nCell:15 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=-0.000003,angle between two frames:0.000102 +[14:17:40.434] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.294961 error end=0.294961 +[14:17:40.434] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000003,angle between two frames:0.000102 +[14:17:40.434] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13 +[14:17:40.434] need key frame pitch dis: 0.164334 translation dif:0.000038 +[14:17:40.434] frame process finished the id is: 73 the obs is:13 +[14:17:40.528] After Reprojection Map nPoint:23 ,nCell:13 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000023 +[14:17:40.528] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.008890 error end=0.008890 +[14:17:40.528] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000023 +[14:17:40.528] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18 +[14:17:40.528] need key frame pitch dis: 0.165732 translation dif:0.000045 +[14:17:40.528] frame process finished the id is: 74 the obs is:18 +[14:17:40.536] Odometry x=0.000957, y=0.031070, theta=-1.546224 +[14:17:40.625] After Reprojection Map nPoint:28 ,nCell:17 ,nMatches:3 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000022 +[14:17:40.625] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.127769 error end=0.127769 +[14:17:40.625] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000022 +[14:17:40.625] Update EKF and 3D points the number of feature in the new frame: 23 and number of obs: 23 +[14:17:40.625] need key frame pitch dis: 0.171641 translation dif:0.000046 +[14:17:40.625] frame process finished the id is: 75 the obs is:23 +[14:17:40.628] Odometry x=0.000957, y=0.031069, theta=-1.552132 +[14:17:40.727] After Reprojection Map nPoint:31 ,nCell:19 ,nMatches:2 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000014 +[14:17:40.728] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.052355 error end=0.045503 +[14:17:40.728] After pose optimization, distance between ekf and vo x:0.163219 ,z=0.009314,angle between two frames:0.106699 +[14:17:40.728] frame process finished the id is: 75 the obs is:23 +[14:17:40.733] Odometry x=0.000965, y=0.031067, theta=-1.590134 +[14:17:40.829] After Reprojection Map nPoint:33 ,nCell:20 ,nMatches:3 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000008 +[14:17:40.830] Odometry x=0.000970, y=0.031075, theta=-1.610303 +[14:17:40.830] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.045366 error end=0.040249 +[14:17:40.830] After pose optimization, distance between ekf and vo x:0.002988 ,z=0.008822,angle between two frames:0.024678 +[14:17:40.830] frame process finished the id is: 75 the obs is:23 +[14:17:40.924] After Reprojection Map nPoint:31 ,nCell:19 ,nMatches:2 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000017 +[14:17:40.925] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.042561 error end=0.042561 +[14:17:40.925] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000017 +[14:17:40.925] Update EKF and 3D points the number of feature in the new frame: 23 and number of obs: 23 +[14:17:40.925] need key frame pitch dis: 0.233653 translation dif:0.000055 +[14:17:40.925] Choose frame as a key frame Scene Depth mean:-0.177675 ,depth min:-0.443118 +[14:17:40.925] frame process finished the id is: 78 the obs is:23 +[14:17:40.929] Odometry x=0.000975, y=0.031071, theta=-1.614144 +[14:17:41.026] Odometry x=0.000984, y=0.031067, theta=-1.651110 +[14:17:41.042] After Reprojection Map nPoint:37 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000001 ,z=-0.000004,angle between two frames:0.000196 +[14:17:41.043] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.074254 error end=0.034984 +[14:17:41.043] After pose optimization, distance between ekf and vo x:0.021514 ,z=-0.007820,angle between two frames:0.753349 +[14:17:41.043] frame process finished the id is: 78 the obs is:23 +[14:17:41.126] Odometry x=0.000987, y=0.031069, theta=-1.688869 +[14:17:41.152] After Reprojection Map nPoint:55 ,nCell:14 ,nMatches:12 ,distance between ekf and vo x:-0.000001 ,z=-0.000011,angle between two frames:0.000566 +[14:17:41.155] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =44 error init =0.233128 error end=0.044000 +[14:17:41.155] After pose optimization, distance between ekf and vo x:0.011219 ,z=-0.000806,angle between two frames:0.341909 +[14:17:41.155] frame process finished the id is: 78 the obs is:23 +[14:17:41.226] Odometry x=0.000991, y=0.031064, theta=-1.720039 +[14:17:41.266] After Reprojection Map nPoint:61 ,nCell:18 ,nMatches:14 ,distance between ekf and vo x:-0.000001 ,z=-0.000009,angle between two frames:0.000493 +[14:17:41.266] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =47 error init =0.047119 error end=0.044561 +[14:17:41.266] After pose optimization, distance between ekf and vo x:-0.005575 ,z=0.003617,angle between two frames:0.103101 +[14:17:41.266] frame process finished the id is: 78 the obs is:23 +[14:17:41.332] Odometry x=0.000989, y=0.031054, theta=-1.746687 +[14:17:41.371] After Reprojection Map nPoint:64 ,nCell:22 ,nMatches:14 ,distance between ekf and vo x:-0.000003 ,z=-0.000010,angle between two frames:0.000438 +[14:17:41.372] n deleted obs = 34 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.620978 error end=0.130866 +[14:17:41.372] After pose optimization, distance between ekf and vo x:0.012041 ,z=0.008270,angle between two frames:0.217632 +[14:17:41.372] frame process finished the id is: 78 the obs is:23 +[14:17:41.426] Odometry x=0.000992, y=0.031050, theta=-1.775129 +[14:17:41.470] After Reprojection Map nPoint:58 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000005 ,z=-0.000006,angle between two frames:0.000280 +[14:17:41.472] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.153159 error end=0.083661 +[14:17:41.472] After pose optimization, distance between ekf and vo x:0.044486 ,z=0.004707,angle between two frames:0.484869 +[14:17:41.472] frame process finished the id is: 78 the obs is:23 +[14:17:41.526] Odometry x=0.000996, y=0.031047, theta=-1.793765 +[14:17:41.579] After Reprojection Map nPoint:59 ,nCell:17 ,nMatches:13 ,distance between ekf and vo x:-0.000002 ,z=-0.000009,angle between two frames:0.000408 +[14:17:41.579] n deleted obs = 29 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.129837 error end=0.129837 +[14:17:41.579] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000009,angle between two frames:0.000408 +[14:17:41.579] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 +[14:17:41.579] need key frame pitch dis: 1.861151 translation dif:0.193890 +[14:17:41.579] Choose frame as a key frame Scene Depth mean:-0.052735 ,depth min:-0.482028 +[14:17:41.579] frame process finished the id is: 84 the obs is:30 +[14:17:41.632] Odometry x=0.000997, y=0.031037, theta=-1.798531 +[14:17:41.665] After Reprojection Map nPoint:30 ,nCell:12 ,nMatches:12 ,distance between ekf and vo x:-0.000005 ,z=-0.000001,angle between two frames:0.000027 +[14:17:41.666] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.019935 error end=0.015254 +[14:17:41.666] After pose optimization, distance between ekf and vo x:-0.022048 ,z=-0.025149,angle between two frames:0.102068 +[14:17:41.666] frame process finished the id is: 84 the obs is:30 +[14:17:41.727] Odometry x=0.001002, y=0.031032, theta=-1.834020 +[14:17:41.760] After Reprojection Map nPoint:23 ,nCell:11 ,nMatches:11 ,distance between ekf and vo x:-0.000052 ,z=-0.000004,angle between two frames:0.000162 +[14:17:41.760] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.489249 error end=0.122501 +[14:17:41.760] After pose optimization, distance between ekf and vo x:0.021834 ,z=0.008344,angle between two frames:0.450011 +[14:17:41.760] frame process finished the id is: 84 the obs is:30 +[14:17:41.827] Odometry x=0.001006, y=0.031023, theta=-1.868667 +[14:17:41.848] After Reprojection Map nPoint:27 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000006 ,z=-0.000000,angle between two frames:0.000031 +[14:17:41.849] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.006765 error end=0.005118 +[14:17:41.850] After pose optimization, distance between ekf and vo x:-0.013354 ,z=-0.017143,angle between two frames:0.092841 +[14:17:41.850] frame process finished the id is: 84 the obs is:30 +[14:17:41.932] Odometry x=0.000999, y=0.031023, theta=-1.898390 +[14:17:41.938] After Reprojection Map nPoint:30 ,nCell:15 ,nMatches:13 ,distance between ekf and vo x:-0.000005 ,z=0.000000,angle between two frames:0.000021 +[14:17:41.938] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.149112 error end=0.149112 +[14:17:41.938] After pose optimization, distance between ekf and vo x:-0.000005 ,z=0.000000,angle between two frames:0.000021 +[14:17:41.938] Update EKF and 3D points the number of feature in the new frame: 20 and number of obs: 20 +[14:17:41.938] need key frame pitch dis: 1.908344 translation dif:0.031039 +[14:17:41.938] Choose frame as a key frame Scene Depth mean:-0.033879 ,depth min:-0.249363 +[14:17:41.938] frame process finished the id is: 88 the obs is:20 +[14:17:42.026] Odometry x=0.000995, y=0.031015, theta=-1.931764 +[14:17:42.047] After Reprojection Map nPoint:20 ,nCell:12 ,nMatches:9 ,distance between ekf and vo x:-0.000109 ,z=0.000010,angle between two frames:0.000240 +[14:17:42.048] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.225036 error end=0.029750 +[14:17:42.048] After pose optimization, distance between ekf and vo x:0.004820 ,z=-0.010626,angle between two frames:0.176194 +[14:17:42.048] frame process finished the id is: 88 the obs is:20 +[14:17:42.132] Odometry x=0.000998, y=0.031002, theta=-1.964633 +[14:17:42.149] After Reprojection Map nPoint:20 ,nCell:11 ,nMatches:8 ,distance between ekf and vo x:-0.000054 ,z=0.000016,angle between two frames:0.000103 +[14:17:42.149] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.115793 error end=0.115793 +[14:17:42.149] After pose optimization, distance between ekf and vo x:-0.000054 ,z=0.000016,angle between two frames:0.000103 +[14:17:42.149] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 +[14:17:42.149] need key frame pitch dis: 1.966788 translation dif:0.031022 +[14:17:42.150] Choose frame as a key frame Scene Depth mean:-0.035629 ,depth min:-0.182883 +[14:17:42.150] frame process finished the id is: 90 the obs is:15 +[14:17:42.226] Odometry x=0.000953, y=0.031007, theta=-1.966788 +[14:17:42.247] After Reprojection Map nPoint:38 ,nCell:10 ,nMatches:10 ,distance between ekf and vo x:-0.000057 ,z=0.000005,angle between two frames:0.000213 +[14:17:42.247] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.219366 error end=0.201792 +[14:17:42.247] After pose optimization, distance between ekf and vo x:0.008789 ,z=-0.006065,angle between two frames:0.089661 +[14:17:42.247] frame process finished the id is: 90 the obs is:15 +[14:17:42.332] Odometry x=0.000955, y=0.030998, theta=-1.985804 +[14:17:42.345] After Reprojection Map nPoint:45 ,nCell:11 ,nMatches:11 ,distance between ekf and vo x:-0.000057 ,z=0.000005,angle between two frames:0.000220 +[14:17:42.345] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =43 error init =0.002065 error end=0.002065 +[14:17:42.345] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000005,angle between two frames:0.000220 +[14:17:42.345] Update EKF and 3D points the number of feature in the new frame: 43 and number of obs: 43 +[14:17:42.345] need key frame pitch dis: 0.547005 translation dif:0.218780 +[14:17:42.345] Choose frame as a key frame Scene Depth mean:-0.092766 ,depth min:-0.731261 +[14:17:42.345] frame process finished the id is: 92 the obs is:43 +[14:17:42.427] Odometry x=0.000909, y=0.031005, theta=-1.974402 +[14:17:42.446] After Reprojection Map nPoint:38 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000059 ,z=0.000027,angle between two frames:0.000038 +[14:17:42.448] n deleted obs = 19 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.296211 error end=0.164208 +[14:17:42.448] After pose optimization, distance between ekf and vo x:0.008172 ,z=0.059873,angle between two frames:0.144352 +[14:17:42.448] frame process finished the id is: 92 the obs is:43 +[14:17:42.527] Odometry x=0.000916, y=0.031010, theta=-2.014006 +[14:17:42.548] After Reprojection Map nPoint:39 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000056 ,z=0.000029,angle between two frames:0.000060 +[14:17:42.549] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.010124 error end=0.008924 +[14:17:42.549] After pose optimization, distance between ekf and vo x:0.001746 ,z=0.020926,angle between two frames:0.050711 +[14:17:42.549] frame process finished the id is: 92 the obs is:43 +[14:17:42.632] Odometry x=0.000925, y=0.031000, theta=-2.052104 +[14:17:42.656] After Reprojection Map nPoint:36 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000199 ,z=0.000039,angle between two frames:0.000400 +[14:17:42.657] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.328813 error end=0.195208 +[14:17:42.657] After pose optimization, distance between ekf and vo x:0.058048 ,z=0.121658,angle between two frames:0.283179 +[14:17:42.657] frame process finished the id is: 92 the obs is:43 +[14:17:42.727] Odometry x=0.000927, y=0.030964, theta=-2.084836 +[14:17:42.756] After Reprojection Map nPoint:39 ,nCell:17 ,nMatches:8 ,distance between ekf and vo x:-0.000134 ,z=0.000038,angle between two frames:0.000194 +[14:17:42.756] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 error init =0.000153 error end=0.000153 +[14:17:42.756] After pose optimization, distance between ekf and vo x:-0.000134 ,z=0.000038,angle between two frames:0.000194 +[14:17:42.756] Update EKF and 3D points the number of feature in the new frame: 38 and number of obs: 38 +[14:17:42.756] need key frame pitch dis: 2.060128 translation dif:0.031036 +[14:17:42.756] Choose frame as a key frame Scene Depth mean:-0.105259 ,depth min:-0.466868 +[14:17:42.756] frame process finished the id is: 96 the obs is:38 +[14:17:42.828] Odometry x=0.000812, y=0.031026, theta=-2.060128 +[14:17:42.936] Odometry x=0.000808, y=0.031013, theta=-2.093451 +[14:17:43.027] After Reprojection Map nPoint:35 ,nCell:11 ,nMatches:8 ,distance between ekf and vo x:-0.000037 ,z=0.000026,angle between two frames:0.000103 +[14:17:43.027] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.025452 error end=0.025452 +[14:17:43.027] After pose optimization, distance between ekf and vo x:-0.000037 ,z=0.000026,angle between two frames:0.000103 +[14:17:43.027] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 +[14:17:43.028] need key frame pitch dis: 2.068477 translation dif:0.031054 +[14:17:43.028] Choose frame as a key frame Scene Depth mean:-0.177384 ,depth min:-0.359913 +[14:17:43.028] frame process finished the id is: 97 the obs is:22 +[14:17:43.029] Odometry x=0.000781, y=0.031044, theta=-2.068477 +[14:17:43.129] Odometry x=0.000780, y=0.031035, theta=-2.099133 +[14:17:43.233] Odometry x=0.000784, y=0.031025, theta=-2.134981 +[14:17:43.242] After Reprojection Map nPoint:47 ,nCell:16 ,nMatches:14 ,distance between ekf and vo x:-0.000112 ,z=0.000088,angle between two frames:0.000228 +[14:17:43.242] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.563471 error end=0.108424 +[14:17:43.242] After pose optimization, distance between ekf and vo x:-0.085577 ,z=0.027870,angle between two frames:0.929748 +[14:17:43.242] frame process finished the id is: 97 the obs is:22 +[14:17:43.335] Odometry x=0.000781, y=0.031023, theta=-2.165399 +[14:17:43.353] After Reprojection Map nPoint:51 ,nCell:14 ,nMatches:10 ,distance between ekf and vo x:-0.000059 ,z=0.000070,angle between two frames:0.000137 +[14:17:43.355] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.193456 error end=0.018358 +[14:17:43.355] After pose optimization, distance between ekf and vo x:0.069569 ,z=-0.086102,angle between two frames:0.481600 +[14:17:43.355] frame process finished the id is: 97 the obs is:22 +[14:17:43.428] Odometry x=0.000782, y=0.031011, theta=-2.200768 +[14:17:43.435] After Reprojection Map nPoint:55 ,nCell:24 ,nMatches:11 ,distance between ekf and vo x:-0.000002 ,z=0.000003,angle between two frames:0.000005 +[14:17:43.437] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 error init =0.046889 error end=0.033719 +[14:17:43.437] After pose optimization, distance between ekf and vo x:0.001513 ,z=-0.006265,angle between two frames:0.009245 +[14:17:43.437] Update EKF and 3D points the number of feature in the new frame: 38 and number of obs: 38 +[14:17:43.437] need key frame pitch dis: 2.335113 translation dif:0.312572 +[14:17:43.437] Choose frame as a key frame Scene Depth mean:-0.109556 ,depth min:-0.437783 +[14:17:43.437] frame process finished the id is: 100 the obs is:38 +[14:17:43.531] Odometry x=0.001178, y=0.029371, theta=-2.227479 +[14:17:43.543] After Reprojection Map nPoint:54 ,nCell:14 ,nMatches:10 ,distance between ekf and vo x:0.000004 ,z=-0.000004,angle between two frames:0.000004 +[14:17:43.553] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.203432 error end=0.113909 +[14:17:43.553] After pose optimization, distance between ekf and vo x:-0.072441 ,z=-0.053930,angle between two frames:0.103563 +[14:17:43.553] frame process finished the id is: 100 the obs is:38 +[14:17:43.628] Odometry x=0.001183, y=0.029376, theta=-2.256247 +[14:17:43.680] After Reprojection Map nPoint:37 ,nCell:11 ,nMatches:8 ,distance between ekf and vo x:0.000008 ,z=-0.000007,angle between two frames:0.000006 +[14:17:43.680] n deleted obs = 30 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.393509 error end=0.393509 +[14:17:43.680] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000007,angle between two frames:0.000006 +[14:17:43.680] frame process finished the id is: 100 the obs is:38 +[14:17:43.730] Odometry x=0.001182, y=0.029370, theta=-2.272334 +[14:17:43.771] After Reprojection Map nPoint:38 ,nCell:12 ,nMatches:7 ,distance between ekf and vo x:0.000006 ,z=-0.000007,angle between two frames:0.000005 +[14:17:43.771] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.095132 error end=0.095132 +[14:17:43.771] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000007,angle between two frames:0.000005 +[14:17:43.771] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 +[14:17:43.771] need key frame pitch dis: 0.494548 translation dif:1.257378 +[14:17:43.771] Choose frame as a key frame Scene Depth mean:-0.092938 ,depth min:-0.534190 +[14:17:43.771] frame process finished the id is: 103 the obs is:25 +[14:17:43.828] Odometry x=0.001187, y=0.029356, theta=-2.277041 +[14:17:43.857] After Reprojection Map nPoint:25 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000072 +[14:17:43.857] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.001294 error end=0.001294 +[14:17:43.857] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000072 +[14:17:43.857] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[14:17:43.858] need key frame pitch dis: 2.282636 translation dif:0.029378 +[14:17:43.858] Choose frame as a key frame Scene Depth mean:-0.009380 ,depth min:-0.151048 +[14:17:43.858] frame process finished the id is: 104 the obs is:24 +[14:17:43.928] Odometry x=0.001188, y=0.029354, theta=-2.282636 +[14:17:43.938] After Reprojection Map nPoint:36 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:0.000003 ,z=-0.000003,angle between two frames:0.000024 +[14:17:43.938] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.013991 error end=0.013991 +[14:17:43.938] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000003,angle between two frames:0.000024 +[14:17:43.938] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[14:17:43.938] need key frame pitch dis: 0.512635 translation dif:1.257375 +[14:17:43.938] Choose frame as a key frame Scene Depth mean:-0.159998 ,depth min:-0.639578 +[14:17:43.938] frame process finished the id is: 105 the obs is:16 +[14:17:44.018] After Reprojection Map nPoint:27 ,nCell:6 ,nMatches:3 ,distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000019 +[14:17:44.019] n deleted obs = 25 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 error init =0.542041 error end=0.509467 +[14:17:44.019] After pose optimization, distance between ekf and vo x:0.033803 ,z=0.022945,angle between two frames:0.027258 +[14:17:44.019] frame process finished the id is: 105 the obs is:16 +[14:17:44.031] Odometry x=0.001185, y=0.029349, theta=-2.324827 +[14:17:44.117] After Reprojection Map nPoint:25 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:-0.000000 ,z=-0.000010,angle between two frames:0.000026 +[14:17:44.118] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.000480 error end=0.000480 +[14:17:44.118] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000010,angle between two frames:0.000026 +[14:17:44.118] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[14:17:44.118] need key frame pitch dis: 0.548075 translation dif:1.257360 +[14:17:44.118] Choose frame as a key frame Scene Depth mean:0.034920 ,depth min:-0.481129 +[14:17:44.118] frame process finished the id is: 107 the obs is:24 +[14:17:44.129] Odometry x=0.001186, y=0.029338, theta=-2.330568 +[14:17:44.219] After Reprojection Map nPoint:44 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:0.000016 ,z=-0.000020,angle between two frames:0.000004 +[14:17:44.220] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.006701 error end=0.006700 +[14:17:44.220] After pose optimization, distance between ekf and vo x:0.000319 ,z=0.000265,angle between two frames:0.000023 +[14:17:44.220] Update EKF and 3D points the number of feature in the new frame: 20 and number of obs: 20 +[14:17:44.221] need key frame pitch dis: 0.552805 translation dif:1.257656 +[14:17:44.221] Choose frame as a key frame Scene Depth mean:0.261234 ,depth min:-0.540074 +[14:17:44.221] frame process finished the id is: 108 the obs is:20 +[14:17:44.231] Odometry x=0.001460, y=0.029561, theta=-2.335298 +[14:17:44.325] After Reprojection Map nPoint:54 ,nCell:14 ,nMatches:8 ,distance between ekf and vo x:-0.000004 ,z=-0.000003,angle between two frames:0.000014 +[14:17:44.327] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =42 error init =0.028781 error end=0.018567 +[14:17:44.327] After pose optimization, distance between ekf and vo x:0.003711 ,z=0.002286,angle between two frames:0.000671 +[14:17:44.327] Update EKF and 3D points the number of feature in the new frame: 42 and number of obs: 42 +[14:17:44.328] need key frame pitch dis: 1.355624 translation dif:0.018052 +[14:17:44.328] Choose frame as a key frame Scene Depth mean:0.118041 ,depth min:-0.674972 +[14:17:44.328] frame process finished the id is: 109 the obs is:42 +[14:17:44.329] Odometry x=0.004679, y=0.031526, theta=-2.364449 +[14:17:44.419] After Reprojection Map nPoint:71 ,nCell:9 ,nMatches:9 ,distance between ekf and vo x:-0.000005 ,z=-0.000007,angle between two frames:0.000007 +[14:17:44.422] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =59 error init =0.114434 error end=0.112826 +[14:17:44.422] After pose optimization, distance between ekf and vo x:0.006320 ,z=0.003503,angle between two frames:0.011954 +[14:17:44.422] Update EKF and 3D points the number of feature in the new frame: 59 and number of obs: 59 +[14:17:44.422] need key frame pitch dis: 1.350531 translation dif:0.024147 +[14:17:44.422] Choose frame as a key frame Scene Depth mean:0.048659 ,depth min:-1.176254 +[14:17:44.422] frame process finished the id is: 110 the obs is:59 +[14:17:44.431] Odometry x=0.010136, y=0.034553, theta=-2.359356 +[14:17:44.519] After Reprojection Map nPoint:55 ,nCell:14 ,nMatches:6 ,distance between ekf and vo x:-0.000002 ,z=-0.000002,angle between two frames:0.000004 +[14:17:44.519] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.052849 error end=0.052774 +[14:17:44.519] After pose optimization, distance between ekf and vo x:-0.000865 ,z=-0.001477,angle between two frames:0.003803 +[14:17:44.519] Update EKF and 3D points the number of feature in the new frame: 31 and number of obs: 31 +[14:17:44.519] need key frame pitch dis: 1.359647 translation dif:0.022755 +[14:17:44.519] Choose frame as a key frame Scene Depth mean:0.101017 ,depth min:-0.868756 +[14:17:44.519] frame process finished the id is: 111 the obs is:31 +[14:17:44.529] Odometry x=0.009388, y=0.033265, theta=-2.368472 +[14:17:44.632] Odometry x=0.009387, y=0.033261, theta=-2.401806 +[14:17:44.637] After Reprojection Map nPoint:39 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:0.000012 ,z=-0.000003,angle between two frames:0.000004 +[14:17:44.638] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.000611 error end=0.000611 +[14:17:44.638] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000003,angle between two frames:0.000004 +[14:17:44.638] Update EKF and 3D points the number of feature in the new frame: 36 and number of obs: 36 +[14:17:44.638] need key frame pitch dis: 0.020063 translation dif:0.373250 +[14:17:44.638] Choose frame as a key frame Scene Depth mean:0.202316 ,depth min:-0.736470 +[14:17:44.638] frame process finished the id is: 112 the obs is:36 +[14:17:44.718] After Reprojection Map nPoint:45 ,nCell:14 ,nMatches:5 ,distance between ekf and vo x:0.000006 ,z=-0.000002,angle between two frames:0.000000 +[14:17:44.720] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.046531 error end=0.044381 +[14:17:44.720] After pose optimization, distance between ekf and vo x:0.002713 ,z=0.002103,angle between two frames:0.000021 +[14:17:44.720] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 +[14:17:44.720] need key frame pitch dis: 2.669085 translation dif:0.221168 +[14:17:44.720] Choose frame as a key frame Scene Depth mean:0.250193 ,depth min:-1.543818 +[14:17:44.720] frame process finished the id is: 113 the obs is:25 +[14:17:44.735] Odometry x=0.011747, y=0.035081, theta=-2.416048 +[14:17:44.826] After Reprojection Map nPoint:58 ,nCell:11 ,nMatches:8 ,distance between ekf and vo x:0.000004 ,z=0.000034,angle between two frames:0.000030 +[14:17:44.826] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =52 error init =0.007764 error end=0.007764 +[14:17:44.826] After pose optimization, distance between ekf and vo x:0.000004 ,z=0.000034,angle between two frames:0.000030 +[14:17:44.826] Update EKF and 3D points the number of feature in the new frame: 52 and number of obs: 52 +[14:17:44.827] need key frame pitch dis: 2.306695 translation dif:0.145343 +[14:17:44.827] Choose frame as a key frame Scene Depth mean:0.122305 ,depth min:-1.540117 +[14:17:44.827] frame process finished the id is: 114 the obs is:52 +[14:17:44.832] Odometry x=0.011748, y=0.035106, theta=-2.420648 +[14:17:44.929] Odometry x=0.011743, y=0.035103, theta=-2.456156 +[14:17:44.934] After Reprojection Map nPoint:49 ,nCell:10 ,nMatches:7 ,distance between ekf and vo x:-0.000011 ,z=0.000074,angle between two frames:0.000034 +[14:17:44.934] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 error init =0.422170 error end=0.422170 +[14:17:44.934] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000074,angle between two frames:0.000034 +[14:17:44.934] Update EKF and 3D points the number of feature in the new frame: 31 and number of obs: 31 +[14:17:44.934] need key frame pitch dis: 2.325419 translation dif:0.142912 +[14:17:44.934] Choose frame as a key frame Scene Depth mean:-0.151899 ,depth min:-1.177553 +[14:17:44.934] frame process finished the id is: 115 the obs is:31 +[14:17:45.032] Odometry x=0.011731, y=0.035109, theta=-2.488041 +[14:17:45.034] After Reprojection Map nPoint:56 ,nCell:14 ,nMatches:6 ,distance between ekf and vo x:0.000143 ,z=0.000002,angle between two frames:0.000076 +[14:17:45.034] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 error init =0.057075 error end=0.057075 +[14:17:45.034] After pose optimization, distance between ekf and vo x:0.000143 ,z=0.000002,angle between two frames:0.000076 +[14:17:45.034] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48 +[14:17:45.034] need key frame pitch dis: 0.505820 translation dif:0.783541 +[14:17:45.034] Choose frame as a key frame Scene Depth mean:-0.067153 ,depth min:-1.203356 +[14:17:45.035] frame process finished the id is: 116 the obs is:48 +[14:17:45.129] Odometry x=0.011766, y=0.035119, theta=-2.506569 +[14:17:45.134] After Reprojection Map nPoint:53 ,nCell:15 ,nMatches:8 ,distance between ekf and vo x:0.000037 ,z=-0.000005,angle between two frames:0.000029 +[14:17:45.134] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.392176 error end=0.370412 +[14:17:45.134] After pose optimization, distance between ekf and vo x:-0.035738 ,z=-0.033514,angle between two frames:0.000425 +[14:17:45.134] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 +[14:17:45.135] need key frame pitch dis: 0.708500 translation dif:0.497186 +[14:17:45.135] Choose frame as a key frame Scene Depth mean:-0.344572 ,depth min:-1.930995 +[14:17:45.135] frame process finished the id is: 117 the obs is:30 +[14:17:45.219] After Reprojection Map nPoint:59 ,nCell:9 ,nMatches:9 ,distance between ekf and vo x:-0.000006 ,z=-0.000011,angle between two frames:0.000005 +[14:17:45.222] n deleted obs = 32 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.142491 error end=0.132344 +[14:17:45.222] After pose optimization, distance between ekf and vo x:0.082204 ,z=0.015513,angle between two frames:0.001851 +[14:17:45.222] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 +[14:17:45.222] need key frame pitch dis: 0.674724 translation dif:1.105884 +[14:17:45.222] Choose frame as a key frame Scene Depth mean:1.150179 ,depth min:-1.479753 +[14:17:45.222] frame process finished the id is: 118 the obs is:27 +[14:17:45.233] Odometry x=0.059497, y=0.026206, theta=-2.491471 +[14:17:45.327] After Reprojection Map nPoint:67 ,nCell:22 ,nMatches:8 ,distance between ekf and vo x:-0.000048 ,z=0.000028,angle between two frames:0.000000 +[14:17:45.327] n deleted obs = 34 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.143250 error end=0.143250 +[14:17:45.327] After pose optimization, distance between ekf and vo x:-0.000048 ,z=0.000028,angle between two frames:0.000000 +[14:17:45.327] Update EKF and 3D points the number of feature in the new frame: 33 and number of obs: 33 +[14:17:45.328] need key frame pitch dis: 1.147248 translation dif:0.853555 +[14:17:45.328] Choose frame as a key frame Scene Depth mean:-0.685966 ,depth min:-1.673299 +[14:17:45.328] frame process finished the id is: 119 the obs is:33 +[14:17:45.331] Odometry x=0.059453, y=0.026227, theta=-2.496656 +[14:17:45.428] Odometry x=0.059459, y=0.026229, theta=-2.531047 +[14:17:45.434] After Reprojection Map nPoint:78 ,nCell:18 ,nMatches:11 ,distance between ekf and vo x:0.000033 ,z=0.000023,angle between two frames:0.000110 +[14:17:45.434] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =61 error init =0.071238 error end=0.071238 +[14:17:45.434] After pose optimization, distance between ekf and vo x:0.000033 ,z=0.000023,angle between two frames:0.000110 +[14:17:45.434] Update EKF and 3D points the number of feature in the new frame: 61 and number of obs: 61 +[14:17:45.435] need key frame pitch dis: 1.156043 translation dif:0.853528 +[14:17:45.435] Choose frame as a key frame Scene Depth mean:-0.605343 ,depth min:-2.598762 +[14:17:45.435] frame process finished the id is: 120 the obs is:61 +[14:17:45.532] Odometry x=0.059479, y=0.026241, theta=-2.505452 +[14:17:45.533] After Reprojection Map nPoint:90 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:0.000007 ,z=-0.000001,angle between two frames:0.000000 +[14:17:45.536] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =84 error init =0.005460 error end=0.005389 +[14:17:45.536] After pose optimization, distance between ekf and vo x:-0.002061 ,z=-0.001412,angle between two frames:0.000006 +[14:17:45.536] Update EKF and 3D points the number of feature in the new frame: 84 and number of obs: 84 +[14:17:45.537] need key frame pitch dis: 0.153695 translation dif:0.798613 +[14:17:45.537] Choose frame as a key frame Scene Depth mean:-1.313869 ,depth min:-7.583737 +[14:17:45.537] frame process finished the id is: 121 the obs is:84 +[14:17:45.634] Odometry x=0.059121, y=0.025981, theta=-2.541745 +[14:17:45.635] After Reprojection Map nPoint:106 ,nCell:20 ,nMatches:14 ,distance between ekf and vo x:0.000017 ,z=0.000002,angle between two frames:0.000000 +[14:17:45.635] n deleted obs = 45 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =61 error init =0.239029 error end=0.239029 +[14:17:45.635] After pose optimization, distance between ekf and vo x:0.000017 ,z=0.000002,angle between two frames:0.000000 +[14:17:45.635] Update EKF and 3D points the number of feature in the new frame: 61 and number of obs: 61 +[14:17:45.636] need key frame pitch dis: 0.857136 translation dif:1.070930 +[14:17:45.636] Choose frame as a key frame Scene Depth mean:-0.862185 ,depth min:-7.674482 +[14:17:45.636] frame process finished the id is: 122 the obs is:61 +[14:17:45.736] Odometry x=0.058903, y=0.025827, theta=-2.567929 +[14:17:45.742] After Reprojection Map nPoint:144 ,nCell:28 ,nMatches:19 ,distance between ekf and vo x:0.000072 ,z=-0.000001,angle between two frames:0.000007 +[14:17:45.743] n deleted obs = 35 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =109 error init =0.072476 error end=0.072476 +[14:17:45.743] After pose optimization, distance between ekf and vo x:0.000072 ,z=-0.000001,angle between two frames:0.000007 +[14:17:45.743] Update EKF and 3D points the number of feature in the new frame: 109 and number of obs: 109 +[14:17:45.744] need key frame pitch dis: 3.028776 translation dif:0.103982 +[14:17:45.744] Choose frame as a key frame Scene Depth mean:-0.165706 ,depth min:-7.761196 +[14:17:45.744] frame process finished the id is: 123 the obs is:109 +[14:17:45.833] Odometry x=0.058919, y=0.025826, theta=-2.606685 +[14:17:45.840] After Reprojection Map nPoint:111 ,nCell:15 ,nMatches:15 ,distance between ekf and vo x:0.000010 ,z=-0.000009,angle between two frames:0.000000 +[14:17:45.845] n deleted obs = 30 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =81 error init =0.129382 error end=0.118157 +[14:17:45.845] After pose optimization, distance between ekf and vo x:0.034512 ,z=-0.031367,angle between two frames:0.010563 +[14:17:45.845] Update EKF and 3D points the number of feature in the new frame: 81 and number of obs: 81 +[14:17:45.846] need key frame pitch dis: 0.120459 translation dif:0.362510 +[14:17:45.846] Choose frame as a key frame Scene Depth mean:-0.586972 ,depth min:-7.590113 +[14:17:45.846] frame process finished the id is: 124 the obs is:81 +[14:17:45.934] Odometry x=0.089013, y=-0.001502, theta=-2.594565 +[14:17:45.937] After Reprojection Map nPoint:99 ,nCell:16 ,nMatches:13 ,distance between ekf and vo x:0.000007 ,z=-0.000011,angle between two frames:0.000000 +[14:17:45.937] n deleted obs = 28 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =71 error init =0.106379 error end=0.106379 +[14:17:45.937] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000011,angle between two frames:0.000000 +[14:17:45.937] Update EKF and 3D points the number of feature in the new frame: 71 and number of obs: 71 +[14:17:45.938] need key frame pitch dis: 3.107251 translation dif:0.263070 +[14:17:45.938] Choose frame as a key frame Scene Depth mean:-0.488808 ,depth min:-4.074483 +[14:17:45.938] frame process finished the id is: 125 the obs is:71 +[14:17:46.021] After Reprojection Map nPoint:127 ,nCell:32 ,nMatches:16 ,distance between ekf and vo x:-0.000004 ,z=0.000001,angle between two frames:0.000000 +[14:17:46.021] n deleted obs = 55 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =72 error init =0.506529 error end=0.456462 +[14:17:46.021] After pose optimization, distance between ekf and vo x:0.000880 ,z=0.005147,angle between two frames:0.036642 +[14:17:46.021] frame process finished the id is: 125 the obs is:71 +[14:17:46.036] Odometry x=0.089012, y=-0.001510, theta=-2.635827 +[14:17:46.122] After Reprojection Map nPoint:168 ,nCell:59 ,nMatches:19 ,distance between ekf and vo x:-0.000004 ,z=0.000001,angle between two frames:0.000000 +[14:17:46.129] n deleted obs = 63 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =105 error init =0.014489 error end=0.014460 +[14:17:46.129] After pose optimization, distance between ekf and vo x:-0.000091 ,z=-0.000344,angle between two frames:0.000087 +[14:17:46.129] Update EKF and 3D points the number of feature in the new frame: 105 and number of obs: 105 +[14:17:46.130] need key frame pitch dis: 2.844565 translation dif:0.374731 +[14:17:46.130] Choose frame as a key frame Scene Depth mean:-0.650127 ,depth min:-3.606172 +[14:17:46.130] frame process finished the id is: 127 the obs is:105 +[14:17:46.133] Odometry x=0.088935, y=-0.001811, theta=-2.639913 +[14:17:46.224] After Reprojection Map nPoint:144 ,nCell:39 ,nMatches:15 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000 +[14:17:46.224] n deleted obs = 27 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =117 error init =0.005628 error end=0.005628 +[14:17:46.224] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000 +[14:17:46.224] Update EKF and 3D points the number of feature in the new frame: 117 and number of obs: 117 +[14:17:46.225] need key frame pitch dis: 5.307460 translation dif:0.288943 +[14:17:46.225] Choose frame as a key frame Scene Depth mean:-0.607659 ,depth min:-5.145612 +[14:17:46.225] frame process finished the id is: 128 the obs is:117 +[14:17:46.227] Odometry x=0.088936, y=-0.001814, theta=-2.645925 +[14:17:46.325] After Reprojection Map nPoint:151 ,nCell:35 ,nMatches:17 ,distance between ekf and vo x:0.000001 ,z=0.000001,angle between two frames:0.000000 +[14:17:46.331] n deleted obs = 39 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =112 error init =0.112444 error end=0.108618 +[14:17:46.331] After pose optimization, distance between ekf and vo x:0.027410 ,z=-0.005193,angle between two frames:0.012308 +[14:17:46.331] Update EKF and 3D points the number of feature in the new frame: 112 and number of obs: 112 +[14:17:46.332] need key frame pitch dis: 2.762602 translation dif:0.421619 +[14:17:46.332] Choose frame as a key frame Scene Depth mean:-0.269320 ,depth min:-3.839063 +[14:17:46.332] frame process finished the id is: 129 the obs is:112 +[14:17:46.334] Odometry x=0.112619, y=-0.006306, theta=-2.639280 +[14:17:46.421] After Reprojection Map nPoint:133 ,nCell:45 ,nMatches:13 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000 +[14:17:46.422] n deleted obs = 58 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =75 error init =0.080940 error end=0.080940 +[14:17:46.422] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000 +[14:17:46.422] Update EKF and 3D points the number of feature in the new frame: 75 and number of obs: 75 +[14:17:46.422] need key frame pitch dis: 0.021229 translation dif:0.267109 +[14:17:46.422] Choose frame as a key frame Scene Depth mean:-0.191657 ,depth min:-5.597909 +[14:17:46.422] frame process finished the id is: 130 the obs is:75 +[14:17:46.426] Odometry x=0.112618, y=-0.006310, theta=-2.644305 +[14:17:46.533] Odometry x=0.112619, y=-0.006311, theta=-2.682147 +[14:17:46.540] After Reprojection Map nPoint:125 ,nCell:24 ,nMatches:16 ,distance between ekf and vo x:0.000030 ,z=-0.000002,angle between two frames:0.000014 +[14:17:46.540] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =109 error init =0.062011 error end=0.062011 +[14:17:46.540] After pose optimization, distance between ekf and vo x:0.000030 ,z=-0.000002,angle between two frames:0.000014 +[14:17:46.540] Update EKF and 3D points the number of feature in the new frame: 109 and number of obs: 109 +[14:17:46.541] need key frame pitch dis: 5.691297 translation dif:0.145031 +[14:17:46.541] Choose frame as a key frame Scene Depth mean:-0.629436 ,depth min:-5.061188 +[14:17:46.542] frame process finished the id is: 131 the obs is:109 +[14:17:46.629] Odometry x=0.112624, y=-0.006319, theta=-2.716980 +[14:17:46.632] After Reprojection Map nPoint:129 ,nCell:31 ,nMatches:15 ,distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000000 +[14:17:46.633] n deleted obs = 32 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =97 error init =0.046364 error end=0.038374 +[14:17:46.633] After pose optimization, distance between ekf and vo x:0.000370 ,z=-0.001292,angle between two frames:0.051321 +[14:17:46.633] frame process finished the id is: 131 the obs is:109 +[14:17:46.732] Odometry x=0.112618, y=-0.006322, theta=-2.747546 +[14:17:46.733] After Reprojection Map nPoint:181 ,nCell:41 ,nMatches:22 ,distance between ekf and vo x:0.000008 ,z=-0.000002,angle between two frames:0.000000 +[14:17:46.733] n deleted obs = 47 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =134 error init =0.057066 error end=0.056959 +[14:17:46.733] After pose optimization, distance between ekf and vo x:0.000116 ,z=0.000038,angle between two frames:0.000309 +[14:17:46.733] Update EKF and 3D points the number of feature in the new frame: 134 and number of obs: 134 +[14:17:46.735] need key frame pitch dis: 5.580164 translation dif:0.183671 +[14:17:46.735] Choose frame as a key frame Scene Depth mean:-0.313890 ,depth min:-7.690437 +[14:17:46.735] frame process finished the id is: 133 the obs is:134 +[14:17:46.830] Odometry x=0.112645, y=-0.006322, theta=-2.773879 +[14:17:46.841] After Reprojection Map nPoint:140 ,nCell:39 ,nMatches:15 ,distance between ekf and vo x:0.000007 ,z=0.000003,angle between two frames:0.000000 +[14:17:46.847] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =116 error init =0.016113 error end=0.008340 +[14:17:46.847] After pose optimization, distance between ekf and vo x:-0.007865 ,z=-0.003243,angle between two frames:0.013273 +[14:17:46.847] Update EKF and 3D points the number of feature in the new frame: 116 and number of obs: 116 +[14:17:46.847] need key frame pitch dis: 5.657409 translation dif:0.111885 +[14:17:46.848] Choose frame as a key frame Scene Depth mean:-0.268876 ,depth min:-3.764472 +[14:17:46.848] frame process finished the id is: 134 the obs is:116 +[14:17:46.932] Odometry x=0.105843, y=-0.009122, theta=-2.754615 +[14:17:46.935] After Reprojection Map nPoint:177 ,nCell:30 ,nMatches:22 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[14:17:46.941] n deleted obs = 33 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =144 error init =0.011068 error end=0.010293 +[14:17:46.941] After pose optimization, distance between ekf and vo x:0.008791 ,z=0.003261,angle between two frames:0.002555 +[14:17:46.941] Update EKF and 3D points the number of feature in the new frame: 144 and number of obs: 144 +[14:17:46.942] need key frame pitch dis: 5.671283 translation dif:0.081411 +[14:17:46.942] Choose frame as a key frame Scene Depth mean:-0.009033 ,depth min:-3.752031 +[14:17:46.942] frame process finished the id is: 135 the obs is:144 +[14:17:47.032] After Reprojection Map nPoint:220 ,nCell:42 ,nMatches:26 ,distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000000 +[14:17:47.033] n deleted obs = 41 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =179 error init =0.012299 error end=0.012299 +[14:17:47.033] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000000 +[14:17:47.033] Update EKF and 3D points the number of feature in the new frame: 179 and number of obs: 179 +[14:17:47.034] need key frame pitch dis: 5.846334 translation dif:0.103350 +[14:17:47.034] Choose frame as a key frame Scene Depth mean:-0.103796 ,depth min:-5.141072 +[14:17:47.035] frame process finished the id is: 136 the obs is:179 +[14:17:47.036] Odometry x=0.111008, y=-0.007213, theta=-2.768385 +[14:17:47.130] Odometry x=0.111008, y=-0.007216, theta=-2.792808 +[14:17:47.232] Odometry x=0.111008, y=-0.007217, theta=-2.813384 +[14:17:47.259] After Reprojection Map nPoint:228 ,nCell:32 ,nMatches:29 ,distance between ekf and vo x:0.000002 ,z=-0.000006,angle between two frames:0.000000 +[14:17:47.260] n deleted obs = 74 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =154 error init =0.069790 error end=0.069790 +[14:17:47.260] After pose optimization, distance between ekf and vo x:0.000002 ,z=-0.000006,angle between two frames:0.000000 +[14:17:47.260] Update EKF and 3D points the number of feature in the new frame: 154 and number of obs: 154 +[14:17:47.261] need key frame pitch dis: 5.835239 translation dif:0.047755 +[14:17:47.261] Choose frame as a key frame Scene Depth mean:-0.416039 ,depth min:-3.596367 +[14:17:47.261] frame process finished the id is: 137 the obs is:154 +[14:17:47.331] Odometry x=0.111002, y=-0.007214, theta=-2.839242 +[14:17:47.434] Odometry x=0.111013, y=-0.007222, theta=-2.867305 +[14:17:47.439] After Reprojection Map nPoint:176 ,nCell:44 ,nMatches:19 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000 +[14:17:47.440] n deleted obs = 47 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =129 error init =0.014927 error end=0.014927 +[14:17:47.440] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000 +[14:17:47.440] Update EKF and 3D points the number of feature in the new frame: 129 and number of obs: 129 +[14:17:47.443] need key frame pitch dis: 5.848557 translation dif:0.085481 +[14:17:47.443] Choose frame as a key frame Scene Depth mean:-0.682121 ,depth min:-5.158236 +[14:17:47.443] frame process finished the id is: 138 the obs is:129 +[14:17:47.534] Odometry x=0.111005, y=-0.007222, theta=-2.820242 +[14:17:47.635] Odometry x=0.111005, y=-0.007233, theta=-2.843152 +[14:17:47.737] Odometry x=0.111013, y=-0.007236, theta=-2.876932 +[14:17:47.834] Odometry x=0.111006, y=-0.007239, theta=-2.911886 +[14:17:47.870] After Reprojection Map nPoint:194 ,nCell:39 ,nMatches:23 ,distance between ekf and vo x:0.000004 ,z=-0.000005,angle between two frames:0.000000 +[14:17:47.874] n deleted obs = 51 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =143 error init =0.246701 error end=0.092692 +[14:17:47.874] After pose optimization, distance between ekf and vo x:-0.037145 ,z=-0.012703,angle between two frames:0.011044 +[14:17:47.874] Update EKF and 3D points the number of feature in the new frame: 143 and number of obs: 143 +[14:17:47.877] need key frame pitch dis: 0.237549 translation dif:0.073459 +[14:17:47.877] Choose frame as a key frame Scene Depth mean:-0.381865 ,depth min:-5.163739 +[14:17:47.877] frame process finished the id is: 139 the obs is:143 +[14:17:47.931] Odometry x=0.078648, y=-0.018289, theta=-2.845691 +[14:17:48.034] Odometry x=0.078649, y=-0.018289, theta=-2.878192 +[14:17:48.131] Odometry x=0.078641, y=-0.018290, theta=-2.907786 +[14:17:48.233] Odometry x=0.078634, y=-0.018290, theta=-2.937501 +[14:17:48.330] Odometry x=0.078630, y=-0.018287, theta=-2.967705 +[14:17:48.431] Odometry x=0.078626, y=-0.018297, theta=-2.998487 +[14:17:48.530] Odometry x=0.078617, y=-0.018300, theta=-3.026186 +[14:17:48.630] Odometry x=0.078618, y=-0.018302, theta=-3.052833 +[14:17:48.728] Odometry x=0.078621, y=-0.018302, theta=-3.084657 +[14:17:48.831] Odometry x=0.078620, y=-0.018307, theta=-3.116712 +[14:17:48.938] Odometry x=0.078616, y=-0.018307, theta=3.139647 +[14:17:49.032] Odometry x=0.078615, y=-0.018311, theta=3.111786 +[14:17:49.133] Odometry x=0.078609, y=-0.018306, theta=3.080153 +[14:17:49.230] Odometry x=0.078610, y=-0.018307, theta=3.055212 +[14:17:49.265] After Reprojection Map nPoint:179 ,nCell:32 ,nMatches:22 ,distance between ekf and vo x:0.000003 ,z=0.000003,angle between two frames:0.000000 +[14:17:49.272] n deleted obs = 41 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =138 error init =0.007948 error end=0.007810 +[14:17:49.272] After pose optimization, distance between ekf and vo x:0.001626 ,z=-0.000002,angle between two frames:0.000332 +[14:17:49.272] Update EKF and 3D points the number of feature in the new frame: 138 and number of obs: 138 +[14:17:49.274] need key frame pitch dis: 5.350311 translation dif:0.078702 +[14:17:49.274] Choose frame as a key frame Scene Depth mean:-0.049148 ,depth min:-2.017863 +[14:17:49.274] frame process finished the id is: 140 the obs is:138 +[14:17:49.334] Odometry x=0.080031, y=-0.018315, theta=2.274874 +[14:17:49.432] Odometry x=0.080024, y=-0.018315, theta=2.245732 +[14:17:49.534] Odometry x=0.080020, y=-0.018310, theta=2.212208 +[14:17:49.642] Odometry x=0.080018, y=-0.018317, theta=2.179416 +[14:17:49.735] Odometry x=0.080012, y=-0.018311, theta=2.150446 +[14:17:49.831] Odometry x=0.080011, y=-0.018316, theta=2.121592 +[14:17:49.931] Odometry x=0.080015, y=-0.018331, theta=2.090969 +[14:17:50.027] Odometry x=0.080020, y=-0.018319, theta=2.065034 +[14:17:50.128] Odometry x=0.080022, y=-0.018320, theta=2.033559 +[14:17:50.227] Odometry x=0.080021, y=-0.018321, theta=2.005984 +[14:17:50.329] Odometry x=0.080014, y=-0.018317, theta=1.978783 +[14:17:50.430] Odometry x=0.080018, y=-0.018317, theta=1.951936 +[14:17:50.530] Odometry x=0.080013, y=-0.018312, theta=1.922669 +[14:17:50.637] Odometry x=0.080004, y=-0.018316, theta=1.894506 +[14:17:50.730] Odometry x=0.079995, y=-0.018314, theta=1.870171 +[14:17:50.829] Odometry x=0.079992, y=-0.018314, theta=1.845269 +[14:17:50.846] After Reprojection Map nPoint:157 ,nCell:23 ,nMatches:21 ,distance between ekf and vo x:-0.000004 ,z=-0.000005,angle between two frames:0.000004 +[14:17:50.847] n deleted obs = 31 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =126 error init =0.044731 error end=0.044731 +[14:17:50.847] After pose optimization, distance between ekf and vo x:-0.000004 ,z=-0.000005,angle between two frames:0.000004 +[14:17:50.847] Update EKF and 3D points the number of feature in the new frame: 126 and number of obs: 126 +[14:17:50.847] need key frame pitch dis: 4.974072 translation dif:0.077447 +[14:17:50.847] Choose frame as a key frame Scene Depth mean:0.052800 ,depth min:-1.345864 +[14:17:50.848] frame process finished the id is: 141 the obs is:126 +[14:17:50.928] Odometry x=0.079982, y=-0.018308, theta=1.811258 +[14:17:51.029] Odometry x=0.079976, y=-0.018307, theta=1.782378 +[14:17:51.129] Odometry x=0.079971, y=-0.018309, theta=1.751571 +[14:17:51.227] Odometry x=0.079972, y=-0.018320, theta=1.724487 +[14:17:51.329] Odometry x=0.079961, y=-0.018316, theta=1.698211 +[14:17:51.432] Odometry x=0.079959, y=-0.018317, theta=1.670237 +[14:17:51.531] Odometry x=0.079958, y=-0.018320, theta=1.642486 +[14:17:51.630] Odometry x=0.079953, y=-0.018328, theta=1.612288 +[14:17:51.730] Odometry x=0.079949, y=-0.018330, theta=1.586042 +[14:17:51.759] After Reprojection Map nPoint:106 ,nCell:35 ,nMatches:12 ,distance between ekf and vo x:0.000009 ,z=0.000015,angle between two frames:0.000297 +[14:17:51.763] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =101 error init =0.000683 error end=0.000680 +[14:17:51.763] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000006,angle between two frames:0.000208 +[14:17:51.763] Update EKF and 3D points the number of feature in the new frame: 101 and number of obs: 101 +[14:17:51.763] need key frame pitch dis: 1.412647 translation dif:0.050333 +[14:17:51.763] Choose frame as a key frame Scene Depth mean:0.119270 ,depth min:-0.893633 +[14:17:51.763] frame process finished the id is: 142 the obs is:101 +[14:17:51.830] Odometry x=0.079964, y=-0.018329, theta=1.605822 +[14:17:51.932] Odometry x=0.079960, y=-0.018327, theta=1.580898 +[14:17:52.008] After Reprojection Map nPoint:135 ,nCell:48 ,nMatches:13 ,distance between ekf and vo x:0.000010 ,z=-0.000003,angle between two frames:0.000133 +[14:17:52.028] Odometry x=0.079962, y=-0.018334, theta=1.551296 +[14:17:52.063] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =121 error init =0.008824 error end=0.008824 +[14:17:52.063] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000003,angle between two frames:0.000133 +[14:17:52.063] Update EKF and 3D points the number of feature in the new frame: 121 and number of obs: 121 +[14:17:52.064] need key frame pitch dis: 1.525213 translation dif:0.057281 +[14:17:52.064] Choose frame as a key frame Scene Depth mean:0.186279 ,depth min:-0.801845 +[14:17:52.065] frame process finished the id is: 143 the obs is:121 +[14:17:52.133] Odometry x=0.079969, y=-0.018334, theta=1.594509 +[14:17:52.232] Odometry x=0.079963, y=-0.018331, theta=1.558662 +[14:17:52.332] Odometry x=0.079961, y=-0.018330, theta=1.531064 +[14:17:52.436] Odometry x=0.079965, y=-0.018326, theta=1.502420 +[14:17:52.538] Odometry x=0.079961, y=-0.018320, theta=1.479649 +[14:17:52.638] Odometry x=0.079963, y=-0.018313, theta=1.449839 +[14:17:52.734] Odometry x=0.079948, y=-0.018308, theta=1.420580 +[14:17:52.837] Odometry x=0.079947, y=-0.018308, theta=1.389363 +[14:17:52.939] Odometry x=0.079943, y=-0.018307, theta=1.356425 +[14:17:53.034] Odometry x=0.079948, y=-0.018301, theta=1.325641 +[14:17:53.135] Odometry x=0.079940, y=-0.018310, theta=1.298889 +[14:17:53.235] Odometry x=0.079938, y=-0.018309, theta=1.272355 +[14:17:53.333] Odometry x=0.079930, y=-0.018301, theta=1.239809 +[14:17:53.435] Odometry x=0.079928, y=-0.018301, theta=1.212280 +[14:17:53.534] Odometry x=0.079933, y=-0.018302, theta=1.184456 +[14:17:53.634] Odometry x=0.079921, y=-0.018291, theta=1.157710 +[14:17:53.734] Odometry x=0.079916, y=-0.018287, theta=1.129303 +[14:17:53.843] Odometry x=0.079916, y=-0.018285, theta=1.102872 +[14:17:53.931] Odometry x=0.079913, y=-0.018276, theta=1.074168 +[14:17:54.035] Odometry x=0.079893, y=-0.018279, theta=1.047390 +[14:17:54.139] Odometry x=0.079883, y=-0.018283, theta=1.019023 +[14:17:54.228] Odometry x=0.079879, y=-0.018281, theta=0.990211 +[14:17:54.334] Odometry x=0.079869, y=-0.018273, theta=0.963797 +[14:17:54.431] Odometry x=0.079866, y=-0.018243, theta=0.934434 +[14:17:54.531] Odometry x=0.079854, y=-0.018240, theta=0.906861 +[14:17:54.631] Odometry x=0.079851, y=-0.018234, theta=0.879409 +[14:17:54.727] Odometry x=0.079841, y=-0.018226, theta=0.848354 +[14:17:54.827] Odometry x=0.079840, y=-0.018223, theta=0.819554 +[14:17:54.934] Odometry x=0.079830, y=-0.018221, theta=0.792396 +[14:17:55.035] Odometry x=0.079830, y=-0.018227, theta=0.763693 +[14:17:55.129] Odometry x=0.079828, y=-0.018225, theta=0.737156 +[14:17:55.234] Odometry x=0.079816, y=-0.018223, theta=0.706456 +[14:17:55.332] Odometry x=0.079823, y=-0.018221, theta=0.678069 +[14:17:55.431] Odometry x=0.079816, y=-0.018219, theta=0.650722 +[14:17:55.527] Odometry x=0.079811, y=-0.018223, theta=0.626719 +[14:17:55.633] Odometry x=0.079808, y=-0.018221, theta=0.601263 +[14:17:55.734] Odometry x=0.079808, y=-0.018217, theta=0.570558 +[14:17:55.839] Odometry x=0.079814, y=-0.018203, theta=0.536976 +[14:17:55.929] Odometry x=0.079817, y=-0.018195, theta=0.507972 +[14:17:56.038] Odometry x=0.079819, y=-0.018184, theta=0.478026 +[14:17:56.128] Odometry x=0.079822, y=-0.018178, theta=0.445508 +[14:17:56.229] Odometry x=0.079818, y=-0.018161, theta=0.414376 +[14:17:56.335] Odometry x=0.079812, y=-0.018156, theta=0.387509 +[14:17:56.434] Odometry x=0.079814, y=-0.018154, theta=0.357921 +[14:17:56.440] After Reprojection Map nPoint:56 ,nCell:17 ,nMatches:7 ,distance between ekf and vo x:0.000004 ,z=-0.000005,angle between two frames:0.000006 +[14:17:56.440] n deleted obs = 32 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =1.086133 error end=0.691838 +[14:17:56.440] After pose optimization, distance between ekf and vo x:-0.044779 ,z=-0.036181,angle between two frames:0.323736 +[14:17:56.440] frame process finished the id is: 143 the obs is:121 +[14:17:56.531] Odometry x=0.079809, y=-0.018147, theta=0.329290 +[14:17:56.549] After Reprojection Map nPoint:96 ,nCell:38 ,nMatches:10 ,distance between ekf and vo x:0.000058 ,z=-0.000076,angle between two frames:0.000151 +[14:17:56.549] n deleted obs = 29 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =67 error init =0.009773 error end=0.009773 +[14:17:56.549] After pose optimization, distance between ekf and vo x:0.000058 ,z=-0.000076,angle between two frames:0.000151 +[14:17:56.549] Update EKF and 3D points the number of feature in the new frame: 67 and number of obs: 67 +[14:17:56.550] need key frame pitch dis: 1.098358 translation dif:0.086567 +[14:17:56.550] Choose frame as a key frame Scene Depth mean:0.113863 ,depth min:-0.112049 +[14:17:56.550] frame process finished the id is: 145 the obs is:67 +[14:17:56.629] Odometry x=0.079828, y=-0.018163, theta=0.308416 +[14:17:56.722] After Reprojection Map nPoint:88 ,nCell:19 ,nMatches:10 ,distance between ekf and vo x:0.000040 ,z=0.000047,angle between two frames:0.000481 +[14:17:56.723] n deleted obs = 22 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =66 error init =0.302162 error end=0.191513 +[14:17:56.723] After pose optimization, distance between ekf and vo x:-0.006271 ,z=-0.030306,angle between two frames:0.226677 +[14:17:56.723] frame process finished the id is: 145 the obs is:67 +[14:17:56.735] Odometry x=0.079826, y=-0.018149, theta=0.283818 +[14:17:56.833] Odometry x=0.079828, y=-0.018142, theta=0.262874 +[14:17:56.848] After Reprojection Map nPoint:80 ,nCell:21 ,nMatches:9 ,distance between ekf and vo x:0.000141 ,z=0.000056,angle between two frames:0.000169 +[14:17:56.848] n deleted obs = 28 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =52 error init =0.979359 error end=0.494228 +[14:17:56.848] After pose optimization, distance between ekf and vo x:-0.036104 ,z=-0.061549,angle between two frames:0.584089 +[14:17:56.848] frame process finished the id is: 145 the obs is:67 +[14:17:56.931] Odometry x=0.079831, y=-0.018138, theta=0.239935 +[14:17:56.952] After Reprojection Map nPoint:127 ,nCell:19 ,nMatches:16 ,distance between ekf and vo x:0.000088 ,z=0.000041,angle between two frames:0.000140 +[14:17:56.953] n deleted obs = 44 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =83 error init =0.513830 error end=0.158065 +[14:17:56.953] After pose optimization, distance between ekf and vo x:0.072124 ,z=-0.101826,angle between two frames:0.772576 +[14:17:56.953] frame process finished the id is: 145 the obs is:67 +[14:17:57.026] Odometry x=0.079830, y=-0.018128, theta=0.209668 +[14:17:57.057] After Reprojection Map nPoint:116 ,nCell:18 ,nMatches:14 ,distance between ekf and vo x:-0.000034 ,z=0.000003,angle between two frames:0.000088 +[14:17:57.058] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =96 error init =0.226150 error end=0.226150 +[14:17:57.058] After pose optimization, distance between ekf and vo x:-0.000034 ,z=0.000003,angle between two frames:0.000088 +[14:17:57.058] Update EKF and 3D points the number of feature in the new frame: 96 and number of obs: 96 +[14:17:57.059] need key frame pitch dis: 3.340108 translation dif:0.102754 +[14:17:57.059] Choose frame as a key frame Scene Depth mean:-0.023126 ,depth min:-2.934427 +[14:17:57.059] frame process finished the id is: 149 the obs is:96 +[14:17:57.126] Odometry x=0.079801, y=-0.018122, theta=0.205508 +[14:17:57.232] After Reprojection Map nPoint:147 ,nCell:32 ,nMatches:18 ,distance between ekf and vo x:0.000055 ,z=-0.000008,angle between two frames:0.000273 +[14:17:57.232] Odometry x=0.079801, y=-0.018111, theta=0.164411 +[14:17:57.273] n deleted obs = 34 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =113 error init =2.361523 error end=0.024944 +[14:17:57.273] After pose optimization, distance between ekf and vo x:4.546921 ,z=-4.369146,angle between two frames:2.256805 +[14:17:57.273] frame process finished the id is: 149 the obs is:96 +[14:17:57.329] Odometry x=0.079795, y=-0.018113, theta=0.130053 +[14:17:57.435] Odometry x=0.079795, y=-0.018109, theta=0.098886 +[14:17:57.454] After Reprojection Map nPoint:163 ,nCell:44 ,nMatches:18 ,distance between ekf and vo x:-0.000141 ,z=0.000002,angle between two frames:0.000001 +[14:17:57.454] n deleted obs = 61 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =102 error init =0.243497 error end=0.172269 +[14:17:57.454] After pose optimization, distance between ekf and vo x:-0.073433 ,z=-0.009184,angle between two frames:0.146543 +[14:17:57.454] frame process finished the id is: 149 the obs is:96 +[14:17:57.529] Odometry x=0.079795, y=-0.018102, theta=0.068788 +[14:17:57.587] After Reprojection Map nPoint:170 ,nCell:24 ,nMatches:22 ,distance between ekf and vo x:-0.000276 ,z=-0.000141,angle between two frames:0.000056 +[14:17:57.588] n deleted obs = 62 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =108 error init =0.407914 error end=0.248482 +[14:17:57.588] After pose optimization, distance between ekf and vo x:-0.173888 ,z=-0.032317,angle between two frames:0.164435 +[14:17:57.588] frame process finished the id is: 149 the obs is:96 +[14:17:57.632] Odometry x=0.079798, y=-0.018092, theta=0.037715 +[14:17:57.719] After Reprojection Map nPoint:207 ,nCell:57 ,nMatches:23 ,distance between ekf and vo x:-0.000210 ,z=-0.000293,angle between two frames:0.000108 +[14:17:57.720] n deleted obs = 63 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =144 error init =0.111435 error end=0.091579 +[14:17:57.720] After pose optimization, distance between ekf and vo x:-0.059292 ,z=-0.037982,angle between two frames:0.736010 +[14:17:57.720] frame process finished the id is: 149 the obs is:96 +[14:17:57.734] Odometry x=0.079788, y=-0.018079, theta=0.011724 +[14:17:57.832] Odometry x=0.079793, y=-0.018077, theta=-0.015178 +[14:17:57.850] After Reprojection Map nPoint:230 ,nCell:45 ,nMatches:29 ,distance between ekf and vo x:-0.000201 ,z=-0.000027,angle between two frames:0.000060 +[14:17:57.851] n deleted obs = 78 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =152 error init =0.694951 error end=0.694951 +[14:17:57.851] After pose optimization, distance between ekf and vo x:-0.000201 ,z=-0.000027,angle between two frames:0.000060 +[14:17:57.851] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152 +[14:17:57.852] need key frame pitch dis: 3.098890 translation dif:0.071215 +[14:17:57.852] Choose frame as a key frame Scene Depth mean:0.130146 ,depth min:-2.226590 +[14:17:57.852] frame process finished the id is: 154 the obs is:152 +[14:17:57.931] Odometry x=0.079611, y=-0.018100, theta=0.004148 +[14:17:58.028] Odometry x=0.079612, y=-0.018093, theta=-0.030738 +[14:17:58.077] After Reprojection Map nPoint:225 ,nCell:57 ,nMatches:29 ,distance between ekf and vo x:-0.000016 ,z=-0.000188,angle between two frames:0.000047 +[14:17:58.078] n deleted obs = 45 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =180 error init =0.119434 error end=0.119434 +[14:17:58.078] After pose optimization, distance between ekf and vo x:-0.000016 ,z=-0.000188,angle between two frames:0.000047 +[14:17:58.078] Update EKF and 3D points the number of feature in the new frame: 180 and number of obs: 180 +[14:17:58.080] need key frame pitch dis: 3.099064 translation dif:0.069037 +[14:17:58.081] Choose frame as a key frame Scene Depth mean:0.853857 ,depth min:-8.472989 +[14:17:58.081] frame process finished the id is: 155 the obs is:180 +[14:17:58.132] Odometry x=0.079599, y=-0.018257, theta=-0.004830 +[14:17:58.233] Odometry x=0.079601, y=-0.018261, theta=-0.032757 +[14:17:58.332] Odometry x=0.079602, y=-0.018257, theta=-0.064482 +[14:17:58.427] Odometry x=0.079596, y=-0.018241, theta=-0.095258 +[14:17:58.490] After Reprojection Map nPoint:266 ,nCell:63 ,nMatches:33 ,distance between ekf and vo x:-0.000349 ,z=0.000382,angle between two frames:0.000003 +[14:17:58.491] n deleted obs = 71 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =195 error init =1.221752 error end=1.221752 +[14:17:58.491] After pose optimization, distance between ekf and vo x:-0.000349 ,z=0.000382,angle between two frames:0.000003 +[14:17:58.491] Update EKF and 3D points the number of feature in the new frame: 195 and number of obs: 195 +[14:17:58.494] need key frame pitch dis: 3.098452 translation dif:0.060041 +[14:17:58.494] Choose frame as a key frame Scene Depth mean:0.068821 ,depth min:-8.524571 +[14:17:58.494] frame process finished the id is: 156 the obs is:195 +[14:17:58.532] Odometry x=0.079294, y=-0.017918, theta=-0.020212 +[14:17:58.634] Odometry x=0.079299, y=-0.017909, theta=-0.049881 +[14:17:58.732] Odometry x=0.079300, y=-0.017904, theta=-0.079804 +[14:17:58.834] Odometry x=0.079299, y=-0.017902, theta=-0.107207 +[14:17:58.863] After Reprojection Map nPoint:298 ,nCell:81 ,nMatches:32 ,distance between ekf and vo x:-0.000132 ,z=0.000134,angle between two frames:0.000003 +[14:17:58.930] Odometry x=0.079298, y=-0.017890, theta=-0.134290 +[14:17:58.993] n deleted obs = 138 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =160 error init =0.683892 error end=0.235900 +[14:17:58.993] After pose optimization, distance between ekf and vo x:0.861892 ,z=-0.113574,angle between two frames:0.937494 +[14:17:58.993] frame process finished the id is: 156 the obs is:195 +[14:17:59.032] Odometry x=0.079302, y=-0.017887, theta=-0.165314 +[14:17:59.128] Odometry x=0.079312, y=-0.017881, theta=-0.194285 +[14:17:59.234] Odometry x=0.079318, y=-0.017871, theta=-0.221229 +[14:17:59.246] After Reprojection Map nPoint:425 ,nCell:112 ,nMatches:47 ,distance between ekf and vo x:-0.000150 ,z=0.000331,angle between two frames:0.000034 +[14:17:59.247] n deleted obs = 155 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 error init =0.409285 error end=0.409285 +[14:17:59.247] After pose optimization, distance between ekf and vo x:-0.000150 ,z=0.000331,angle between two frames:0.000034 +[14:17:59.247] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270 +[14:17:59.248] need key frame pitch dis: 2.928748 translation dif:0.055311 +[14:17:59.248] Choose frame as a key frame Scene Depth mean:0.403925 ,depth min:-2.419670 +[14:17:59.249] frame process finished the id is: 158 the obs is:270 +[14:17:59.336] Odometry x=0.079275, y=-0.017789, theta=-0.237575 +[14:17:59.428] Odometry x=0.079288, y=-0.017782, theta=-0.268828 +[14:17:59.539] Odometry x=0.079285, y=-0.017780, theta=-0.297591 +[14:17:59.542] After Reprojection Map nPoint:405 ,nCell:77 ,nMatches:48 ,distance between ekf and vo x:-0.000000 ,z=0.000006,angle between two frames:0.000007 +[14:17:59.543] n deleted obs = 124 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =281 error init =0.879295 error end=0.226094 +[14:17:59.543] After pose optimization, distance between ekf and vo x:0.777518 ,z=-0.465019,angle between two frames:0.563926 +[14:17:59.543] frame process finished the id is: 158 the obs is:270 +[14:17:59.631] Odometry x=0.079282, y=-0.017766, theta=-0.321853 +[14:17:59.729] Odometry x=0.079276, y=-0.017760, theta=-0.352211 +[14:17:59.740] After Reprojection Map nPoint:467 ,nCell:120 ,nMatches:53 ,distance between ekf and vo x:0.000004 ,z=0.000018,angle between two frames:0.000013 +[14:17:59.742] n deleted obs = 164 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =303 error init =2.210082 error end=0.204793 +[14:17:59.742] After pose optimization, distance between ekf and vo x:1.503001 ,z=-0.428541,angle between two frames:1.934799 +[14:17:59.742] frame process finished the id is: 158 the obs is:270 +[14:17:59.827] Odometry x=0.079289, y=-0.017744, theta=-0.382353 +[14:17:59.918] After Reprojection Map nPoint:438 ,nCell:123 ,nMatches:49 ,distance between ekf and vo x:0.000017 ,z=0.000058,angle between two frames:0.000042 +[14:17:59.919] n deleted obs = 195 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =243 error init =0.630428 error end=0.159389 +[14:17:59.919] After pose optimization, distance between ekf and vo x:-0.280374 ,z=0.129075,angle between two frames:1.022709 +[14:17:59.919] frame process finished the id is: 158 the obs is:270 +[14:17:59.929] Odometry x=0.079297, y=-0.017741, theta=-0.411561 +[14:18:00.033] Odometry x=0.079304, y=-0.017730, theta=-0.438118 +[14:18:00.082] After Reprojection Map nPoint:468 ,nCell:129 ,nMatches:52 ,distance between ekf and vo x:0.000009 ,z=0.000030,angle between two frames:0.000017 +[14:18:00.083] n deleted obs = 160 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =308 error init =0.291458 error end=0.291458 +[14:18:00.083] After pose optimization, distance between ekf and vo x:0.000009 ,z=0.000030,angle between two frames:0.000017 +[14:18:00.083] Update EKF and 3D points the number of feature in the new frame: 308 and number of obs: 308 +[14:18:00.085] need key frame pitch dis: 2.699843 translation dif:0.054104 +[14:18:00.085] Choose frame as a key frame Scene Depth mean:0.029665 ,depth min:-2.413023 +[14:18:00.085] frame process finished the id is: 162 the obs is:308 +[14:18:00.130] Odometry x=0.079308, y=-0.017712, theta=-0.418490 +[14:18:00.231] Odometry x=0.079311, y=-0.017712, theta=-0.451115 +[14:18:00.307] After Reprojection Map nPoint:541 ,nCell:135 ,nMatches:60 ,distance between ekf and vo x:0.000007 ,z=0.000020,angle between two frames:0.000010 +[14:18:00.308] n deleted obs = 144 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =397 error init =0.599511 error end=0.090786 +[14:18:00.308] After pose optimization, distance between ekf and vo x:2.664734 ,z=-1.594079,angle between two frames:2.554626 +[14:18:00.308] frame process finished the id is: 162 the obs is:308 +[14:18:00.333] Odometry x=0.079314, y=-0.017704, theta=-0.487681 +[14:18:00.431] Odometry x=0.079325, y=-0.017708, theta=-0.519653 +[14:18:00.500] After Reprojection Map nPoint:485 ,nCell:86 ,nMatches:60 ,distance between ekf and vo x:0.000000 ,z=0.000002,angle between two frames:0.000025 +[14:18:00.502] n deleted obs = 139 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =346 error init =0.799223 error end=0.139171 +[14:18:00.502] After pose optimization, distance between ekf and vo x:-0.053994 ,z=0.106352,angle between two frames:0.164918 +[14:18:00.502] frame process finished the id is: 162 the obs is:308 +[14:18:00.533] Odometry x=0.079341, y=-0.017701, theta=-0.545888 +[14:18:00.630] Odometry x=0.079340, y=-0.017694, theta=-0.569538 +[14:18:00.662] After Reprojection Map nPoint:463 ,nCell:93 ,nMatches:57 ,distance between ekf and vo x:0.000000 ,z=0.000019,angle between two frames:0.000120 +[14:18:00.679] n deleted obs = 117 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =346 error init =0.511741 error end=0.055728 +[14:18:00.679] After pose optimization, distance between ekf and vo x:-0.139278 ,z=0.088459,angle between two frames:0.013602 +[14:18:00.679] Update EKF and 3D points the number of feature in the new frame: 346 and number of obs: 346 +[14:18:00.681] need key frame pitch dis: 2.552837 translation dif:0.197100 +[14:18:00.681] Choose frame as a key frame Scene Depth mean:-0.031416 ,depth min:-1.439866 +[14:18:00.682] frame process finished the id is: 165 the obs is:346 +[14:18:00.730] Odometry x=-0.042048, y=0.059398, theta=-0.565498 +[14:18:00.832] Odometry x=-0.042042, y=0.059400, theta=-0.601135 +[14:18:00.928] Odometry x=-0.042039, y=0.059403, theta=-0.630621 +[14:18:00.960] After Reprojection Map nPoint:427 ,nCell:165 ,nMatches:40 ,distance between ekf and vo x:0.000016 ,z=0.000008,angle between two frames:0.000007 +[14:18:00.989] n deleted obs = 74 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =353 error init =0.036717 error end=0.036273 +[14:18:00.990] After pose optimization, distance between ekf and vo x:-0.007072 ,z=0.017104,angle between two frames:0.047599 +[14:18:00.990] frame process finished the id is: 165 the obs is:346 +[14:18:01.031] Odometry x=-0.042037, y=0.059418, theta=-0.658150 +[14:18:01.128] Odometry x=-0.042031, y=0.059422, theta=-0.688270 +[14:18:01.172] After Reprojection Map nPoint:458 ,nCell:135 ,nMatches:52 ,distance between ekf and vo x:0.000026 ,z=0.000022,angle between two frames:0.000226 +[14:18:01.185] n deleted obs = 133 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =325 error init =0.050564 error end=0.044659 +[14:18:01.185] After pose optimization, distance between ekf and vo x:-0.018056 ,z=0.024151,angle between two frames:0.095166 +[14:18:01.185] frame process finished the id is: 165 the obs is:346 +[14:18:01.232] Odometry x=-0.042021, y=0.059428, theta=-0.721509 +[14:18:01.330] Odometry x=-0.042019, y=0.059431, theta=-0.748162 +[14:18:01.333] After Reprojection Map nPoint:347 ,nCell:112 ,nMatches:38 ,distance between ekf and vo x:0.000029 ,z=0.000020,angle between two frames:0.000250 +[14:18:01.333] n deleted obs = 61 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =286 error init =0.024174 error end=0.024174 +[14:18:01.333] After pose optimization, distance between ekf and vo x:0.000029 ,z=0.000020,angle between two frames:0.000250 +[14:18:01.333] Update EKF and 3D points the number of feature in the new frame: 286 and number of obs: 286 +[14:18:01.335] need key frame pitch dis: 0.706743 translation dif:0.079140 +[14:18:01.335] Choose frame as a key frame Scene Depth mean:-0.034763 ,depth min:-1.238251 +[14:18:01.335] frame process finished the id is: 168 the obs is:286 +[14:18:01.431] Odometry x=-0.042002, y=0.059434, theta=-0.770995 +[14:18:01.532] Odometry x=-0.041996, y=0.059436, theta=-0.800361 +[14:18:01.678] After Reprojection Map nPoint:386 ,nCell:106 ,nMatches:42 ,distance between ekf and vo x:0.000004 ,z=0.000000,angle between two frames:0.000047 +[14:18:01.789] n deleted obs = 89 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =297 error init =0.030419 error end=0.030419 +[14:18:01.789] After pose optimization, distance between ekf and vo x:0.000004 ,z=0.000000,angle between two frames:0.000047 +[14:18:01.789] Update EKF and 3D points the number of feature in the new frame: 297 and number of obs: 297 +[14:18:01.792] need key frame pitch dis: 0.717789 translation dif:0.088833 +[14:18:01.792] Choose frame as a key frame Scene Depth mean:-0.088586 ,depth min:-1.535118 +[14:18:01.795] frame process finished the id is: 169 the obs is:297 +[14:18:02.136] After Reprojection Map nPoint:401 ,nCell:193 ,nMatches:34 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[14:18:02.137] n deleted obs = 116 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =285 error init =0.091820 error end=0.091820 +[14:18:02.137] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[14:18:02.137] Update EKF and 3D points the number of feature in the new frame: 285 and number of obs: 285 +[14:18:02.140] need key frame pitch dis: 2.317930 translation dif:0.164592 +[14:18:02.140] Choose frame as a key frame Scene Depth mean:-0.038439 ,depth min:-2.102304 +[14:18:02.153] frame process finished the id is: 170 the obs is:285 +[14:18:02.522] After Reprojection Map nPoint:317 ,nCell:68 ,nMatches:43 ,distance between ekf and vo x:0.000006 ,z=-0.000001,angle between two frames:0.000005 +[14:18:02.523] n deleted obs = 91 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 error init =0.329886 error end=0.071153 +[14:18:02.523] After pose optimization, distance between ekf and vo x:-0.011445 ,z=0.047037,angle between two frames:0.314895 +[14:18:02.523] frame process finished the id is: 170 the obs is:285 +[14:18:02.668] After Reprojection Map nPoint:326 ,nCell:79 ,nMatches:39 ,distance between ekf and vo x:0.000032 ,z=-0.000010,angle between two frames:0.000026 +[14:18:02.680] n deleted obs = 98 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =228 error init =0.063023 error end=0.043130 +[14:18:02.680] After pose optimization, distance between ekf and vo x:-0.013263 ,z=0.009766,angle between two frames:0.011898 +[14:18:02.680] Update EKF and 3D points the number of feature in the new frame: 228 and number of obs: 228 +[14:18:02.682] need key frame pitch dis: 3.836804 translation dif:0.224979 +[14:18:02.682] Choose frame as a key frame Scene Depth mean:-0.143504 ,depth min:-1.210018 +[14:18:02.682] frame process finished the id is: 172 the obs is:228 +[14:18:02.884] After Reprojection Map nPoint:294 ,nCell:76 ,nMatches:36 ,distance between ekf and vo x:0.000002 ,z=-0.000001,angle between two frames:0.000001 +[14:18:02.921] n deleted obs = 66 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =228 error init =0.040014 error end=0.039815 +[14:18:02.921] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000902,angle between two frames:0.003789 +[14:18:02.921] Update EKF and 3D points the number of feature in the new frame: 228 and number of obs: 228 +[14:18:02.923] need key frame pitch dis: 3.576388 translation dif:0.196453 +[14:18:02.923] Choose frame as a key frame Scene Depth mean:-0.211435 ,depth min:-2.097322 +[14:18:02.937] frame process finished the id is: 173 the obs is:228 +[14:18:03.356] After Reprojection Map nPoint:298 ,nCell:79 ,nMatches:36 ,distance between ekf and vo x:0.000026 ,z=-0.000003,angle between two frames:0.000050 +[14:18:03.770] n deleted obs = 50 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =248 error init =0.110872 error end=0.033288 +[14:18:03.770] After pose optimization, distance between ekf and vo x:-0.019060 ,z=-0.013658,angle between two frames:0.120049 +[14:18:03.770] frame process finished the id is: 173 the obs is:228 +[14:18:03.992] After Reprojection Map nPoint:408 ,nCell:94 ,nMatches:50 ,distance between ekf and vo x:0.000005 ,z=-0.000005,angle between two frames:0.000007 +[14:18:03.993] n deleted obs = 77 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =331 error init =0.155138 error end=0.042299 +[14:18:03.993] After pose optimization, distance between ekf and vo x:-0.040108 ,z=-0.014812,angle between two frames:0.233844 +[14:18:03.993] frame process finished the id is: 173 the obs is:228 diff --git a/GPU_version/vio/include/vio/global_optimizer.h b/GPU_version/vio/include/vio/global_optimizer.h index e0c8ebb..eb1e3a8 100644 --- a/GPU_version/vio/include/vio/global_optimizer.h +++ b/GPU_version/vio/include/vio/global_optimizer.h @@ -66,6 +66,7 @@ public: vio::time_in_HH_MM_SS_MMM().c_str()); #endif } + boost::mutex ba_mux_; protected: bool new_keyframe_=false; boost::condition_variable cond_; diff --git a/GPU_version/vio/include/vio/initialization.h b/GPU_version/vio/include/vio/initialization.h index 03d32c3..48acfb4 100644 --- a/GPU_version/vio/include/vio/initialization.h +++ b/GPU_version/vio/include/vio/initialization.h @@ -111,6 +111,17 @@ protected: } } + void debug(FramePtr ref,FramePtr cur){ + cv::Mat reference,current; + cv::cvtColor(ref->img(),reference,cv::COLOR_GRAY2RGB); + cv::cvtColor(cur->img(),current,cv::COLOR_GRAY2RGB); + for(auto&& f:ref->fts_)cv::circle(reference, cv::Point(f->px.x(),f->px.y() ), 2, cv::Scalar(0, 255,0),2); + for(auto&& f:cur->fts_)cv::circle(current, cv::Point(f->px.x(),f->px.y() ), 2, cv::Scalar(0, 255,0),2); + cv::imshow("Reference",reference); + cv::imshow("Current",current); + cv::waitKey(); + exit(0); + } }; /// Detect Fast corners in the image. diff --git a/GPU_version/vio/include/vio/map.h b/GPU_version/vio/include/vio/map.h index b25e55d..9de354b 100644 --- a/GPU_version/vio/include/vio/map.h +++ b/GPU_version/vio/include/vio/map.h @@ -57,13 +57,15 @@ public: void getCloseKeyframes(const FramePtr& frame, list< pair >& close_kfs) const; /// Return the keyframe which is furthest apart from pos. - FramePtr getFurthestKeyframe(const Vector2d& pos) const; + FramePtr getFurthestKeyframe(const Vector2d& pos); /// Empty trash bin of deleted keyframes and map points. We don't delete the /// points immediately to ensure proper cleanup and to provide the visualizer /// a list of objects which must be removed. void emptyTrash(); + bool checkKeyFrames(); + /// Return the number of keyframes in the map inline size_t size() const { return keyframes_.size(); } diff --git a/GPU_version/vio/include/vio/ukf.h b/GPU_version/vio/include/vio/ukf.h index bc906cd..02d4c6a 100644 --- a/GPU_version/vio/include/vio/ukf.h +++ b/GPU_version/vio/include/vio/ukf.h @@ -23,7 +23,7 @@ public: virtual ~Base(){ }; void predict(double dx,double dy,double dpitch,double time){ - double dt=0.1; + double dt=0.2; /*if(t_cmd==0.0){ t_cmd=time; return; @@ -46,7 +46,7 @@ public: cov_h_=G*cov_*G.transpose()+R; } void correct(double ddx, double ddy, double dpitch, double time){ - double dt=0.005; + double dt=0.01; /*if(t_imu==0.0){ t_imu=time; return; diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index d12f08d..7c4cbdf 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -1,6 +1,6 @@ - + diff --git a/GPU_version/vio/src/feature_detection.cpp b/GPU_version/vio/src/feature_detection.cpp index 7e026be..6c45bcb 100644 --- a/GPU_version/vio/src/feature_detection.cpp +++ b/GPU_version/vio/src/feature_detection.cpp @@ -111,7 +111,7 @@ void FastDetector::detect( ROS_ERROR("GPU Driver crash try again!"); assert(0); } - cv::Ptr extractor = cv::xfeatures2d::FREAK::create(true, true, 50.0f, 4); + cv::Ptr extractor = cv::xfeatures2d::FREAK::create(true, true, 22.0f, 4); cv::Mat descriptor; extractor->compute(frame->img(), keypoints, descriptor); for(auto&& p:_for(keypoints))fts.push_back(make_shared(frame, Vector2d(p.item.pt.x, p.item.pt.y), p.item.response ,0,descriptor.data+(p.index*64))); diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index 47aed67..a282906 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -205,6 +205,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() new_frame_->T_f_w_.se2().translation().y()-init_f.second.se2().translation().y(), fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())); #endif + boost::unique_lock< boost::mutex > lock(ba_glob_->ba_mux_); size_t sfba_n_edges_final=0; double sfba_thresh, sfba_error_init, sfba_error_final; pose_optimizer::optimizeGaussNewton( @@ -256,6 +257,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() } // add keyframe to map map_.addKeyframe(new_frame_); + map_.checkKeyFrames(); ba_glob_->new_key_frame(); return RESULT_IS_KEYFRAME; } diff --git a/GPU_version/vio/src/global_optimizer.cpp b/GPU_version/vio/src/global_optimizer.cpp index 9a0914f..b55143f 100644 --- a/GPU_version/vio/src/global_optimizer.cpp +++ b/GPU_version/vio/src/global_optimizer.cpp @@ -96,6 +96,7 @@ namespace vio { // init g2o list edges; list< pair> > incorrect_edges; + ba_mux_.lock(); // Go through all Keyframes size_t v_id = 0; for(list::iterator it_kf = map_.keyframes_.begin(); @@ -107,10 +108,9 @@ namespace vio { optimizer.addVertex(v_kf); for(auto&& it_ftr:(*it_kf)->fts_) { + if(it_ftr->point==NULL)continue; // for each keyframe add edges to all observed mapoints std::shared_ptr mp = it_ftr->point; - if(mp == NULL) - continue; g2o::VertexSBAPointXYZ* v_mp = mp->v_pt_; if(v_mp == NULL) { @@ -139,10 +139,7 @@ namespace vio { } } } - // Optimization - - point_mut_.lock(); optimizer.initializeOptimization(); optimizer.computeActiveErrors(); #if VIO_DEBUG @@ -156,23 +153,22 @@ namespace vio { #endif // Update Keyframe and MapPoint Positions for(list::iterator it_kf = map_.keyframes_.begin(); - it_kf != map_.keyframes_.end(); ++it_kf) + it_kf != map_.keyframes_.end();++it_kf) { - (*it_kf)->T_f_w_ = SE3( (*it_kf)->v_kf_->estimate().rotation(), - (*it_kf)->v_kf_->estimate().translation()); + (*it_kf)->T_f_w_ = SE2_5(SE3((*it_kf)->v_kf_->estimate().rotation(), + (*it_kf)->v_kf_->estimate().translation())); (*it_kf)->v_kf_ = NULL; for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr) { - std::shared_ptr mp = (*it_ftr)->point; - if(mp == NULL) + if((*it_ftr)->point == NULL) continue; + std::shared_ptr mp = (*it_ftr)->point; if(mp->v_pt_ == NULL) continue; // mp was updated before mp->pos_ = mp->v_pt_->estimate(); mp->v_pt_ = NULL; } } - point_mut_.unlock(); // Remove Measurements with too large reprojection error for(list< pair> >::iterator it=incorrect_edges.begin(); @@ -186,6 +182,7 @@ namespace vio { map_.removePtFrameRef(it->frame, it->feature); } } + ba_mux_.unlock(); } } diff --git a/GPU_version/vio/src/initialization.cpp b/GPU_version/vio/src/initialization.cpp index 6d87fc5..969defd 100644 --- a/GPU_version/vio/src/initialization.cpp +++ b/GPU_version/vio/src/initialization.cpp @@ -111,6 +111,7 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur) frame_ref_->addFeature(f.item); } } + //debug(frame_ref_,frame_cur); #if VIO_DEBUG fprintf(log_,"[%s] Init finished: Homography RANSAC (inlier) is:%d ,While %d inliers minimum required. px average disparity is:%f ,While minimum is: %f KLT tracked: %d\n", vio::time_in_HH_MM_SS_MMM().c_str(), diff --git a/GPU_version/vio/src/map.cpp b/GPU_version/vio/src/map.cpp index 2561a52..fb3452a 100644 --- a/GPU_version/vio/src/map.cpp +++ b/GPU_version/vio/src/map.cpp @@ -39,6 +39,7 @@ void Map::reset() bool Map::safeDeleteFrame(FramePtr frame) { + //boost::unique_lock lock(point_mut_); bool found = false; size_t position; for(auto&& keyframe:_for(keyframes_)){ @@ -62,7 +63,6 @@ bool Map::safeDeleteFrame(FramePtr frame) void Map::removePtFrameRef(FramePtr frame, std::shared_ptr ftr) { - boost::unique_lock lock(point_mut_); if(ftr->point == NULL) return; // mappoint may have been deleted in a previous ref. removal if(ftr->point->obs_.size() <= 2) @@ -77,6 +77,7 @@ void Map::removePtFrameRef(FramePtr frame, std::shared_ptr ftr) void Map::safeDeletePoint(std::shared_ptr pt) { + boost::unique_lock lock(point_mut_); // Delete references to mappoints in all keyframes if(pt->obs_.size()>1){ for(auto&& ftr:pt->obs_){ @@ -126,17 +127,21 @@ void Map::getCloseKeyframes( } -FramePtr Map::getFurthestKeyframe(const Vector2d& pos) const +FramePtr Map::getFurthestKeyframe(const Vector2d& pos) { FramePtr furthest_kf; double maxdist = 0.0; - for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) + for(auto it=keyframes_.begin(); it!=keyframes_.end(); ) { + if((*it)->T_f_w_.empty()){ + it=keyframes_.erase(it); + } double dist = ((*it)->pos()-pos).norm(); if(dist > maxdist) { maxdist = dist; furthest_kf = *it; } + ++it; } return furthest_kf; } @@ -148,6 +153,17 @@ void Map::emptyTrash() for(auto&& t:trash_points_)t.reset(); trash_points_.clear(); } +bool Map::checkKeyFrames() { + for(auto it=keyframes_.begin();it!=keyframes_.end();){ + if((*it)->T_f_w_.empty()){ + for(auto&& fts:(*it)->fts_)removePtFrameRef(*it, fts); + it=keyframes_.erase(it); + } + ++it; + } + if(keyframes_.size()>0)return true; + return false; +} namespace map_debug { diff --git a/GPU_version/vio/src/point.cpp b/GPU_version/vio/src/point.cpp index 8ed95bc..78c79bb 100644 --- a/GPU_version/vio/src/point.cpp +++ b/GPU_version/vio/src/point.cpp @@ -59,7 +59,6 @@ Point::~Point() void Point::addFrameRef(std::shared_ptr ftr) { - boost::unique_lock lock(point_mut_); obs_.push_front(ftr); ++n_obs_; } diff --git a/GPU_version/vio/src/pose_optimizer.cpp b/GPU_version/vio/src/pose_optimizer.cpp index 6303fc8..c66f3be 100644 --- a/GPU_version/vio/src/pose_optimizer.cpp +++ b/GPU_version/vio/src/pose_optimizer.cpp @@ -56,10 +56,10 @@ void optimizeGaussNewton( - vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_)); e *= 1.0 / (1<<(*it)->level); //std::cerr<<"pose optimizer - error : "< 0.01){ +/* if(e.norm() > 0.01){ it = frame->fts_.erase(it); continue; - } + }*/ chi2_vec_init.push_back(e.norm()); // just for debug errors.push_back(e.norm()); it++; @@ -122,7 +122,7 @@ void optimizeGaussNewton( if(vk::norm_max(dT) <= EPS) break; } - + point_mut_.lock(); size_t n_deleted_refs = 0; for(auto it=frame->fts_.begin(); it!=frame->fts_.end(); /*++it*/) { @@ -142,6 +142,7 @@ void optimizeGaussNewton( else it++; } + point_mut_.unlock(); num_obs -= n_deleted_refs; #if VIO_DEBUG error_init=0.0; diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp index 66ad2fa..b3e22f6 100644 --- a/GPU_version/vio/src/reprojector.cpp +++ b/GPU_version/vio/src/reprojector.cpp @@ -125,19 +125,23 @@ namespace vio { else{ matcher->knnMatch(ref_des, cur_des, matches, 1, cv::InputArray(maskdown)); } - + /*cv::Mat imgMatch,key_point_ref,key_point_cur; + cv::drawMatches( it_frame.item.first->img_pyr_[0], keypoints_kfs, frame->img_pyr_[0], keypoints_cur,matches, imgMatch); + cv::imshow("img",imgMatch); + cv::waitKey();*/ for(auto&& match:matches.back()){ it_cur=keypoints.begin(); std::advance(it_cur,match.trainIdx); if(!(*it_cur))continue; + const int k = static_cast((*it_cur)->px.y() / grid_.cell_size) * + grid_.grid_n_cols + + static_cast((*it_cur)->px.x() / grid_.cell_size); + if(k>grid_.cells.size()-1)continue; + assert(grid_.cells.at(k) != nullptr); + if(grid_.cells.at(k)->size()> Config::gridSize()-1)continue; + Vector2d px((int) (*it_cur)->px.x(), + (int) (*it_cur)->px.y()); if ((*it_ref)->point == NULL){ - const int k = static_cast((*it_cur)->px.y() / grid_.cell_size) * - grid_.grid_n_cols - + static_cast((*it_cur)->px.x() / grid_.cell_size); - if(k>grid_.cells.size()-1)continue; - assert(grid_.cells.at(k) != nullptr); - Vector2d px((int) (*it_cur)->px.x(), - (int) (*it_cur)->px.y()); SE3 T_ref_cur=it_frame.item.first->se3().inverse()*frame->se3(); // pose with respect to reference frame Vector3d pos=vk::triangulateFeatureNonLin(T_ref_cur.rotation_matrix(),T_ref_cur.translation(), @@ -155,13 +159,6 @@ namespace vio { overlap_kfs.back().second++; }else{ (*it_ref)->point->last_frame_overlap_id_ = frame->id_; - const int k = static_cast((*it_cur)->px.y()/ grid_.cell_size) * - grid_.grid_n_cols - + static_cast((*it_cur)->px.x() / grid_.cell_size); - if(k>grid_.cells.size()-1)continue; - assert(grid_.cells.at(k) != nullptr); - Vector2d px((int) (*it_cur)->px.x(), - (int) (*it_cur)->px.y()); frame->addFeature(std::make_shared(frame, (*it_ref)->point, px,(*it_cur)->level,(*it_cur)->score,(*it_cur)->descriptor)); diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp index 739c73b..6b52a4c 100644 --- a/GPU_version/vio/src/vo_node.cpp +++ b/GPU_version/vio/src/vo_node.cpp @@ -116,13 +116,7 @@ VioNode::~VioNode() void VioNode::imgCb(const sensor_msgs::ImageConstPtr& msg) { -/* ++cam_syn_; - if(vo_->ukfPtr_.cam_syn_[cam_syn_ % 3]){ - vo_->ukfPtr_.cam_syn_[cam_syn_ % 3]=false; - }else{ - return; - } - if(cam_syn_>50)cam_syn_=0;*/ + if(!start_)return; try { cv::Mat img=cv_bridge::toCvShare(msg, "mono8")->image; @@ -150,9 +144,12 @@ void VioNode::imgCb(const sensor_msgs::ImageConstPtr& msg) void VioNode::imuCb(const sensor_msgs::ImuPtr &imu) { if(!start_)return; double imu_in[3]; - imu_in[0] = imu->linear_acceleration.x; - imu_in[1] = imu->linear_acceleration.y; - imu_in[2] = imu->angular_velocity.z; + imu_in[0] = 0.2*imu_[0]+0.8*imu->linear_acceleration.x; + imu_in[1] = 0.2*imu_[1]+0.8*imu->linear_acceleration.y; + imu_in[2] = 0.2*imu_[2]+0.8*imu->angular_velocity.z; + if(fabs(imu_in[2])>0.4)return; + if(fabs(imu_in[1])>1.0)return; + if(fabs(imu_in[0])>1.0)return; memcpy(imu_, imu_in, static_cast(3*sizeof(double))); vo_->UpdateIMU(imu_in,imu->header.stamp); imu_time_=imu->header.stamp;