diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt new file mode 100755 index 0000000..64a231e --- /dev/null +++ b/GPU_version/vio/depth_filter_log.txt @@ -0,0 +1,224 @@ +[12:03:41.417] New key frame +[12:03:41.417] BA loop run +[12:03:41.419] init error: 1.701205 +[12:03:41.420] end error: 1.009137 +[12:03:42.450] New key frame +[12:03:42.450] BA loop run +[12:03:42.452] init error: 6.237241 +[12:03:42.453] end error: 0.489862 +[12:03:42.648] New key frame +[12:03:42.648] BA loop run +[12:03:42.650] init error: 18.028230 +[12:03:42.652] end error: 2.508618 +[12:03:42.933] New key frame +[12:03:42.933] BA loop run +[12:03:42.937] init error: 36.102278 +[12:03:42.942] end error: 4.830597 +[12:03:43.247] New key frame +[12:03:43.247] BA loop run +[12:03:43.251] init error: 33.122877 +[12:03:43.255] end error: 5.928311 +[12:03:43.601] New key frame +[12:03:43.601] BA loop run +[12:03:43.607] init error: 39.321419 +[12:03:43.615] end error: 13.236725 +[12:03:44.013] New key frame +[12:03:44.013] BA loop run +[12:03:44.020] init error: 42.204503 +[12:03:44.027] end error: 12.819218 +[12:03:44.412] New key frame +[12:03:44.412] BA loop run +[12:03:44.422] init error: 52.348360 +[12:03:44.435] end error: 20.717566 +[12:03:44.859] New key frame +[12:03:44.859] BA loop run +[12:03:44.869] init error: 72.326163 +[12:03:44.878] end error: 48.291812 +[12:03:45.349] New key frame +[12:03:45.349] BA loop run +[12:03:45.359] init error: 77.093405 +[12:03:45.371] end error: 45.229245 +[12:03:45.907] New key frame +[12:03:45.907] BA loop run +[12:03:45.918] init error: 52.638919 +[12:03:45.929] end error: 32.273172 +[12:03:46.446] New key frame +[12:03:46.446] BA loop run +[12:03:46.459] init error: 89.777557 +[12:03:46.474] end error: 61.190620 +[12:03:47.109] New key frame +[12:03:47.109] BA loop run +[12:03:47.126] init error: 97.152057 +[12:03:47.143] end error: 69.287463 +[12:03:47.816] New key frame +[12:03:47.816] BA loop run +[12:03:47.831] init error: 99.116283 +[12:03:47.845] end error: 66.357638 +[12:03:48.329] New key frame +[12:03:48.329] BA loop run +[12:03:48.343] init error: 99.484118 +[12:03:48.358] end error: 67.706517 +[12:03:49.068] New key frame +[12:03:49.068] BA loop run +[12:03:49.084] init error: 119.223442 +[12:03:49.099] end error: 73.552946 +[12:03:49.970] New key frame +[12:03:49.970] BA loop run +[12:03:49.986] init error: 106.027200 +[12:03:50.001] end error: 68.441734 +[12:03:51.711] New key frame +[12:03:51.711] BA loop run +[12:03:51.725] init error: 70.560324 +[12:03:51.736] end error: 57.569337 +[12:03:53.093] New key frame +[12:03:53.094] BA loop run +[12:03:53.116] init error: 103.350472 +[12:03:53.134] end error: 51.536080 +[12:03:54.627] New key frame +[12:03:54.627] BA loop run +[12:03:54.647] init error: 125.083965 +[12:03:54.665] end error: 64.421823 +[12:03:56.359] New key frame +[12:03:56.359] BA loop run +[12:03:56.380] init error: 130.588163 +[12:03:56.400] end error: 72.136725 +[12:03:58.040] New key frame +[12:03:58.040] BA loop run +[12:03:58.063] init error: 174.737917 +[12:03:58.084] end error: 92.886043 +[12:03:59.575] New key frame +[12:03:59.575] BA loop run +[12:03:59.597] init error: 143.136133 +[12:03:59.615] end error: 97.968820 +[12:04:01.123] New key frame +[12:04:01.123] BA loop run +[12:04:01.144] init error: 151.510506 +[12:04:01.166] end error: 102.378463 +[12:04:03.072] New key frame +[12:04:03.072] BA loop run +[12:04:03.095] init error: 155.979793 +[12:04:03.120] end error: 113.121948 +[12:04:04.754] New key frame +[12:04:04.754] BA loop run +[12:04:04.779] init error: 181.844751 +[12:04:04.801] end error: 133.088599 +[12:04:06.496] New key frame +[12:04:06.496] BA loop run +[12:04:06.528] init error: 202.141490 +[12:04:06.558] end error: 165.511598 +[12:04:08.474] New key frame +[12:04:08.474] BA loop run +[12:04:08.498] init error: 259.418164 +[12:04:08.520] end error: 206.366686 +[12:04:10.145] New key frame +[12:04:10.146] BA loop run +[12:04:10.169] init error: 259.091854 +[12:04:10.188] end error: 207.428913 +[12:04:12.348] New key frame +[12:04:12.348] BA loop run +[12:04:12.370] init error: 181.705955 +[12:04:12.386] end error: 166.767867 +[12:04:14.020] New key frame +[12:04:14.020] BA loop run +[12:04:14.044] init error: 214.785175 +[12:04:14.061] end error: 182.617615 +[12:04:19.641] New key frame +[12:04:19.641] BA loop run +[12:04:19.671] init error: 771.169429 +[12:04:19.686] end error: 395.558168 +[12:04:22.579] New key frame +[12:04:22.579] BA loop run +[12:04:22.609] init error: 1169.384753 +[12:04:22.628] end error: 404.458621 +[12:04:29.656] New key frame +[12:04:29.656] BA loop run +[12:04:29.684] init error: 591.965362 +[12:04:29.697] end error: 315.026841 +[12:04:32.758] New key frame +[12:04:32.758] BA loop run +[12:04:32.789] init error: 480.827370 +[12:04:32.804] end error: 366.377149 +[12:04:34.911] New key frame +[12:04:34.911] BA loop run +[12:04:34.946] init error: 549.858008 +[12:04:34.966] end error: 413.140415 +[12:04:36.688] New key frame +[12:04:36.688] BA loop run +[12:04:36.719] init error: 659.142107 +[12:04:36.736] end error: 458.711528 +[12:04:39.397] New key frame +[12:04:39.397] BA loop run +[12:04:39.427] init error: 671.995324 +[12:04:39.444] end error: 574.540631 +[12:04:41.789] New key frame +[12:04:41.789] BA loop run +[12:04:41.814] init error: 776.453923 +[12:04:41.828] end error: 768.396840 +[12:04:44.200] New key frame +[12:04:44.200] BA loop run +[12:04:44.223] init error: 626.692321 +[12:04:44.235] end error: 552.409475 +[12:04:46.599] New key frame +[12:04:46.599] BA loop run +[12:04:46.619] init error: 521.987400 +[12:04:46.630] end error: 466.837199 +[12:04:47.958] New key frame +[12:04:47.958] BA loop run +[12:04:47.980] init error: 455.683188 +[12:04:47.991] end error: 364.066169 +[12:04:49.604] New key frame +[12:04:49.604] BA loop run +[12:04:49.623] init error: 485.524351 +[12:04:49.632] end error: 411.181207 +[12:04:51.534] New key frame +[12:04:51.535] BA loop run +[12:04:51.549] init error: 228.858900 +[12:04:51.555] end error: 146.154664 +[12:04:53.142] New key frame +[12:04:53.142] BA loop run +[12:04:53.160] init error: 350.238517 +[12:04:53.168] end error: 267.636461 +[12:04:54.386] New key frame +[12:04:54.386] BA loop run +[12:04:54.405] init error: 457.128205 +[12:04:54.416] end error: 340.386048 +[12:05:05.589] New key frame +[12:05:05.589] BA loop run +[12:05:05.596] init error: 25.690490 +[12:05:05.597] end error: 9.485745 +[12:05:05.779] New key frame +[12:05:05.779] BA loop run +[12:05:05.785] init error: 87.741382 +[12:05:05.786] end error: 11.538819 +[12:05:05.973] New key frame +[12:05:05.973] BA loop run +[12:05:05.979] init error: 28.194039 +[12:05:05.979] end error: 2.489291 +[12:05:06.142] New key frame +[12:05:06.142] BA loop run +[12:05:06.147] init error: 9.138186 +[12:05:06.147] end error: 2.698424 +[12:05:06.312] New key frame +[12:05:06.312] BA loop run +[12:05:06.318] init error: 2.996002 +[12:05:06.319] end error: 2.624229 +[12:05:06.447] New key frame +[12:05:06.447] BA loop run +[12:05:06.453] init error: 13.122931 +[12:05:06.454] end error: 9.273583 +[12:05:06.575] New key frame +[12:05:06.575] BA loop run +[12:05:06.581] init error: 11.353129 +[12:05:06.582] end error: 9.504530 +[12:05:06.848] New key frame +[12:05:06.848] BA loop run +[12:05:06.853] init error: 3.687899 +[12:05:06.853] end error: 3.702094 +[12:05:07.103] New key frame +[12:05:07.103] BA loop run +[12:05:07.108] init error: 3.702785 +[12:05:07.108] end error: 3.702846 +[12:05:12.138] New key frame +[12:05:12.138] BA loop run +[12:05:12.143] init error: 6.161187 +[12:05:12.143] end error: 3.664383 diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt new file mode 100755 index 0000000..77c86df --- /dev/null +++ b/GPU_version/vio/frame_handler_log.txt @@ -0,0 +1,1551 @@ +[12:03:38.551] Init: frame zero: 0.000000, 0.000000 0.000000 +[12:03:38.551] Init: Selected first frame. +[12:03:38.551] frame process finished the id is: 0 the obs is:0 +[12:03:38.571] Init: px average disparity is:0.032512 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:38.571] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:38.571] frame process finished the id is: 1 the obs is:0 +[12:03:38.656] Init: px average disparity is:0.031284 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:38.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:38.656] frame process finished the id is: 2 the obs is:0 +[12:03:38.754] Init: px average disparity is:0.036556 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:38.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:38.754] frame process finished the id is: 3 the obs is:0 +[12:03:38.855] Init: px average disparity is:0.032202 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:38.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:38.855] frame process finished the id is: 4 the obs is:0 +[12:03:38.953] Init: px average disparity is:0.041515 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:38.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:38.953] frame process finished the id is: 5 the obs is:0 +[12:03:39.054] Init: px average disparity is:0.030973 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:39.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:39.054] frame process finished the id is: 6 the obs is:0 +[12:03:39.151] Init: px average disparity is:0.031908 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:39.151] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:39.151] frame process finished the id is: 7 the obs is:0 +[12:03:39.251] Init: px average disparity is:0.035828 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:39.251] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:39.251] frame process finished the id is: 8 the obs is:0 +[12:03:39.351] Init: px average disparity is:0.031084 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:39.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:39.351] frame process finished the id is: 9 the obs is:0 +[12:03:39.453] Init: px average disparity is:0.040163 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:39.453] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:39.453] frame process finished the id is: 10 the obs is:0 +[12:03:39.552] Init: px average disparity is:0.036231 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:39.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:39.553] frame process finished the id is: 11 the obs is:0 +[12:03:39.653] Init: px average disparity is:0.032094 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:39.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:39.653] frame process finished the id is: 12 the obs is:0 +[12:03:39.751] Init: px average disparity is:0.039061 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:39.751] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:39.751] frame process finished the id is: 13 the obs is:0 +[12:03:39.821] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[12:03:39.865] Init: px average disparity is:0.039995 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:39.865] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:39.865] frame process finished the id is: 14 the obs is:0 +[12:03:39.951] Init: px average disparity is:0.032783 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:39.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:39.951] frame process finished the id is: 15 the obs is:0 +[12:03:40.044] Odometry x=0.000006, y=0.019328, theta=-0.000006 +[12:03:40.059] Init: px average disparity is:0.152070 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:40.060] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:40.060] frame process finished the id is: 16 the obs is:0 +[12:03:40.153] Init: px average disparity is:6.438189 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:40.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:40.153] frame process finished the id is: 17 the obs is:0 +[12:03:40.258] Init: px average disparity is:4.621185 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:40.258] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:40.258] frame process finished the id is: 18 the obs is:0 +[12:03:40.312] Odometry x=0.000595, y=0.052658, theta=0.000604 +[12:03:40.367] Init: px average disparity is:4.962524 ,While minimum is: 10.000000 KLT tracked : 896 +[12:03:40.367] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:40.367] frame process finished the id is: 19 the obs is:0 +[12:03:40.466] Init: px average disparity is:9.757717 ,While minimum is: 10.000000 KLT tracked : 895 +[12:03:40.466] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:40.466] frame process finished the id is: 20 the obs is:0 +[12:03:40.588] Odometry x=0.000538, y=0.083517, theta=0.001621 +[12:03:40.649] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:12.627500 ,While minimum is: 10.000000 KLT tracked: 895 +[12:03:40.649] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:40.649] frame process finished the id is: 21 the obs is:0 +[12:03:40.761] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:15.604936 ,While minimum is: 10.000000 KLT tracked: 888 +[12:03:40.761] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:40.761] frame process finished the id is: 22 the obs is:0 +[12:03:40.797] Odometry x=0.000484, y=0.112915, theta=0.005291 +[12:03:40.873] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:19.846154 ,While minimum is: 10.000000 KLT tracked: 888 +[12:03:40.873] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:40.873] frame process finished the id is: 23 the obs is:0 +[12:03:40.983] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:29.051805 ,While minimum is: 10.000000 KLT tracked: 888 +[12:03:40.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:40.983] frame process finished the id is: 24 the obs is:0 +[12:03:41.090] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:27.308837 ,While minimum is: 10.000000 KLT tracked: 888 +[12:03:41.090] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[12:03:41.090] frame process finished the id is: 25 the obs is:0 +[12:03:41.104] Odometry x=-0.000099, y=0.141745, theta=0.011512 +[12:03:41.206] Init finished: Homography RANSAC (inlier) is:410 ,While 40 inliers minimum required. px average disparity is:28.646685 ,While minimum is: 10.000000 KLT tracked: 887 +[12:03:41.206] Init: distance between the first and current frame is x:-0.000963 ,z=0.159976,angle between two frames: 0.020628 +[12:03:41.207] Init: Selected Second frame. The number of features: 409 depth mean:0.985522 min:0.294558 +[12:03:41.207] frame process finished the id is: 26 the obs is:409 +[12:03:41.329] Odometry x=-0.000963, y=0.159976, theta=0.020628 +[12:03:41.412] After Reprojection Map nMatches:362 ,distance between ekf and vo x:-0.000153 ,z=0.001394,angle between two frames:0.000177 +[12:03:41.413] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =283 error init =0.015824 error end=0.017410 +[12:03:41.413] After pose optimization, distance between ekf and vo x:-0.000153 ,z=0.001394,angle between two frames:0.000177 +[12:03:41.413] Update EKF and 3D points the number of feature in the new frame: 283 and number of obs: 283 +[12:03:41.413] frame Scene Depth mean:0.983853 ,depth min:0.279575 +[12:03:41.417] need key frame pitch dis: 0.021188 translation dif:0.177089 +[12:03:41.417] Choose frame as a key frame Scene Depth mean:0.983853 ,depth min:0.279575 +[12:03:41.417] frame process finished the id is: 27 the obs is:283 +[12:03:41.565] Odometry x=-0.000891, y=0.177087, theta=0.021188 +[12:03:41.629] After Reprojection Map nMatches:301 ,distance between ekf and vo x:0.000101 ,z=0.000631,angle between two frames:0.000039 +[12:03:41.630] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =249 error init =0.012260 error end=0.009934 +[12:03:41.630] After pose optimization, distance between ekf and vo x:0.000101 ,z=0.000631,angle between two frames:0.000039 +[12:03:41.630] Update EKF and 3D points the number of feature in the new frame: 249 and number of obs: 249 +[12:03:41.630] frame Scene Depth mean:2.094736 ,depth min:0.115851 +[12:03:41.633] need key frame pitch dis: 0.002219 translation dif:0.033435 +[12:03:41.633] frame process finished the id is: 28 the obs is:248 +[12:03:41.824] Odometry x=-0.001547, y=0.193406, theta=0.022848 +[12:03:41.852] After Reprojection Map nMatches:332 ,distance between ekf and vo x:0.000209 ,z=0.000924,angle between two frames:0.000064 +[12:03:41.853] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =264 error init =0.015838 error end=0.012756 +[12:03:41.853] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000924,angle between two frames:0.000064 +[12:03:41.853] Update EKF and 3D points the number of feature in the new frame: 264 and number of obs: 264 +[12:03:41.853] frame Scene Depth mean:2.000979 ,depth min:0.067047 +[12:03:41.855] need key frame pitch dis: 0.011022 translation dif:0.049760 +[12:03:41.855] frame process finished the id is: 29 the obs is:260 +[12:03:42.050] Odometry x=-0.001396, y=0.209734, theta=0.031651 +[12:03:42.062] After Reprojection Map nMatches:363 ,distance between ekf and vo x:0.000230 ,z=0.001237,angle between two frames:0.000082 +[12:03:42.063] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =276 error init =0.024373 error end=0.018401 +[12:03:42.063] After pose optimization, distance between ekf and vo x:0.000230 ,z=0.001237,angle between two frames:0.000082 +[12:03:42.063] Update EKF and 3D points the number of feature in the new frame: 276 and number of obs: 276 +[12:03:42.063] frame Scene Depth mean:2.345230 ,depth min:0.050082 +[12:03:42.065] need key frame pitch dis: 0.011032 translation dif:0.091252 +[12:03:42.065] frame process finished the id is: 30 the obs is:271 +[12:03:42.248] After Reprojection Map nMatches:422 ,distance between ekf and vo x:-0.000053 ,z=0.000397,angle between two frames:0.000017 +[12:03:42.249] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =350 error init =0.011703 error end=0.007015 +[12:03:42.249] After pose optimization, distance between ekf and vo x:-0.000053 ,z=0.000397,angle between two frames:0.000017 +[12:03:42.249] Update EKF and 3D points the number of feature in the new frame: 350 and number of obs: 350 +[12:03:42.249] frame Scene Depth mean:2.818742 ,depth min:0.054130 +[12:03:42.252] need key frame pitch dis: 0.010005 translation dif:0.095185 +[12:03:42.252] frame process finished the id is: 31 the obs is:349 +[12:03:42.285] Odometry x=-0.002800, y=0.255143, theta=0.030634 +[12:03:42.446] After Reprojection Map nMatches:434 ,distance between ekf and vo x:0.000028 ,z=0.000406,angle between two frames:0.000023 +[12:03:42.447] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =380 error init =0.009988 error end=0.006346 +[12:03:42.447] After pose optimization, distance between ekf and vo x:0.000028 ,z=0.000406,angle between two frames:0.000023 +[12:03:42.447] Update EKF and 3D points the number of feature in the new frame: 380 and number of obs: 380 +[12:03:42.447] frame Scene Depth mean:3.485256 ,depth min:0.058566 +[12:03:42.450] need key frame pitch dis: 0.677002 translation dif:5.196789 +[12:03:42.450] Choose frame as a key frame Scene Depth mean:3.485256 ,depth min:0.058566 +[12:03:42.450] frame process finished the id is: 32 the obs is:378 +[12:03:42.539] Odometry x=-0.003008, y=0.268960, theta=0.049487 +[12:03:42.644] After Reprojection Map nMatches:342 ,distance between ekf and vo x:-0.000064 ,z=0.000474,angle between two frames:0.000014 +[12:03:42.645] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =285 error init =0.008718 error end=0.014175 +[12:03:42.645] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.000474,angle between two frames:0.000014 +[12:03:42.645] Update EKF and 3D points the number of feature in the new frame: 285 and number of obs: 285 +[12:03:42.645] frame Scene Depth mean:5.053117 ,depth min:0.051824 +[12:03:42.648] need key frame pitch dis: 0.077688 translation dif:0.124349 +[12:03:42.648] Choose frame as a key frame Scene Depth mean:5.053117 ,depth min:0.051824 +[12:03:42.648] frame process finished the id is: 33 the obs is:283 +[12:03:42.794] Odometry x=-0.002816, y=0.284311, theta=0.098316 +[12:03:42.926] After Reprojection Map nMatches:476 ,distance between ekf and vo x:-0.000064 ,z=0.000143,angle between two frames:0.000001 +[12:03:42.927] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =376 error init =0.010524 error end=0.011034 +[12:03:42.927] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.000143,angle between two frames:0.000001 +[12:03:42.927] Update EKF and 3D points the number of feature in the new frame: 376 and number of obs: 376 +[12:03:42.927] frame Scene Depth mean:5.666394 ,depth min:0.050193 +[12:03:42.933] need key frame pitch dis: 0.092334 translation dif:0.137873 +[12:03:42.933] Choose frame as a key frame Scene Depth mean:5.666394 ,depth min:0.050193 +[12:03:42.933] frame process finished the id is: 34 the obs is:372 +[12:03:43.131] Odometry x=-0.003942, y=0.297817, theta=0.112962 +[12:03:43.239] After Reprojection Map nMatches:548 ,distance between ekf and vo x:-0.000046 ,z=0.000110,angle between two frames:0.000001 +[12:03:43.240] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =414 error init =0.015711 error end=0.013966 +[12:03:43.240] After pose optimization, distance between ekf and vo x:-0.000046 ,z=0.000110,angle between two frames:0.000001 +[12:03:43.240] Update EKF and 3D points the number of feature in the new frame: 414 and number of obs: 414 +[12:03:43.240] frame Scene Depth mean:6.110849 ,depth min:0.058551 +[12:03:43.247] need key frame pitch dis: 0.117029 translation dif:0.150077 +[12:03:43.247] Choose frame as a key frame Scene Depth mean:6.110849 ,depth min:0.058551 +[12:03:43.247] frame process finished the id is: 35 the obs is:412 +[12:03:43.296] Odometry x=-0.005643, y=0.309980, theta=0.137658 +[12:03:43.546] Odometry x=-0.008175, y=0.328281, theta=0.137836 +[12:03:43.590] After Reprojection Map nMatches:583 ,distance between ekf and vo x:0.000099 ,z=0.000084,angle between two frames:0.000002 +[12:03:43.592] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =450 error init =0.018100 error end=0.024570 +[12:03:43.592] After pose optimization, distance between ekf and vo x:0.000099 ,z=0.000084,angle between two frames:0.000002 +[12:03:43.592] Update EKF and 3D points the number of feature in the new frame: 450 and number of obs: 450 +[12:03:43.592] frame Scene Depth mean:6.081825 ,depth min:0.055417 +[12:03:43.601] need key frame pitch dis: 0.117195 translation dif:0.204756 +[12:03:43.601] Choose frame as a key frame Scene Depth mean:6.081825 ,depth min:0.055417 +[12:03:43.601] frame process finished the id is: 36 the obs is:444 +[12:03:43.788] Odometry x=-0.014148, y=0.370077, theta=0.128956 +[12:03:44.001] After Reprojection Map nMatches:711 ,distance between ekf and vo x:0.000141 ,z=-0.000063,angle between two frames:0.000001 +[12:03:44.003] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =551 error init =0.019291 error end=0.012912 +[12:03:44.003] After pose optimization, distance between ekf and vo x:0.000141 ,z=-0.000063,angle between two frames:0.000001 +[12:03:44.003] Update EKF and 3D points the number of feature in the new frame: 551 and number of obs: 551 +[12:03:44.004] frame Scene Depth mean:6.120801 ,depth min:0.066459 +[12:03:44.013] need key frame pitch dis: 0.117337 translation dif:0.228574 +[12:03:44.013] Choose frame as a key frame Scene Depth mean:6.120801 ,depth min:0.066459 +[12:03:44.013] frame process finished the id is: 37 the obs is:548 +[12:03:44.069] Odometry x=-0.015724, y=0.388073, theta=0.137965 +[12:03:44.302] Odometry x=-0.017538, y=0.401059, theta=0.140901 +[12:03:44.400] After Reprojection Map nMatches:644 ,distance between ekf and vo x:0.000074 ,z=-0.000035,angle between two frames:0.000003 +[12:03:44.401] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =519 error init =0.015652 error end=0.013849 +[12:03:44.401] After pose optimization, distance between ekf and vo x:0.000074 ,z=-0.000035,angle between two frames:0.000003 +[12:03:44.401] Update EKF and 3D points the number of feature in the new frame: 519 and number of obs: 519 +[12:03:44.402] frame Scene Depth mean:6.150316 ,depth min:0.058273 +[12:03:44.411] need key frame pitch dis: 0.120941 translation dif:0.251417 +[12:03:44.412] Choose frame as a key frame Scene Depth mean:6.150316 ,depth min:0.058273 +[12:03:44.412] frame process finished the id is: 38 the obs is:516 +[12:03:44.552] Odometry x=-0.015926, y=0.410947, theta=0.141569 +[12:03:44.804] Odometry x=-0.017787, y=0.424266, theta=0.139281 +[12:03:44.845] After Reprojection Map nMatches:766 ,distance between ekf and vo x:0.000003 ,z=0.000049,angle between two frames:0.000000 +[12:03:44.847] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =620 error init =0.020540 error end=0.014017 +[12:03:44.847] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000049,angle between two frames:0.000000 +[12:03:44.847] Update EKF and 3D points the number of feature in the new frame: 620 and number of obs: 620 +[12:03:44.847] frame Scene Depth mean:5.495129 ,depth min:0.060206 +[12:03:44.859] need key frame pitch dis: 0.118808 translation dif:0.294846 +[12:03:44.859] Choose frame as a key frame Scene Depth mean:5.495129 ,depth min:0.060206 +[12:03:44.859] frame process finished the id is: 39 the obs is:617 +[12:03:45.108] Odometry x=-0.023753, y=0.458005, theta=0.143705 +[12:03:45.282] Odometry x=-0.026907, y=0.478960, theta=0.155703 +[12:03:45.335] After Reprojection Map nMatches:814 ,distance between ekf and vo x:0.000039 ,z=0.000034,angle between two frames:0.000000 +[12:03:45.337] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =657 error init =0.023289 error end=0.017531 +[12:03:45.337] After pose optimization, distance between ekf and vo x:0.000039 ,z=0.000034,angle between two frames:0.000000 +[12:03:45.337] Update EKF and 3D points the number of feature in the new frame: 657 and number of obs: 657 +[12:03:45.337] frame Scene Depth mean:5.345818 ,depth min:0.083410 +[12:03:45.349] need key frame pitch dis: 0.333877 translation dif:1.228136 +[12:03:45.349] Choose frame as a key frame Scene Depth mean:5.345818 ,depth min:0.083410 +[12:03:45.349] frame process finished the id is: 40 the obs is:657 +[12:03:45.569] Odometry x=-0.027966, y=0.486629, theta=0.136981 +[12:03:45.779] Odometry x=-0.024093, y=0.502215, theta=0.130177 +[12:03:45.890] After Reprojection Map nMatches:865 ,distance between ekf and vo x:0.000135 ,z=-0.000031,angle between two frames:0.000001 +[12:03:45.892] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =674 error init =0.025095 error end=0.011471 +[12:03:45.892] After pose optimization, distance between ekf and vo x:0.000135 ,z=-0.000031,angle between two frames:0.000001 +[12:03:45.892] Update EKF and 3D points the number of feature in the new frame: 674 and number of obs: 674 +[12:03:45.893] frame Scene Depth mean:4.756417 ,depth min:0.105521 +[12:03:45.907] need key frame pitch dis: 0.110878 translation dif:0.352485 +[12:03:45.907] Choose frame as a key frame Scene Depth mean:4.756417 ,depth min:0.105521 +[12:03:45.907] frame process finished the id is: 41 the obs is:674 +[12:03:46.039] Odometry x=-0.025426, y=0.511611, theta=0.131507 +[12:03:46.303] Odometry x=-0.027169, y=0.524957, theta=0.139570 +[12:03:46.429] After Reprojection Map nMatches:810 ,distance between ekf and vo x:0.000050 ,z=0.000038,angle between two frames:0.000001 +[12:03:46.432] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =631 error init =0.016754 error end=0.015752 +[12:03:46.432] After pose optimization, distance between ekf and vo x:0.000050 ,z=0.000038,angle between two frames:0.000001 +[12:03:46.432] Update EKF and 3D points the number of feature in the new frame: 631 and number of obs: 631 +[12:03:46.432] frame Scene Depth mean:4.643523 ,depth min:0.085524 +[12:03:46.446] need key frame pitch dis: 0.112942 translation dif:0.377728 +[12:03:46.446] Choose frame as a key frame Scene Depth mean:4.643523 ,depth min:0.085524 +[12:03:46.446] frame process finished the id is: 42 the obs is:631 +[12:03:46.534] Odometry x=-0.028249, y=0.536718, theta=0.133571 +[12:03:46.785] Odometry x=-0.029207, y=0.552223, theta=0.140027 +[12:03:47.093] After Reprojection Map nMatches:913 ,distance between ekf and vo x:0.000115 ,z=-0.000047,angle between two frames:0.000001 +[12:03:47.095] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =702 error init =0.023482 error end=0.020418 +[12:03:47.095] After pose optimization, distance between ekf and vo x:0.000115 ,z=-0.000047,angle between two frames:0.000001 +[12:03:47.095] Update EKF and 3D points the number of feature in the new frame: 702 and number of obs: 702 +[12:03:47.095] frame Scene Depth mean:3.925493 ,depth min:0.054296 +[12:03:47.109] need key frame pitch dis: 0.121729 translation dif:0.402501 +[12:03:47.109] Choose frame as a key frame Scene Depth mean:3.925493 ,depth min:0.054296 +[12:03:47.109] frame process finished the id is: 43 the obs is:702 +[12:03:47.116] Odometry x=-0.030195, y=0.561414, theta=0.142358 +[12:03:47.280] Odometry x=-0.033561, y=0.576131, theta=0.142214 +[12:03:47.585] Odometry x=-0.035845, y=0.593580, theta=0.149400 +[12:03:47.785] Odometry x=-0.038523, y=0.612201, theta=0.154103 +[12:03:47.799] After Reprojection Map nMatches:927 ,distance between ekf and vo x:0.000267 ,z=-0.000155,angle between two frames:0.000001 +[12:03:47.802] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =718 error init =0.028795 error end=0.030377 +[12:03:47.802] After pose optimization, distance between ekf and vo x:0.000267 ,z=-0.000155,angle between two frames:0.000001 +[12:03:47.802] Update EKF and 3D points the number of feature in the new frame: 718 and number of obs: 718 +[12:03:47.802] frame Scene Depth mean:3.570665 ,depth min:0.054891 +[12:03:47.816] need key frame pitch dis: 0.129000 translation dif:0.456494 +[12:03:47.816] Choose frame as a key frame Scene Depth mean:3.570665 ,depth min:0.054891 +[12:03:47.816] frame process finished the id is: 44 the obs is:706 +[12:03:48.036] Odometry x=-0.038775, y=0.614902, theta=0.149628 +[12:03:48.289] Odometry x=-0.039882, y=0.630046, theta=0.157625 +[12:03:48.318] After Reprojection Map nMatches:731 ,distance between ekf and vo x:0.000109 ,z=0.000030,angle between two frames:0.000003 +[12:03:48.319] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =531 error init =0.033429 error end=0.040586 +[12:03:48.319] After pose optimization, distance between ekf and vo x:0.000109 ,z=0.000030,angle between two frames:0.000003 +[12:03:48.319] Update EKF and 3D points the number of feature in the new frame: 531 and number of obs: 531 +[12:03:48.320] frame Scene Depth mean:3.418309 ,depth min:0.054218 +[12:03:48.329] need key frame pitch dis: 0.136477 translation dif:0.499966 +[12:03:48.329] Choose frame as a key frame Scene Depth mean:3.418309 ,depth min:0.054218 +[12:03:48.329] frame process finished the id is: 45 the obs is:525 +[12:03:48.523] Odometry x=-0.045151, y=0.662822, theta=0.150137 +[12:03:48.776] Odometry x=-0.047970, y=0.681382, theta=0.158769 +[12:03:49.049] After Reprojection Map nMatches:1058 ,distance between ekf and vo x:0.000030 ,z=0.000091,angle between two frames:0.000002 +[12:03:49.051] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =802 error init =0.019835 error end=0.015195 +[12:03:49.051] After pose optimization, distance between ekf and vo x:0.000030 ,z=0.000091,angle between two frames:0.000002 +[12:03:49.051] Update EKF and 3D points the number of feature in the new frame: 802 and number of obs: 802 +[12:03:49.052] frame Scene Depth mean:3.841695 ,depth min:0.050565 +[12:03:49.068] need key frame pitch dis: 0.312341 translation dif:0.747871 +[12:03:49.068] Choose frame as a key frame Scene Depth mean:3.841695 ,depth min:0.050565 +[12:03:49.068] frame process finished the id is: 46 the obs is:802 +[12:03:49.953] After Reprojection Map nMatches:937 ,distance between ekf and vo x:0.001819 ,z=-0.004305,angle between two frames:0.000169 +[12:03:49.955] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =697 error init =0.028463 error end=0.031707 +[12:03:49.955] After pose optimization, distance between ekf and vo x:0.001819 ,z=-0.004305,angle between two frames:0.000169 +[12:03:49.955] Update EKF and 3D points the number of feature in the new frame: 697 and number of obs: 697 +[12:03:49.955] frame Scene Depth mean:3.960806 ,depth min:0.105209 +[12:03:49.970] need key frame pitch dis: 0.313618 translation dif:0.745835 +[12:03:49.970] Choose frame as a key frame Scene Depth mean:3.960806 ,depth min:0.105209 +[12:03:49.970] frame process finished the id is: 47 the obs is:697 +[12:03:50.549] Odometry x=-0.047344, y=0.679363, theta=0.162531 +[12:03:50.806] Odometry x=-0.047264, y=0.679640, theta=0.158385 +[12:03:50.864] After Reprojection Map nMatches:1071 ,distance between ekf and vo x:0.001657 ,z=-0.003213,angle between two frames:0.000105 +[12:03:50.867] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =809 error init =0.011119 error end=0.009622 +[12:03:50.867] After pose optimization, distance between ekf and vo x:-0.129035 ,z=-1.484967,angle between two frames:0.033867 +[12:03:50.867] frame process finished the id is: 47 the obs is:697 +[12:03:51.111] Odometry x=-0.047229, y=0.679697, theta=0.121350 +[12:03:51.299] Odometry x=-0.047432, y=0.679846, theta=0.018057 +[12:03:51.543] Odometry x=-0.047424, y=0.679892, theta=-0.097272 +[12:03:51.694] After Reprojection Map nMatches:1027 ,distance between ekf and vo x:0.000101 ,z=0.000037,angle between two frames:0.000001 +[12:03:51.696] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =815 error init =0.019651 error end=0.019785 +[12:03:51.696] After pose optimization, distance between ekf and vo x:0.000101 ,z=0.000037,angle between two frames:0.000001 +[12:03:51.696] Update EKF and 3D points the number of feature in the new frame: 815 and number of obs: 815 +[12:03:51.696] frame Scene Depth mean:3.994712 ,depth min:0.068272 +[12:03:51.711] need key frame pitch dis: 0.038326 translation dif:0.745527 +[12:03:51.711] Choose frame as a key frame Scene Depth mean:3.994712 ,depth min:0.068272 +[12:03:51.711] frame process finished the id is: 49 the obs is:797 +[12:03:52.791] Odometry x=-0.046941, y=0.679936, theta=-0.112761 +[12:03:53.072] After Reprojection Map nMatches:1284 ,distance between ekf and vo x:-0.000085 ,z=0.000559,angle between two frames:0.000001 +[12:03:53.075] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =955 error init =0.047580 error end=0.030997 +[12:03:53.075] After pose optimization, distance between ekf and vo x:-0.000085 ,z=0.000559,angle between two frames:0.000001 +[12:03:53.075] Update EKF and 3D points the number of feature in the new frame: 955 and number of obs: 955 +[12:03:53.075] frame Scene Depth mean:4.039699 ,depth min:0.054282 +[12:03:53.093] need key frame pitch dis: 0.037434 translation dif:0.744826 +[12:03:53.093] Choose frame as a key frame Scene Depth mean:4.039699 ,depth min:0.054282 +[12:03:53.094] frame process finished the id is: 50 the obs is:955 +[12:03:53.105] Odometry x=-0.046842, y=0.680791, theta=-0.113653 +[12:03:53.324] Odometry x=-0.046095, y=0.687142, theta=-0.108159 +[12:03:53.543] Odometry x=-0.044636, y=0.700610, theta=-0.104885 +[12:03:53.788] Odometry x=-0.043310, y=0.713668, theta=-0.107093 +[12:03:54.080] Odometry x=-0.041874, y=0.727039, theta=-0.107537 +[12:03:54.297] Odometry x=-0.040406, y=0.740620, theta=-0.107619 +[12:03:54.584] Odometry x=-0.039114, y=0.754484, theta=-0.097848 +[12:03:54.604] After Reprojection Map nMatches:1399 ,distance between ekf and vo x:0.000066 ,z=0.000610,angle between two frames:0.000013 +[12:03:54.608] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1077 error init =0.027497 error end=0.022722 +[12:03:54.608] After pose optimization, distance between ekf and vo x:0.000066 ,z=0.000610,angle between two frames:0.000013 +[12:03:54.608] Update EKF and 3D points the number of feature in the new frame: 1077 and number of obs: 1077 +[12:03:54.609] frame Scene Depth mean:3.693732 ,depth min:0.089844 +[12:03:54.626] need key frame pitch dis: 0.052584 translation dif:0.677061 +[12:03:54.626] Choose frame as a key frame Scene Depth mean:3.693732 ,depth min:0.089844 +[12:03:54.627] frame process finished the id is: 51 the obs is:1077 +[12:03:54.816] Odometry x=-0.037429, y=0.773427, theta=-0.102277 +[12:03:55.118] Odometry x=-0.036075, y=0.787058, theta=-0.114830 +[12:03:55.280] Odometry x=-0.034492, y=0.800600, theta=-0.123671 +[12:03:55.536] Odometry x=-0.033987, y=0.816120, theta=-0.113498 +[12:03:55.823] Odometry x=-0.032413, y=0.829658, theta=-0.121037 +[12:03:56.050] Odometry x=-0.032055, y=0.842369, theta=-0.098187 +[12:03:56.301] Odometry x=-0.030688, y=0.855921, theta=-0.106952 +[12:03:56.338] After Reprojection Map nMatches:1332 ,distance between ekf and vo x:0.000054 ,z=0.000761,angle between two frames:0.000010 +[12:03:56.341] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =976 error init =0.028592 error end=0.030804 +[12:03:56.341] After pose optimization, distance between ekf and vo x:0.000054 ,z=0.000761,angle between two frames:0.000010 +[12:03:56.341] Update EKF and 3D points the number of feature in the new frame: 976 and number of obs: 976 +[12:03:56.341] frame Scene Depth mean:3.804424 ,depth min:0.059153 +[12:03:56.358] need key frame pitch dis: 0.044322 translation dif:0.601088 +[12:03:56.358] Choose frame as a key frame Scene Depth mean:3.804424 ,depth min:0.059153 +[12:03:56.359] frame process finished the id is: 52 the obs is:974 +[12:03:56.540] Odometry x=-0.028139, y=0.873844, theta=-0.117478 +[12:03:56.795] Odometry x=-0.026493, y=0.887358, theta=-0.135264 +[12:03:57.085] Odometry x=-0.024927, y=0.900873, theta=-0.147222 +[12:03:57.318] Odometry x=-0.021084, y=0.914670, theta=-0.158191 +[12:03:57.547] Odometry x=-0.018934, y=0.928127, theta=-0.160939 +[12:03:57.779] Odometry x=-0.016690, y=0.941721, theta=-0.167221 +[12:03:58.015] After Reprojection Map nMatches:1289 ,distance between ekf and vo x:0.000354 ,z=0.000445,angle between two frames:0.000023 +[12:03:58.018] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =977 error init =0.019404 error end=0.025664 +[12:03:58.018] After pose optimization, distance between ekf and vo x:0.000354 ,z=0.000445,angle between two frames:0.000023 +[12:03:58.018] Update EKF and 3D points the number of feature in the new frame: 977 and number of obs: 977 +[12:03:58.019] frame Scene Depth mean:3.555088 ,depth min:0.080981 +[12:03:58.040] need key frame pitch dis: 0.007407 translation dif:0.553231 +[12:03:58.040] Choose frame as a key frame Scene Depth mean:3.555088 ,depth min:0.080981 +[12:03:58.040] frame process finished the id is: 53 the obs is:974 +[12:03:58.045] Odometry x=-0.018811, y=0.938225, theta=-0.158494 +[12:03:58.300] Odometry x=-0.016923, y=0.949058, theta=-0.149254 +[12:03:58.552] Odometry x=-0.015213, y=0.963089, theta=-0.148038 +[12:03:58.774] Odometry x=-0.012778, y=0.976797, theta=-0.153410 +[12:03:59.138] Odometry x=-0.010592, y=0.990930, theta=-0.149297 +[12:03:59.312] Odometry x=-0.008152, y=1.005171, theta=-0.144415 +[12:03:59.549] Odometry x=-0.005997, y=1.019820, theta=-0.135609 +[12:03:59.553] After Reprojection Map nMatches:1209 ,distance between ekf and vo x:0.000343 ,z=0.000201,angle between two frames:0.000014 +[12:03:59.558] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =852 error init =0.026590 error end=0.023572 +[12:03:59.558] After pose optimization, distance between ekf and vo x:0.000343 ,z=0.000201,angle between two frames:0.000014 +[12:03:59.558] Update EKF and 3D points the number of feature in the new frame: 852 and number of obs: 852 +[12:03:59.558] frame Scene Depth mean:3.567143 ,depth min:0.088816 +[12:03:59.575] need key frame pitch dis: 0.319335 translation dif:0.489747 +[12:03:59.575] Choose frame as a key frame Scene Depth mean:3.567143 ,depth min:0.088816 +[12:03:59.575] frame process finished the id is: 54 the obs is:852 +[12:03:59.786] Odometry x=-0.003320, y=1.039625, theta=-0.143232 +[12:04:00.036] Odometry x=-0.001200, y=1.054176, theta=-0.138532 +[12:04:00.295] Odometry x=0.000824, y=1.068833, theta=-0.133660 +[12:04:00.550] Odometry x=0.002878, y=1.083572, theta=-0.132387 +[12:04:00.781] Odometry x=0.004769, y=1.098190, theta=-0.138083 +[12:04:01.101] After Reprojection Map nMatches:1247 ,distance between ekf and vo x:0.000369 ,z=0.000198,angle between two frames:0.000017 +[12:04:01.105] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =864 error init =0.023558 error end=0.050373 +[12:04:01.105] After pose optimization, distance between ekf and vo x:0.000369 ,z=0.000198,angle between two frames:0.000017 +[12:04:01.105] Update EKF and 3D points the number of feature in the new frame: 864 and number of obs: 864 +[12:04:01.105] frame Scene Depth mean:3.762205 ,depth min:0.179374 +[12:04:01.118] Odometry x=0.003718, y=1.092461, theta=-0.140736 +[12:04:01.123] need key frame pitch dis: 0.279474 translation dif:0.470341 +[12:04:01.123] Choose frame as a key frame Scene Depth mean:3.762205 ,depth min:0.179374 +[12:04:01.123] frame process finished the id is: 55 the obs is:864 +[12:04:01.293] Odometry x=0.005231, y=1.103841, theta=-0.139349 +[12:04:01.541] Odometry x=0.007322, y=1.118936, theta=-0.137878 +[12:04:01.816] Odometry x=0.011561, y=1.135204, theta=-0.106225 +[12:04:02.042] Odometry x=0.013098, y=1.150048, theta=-0.107365 +[12:04:02.291] Odometry x=0.014661, y=1.164965, theta=-0.093623 +[12:04:02.551] Odometry x=0.015615, y=1.180100, theta=-0.081410 +[12:04:02.802] Odometry x=0.016825, y=1.195453, theta=-0.036778 +[12:04:03.048] After Reprojection Map nMatches:1459 ,distance between ekf and vo x:0.000662 ,z=0.000137,angle between two frames:0.000027 +[12:04:03.052] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1089 error init =0.022240 error end=0.025387 +[12:04:03.052] After pose optimization, distance between ekf and vo x:0.000662 ,z=0.000137,angle between two frames:0.000027 +[12:04:03.052] Update EKF and 3D points the number of feature in the new frame: 1089 and number of obs: 1089 +[12:04:03.052] frame Scene Depth mean:2.893059 ,depth min:0.117558 +[12:04:03.072] need key frame pitch dis: 0.194810 translation dif:0.267642 +[12:04:03.072] Choose frame as a key frame Scene Depth mean:2.893059 ,depth min:0.117558 +[12:04:03.072] frame process finished the id is: 56 the obs is:1084 +[12:04:03.081] Odometry x=0.013952, y=1.182781, theta=-0.039111 +[12:04:03.282] Odometry x=0.013355, y=1.194847, theta=-0.043476 +[12:04:03.531] Odometry x=0.014308, y=1.209369, theta=-0.023707 +[12:04:03.796] Odometry x=0.014594, y=1.224161, theta=-0.049473 +[12:04:04.020] Odometry x=0.014190, y=1.239494, theta=-0.078762 +[12:04:04.270] Odometry x=0.015226, y=1.255571, theta=-0.083362 +[12:04:04.569] Odometry x=0.016346, y=1.270225, theta=-0.103073 +[12:04:04.732] After Reprojection Map nMatches:1336 ,distance between ekf and vo x:0.000377 ,z=0.000438,angle between two frames:0.000022 +[12:04:04.735] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =979 error init =0.012053 error end=0.039020 +[12:04:04.735] After pose optimization, distance between ekf and vo x:0.000377 ,z=0.000438,angle between two frames:0.000022 +[12:04:04.735] Update EKF and 3D points the number of feature in the new frame: 979 and number of obs: 979 +[12:04:04.736] frame Scene Depth mean:2.992170 ,depth min:0.098620 +[12:04:04.754] need key frame pitch dis: 0.340727 translation dif:0.371232 +[12:04:04.754] Choose frame as a key frame Scene Depth mean:2.992170 ,depth min:0.098620 +[12:04:04.754] frame process finished the id is: 57 the obs is:979 +[12:04:04.791] Odometry x=0.016947, y=1.261567, theta=-0.095109 +[12:04:05.101] Odometry x=0.018179, y=1.272987, theta=-0.106414 +[12:04:05.292] Odometry x=0.019848, y=1.287034, theta=-0.082830 +[12:04:05.534] Odometry x=0.018982, y=1.301621, theta=-0.069459 +[12:04:05.809] Odometry x=0.019544, y=1.316669, theta=-0.040940 +[12:04:06.045] Odometry x=0.020623, y=1.332377, theta=-0.054597 +[12:04:06.278] Odometry x=0.020706, y=1.347387, theta=-0.070649 +[12:04:06.473] After Reprojection Map nMatches:1298 ,distance between ekf and vo x:0.000973 ,z=0.000812,angle between two frames:0.000059 +[12:04:06.477] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =980 error init =0.021976 error end=0.023242 +[12:04:06.477] After pose optimization, distance between ekf and vo x:0.000973 ,z=0.000812,angle between two frames:0.000059 +[12:04:06.477] Update EKF and 3D points the number of feature in the new frame: 980 and number of obs: 980 +[12:04:06.478] frame Scene Depth mean:2.330864 ,depth min:0.069377 +[12:04:06.496] need key frame pitch dis: 0.250709 translation dif:0.264902 +[12:04:06.496] Choose frame as a key frame Scene Depth mean:2.330864 ,depth min:0.069377 +[12:04:06.496] frame process finished the id is: 58 the obs is:936 +[12:04:07.544] Odometry x=0.020014, y=1.327953, theta=-0.079630 +[12:04:07.817] Odometry x=0.018375, y=1.331074, theta=-0.079652 +[12:04:08.057] Odometry x=0.018849, y=1.338727, theta=-0.078486 +[12:04:08.285] Odometry x=0.019029, y=1.348083, theta=-0.072040 +[12:04:08.451] After Reprojection Map nMatches:1635 ,distance between ekf and vo x:0.000611 ,z=0.000637,angle between two frames:0.000034 +[12:04:08.455] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1224 error init =0.031640 error end=0.037408 +[12:04:08.455] After pose optimization, distance between ekf and vo x:0.000611 ,z=0.000637,angle between two frames:0.000034 +[12:04:08.455] Update EKF and 3D points the number of feature in the new frame: 1224 and number of obs: 1224 +[12:04:08.455] frame Scene Depth mean:2.500277 ,depth min:0.054714 +[12:04:08.474] need key frame pitch dis: 0.174185 translation dif:0.266916 +[12:04:08.474] Choose frame as a key frame Scene Depth mean:2.500277 ,depth min:0.054714 +[12:04:08.474] frame process finished the id is: 59 the obs is:1210 +[12:04:08.523] Odometry x=0.018838, y=1.352559, theta=-0.057950 +[12:04:08.792] Odometry x=0.019288, y=1.360839, theta=-0.057098 +[12:04:09.114] Odometry x=0.019818, y=1.371069, theta=-0.060141 +[12:04:09.297] Odometry x=0.019873, y=1.380985, theta=-0.029632 +[12:04:09.546] Odometry x=0.019971, y=1.391911, theta=-0.025896 +[12:04:09.812] Odometry x=0.020230, y=1.402760, theta=-0.019394 +[12:04:10.053] Odometry x=0.019452, y=1.415271, theta=-0.014616 +[12:04:10.125] After Reprojection Map nMatches:1276 ,distance between ekf and vo x:0.000829 ,z=0.000622,angle between two frames:0.000046 +[12:04:10.128] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =960 error init =0.020487 error end=0.029569 +[12:04:10.129] After pose optimization, distance between ekf and vo x:0.000829 ,z=0.000622,angle between two frames:0.000046 +[12:04:10.129] Update EKF and 3D points the number of feature in the new frame: 960 and number of obs: 960 +[12:04:10.129] frame Scene Depth mean:2.194218 ,depth min:0.052725 +[12:04:10.145] need key frame pitch dis: 0.163415 translation dif:0.272919 +[12:04:10.145] Choose frame as a key frame Scene Depth mean:2.194218 ,depth min:0.052725 +[12:04:10.145] frame process finished the id is: 60 the obs is:925 +[12:04:10.308] Odometry x=0.019540, y=1.409250, theta=-0.007716 +[12:04:10.526] Odometry x=0.019349, y=1.416402, theta=0.018900 +[12:04:10.798] Odometry x=0.019131, y=1.426554, theta=0.035062 +[12:04:11.069] Odometry x=0.018502, y=1.438828, theta=0.041287 +[12:04:11.300] Odometry x=0.017972, y=1.449665, theta=0.049986 +[12:04:11.555] Odometry x=0.017038, y=1.460037, theta=0.028894 +[12:04:11.773] Odometry x=0.016724, y=1.471049, theta=0.021805 +[12:04:12.043] Odometry x=0.015397, y=1.481576, theta=0.057826 +[12:04:12.274] Odometry x=0.014213, y=1.493222, theta=0.059591 +[12:04:12.330] After Reprojection Map nMatches:1420 ,distance between ekf and vo x:0.000859 ,z=0.000709,angle between two frames:0.000036 +[12:04:12.333] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1152 error init =0.014706 error end=0.009951 +[12:04:12.333] After pose optimization, distance between ekf and vo x:0.000859 ,z=0.000709,angle between two frames:0.000036 +[12:04:12.333] Update EKF and 3D points the number of feature in the new frame: 1152 and number of obs: 1152 +[12:04:12.333] frame Scene Depth mean:1.610212 ,depth min:0.051158 +[12:04:12.347] need key frame pitch dis: 0.141467 translation dif:0.243624 +[12:04:12.347] Choose frame as a key frame Scene Depth mean:1.610212 ,depth min:0.051158 +[12:04:12.348] frame process finished the id is: 61 the obs is:1117 +[12:04:12.531] Odometry x=0.015370, y=1.483961, theta=0.041315 +[12:04:13.810] Odometry x=0.015275, y=1.484132, theta=0.027372 +[12:04:14.002] After Reprojection Map nMatches:1234 ,distance between ekf and vo x:0.000553 ,z=0.000499,angle between two frames:0.000025 +[12:04:14.004] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =953 error init =0.014431 error end=0.024986 +[12:04:14.004] After pose optimization, distance between ekf and vo x:0.000553 ,z=0.000499,angle between two frames:0.000025 +[12:04:14.004] Update EKF and 3D points the number of feature in the new frame: 953 and number of obs: 953 +[12:04:14.005] frame Scene Depth mean:1.826515 ,depth min:0.051044 +[12:04:14.020] need key frame pitch dis: 0.188689 translation dif:0.235754 +[12:04:14.020] Choose frame as a key frame Scene Depth mean:1.826515 ,depth min:0.051044 +[12:04:14.020] frame process finished the id is: 62 the obs is:953 +[12:04:14.051] Odometry x=0.014312, y=1.484700, theta=0.025952 +[12:04:14.305] Odometry x=0.014193, y=1.484789, theta=-0.004381 +[12:04:14.553] Odometry x=0.013951, y=1.485206, theta=-0.101843 +[12:04:14.802] Odometry x=0.013965, y=1.485357, theta=-0.234660 +[12:04:15.106] Odometry x=0.013907, y=1.486431, theta=-0.398669 +[12:04:16.545] Odometry x=0.013239, y=1.486755, theta=-0.468186 +[12:04:16.785] Odometry x=0.013044, y=1.487046, theta=-0.471582 +[12:04:16.830] After Reprojection Map nMatches:1849 ,distance between ekf and vo x:0.000304 ,z=0.000979,angle between two frames:0.000024 +[12:04:16.838] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1358 error init =0.031015 error end=0.033125 +[12:04:16.838] After pose optimization, distance between ekf and vo x:-0.343663 ,z=18.035674,angle between two frames:0.510553 +[12:04:16.838] frame process finished the id is: 62 the obs is:953 +[12:04:17.117] Odometry x=0.012893, y=1.487317, theta=-0.512993 +[12:04:17.298] Odometry x=0.012899, y=1.487325, theta=-0.595213 +[12:04:17.573] Odometry x=0.012776, y=1.487561, theta=-0.688452 +[12:04:19.096] Odometry x=0.012802, y=1.487742, theta=-0.724140 +[12:04:19.286] Odometry x=0.012805, y=1.487883, theta=-0.759790 +[12:04:19.532] Odometry x=0.012811, y=1.487887, theta=-0.833846 +[12:04:19.609] After Reprojection Map nMatches:2197 ,distance between ekf and vo x:0.000289 ,z=0.000055,angle between two frames:0.000008 +[12:04:19.614] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1732 error init =0.057926 error end=0.016596 +[12:04:19.614] After pose optimization, distance between ekf and vo x:0.020392 ,z=-0.001944,angle between two frames:0.001130 +[12:04:19.614] Update EKF and 3D points the number of feature in the new frame: 1732 and number of obs: 1732 +[12:04:19.614] frame Scene Depth mean:1.657263 ,depth min:0.059380 +[12:04:19.641] need key frame pitch dis: 1.132604 translation dif:0.222592 +[12:04:19.641] Choose frame as a key frame Scene Depth mean:1.657263 ,depth min:0.059380 +[12:04:19.641] frame process finished the id is: 64 the obs is:1729 +[12:04:19.798] Odometry x=0.017482, y=1.487288, theta=-0.886985 +[12:04:20.032] Odometry x=0.017761, y=1.487294, theta=-0.947132 +[12:04:20.311] Odometry x=0.017886, y=1.487378, theta=-1.005716 +[12:04:20.549] Odometry x=0.017956, y=1.487413, theta=-1.067296 +[12:04:21.540] Odometry x=0.018162, y=1.487459, theta=-1.071738 +[12:04:21.794] Odometry x=0.022754, y=1.489959, theta=-1.070099 +[12:04:22.022] Odometry x=0.037453, y=1.498004, theta=-1.069585 +[12:04:22.300] Odometry x=0.054006, y=1.506673, theta=-1.089961 +[12:04:22.542] Odometry x=0.069695, y=1.514496, theta=-1.140571 +[12:04:22.548] After Reprojection Map nMatches:2227 ,distance between ekf and vo x:0.000086 ,z=-0.000031,angle between two frames:0.000001 +[12:04:22.554] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1823 error init =0.114395 error end=0.015666 +[12:04:22.554] After pose optimization, distance between ekf and vo x:0.000086 ,z=-0.000031,angle between two frames:0.000001 +[12:04:22.554] Update EKF and 3D points the number of feature in the new frame: 1823 and number of obs: 1823 +[12:04:22.554] frame Scene Depth mean:1.340164 ,depth min:0.115377 +[12:04:22.578] need key frame pitch dis: 1.375812 translation dif:0.279928 +[12:04:22.578] Choose frame as a key frame Scene Depth mean:1.340164 ,depth min:0.115377 +[12:04:22.579] frame process finished the id is: 65 the obs is:1822 +[12:04:22.773] Odometry x=0.093739, y=1.525431, theta=-1.146576 +[12:04:24.542] Odometry x=0.094085, y=1.525915, theta=-1.149591 +[12:04:24.789] Odometry x=0.097726, y=1.527342, theta=-1.148237 +[12:04:24.972] After Reprojection Map nMatches:1976 ,distance between ekf and vo x:0.000012 ,z=-0.000031,angle between two frames:0.000001 +[12:04:24.977] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1436 error init =0.135796 error end=0.060225 +[12:04:24.977] After pose optimization, distance between ekf and vo x:0.224131 ,z=0.250388,angle between two frames:0.027237 +[12:04:24.977] frame process finished the id is: 65 the obs is:1822 +[12:04:25.125] Odometry x=0.104043, y=1.529955, theta=-1.146162 +[12:04:25.278] Odometry x=0.111253, y=1.532985, theta=-1.141104 +[12:04:25.547] Odometry x=0.118972, y=1.536469, theta=-1.136708 +[12:04:25.814] Odometry x=0.126517, y=1.539978, theta=-1.132628 +[12:04:26.059] Odometry x=0.134791, y=1.543667, theta=-1.132393 +[12:04:26.307] Odometry x=0.143553, y=1.547896, theta=-1.131925 +[12:04:26.534] Odometry x=0.152760, y=1.552233, theta=-1.136499 +[12:04:26.784] Odometry x=0.161842, y=1.556459, theta=-1.132679 +[12:04:27.118] Odometry x=0.171114, y=1.560538, theta=-1.126296 +[12:04:27.324] Odometry x=0.180489, y=1.564616, theta=-1.122980 +[12:04:27.535] Odometry x=0.189640, y=1.569050, theta=-1.121137 +[12:04:27.810] Odometry x=0.198633, y=1.573407, theta=-1.115688 +[12:04:28.055] Odometry x=0.207699, y=1.577763, theta=-1.113086 +[12:04:29.316] Odometry x=0.207709, y=1.577755, theta=-1.116196 +[12:04:29.554] Odometry x=0.207716, y=1.577746, theta=-1.169451 +[12:04:29.616] After Reprojection Map nMatches:2988 ,distance between ekf and vo x:0.000040 ,z=-0.000043,angle between two frames:0.000001 +[12:04:29.624] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =2286 error init =0.396740 error end=0.035571 +[12:04:29.624] After pose optimization, distance between ekf and vo x:0.052893 ,z=-0.104217,angle between two frames:0.007455 +[12:04:29.624] Update EKF and 3D points the number of feature in the new frame: 2286 and number of obs: 2286 +[12:04:29.624] frame Scene Depth mean:1.250409 ,depth min:0.133361 +[12:04:29.654] need key frame pitch dis: 1.517307 translation dif:0.386061 +[12:04:29.654] Choose frame as a key frame Scene Depth mean:1.250409 ,depth min:0.133361 +[12:04:29.656] frame process finished the id is: 67 the obs is:2285 +[12:04:29.778] Odometry x=0.196062, y=1.542624, theta=-1.271688 +[12:04:30.054] Odometry x=0.196019, y=1.542465, theta=-1.369131 +[12:04:30.299] Odometry x=0.196026, y=1.542514, theta=-1.481752 +[12:04:31.281] Odometry x=0.195982, y=1.542148, theta=-1.526015 +[12:04:31.541] Odometry x=0.195968, y=1.542132, theta=-1.575576 +[12:04:31.786] Odometry x=0.196133, y=1.542084, theta=-1.658570 +[12:04:32.043] Odometry x=0.196149, y=1.542084, theta=-1.774177 +[12:04:32.285] Odometry x=0.196147, y=1.542055, theta=-1.896427 +[12:04:32.537] Odometry x=0.196146, y=1.542056, theta=-2.027724 +[12:04:32.732] After Reprojection Map nMatches:2646 ,distance between ekf and vo x:0.000005 ,z=-0.000025,angle between two frames:0.000001 +[12:04:32.737] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =2110 error init =0.199544 error end=0.027571 +[12:04:32.737] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000025,angle between two frames:0.000001 +[12:04:32.737] Update EKF and 3D points the number of feature in the new frame: 2110 and number of obs: 2110 +[12:04:32.739] frame Scene Depth mean:0.462882 ,depth min:0.050282 +[12:04:32.758] need key frame pitch dis: 2.343591 translation dif:0.386035 +[12:04:32.758] Choose frame as a key frame Scene Depth mean:0.462882 ,depth min:0.050282 +[12:04:32.758] frame process finished the id is: 68 the obs is:1590 +[12:04:32.824] Odometry x=0.196024, y=1.542459, theta=-2.097972 +[12:04:34.060] Odometry x=0.195997, y=1.542446, theta=-2.135197 +[12:04:34.280] Odometry x=0.195975, y=1.542437, theta=-2.170836 +[12:04:34.533] Odometry x=0.195949, y=1.542405, theta=-2.246428 +[12:04:34.797] Odometry x=0.195937, y=1.542370, theta=-2.358758 +[12:04:34.874] After Reprojection Map nMatches:2164 ,distance between ekf and vo x:-0.000005 ,z=0.000053,angle between two frames:0.000000 +[12:04:34.891] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1336 error init =0.179337 error end=0.085459 +[12:04:34.891] After pose optimization, distance between ekf and vo x:0.015946 ,z=0.025012,angle between two frames:0.000540 +[12:04:34.891] Update EKF and 3D points the number of feature in the new frame: 1336 and number of obs: 1336 +[12:04:34.893] frame Scene Depth mean:0.548857 ,depth min:0.052561 +[12:04:34.910] need key frame pitch dis: 1.108721 translation dif:2.711648 +[12:04:34.910] Choose frame as a key frame Scene Depth mean:0.548857 ,depth min:0.052561 +[12:04:34.911] frame process finished the id is: 69 the obs is:961 +[12:04:35.098] Odometry x=0.199543, y=1.548065, theta=-2.464618 +[12:04:35.286] Odometry x=0.199540, y=1.548042, theta=-2.538586 +[12:04:36.652] After Reprojection Map nMatches:1737 ,distance between ekf and vo x:-0.000028 ,z=0.000018,angle between two frames:0.000000 +[12:04:36.667] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =937 error init =0.557372 error end=0.126210 +[12:04:36.667] After pose optimization, distance between ekf and vo x:0.002002 ,z=0.001652,angle between two frames:0.000024 +[12:04:36.667] Update EKF and 3D points the number of feature in the new frame: 937 and number of obs: 937 +[12:04:36.667] frame Scene Depth mean:0.799624 ,depth min:0.051287 +[12:04:36.687] need key frame pitch dis: 1.581979 translation dif:0.277819 +[12:04:36.687] Choose frame as a key frame Scene Depth mean:0.799624 ,depth min:0.051287 +[12:04:36.688] frame process finished the id is: 70 the obs is:907 +[12:04:37.807] Odometry x=0.200007, y=1.548432, theta=-2.564976 +[12:04:38.062] Odometry x=0.200005, y=1.548426, theta=-2.567379 +[12:04:38.280] Odometry x=0.199974, y=1.548356, theta=-2.577917 +[12:04:38.537] Odometry x=0.199971, y=1.548353, theta=-2.601649 +[12:04:38.794] Odometry x=0.199811, y=1.548329, theta=-2.631543 +[12:04:39.374] After Reprojection Map nMatches:1498 ,distance between ekf and vo x:-0.000006 ,z=0.000024,angle between two frames:0.000000 +[12:04:39.379] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =888 error init =2.748435 error end=0.062510 +[12:04:39.379] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000024,angle between two frames:0.000000 +[12:04:39.379] Update EKF and 3D points the number of feature in the new frame: 888 and number of obs: 888 +[12:04:39.380] frame Scene Depth mean:1.428927 ,depth min:0.050124 +[12:04:39.397] need key frame pitch dis: 1.990371 translation dif:0.066859 +[12:04:39.397] Choose frame as a key frame Scene Depth mean:1.428927 ,depth min:0.050124 +[12:04:39.397] frame process finished the id is: 71 the obs is:877 +[12:04:40.061] Odometry x=0.199858, y=1.548357, theta=-2.632326 +[12:04:40.326] Odometry x=0.200017, y=1.548037, theta=-2.631784 +[12:04:40.556] Odometry x=0.204995, y=1.539569, theta=-2.628246 +[12:04:40.820] Odometry x=0.209621, y=1.531356, theta=-2.621421 +[12:04:41.091] Odometry x=0.214309, y=1.523176, theta=-2.620868 +[12:04:41.264] Odometry x=0.218971, y=1.515015, theta=-2.626008 +[12:04:41.543] Odometry x=0.223751, y=1.506423, theta=-2.628138 +[12:04:41.763] After Reprojection Map nMatches:1268 ,distance between ekf and vo x:-0.000022 ,z=0.000005,angle between two frames:0.000000 +[12:04:41.774] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =638 error init =0.283910 error end=0.225759 +[12:04:41.774] After pose optimization, distance between ekf and vo x:0.001317 ,z=0.000749,angle between two frames:0.000078 +[12:04:41.774] Update EKF and 3D points the number of feature in the new frame: 638 and number of obs: 638 +[12:04:41.774] frame Scene Depth mean:1.643332 ,depth min:0.050019 +[12:04:41.780] Odometry x=0.221395, y=1.510080, theta=-2.630295 +[12:04:41.788] need key frame pitch dis: 1.988339 translation dif:0.066735 +[12:04:41.788] Choose frame as a key frame Scene Depth mean:1.643332 ,depth min:0.050019 +[12:04:41.789] frame process finished the id is: 72 the obs is:631 +[12:04:42.049] Odometry x=0.225056, y=1.503495, theta=-2.627888 +[12:04:42.468] Odometry x=0.230229, y=1.494843, theta=-2.623128 +[12:04:42.689] Odometry x=0.235202, y=1.485978, theta=-2.620907 +[12:04:42.823] Odometry x=0.239732, y=1.478206, theta=-2.619916 +[12:04:43.271] Odometry x=0.244162, y=1.470300, theta=-2.617188 +[12:04:43.405] Odometry x=0.248731, y=1.462367, theta=-2.618491 +[12:04:43.538] Odometry x=0.253607, y=1.453933, theta=-2.617959 +[12:04:43.789] Odometry x=0.258457, y=1.445403, theta=-2.614159 +[12:04:44.047] Odometry x=0.263453, y=1.436797, theta=-2.608363 +[12:04:44.178] After Reprojection Map nMatches:1267 ,distance between ekf and vo x:-0.000010 ,z=0.000082,angle between two frames:0.000014 +[12:04:44.183] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =759 error init =0.094600 error end=0.065923 +[12:04:44.183] After pose optimization, distance between ekf and vo x:-0.000010 ,z=0.000082,angle between two frames:0.000014 +[12:04:44.183] Update EKF and 3D points the number of feature in the new frame: 759 and number of obs: 759 +[12:04:44.184] frame Scene Depth mean:1.434227 ,depth min:0.056611 +[12:04:44.199] need key frame pitch dis: 1.963419 translation dif:0.114958 +[12:04:44.199] Choose frame as a key frame Scene Depth mean:1.434227 ,depth min:0.056611 +[12:04:44.200] frame process finished the id is: 73 the obs is:740 +[12:04:44.304] Odometry x=0.258636, y=1.445247, theta=-2.605375 +[12:04:44.531] Odometry x=0.262488, y=1.437894, theta=-2.595775 +[12:04:44.819] Odometry x=0.267892, y=1.428374, theta=-2.594800 +[12:04:45.111] Odometry x=0.274146, y=1.418203, theta=-2.597090 +[12:04:45.306] Odometry x=0.280496, y=1.407609, theta=-2.598620 +[12:04:45.545] Odometry x=0.287032, y=1.396794, theta=-2.595074 +[12:04:45.817] Odometry x=0.293651, y=1.385794, theta=-2.596426 +[12:04:46.045] Odometry x=0.300088, y=1.374576, theta=-2.591587 +[12:04:46.291] Odometry x=0.306929, y=1.363389, theta=-2.594098 +[12:04:46.551] Odometry x=0.313524, y=1.352005, theta=-2.600636 +[12:04:46.574] After Reprojection Map nMatches:1379 ,distance between ekf and vo x:0.041648 ,z=0.135105,angle between two frames:0.100000 +[12:04:46.583] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =744 error init =0.066558 error end=0.044736 +[12:04:46.583] After pose optimization, distance between ekf and vo x:0.050355 ,z=0.138767,angle between two frames:0.100306 +[12:04:46.583] Update EKF and 3D points the number of feature in the new frame: 744 and number of obs: 744 +[12:04:46.584] frame Scene Depth mean:1.682695 ,depth min:0.073333 +[12:04:46.598] need key frame pitch dis: 1.975583 translation dif:0.171219 +[12:04:46.598] Choose frame as a key frame Scene Depth mean:1.682695 ,depth min:0.073333 +[12:04:46.599] frame process finished the id is: 74 the obs is:670 +[12:04:46.795] Odometry x=0.317656, y=1.396843, theta=-2.617539 +[12:04:47.081] Odometry x=0.323700, y=1.385767, theta=-2.614412 +[12:04:47.292] Odometry x=0.330124, y=1.374505, theta=-2.604561 +[12:04:47.558] Odometry x=0.336564, y=1.364244, theta=-2.578824 +[12:04:47.787] Odometry x=0.343799, y=1.352989, theta=-2.549388 +[12:04:47.937] After Reprojection Map nMatches:968 ,distance between ekf and vo x:0.000016 ,z=0.000034,angle between two frames:0.000000 +[12:04:47.945] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =605 error init =0.061040 error end=0.049567 +[12:04:47.945] After pose optimization, distance between ekf and vo x:0.034418 ,z=0.019676,angle between two frames:0.000187 +[12:04:47.945] Update EKF and 3D points the number of feature in the new frame: 605 and number of obs: 605 +[12:04:47.945] frame Scene Depth mean:1.356478 ,depth min:0.053499 +[12:04:47.957] need key frame pitch dis: 2.111811 translation dif:0.138248 +[12:04:47.957] Choose frame as a key frame Scene Depth mean:1.356478 ,depth min:0.053499 +[12:04:47.958] frame process finished the id is: 75 the obs is:594 +[12:04:48.031] Odometry x=0.351661, y=1.360357, theta=-2.548650 +[12:04:48.301] Odometry x=0.357201, y=1.352131, theta=-2.550366 +[12:04:48.538] Odometry x=0.364436, y=1.341377, theta=-2.549612 +[12:04:48.820] Odometry x=0.371981, y=1.330168, theta=-2.552892 +[12:04:49.135] Odometry x=0.379880, y=1.318659, theta=-2.564329 +[12:04:49.288] Odometry x=0.387408, y=1.307133, theta=-2.564938 +[12:04:49.554] Odometry x=0.394909, y=1.295607, theta=-2.561895 +[12:04:49.583] After Reprojection Map nMatches:1116 ,distance between ekf and vo x:-0.000470 ,z=0.000069,angle between two frames:0.000012 +[12:04:49.590] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =691 error init =0.264856 error end=0.081138 +[12:04:49.590] After pose optimization, distance between ekf and vo x:-0.000312 ,z=0.000191,angle between two frames:0.000033 +[12:04:49.590] Update EKF and 3D points the number of feature in the new frame: 691 and number of obs: 691 +[12:04:49.590] frame Scene Depth mean:1.106439 ,depth min:0.052139 +[12:04:49.604] need key frame pitch dis: 2.112089 translation dif:0.082810 +[12:04:49.604] Choose frame as a key frame Scene Depth mean:1.106439 ,depth min:0.052139 +[12:04:49.604] frame process finished the id is: 76 the obs is:662 +[12:04:49.778] Odometry x=0.390737, y=1.301827, theta=-2.548928 +[12:04:50.055] Odometry x=0.396526, y=1.293244, theta=-2.549956 +[12:04:50.282] Odometry x=0.403500, y=1.282500, theta=-2.543319 +[12:04:50.529] Odometry x=0.411126, y=1.270996, theta=-2.537033 +[12:04:50.803] Odometry x=0.419023, y=1.259599, theta=-2.538776 +[12:04:51.088] Odometry x=0.426681, y=1.247955, theta=-2.539180 +[12:04:51.293] Odometry x=0.434547, y=1.236521, theta=-2.538516 +[12:04:51.517] After Reprojection Map nMatches:1093 ,distance between ekf and vo x:-0.000421 ,z=0.000041,angle between two frames:0.000013 +[12:04:51.523] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =599 error init =0.435341 error end=0.054652 +[12:04:51.523] After pose optimization, distance between ekf and vo x:-0.000412 ,z=0.000048,angle between two frames:0.000013 +[12:04:51.523] Update EKF and 3D points the number of feature in the new frame: 599 and number of obs: 599 +[12:04:51.523] Odometry x=0.431609, y=1.241293, theta=-2.533122 +[12:04:51.523] frame Scene Depth mean:1.281094 ,depth min:0.051873 +[12:04:51.534] need key frame pitch dis: 5.290889 translation dif:0.861372 +[12:04:51.534] Choose frame as a key frame Scene Depth mean:1.281094 ,depth min:0.051873 +[12:04:51.534] frame process finished the id is: 77 the obs is:576 +[12:04:51.783] Odometry x=0.437784, y=1.232288, theta=-2.528160 +[12:04:52.048] Odometry x=0.445272, y=1.221607, theta=-2.521802 +[12:04:52.292] Odometry x=0.453307, y=1.210353, theta=-2.523075 +[12:04:52.548] Odometry x=0.461712, y=1.198435, theta=-2.523188 +[12:04:52.806] Odometry x=0.469728, y=1.186809, theta=-2.529373 +[12:04:53.092] Odometry x=0.477724, y=1.174887, theta=-2.532838 +[12:04:53.122] After Reprojection Map nMatches:916 ,distance between ekf and vo x:-0.000062 ,z=0.000087,angle between two frames:0.000043 +[12:04:53.128] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =685 error init =0.031626 error end=0.022813 +[12:04:53.128] After pose optimization, distance between ekf and vo x:-0.000059 ,z=0.000090,angle between two frames:0.000042 +[12:04:53.128] Update EKF and 3D points the number of feature in the new frame: 685 and number of obs: 685 +[12:04:53.128] frame Scene Depth mean:1.481035 ,depth min:0.051996 +[12:04:53.141] need key frame pitch dis: 5.290617 translation dif:0.885684 +[12:04:53.142] Choose frame as a key frame Scene Depth mean:1.481035 ,depth min:0.051996 +[12:04:53.142] frame process finished the id is: 78 the obs is:643 +[12:04:53.289] Odometry x=0.488595, y=1.159336, theta=-2.532892 +[12:04:53.535] Odometry x=0.496749, y=1.147725, theta=-2.530736 +[12:04:53.837] Odometry x=0.504784, y=1.136187, theta=-2.536920 +[12:04:54.034] Odometry x=0.511813, y=1.125307, theta=-2.534579 +[12:04:54.307] Odometry x=0.519845, y=1.113875, theta=-2.538791 +[12:04:54.367] After Reprojection Map nMatches:830 ,distance between ekf and vo x:-0.001240 ,z=0.000101,angle between two frames:0.000054 +[12:04:54.374] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =626 error init =0.033308 error end=0.023556 +[12:04:54.374] After pose optimization, distance between ekf and vo x:0.001255 ,z=0.002190,angle between two frames:0.000333 +[12:04:54.374] Update EKF and 3D points the number of feature in the new frame: 626 and number of obs: 626 +[12:04:54.375] frame Scene Depth mean:1.280266 ,depth min:0.058799 +[12:04:54.385] need key frame pitch dis: 5.288154 translation dif:0.906961 +[12:04:54.386] Choose frame as a key frame Scene Depth mean:1.280266 ,depth min:0.058799 +[12:04:54.386] frame process finished the id is: 79 the obs is:621 +[12:04:54.551] Odometry x=0.518263, y=1.117296, theta=-2.530388 +[12:04:54.795] Odometry x=0.524179, y=1.108582, theta=-2.516268 +[12:04:55.106] Odometry x=0.532356, y=1.097926, theta=-2.513078 +[12:04:55.289] Odometry x=0.540830, y=1.085949, theta=-2.519040 +[12:04:55.424] After Reprojection Map nMatches:962 ,distance between ekf and vo x:0.288064 ,z=0.637797,angle between two frames:0.500029 +[12:04:55.427] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =688 error init =0.065854 error end=0.052154 +[12:04:55.427] After pose optimization, distance between ekf and vo x:0.288064 ,z=0.637797,angle between two frames:0.500029 +[12:04:55.427] frame process finished the id is: 79 the obs is:621 +[12:04:55.549] Odometry x=0.549121, y=1.073915, theta=-2.515389 +[12:04:55.815] Odometry x=0.557330, y=1.062558, theta=-2.514357 +[12:04:56.054] Odometry x=0.565573, y=1.051152, theta=-2.505198 +[12:04:56.253] After Reprojection Map nMatches:950 ,distance between ekf and vo x:0.278457 ,z=0.641963,angle between two frames:0.500010 +[12:04:56.256] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =655 error init =0.189778 error end=0.065852 +[12:04:56.256] After pose optimization, distance between ekf and vo x:0.278457 ,z=0.641963,angle between two frames:0.500010 +[12:04:56.256] frame process finished the id is: 79 the obs is:621 +[12:04:56.280] Odometry x=0.573887, y=1.039890, theta=-2.512113 +[12:04:56.538] Odometry x=0.582213, y=1.028550, theta=-2.507940 +[12:04:56.821] Odometry x=0.590528, y=1.017213, theta=-2.510700 +[12:04:56.978] After Reprojection Map nMatches:808 ,distance between ekf and vo x:0.469992 ,z=0.848675,angle between two frames:5.582878 +[12:04:56.981] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =619 error init =0.049753 error end=0.033985 +[12:04:56.981] After pose optimization, distance between ekf and vo x:0.469992 ,z=0.848675,angle between two frames:5.582878 +[12:04:56.981] frame process finished the id is: 79 the obs is:621 +[12:04:57.084] Odometry x=0.598669, y=1.005981, theta=-2.508031 +[12:04:57.317] Odometry x=0.606773, y=0.994213, theta=-2.505553 +[12:04:57.543] Odometry x=0.615083, y=0.982187, theta=-2.502844 +[12:04:57.747] After Reprojection Map nMatches:617 ,distance between ekf and vo x:0.696645 ,z=1.014137,angle between two frames:5.382991 +[12:04:57.749] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =451 error init =0.036489 error end=0.031616 +[12:04:57.749] After pose optimization, distance between ekf and vo x:0.696645 ,z=1.014137,angle between two frames:5.382991 +[12:04:57.749] frame process finished the id is: 79 the obs is:621 +[12:04:57.801] Odometry x=0.623623, y=0.971042, theta=-2.507856 +[12:04:58.055] Odometry x=0.631952, y=0.959747, theta=-2.504050 +[12:04:58.308] Odometry x=0.640340, y=0.948515, theta=-2.492213 +[12:04:58.365] After Reprojection Map nMatches:602 ,distance between ekf and vo x:0.577245 ,z=0.938188,angle between two frames:5.483080 +[12:04:58.367] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =469 error init =0.064622 error end=0.045486 +[12:04:58.367] After pose optimization, distance between ekf and vo x:0.577245 ,z=0.938188,angle between two frames:5.483080 +[12:04:58.367] frame process finished the id is: 79 the obs is:621 +[12:04:58.534] Odometry x=0.648781, y=0.937319, theta=-2.483570 +[12:04:58.787] Odometry x=0.657518, y=0.926069, theta=-2.480633 +[12:04:59.085] After Reprojection Map nMatches:412 ,distance between ekf and vo x:0.258117 ,z=0.650767,angle between two frames:0.500089 +[12:04:59.087] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =286 error init =0.279077 error end=0.092383 +[12:04:59.087] After pose optimization, distance between ekf and vo x:0.258117 ,z=0.650767,angle between two frames:0.500089 +[12:04:59.087] frame process finished the id is: 79 the obs is:621 +[12:04:59.125] Odometry x=0.666228, y=0.914693, theta=-2.481049 +[12:04:59.285] Odometry x=0.675148, y=0.903520, theta=-2.475394 +[12:04:59.553] Odometry x=0.683807, y=0.892512, theta=-2.469749 +[12:04:59.780] After Reprojection Map nMatches:308 ,distance between ekf and vo x:0.443355 ,z=0.862789,angle between two frames:5.583084 +[12:04:59.781] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =260 error init =0.025995 error end=0.040750 +[12:04:59.781] After pose optimization, distance between ekf and vo x:3.564651 ,z=0.073054,angle between two frames:3.822215 +[12:04:59.781] frame process finished the id is: 79 the obs is:621 +[12:04:59.797] Odometry x=0.692704, y=0.881321, theta=-2.467662 +[12:05:00.025] Odometry x=0.701558, y=0.870059, theta=-2.461200 +[12:05:00.295] Odometry x=0.708231, y=0.861395, theta=-2.480341 +[12:05:00.526] Odometry x=0.716900, y=0.850644, theta=-2.450147 +[12:05:00.574] After Reprojection Map nMatches:224 ,distance between ekf and vo x:1.463203 ,z=1.254610,angle between two frames:4.782950 +[12:05:00.575] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =139 error init =0.000260 error end=0.000886 +[12:05:00.575] After pose optimization, distance between ekf and vo x:1.418423 ,z=1.299755,angle between two frames:4.782977 +[12:05:00.575] frame process finished the id is: 79 the obs is:621 +[12:05:00.765] Odometry x=0.726305, y=0.839542, theta=-2.436254 +[12:05:01.086] Odometry x=0.735422, y=0.828648, theta=-2.445274 +[12:05:01.308] Odometry x=0.744409, y=0.817981, theta=-2.448299 +[12:05:01.335] After Reprojection Map nMatches:290 ,distance between ekf and vo x:1.141667 ,z=1.275689,angle between two frames:4.983137 +[12:05:01.336] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =196 error init =0.001163 error end=0.005727 +[12:05:01.336] After pose optimization, distance between ekf and vo x:1.140520 ,z=1.276581,angle between two frames:4.983221 +[12:05:01.336] frame process finished the id is: 79 the obs is:621 +[12:05:01.555] Odometry x=0.753376, y=0.807195, theta=-2.450382 +[12:05:01.795] Odometry x=0.762347, y=0.796522, theta=-2.430405 +[12:05:01.799] After Reprojection Map nMatches:297 ,distance between ekf and vo x:0.414614 ,z=0.877362,angle between two frames:5.583085 +[12:05:01.801] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =243 error init =0.193736 error end=0.046050 +[12:05:01.801] After pose optimization, distance between ekf and vo x:0.414614 ,z=0.877362,angle between two frames:5.583085 +[12:05:01.801] frame process finished the id is: 79 the obs is:621 +[12:05:02.029] Odometry x=0.771559, y=0.785916, theta=-2.420283 +[12:05:02.288] Odometry x=0.780817, y=0.775382, theta=-2.421347 +[12:05:02.351] After Reprojection Map nMatches:334 ,distance between ekf and vo x:0.864038 ,z=1.199870,angle between two frames:5.183173 +[12:05:02.352] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =252 error init =0.016435 error end=0.012845 +[12:05:02.352] After pose optimization, distance between ekf and vo x:0.864038 ,z=1.199870,angle between two frames:5.183173 +[12:05:02.352] frame process finished the id is: 79 the obs is:621 +[12:05:02.536] Odometry x=0.790333, y=0.764938, theta=-2.403540 +[12:05:02.728] After Reprojection Map nMatches:229 ,distance between ekf and vo x:0.137729 ,z=0.544806,angle between two frames:0.399988 +[12:05:02.729] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =194 error init =0.054390 error end=0.018245 +[12:05:02.729] After pose optimization, distance between ekf and vo x:0.138052 ,z=0.544985,angle between two frames:0.399945 +[12:05:02.729] frame process finished the id is: 79 the obs is:621 +[12:05:02.789] Odometry x=0.799425, y=0.754114, theta=-2.404750 +[12:05:03.089] Odometry x=0.808698, y=0.743439, theta=-2.412815 +[12:05:03.151] After Reprojection Map nMatches:290 ,distance between ekf and vo x:0.041881 ,z=0.279474,angle between two frames:0.200058 +[12:05:03.152] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =236 error init =0.022031 error end=0.019818 +[12:05:03.152] After pose optimization, distance between ekf and vo x:0.042250 ,z=0.279736,angle between two frames:0.200046 +[12:05:03.152] frame process finished the id is: 79 the obs is:621 +[12:05:03.302] Odometry x=0.818052, y=0.732836, theta=-2.422581 +[12:05:03.463] After Reprojection Map nMatches:283 ,distance between ekf and vo x:0.392357 ,z=0.886895,angle between two frames:0.699999 +[12:05:03.464] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =243 error init =0.005227 error end=0.004111 +[12:05:03.464] After pose optimization, distance between ekf and vo x:0.342000 ,z=0.888183,angle between two frames:0.699386 +[12:05:03.464] frame process finished the id is: 79 the obs is:621 +[12:05:03.548] Odometry x=0.827410, y=0.721864, theta=-2.433389 +[12:05:03.807] Odometry x=0.836818, y=0.710989, theta=-2.432833 +[12:05:03.835] After Reprojection Map nMatches:269 ,distance between ekf and vo x:0.618811 ,z=1.064822,angle between two frames:5.382952 +[12:05:03.836] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =214 error init =0.098869 error end=0.015834 +[12:05:03.836] After pose optimization, distance between ekf and vo x:0.618811 ,z=1.064822,angle between two frames:5.382952 +[12:05:03.836] frame process finished the id is: 79 the obs is:621 +[12:05:04.050] Odometry x=0.845960, y=0.700339, theta=-2.431364 +[12:05:04.075] After Reprojection Map nMatches:346 ,distance between ekf and vo x:0.152850 ,z=0.540698,angle between two frames:0.399977 +[12:05:04.076] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =304 error init =0.005115 error end=0.005099 +[12:05:04.076] After pose optimization, distance between ekf and vo x:0.152850 ,z=0.540698,angle between two frames:0.399977 +[12:05:04.076] frame process finished the id is: 79 the obs is:621 +[12:05:04.283] After Reprojection Map nMatches:373 ,distance between ekf and vo x:0.152848 ,z=0.540702,angle between two frames:0.399978 +[12:05:04.284] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =344 error init =0.752367 error end=0.013580 +[12:05:04.284] After pose optimization, distance between ekf and vo x:0.152848 ,z=0.540702,angle between two frames:0.399978 +[12:05:04.284] frame process finished the id is: 79 the obs is:621 +[12:05:04.311] Odometry x=0.855198, y=0.689729, theta=-2.412078 +[12:05:04.501] After Reprojection Map nMatches:319 ,distance between ekf and vo x:0.210851 ,z=0.667222,angle between two frames:0.499994 +[12:05:04.502] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =227 error init =0.000040 error end=0.004499 +[12:05:04.502] After pose optimization, distance between ekf and vo x:0.210849 ,z=0.667225,angle between two frames:0.499991 +[12:05:04.502] frame process finished the id is: 79 the obs is:621 +[12:05:04.550] Odometry x=0.864515, y=0.679180, theta=-2.408901 +[12:05:04.731] After Reprojection Map nMatches:370 ,distance between ekf and vo x:0.208662 ,z=0.667926,angle between two frames:0.499995 +[12:05:04.732] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =285 error init =0.103637 error end=0.009766 +[12:05:04.732] After pose optimization, distance between ekf and vo x:0.208662 ,z=0.667926,angle between two frames:0.499995 +[12:05:04.732] frame process finished the id is: 79 the obs is:621 +[12:05:04.822] Odometry x=0.873969, y=0.668665, theta=-2.410021 +[12:05:04.985] After Reprojection Map nMatches:373 ,distance between ekf and vo x:0.289755 ,z=0.783903,angle between two frames:0.599964 +[12:05:04.986] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =290 error init =0.308011 error end=0.036725 +[12:05:04.986] After pose optimization, distance between ekf and vo x:0.150337 ,z=0.806374,angle between two frames:0.562388 +[12:05:04.986] frame process finished the id is: 79 the obs is:621 +[12:05:05.069] Odometry x=0.883505, y=0.658087, theta=-2.412981 +[12:05:05.212] After Reprojection Map nMatches:310 ,distance between ekf and vo x:0.291908 ,z=0.783351,angle between two frames:0.600027 +[12:05:05.212] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =254 error init =0.002997 error end=0.006416 +[12:05:05.212] After pose optimization, distance between ekf and vo x:0.285328 ,z=0.783326,angle between two frames:0.598805 +[12:05:05.212] frame process finished the id is: 79 the obs is:621 +[12:05:05.290] Odometry x=0.892878, y=0.647596, theta=-2.405919 +[12:05:05.415] After Reprojection Map nMatches:289 ,distance between ekf and vo x:0.286573 ,z=0.785082,angle between two frames:0.599974 +[12:05:05.416] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =237 error init =0.208421 error end=0.007395 +[12:05:05.416] After pose optimization, distance between ekf and vo x:0.138558 ,z=0.938931,angle between two frames:0.530350 +[12:05:05.416] frame process finished the id is: 79 the obs is:621 +[12:05:05.550] Odometry x=0.902646, y=0.637052, theta=-2.401442 +[12:05:05.587] After Reprojection Map nMatches:72 ,distance between ekf and vo x:0.000210 ,z=0.000058,angle between two frames:0.000034 +[12:05:05.588] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =49 error init =0.051805 error end=0.065435 +[12:05:05.588] After pose optimization, distance between ekf and vo x:0.000514 ,z=0.000485,angle between two frames:0.000172 +[12:05:05.588] Update EKF and 3D points the number of feature in the new frame: 49 and number of obs: 49 +[12:05:05.588] frame Scene Depth mean:1.469718 ,depth min:0.113220 +[12:05:05.589] need key frame pitch dis: 1.797162 translation dif:1.805053 +[12:05:05.589] Choose frame as a key frame Scene Depth mean:1.469718 ,depth min:0.113220 +[12:05:05.589] frame process finished the id is: 102 the obs is:49 +[12:05:05.777] After Reprojection Map nMatches:68 ,distance between ekf and vo x:0.002238 ,z=0.004526,angle between two frames:0.000308 +[12:05:05.778] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =49 error init =0.012817 error end=0.008163 +[12:05:05.778] After pose optimization, distance between ekf and vo x:0.002238 ,z=0.004526,angle between two frames:0.000308 +[12:05:05.778] Update EKF and 3D points the number of feature in the new frame: 49 and number of obs: 49 +[12:05:05.778] frame Scene Depth mean:2.204504 ,depth min:0.482243 +[12:05:05.779] need key frame pitch dis: 1.972171 translation dif:1.386914 +[12:05:05.779] Choose frame as a key frame Scene Depth mean:2.204504 ,depth min:0.482243 +[12:05:05.779] frame process finished the id is: 103 the obs is:49 +[12:05:05.794] Odometry x=0.912194, y=0.628039, theta=-2.411846 +[12:05:05.972] After Reprojection Map nMatches:60 ,distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000000 +[12:05:05.972] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =33 error init =0.029074 error end=0.005143 +[12:05:05.972] After pose optimization, distance between ekf and vo x:-0.000052 ,z=-0.000200,angle between two frames:0.000034 +[12:05:05.972] Update EKF and 3D points the number of feature in the new frame: 33 and number of obs: 33 +[12:05:05.972] frame Scene Depth mean:2.200410 ,depth min:0.691302 +[12:05:05.973] need key frame pitch dis: 1.961973 translation dif:1.393564 +[12:05:05.973] Choose frame as a key frame Scene Depth mean:2.200410 ,depth min:0.691302 +[12:05:05.973] frame process finished the id is: 104 the obs is:33 +[12:05:06.029] Odometry x=0.917574, y=0.621311, theta=-2.401647 +[12:05:06.141] After Reprojection Map nMatches:38 ,distance between ekf and vo x:-0.000136 ,z=0.000224,angle between two frames:0.000076 +[12:05:06.141] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =24 error init =0.202247 error end=0.058993 +[12:05:06.141] After pose optimization, distance between ekf and vo x:-0.000136 ,z=0.000224,angle between two frames:0.000076 +[12:05:06.141] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[12:05:06.141] frame Scene Depth mean:1.864207 ,depth min:0.363300 +[12:05:06.142] need key frame pitch dis: 1.966405 translation dif:1.399943 +[12:05:06.142] Choose frame as a key frame Scene Depth mean:1.864207 ,depth min:0.363300 +[12:05:06.142] frame process finished the id is: 105 the obs is:24 +[12:05:06.289] Odometry x=0.922738, y=0.614878, theta=-2.406079 +[12:05:06.312] After Reprojection Map nMatches:25 ,distance between ekf and vo x:-0.000029 ,z=0.000039,angle between two frames:0.000015 +[12:05:06.312] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =11 error init =1.282626 error end=0.175150 +[12:05:06.312] After pose optimization, distance between ekf and vo x:-0.002126 ,z=0.003120,angle between two frames:0.001273 +[12:05:06.312] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11 +[12:05:06.312] frame Scene Depth mean:0.799203 ,depth min:0.258593 +[12:05:06.312] need key frame pitch dis: 1.941377 translation dif:1.405102 +[12:05:06.312] Choose frame as a key frame Scene Depth mean:0.799203 ,depth min:0.258593 +[12:05:06.312] frame process finished the id is: 106 the obs is:11 +[12:05:06.446] After Reprojection Map nMatches:23 ,distance between ekf and vo x:-0.002270 ,z=0.002487,angle between two frames:0.000257 +[12:05:06.446] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =22 error init =0.001728 error end=0.002503 +[12:05:06.446] After pose optimization, distance between ekf and vo x:-0.001971 ,z=0.002776,angle between two frames:0.000254 +[12:05:06.446] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 +[12:05:06.446] frame Scene Depth mean:1.876598 ,depth min:0.359031 +[12:05:06.447] need key frame pitch dis: 1.938132 translation dif:1.406452 +[12:05:06.447] Choose frame as a key frame Scene Depth mean:1.876598 ,depth min:0.359031 +[12:05:06.447] frame process finished the id is: 107 the obs is:22 +[12:05:06.556] Odometry x=0.928363, y=0.608332, theta=-2.377806 +[12:05:06.574] After Reprojection Map nMatches:22 ,distance between ekf and vo x:-0.000004 ,z=-0.000003,angle between two frames:0.000004 +[12:05:06.575] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =16 error init =0.000051 error end=0.000078 +[12:05:06.575] After pose optimization, distance between ekf and vo x:-0.000489 ,z=-0.000003,angle between two frames:0.001219 +[12:05:06.575] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[12:05:06.575] frame Scene Depth mean:1.733231 ,depth min:0.320645 +[12:05:06.575] need key frame pitch dis: 2.377642 translation dif:1.113964 +[12:05:06.575] Choose frame as a key frame Scene Depth mean:1.733231 ,depth min:0.320645 +[12:05:06.575] frame process finished the id is: 108 the obs is:16 +[12:05:06.710] After Reprojection Map nMatches:13 ,distance between ekf and vo x:0.000001 ,z=-0.000005,angle between two frames:0.000001 +[12:05:06.711] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =7 error init =0.012403 error end=0.084982 +[12:05:06.711] After pose optimization, distance between ekf and vo x:0.003908 ,z=0.002162,angle between two frames:0.006093 +[12:05:06.711] frame process finished the id is: 108 the obs is:16 +[12:05:06.783] Odometry x=0.945226, y=0.590983, theta=-2.395773 +[12:05:06.848] After Reprojection Map nMatches:21 ,distance between ekf and vo x:0.000121 ,z=0.000036,angle between two frames:0.000064 +[12:05:06.848] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =17 error init =0.001214 error end=0.000942 +[12:05:06.848] After pose optimization, distance between ekf and vo x:-0.042191 ,z=-0.014018,angle between two frames:0.065617 +[12:05:06.848] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17 +[12:05:06.848] frame Scene Depth mean:4.530622 ,depth min:0.344184 +[12:05:06.848] need key frame pitch dis: 0.031303 translation dif:0.800568 +[12:05:06.848] Choose frame as a key frame Scene Depth mean:4.530622 ,depth min:0.344184 +[12:05:06.848] frame process finished the id is: 110 the obs is:17 +[12:05:06.980] After Reprojection Map nMatches:15 ,distance between ekf and vo x:-0.000036 ,z=-0.000035,angle between two frames:0.000019 +[12:05:06.980] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =4 error init =0.000025 error end=0.000042 +[12:05:06.980] After pose optimization, distance between ekf and vo x:-0.000036 ,z=-0.000035,angle between two frames:0.000019 +[12:05:06.980] frame process finished the id is: 110 the obs is:17 +[12:05:07.092] Odometry x=0.942304, y=0.581048, theta=-2.401123 +[12:05:07.102] After Reprojection Map nMatches:20 ,distance between ekf and vo x:-0.000036 ,z=-0.000032,angle between two frames:0.000019 +[12:05:07.103] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =12 error init =0.013964 error end=0.003491 +[12:05:07.103] After pose optimization, distance between ekf and vo x:-0.000036 ,z=-0.000032,angle between two frames:0.000019 +[12:05:07.103] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[12:05:07.103] frame Scene Depth mean:4.643938 ,depth min:0.344171 +[12:05:07.103] need key frame pitch dis: 0.031306 translation dif:0.800575 +[12:05:07.103] Choose frame as a key frame Scene Depth mean:4.643938 ,depth min:0.344171 +[12:05:07.103] frame process finished the id is: 112 the obs is:12 +[12:05:07.200] After Reprojection Map nMatches:12 ,distance between ekf and vo x:-0.000006 ,z=0.000009,angle between two frames:0.000001 +[12:05:07.200] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =2 error init =2.140789 error end=0.013956 +[12:05:07.200] After pose optimization, distance between ekf and vo x:0.000594 ,z=0.000516,angle between two frames:0.000088 +[12:05:07.200] frame process finished the id is: 112 the obs is:12 +[12:05:07.299] After Reprojection Map nMatches:8 ,distance between ekf and vo x:-0.001681 ,z=-0.000431,angle between two frames:0.000083 +[12:05:07.299] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =2 error init =0.000000 error end=0.000000 +[12:05:07.299] After pose optimization, distance between ekf and vo x:-0.001681 ,z=-0.000431,angle between two frames:0.000083 +[12:05:07.299] frame process finished the id is: 112 the obs is:12 +[12:05:07.386] After Reprojection Map nMatches:7 ,distance between ekf and vo x:-0.000064 ,z=0.000017,angle between two frames:0.000001 +[12:05:07.386] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =4 error init =0.001299 error end=0.001880 +[12:05:07.386] After pose optimization, distance between ekf and vo x:0.014541 ,z=0.003922,angle between two frames:0.025084 +[12:05:07.386] frame process finished the id is: 112 the obs is:12 +[12:05:07.464] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.464] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.464] frame process finished the id is: 112 the obs is:12 +[12:05:07.545] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.545] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.545] frame process finished the id is: 112 the obs is:12 +[12:05:07.627] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.627] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.627] frame process finished the id is: 112 the obs is:12 +[12:05:07.708] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.708] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.708] frame process finished the id is: 112 the obs is:12 +[12:05:07.794] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.795] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.795] frame process finished the id is: 112 the obs is:12 +[12:05:07.893] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.893] frame process finished the id is: 112 the obs is:12 +[12:05:07.993] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:07.993] frame process finished the id is: 112 the obs is:12 +[12:05:08.092] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.092] frame process finished the id is: 112 the obs is:12 +[12:05:08.192] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.192] frame process finished the id is: 112 the obs is:12 +[12:05:08.295] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.295] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.295] frame process finished the id is: 112 the obs is:12 +[12:05:08.397] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.397] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.397] frame process finished the id is: 112 the obs is:12 +[12:05:08.493] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.493] frame process finished the id is: 112 the obs is:12 +[12:05:08.593] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.594] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.594] frame process finished the id is: 112 the obs is:12 +[12:05:08.694] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.694] frame process finished the id is: 112 the obs is:12 +[12:05:08.793] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.793] frame process finished the id is: 112 the obs is:12 +[12:05:08.893] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.893] frame process finished the id is: 112 the obs is:12 +[12:05:08.992] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:08.992] frame process finished the id is: 112 the obs is:12 +[12:05:09.088] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.088] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.088] frame process finished the id is: 112 the obs is:12 +[12:05:09.197] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.197] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.197] frame process finished the id is: 112 the obs is:12 +[12:05:09.290] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.290] frame process finished the id is: 112 the obs is:12 +[12:05:09.392] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.392] frame process finished the id is: 112 the obs is:12 +[12:05:09.493] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.493] frame process finished the id is: 112 the obs is:12 +[12:05:09.596] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.596] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.596] frame process finished the id is: 112 the obs is:12 +[12:05:09.689] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.689] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.689] frame process finished the id is: 112 the obs is:12 +[12:05:09.794] Odometry x=0.942870, y=0.579948, theta=-2.405912 +[12:05:09.795] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.795] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.795] frame process finished the id is: 112 the obs is:12 +[12:05:09.895] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.895] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.895] frame process finished the id is: 112 the obs is:12 +[12:05:09.992] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:09.992] frame process finished the id is: 112 the obs is:12 +[12:05:10.031] Odometry x=0.942894, y=0.579874, theta=-2.407300 +[12:05:10.091] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.091] frame process finished the id is: 112 the obs is:12 +[12:05:10.191] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.191] frame process finished the id is: 112 the obs is:12 +[12:05:10.286] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.286] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.286] frame process finished the id is: 112 the obs is:12 +[12:05:10.313] Odometry x=0.942899, y=0.579830, theta=-2.432420 +[12:05:10.389] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.389] frame process finished the id is: 112 the obs is:12 +[12:05:10.488] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.488] frame process finished the id is: 112 the obs is:12 +[12:05:10.537] Odometry x=0.942862, y=0.579785, theta=-2.518755 +[12:05:10.589] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.589] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.589] frame process finished the id is: 112 the obs is:12 +[12:05:10.690] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.690] frame process finished the id is: 112 the obs is:12 +[12:05:10.793] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.793] frame process finished the id is: 112 the obs is:12 +[12:05:10.826] Odometry x=0.942860, y=0.579779, theta=-2.592032 +[12:05:10.897] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.897] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.897] frame process finished the id is: 112 the obs is:12 +[12:05:10.992] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:10.992] frame process finished the id is: 112 the obs is:12 +[12:05:11.085] Odometry x=0.942903, y=0.579190, theta=-2.676297 +[12:05:11.086] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.086] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.086] frame process finished the id is: 112 the obs is:12 +[12:05:11.188] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.188] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.188] frame process finished the id is: 112 the obs is:12 +[12:05:11.288] Odometry x=0.942891, y=0.579188, theta=-2.757157 +[12:05:11.288] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.288] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.288] frame process finished the id is: 112 the obs is:12 +[12:05:11.389] After Reprojection Map nMatches:11 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.389] frame process finished the id is: 112 the obs is:12 +[12:05:11.488] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.488] frame process finished the id is: 112 the obs is:12 +[12:05:11.554] Odometry x=0.942897, y=0.579195, theta=-2.838272 +[12:05:11.589] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.589] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.589] frame process finished the id is: 112 the obs is:12 +[12:05:11.695] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.696] frame process finished the id is: 112 the obs is:12 +[12:05:11.789] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.789] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.789] frame process finished the id is: 112 the obs is:12 +[12:05:11.823] Odometry x=0.942884, y=0.579177, theta=-2.929845 +[12:05:11.887] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.887] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:11.887] frame process finished the id is: 112 the obs is:12 +[12:05:12.026] After Reprojection Map nMatches:14 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:12.026] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =4 error init =0.000000 error end=0.000000 +[12:05:12.026] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:12.026] frame process finished the id is: 112 the obs is:12 +[12:05:12.052] Odometry x=0.942809, y=0.578991, theta=-3.002776 +[12:05:12.138] After Reprojection Map nMatches:14 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:12.138] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000004 +[12:05:12.138] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:12.138] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 +[12:05:12.138] frame Scene Depth mean:0.241040 ,depth min:0.074887 +[12:05:12.138] need key frame pitch dis: 2.897119 translation dif:1.084097 +[12:05:12.138] Choose frame as a key frame Scene Depth mean:0.241040 ,depth min:0.074887 +[12:05:12.138] frame process finished the id is: 163 the obs is:10 +[12:05:12.228] After Reprojection Map nMatches:10 ,distance between ekf and vo x:0.000008 ,z=0.000083,angle between two frames:0.000003 +[12:05:12.228] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =8 error init =0.000000 error end=0.000000 +[12:05:12.228] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000083,angle between two frames:0.000003 +[12:05:12.228] frame process finished the id is: 163 the obs is:10 +[12:05:12.309] Odometry x=0.942341, y=0.577979, theta=-3.108622 +[12:05:12.318] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000088 ,z=-0.000672,angle between two frames:0.001122 +[12:05:12.318] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =7 error init =0.047439 error end=0.049044 +[12:05:12.318] After pose optimization, distance between ekf and vo x:0.000088 ,z=-0.000672,angle between two frames:0.001122 +[12:05:12.318] frame process finished the id is: 163 the obs is:10 +[12:05:12.409] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000090 ,z=-0.000711,angle between two frames:0.001168 +[12:05:12.409] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =7 error init =0.000005 error end=0.000005 +[12:05:12.409] After pose optimization, distance between ekf and vo x:0.000090 ,z=-0.000711,angle between two frames:0.001168 +[12:05:12.409] frame process finished the id is: 163 the obs is:10 +[12:05:12.503] After Reprojection Map nMatches:7 ,distance between ekf and vo x:-0.000002 ,z=-0.000372,angle between two frames:0.000526 +[12:05:12.503] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =7 error init =0.000002 error end=0.000001 +[12:05:12.503] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000372,angle between two frames:0.000525 +[12:05:12.503] frame process finished the id is: 163 the obs is:10 +[12:05:12.526] Odometry x=0.942141, y=0.577611, theta=3.117967 +[12:05:12.603] After Reprojection Map nMatches:7 ,distance between ekf and vo x:-0.000002 ,z=-0.000372,angle between two frames:0.000526 +[12:05:12.603] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =7 error init =0.002964 error end=0.001586 +[12:05:12.603] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000372,angle between two frames:0.000526 +[12:05:12.603] frame process finished the id is: 163 the obs is:10 +[12:05:12.699] After Reprojection Map nMatches:7 ,distance between ekf and vo x:-0.000033 ,z=-0.000429,angle between two frames:0.000612 +[12:05:12.699] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =0 error init =0.956420 error end=0.045160 +[12:05:12.699] After pose optimization, distance between ekf and vo x:-0.007605 ,z=-0.004681,angle between two frames:0.008016 +[12:05:12.699] frame process finished the id is: 163 the obs is:10 +[12:05:12.784] Odometry x=0.942113, y=0.577481, theta=3.045387 +[12:05:12.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:12.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:12.790] frame process finished the id is: 163 the obs is:10 +[12:05:12.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:12.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:12.891] frame process finished the id is: 163 the obs is:10 +[12:05:12.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:12.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:12.990] frame process finished the id is: 163 the obs is:10 +[12:05:13.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.090] frame process finished the id is: 163 the obs is:10 +[12:05:13.106] Odometry x=0.942106, y=0.577481, theta=2.974482 +[12:05:13.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.189] frame process finished the id is: 163 the obs is:10 +[12:05:13.287] Odometry x=0.942190, y=0.576973, theta=2.904573 +[12:05:13.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.290] frame process finished the id is: 163 the obs is:10 +[12:05:13.388] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.388] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.388] frame process finished the id is: 163 the obs is:10 +[12:05:13.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.488] frame process finished the id is: 163 the obs is:10 +[12:05:13.550] Odometry x=0.942134, y=0.576929, theta=2.827470 +[12:05:13.587] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.587] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.587] frame process finished the id is: 163 the obs is:10 +[12:05:13.687] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.687] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.687] frame process finished the id is: 163 the obs is:10 +[12:05:13.794] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.794] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.794] frame process finished the id is: 163 the obs is:10 +[12:05:13.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:13.893] frame process finished the id is: 163 the obs is:10 +[12:05:14.003] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.003] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.003] frame process finished the id is: 163 the obs is:10 +[12:05:14.095] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.095] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.095] frame process finished the id is: 163 the obs is:10 +[12:05:14.196] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.196] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.196] frame process finished the id is: 163 the obs is:10 +[12:05:14.294] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.294] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.294] frame process finished the id is: 163 the obs is:10 +[12:05:14.319] Odometry x=0.942130, y=0.576937, theta=2.806370 +[12:05:14.400] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.400] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.400] frame process finished the id is: 163 the obs is:10 +[12:05:14.495] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.495] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.495] frame process finished the id is: 163 the obs is:10 +[12:05:14.539] Odometry x=0.941894, y=0.576743, theta=2.802521 +[12:05:14.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.591] frame process finished the id is: 163 the obs is:10 +[12:05:14.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.694] frame process finished the id is: 163 the obs is:10 +[12:05:14.781] Odometry x=0.941646, y=0.576557, theta=2.788335 +[12:05:14.785] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.786] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.786] frame process finished the id is: 163 the obs is:10 +[12:05:14.889] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.889] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.889] frame process finished the id is: 163 the obs is:10 +[12:05:14.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:14.990] frame process finished the id is: 163 the obs is:10 +[12:05:15.087] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.087] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.087] frame process finished the id is: 163 the obs is:10 +[12:05:15.120] Odometry x=0.941643, y=0.576560, theta=2.737629 +[12:05:15.198] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.198] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.198] frame process finished the id is: 163 the obs is:10 +[12:05:15.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.291] frame process finished the id is: 163 the obs is:10 +[12:05:15.394] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.394] frame process finished the id is: 163 the obs is:10 +[12:05:15.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.488] frame process finished the id is: 163 the obs is:10 +[12:05:15.588] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.588] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.588] frame process finished the id is: 163 the obs is:10 +[12:05:15.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.695] frame process finished the id is: 163 the obs is:10 +[12:05:15.807] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.807] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.807] frame process finished the id is: 163 the obs is:10 +[12:05:15.888] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.888] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.888] frame process finished the id is: 163 the obs is:10 +[12:05:15.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:15.991] frame process finished the id is: 163 the obs is:10 +[12:05:16.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.091] frame process finished the id is: 163 the obs is:10 +[12:05:16.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.191] frame process finished the id is: 163 the obs is:10 +[12:05:16.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.292] frame process finished the id is: 163 the obs is:10 +[12:05:16.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.391] frame process finished the id is: 163 the obs is:10 +[12:05:16.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.488] frame process finished the id is: 163 the obs is:10 +[12:05:16.529] Odometry x=0.941436, y=0.576111, theta=2.717372 +[12:05:16.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.591] frame process finished the id is: 163 the obs is:10 +[12:05:16.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.693] frame process finished the id is: 163 the obs is:10 +[12:05:16.788] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.788] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.788] frame process finished the id is: 163 the obs is:10 +[12:05:16.791] Odometry x=0.941325, y=0.575921, theta=2.718534 +[12:05:16.888] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.888] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.888] frame process finished the id is: 163 the obs is:10 +[12:05:16.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:16.991] frame process finished the id is: 163 the obs is:10 +[12:05:17.087] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.087] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.087] frame process finished the id is: 163 the obs is:10 +[12:05:17.130] Odometry x=0.937888, y=0.570718, theta=2.719788 +[12:05:17.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.191] frame process finished the id is: 163 the obs is:10 +[12:05:17.282] Odometry x=0.935011, y=0.564227, theta=2.722348 +[12:05:17.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.291] frame process finished the id is: 163 the obs is:10 +[12:05:17.389] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.389] frame process finished the id is: 163 the obs is:10 +[12:05:17.486] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.486] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.486] frame process finished the id is: 163 the obs is:10 +[12:05:17.550] Odometry x=0.929773, y=0.552493, theta=2.720872 +[12:05:17.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.591] frame process finished the id is: 163 the obs is:10 +[12:05:17.686] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.686] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.686] frame process finished the id is: 163 the obs is:10 +[12:05:17.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.792] frame process finished the id is: 163 the obs is:10 +[12:05:17.807] Odometry x=0.924033, y=0.539666, theta=2.720294 +[12:05:17.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.890] frame process finished the id is: 163 the obs is:10 +[12:05:17.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:17.990] frame process finished the id is: 163 the obs is:10 +[12:05:18.059] Odometry x=0.917988, y=0.526220, theta=2.712004 +[12:05:18.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.089] frame process finished the id is: 163 the obs is:10 +[12:05:18.188] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.188] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.188] frame process finished the id is: 163 the obs is:10 +[12:05:18.295] Odometry x=0.912240, y=0.513348, theta=2.737351 +[12:05:18.299] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.299] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.299] frame process finished the id is: 163 the obs is:10 +[12:05:18.394] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.394] frame process finished the id is: 163 the obs is:10 +[12:05:18.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.490] frame process finished the id is: 163 the obs is:10 +[12:05:18.535] Odometry x=0.906785, y=0.500313, theta=2.751700 +[12:05:18.587] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.587] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.587] frame process finished the id is: 163 the obs is:10 +[12:05:18.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.692] frame process finished the id is: 163 the obs is:10 +[12:05:18.787] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.787] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.787] frame process finished the id is: 163 the obs is:10 +[12:05:18.805] Odometry x=0.901253, y=0.487366, theta=2.746586 +[12:05:18.886] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.886] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.886] frame process finished the id is: 163 the obs is:10 +[12:05:18.985] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.985] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:18.985] frame process finished the id is: 163 the obs is:10 +[12:05:19.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.089] frame process finished the id is: 163 the obs is:10 +[12:05:19.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.190] frame process finished the id is: 163 the obs is:10 +[12:05:19.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.290] frame process finished the id is: 163 the obs is:10 +[12:05:19.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.393] frame process finished the id is: 163 the obs is:10 +[12:05:19.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.490] frame process finished the id is: 163 the obs is:10 +[12:05:19.549] Odometry x=0.901327, y=0.487355, theta=2.732196 +[12:05:19.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.591] frame process finished the id is: 163 the obs is:10 +[12:05:19.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.691] frame process finished the id is: 163 the obs is:10 +[12:05:19.789] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.789] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.789] frame process finished the id is: 163 the obs is:10 +[12:05:19.823] Odometry x=0.899781, y=0.483825, theta=2.733499 +[12:05:19.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.890] frame process finished the id is: 163 the obs is:10 +[12:05:19.988] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.988] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:19.988] frame process finished the id is: 163 the obs is:10 +[12:05:20.043] Odometry x=0.894847, y=0.472600, theta=2.735795 +[12:05:20.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.090] frame process finished the id is: 163 the obs is:10 +[12:05:20.187] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.188] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.188] frame process finished the id is: 163 the obs is:10 +[12:05:20.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.289] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.289] frame process finished the id is: 163 the obs is:10 +[12:05:20.318] Odometry x=0.889937, y=0.461352, theta=2.730389 +[12:05:20.387] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.387] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.387] frame process finished the id is: 163 the obs is:10 +[12:05:20.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.488] frame process finished the id is: 163 the obs is:10 +[12:05:20.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.590] frame process finished the id is: 163 the obs is:10 +[12:05:20.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.693] frame process finished the id is: 163 the obs is:10 +[12:05:20.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.792] frame process finished the id is: 163 the obs is:10 +[12:05:20.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.893] frame process finished the id is: 163 the obs is:10 +[12:05:20.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.994] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:20.994] frame process finished the id is: 163 the obs is:10 +[12:05:21.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.094] frame process finished the id is: 163 the obs is:10 +[12:05:21.199] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.199] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.199] frame process finished the id is: 163 the obs is:10 +[12:05:21.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.293] frame process finished the id is: 163 the obs is:10 +[12:05:21.398] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.398] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.398] frame process finished the id is: 163 the obs is:10 +[12:05:21.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.493] frame process finished the id is: 163 the obs is:10 +[12:05:21.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.592] frame process finished the id is: 163 the obs is:10 +[12:05:21.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.695] frame process finished the id is: 163 the obs is:10 +[12:05:21.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.792] frame process finished the id is: 163 the obs is:10 +[12:05:21.895] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.895] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.895] frame process finished the id is: 163 the obs is:10 +[12:05:21.995] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.995] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:21.995] frame process finished the id is: 163 the obs is:10 +[12:05:22.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.093] frame process finished the id is: 163 the obs is:10 +[12:05:22.195] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.195] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.195] frame process finished the id is: 163 the obs is:10 +[12:05:22.294] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.294] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.294] frame process finished the id is: 163 the obs is:10 +[12:05:22.395] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.395] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.395] frame process finished the id is: 163 the obs is:10 +[12:05:22.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.493] frame process finished the id is: 163 the obs is:10 +[12:05:22.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.595] frame process finished the id is: 163 the obs is:10 +[12:05:22.696] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.696] frame process finished the id is: 163 the obs is:10 +[12:05:22.795] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.795] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.795] frame process finished the id is: 163 the obs is:10 +[12:05:22.895] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.895] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.895] frame process finished the id is: 163 the obs is:10 +[12:05:22.995] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.995] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:22.995] frame process finished the id is: 163 the obs is:10 +[12:05:23.095] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.095] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.095] frame process finished the id is: 163 the obs is:10 +[12:05:23.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.194] frame process finished the id is: 163 the obs is:10 +[12:05:23.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.293] frame process finished the id is: 163 the obs is:10 +[12:05:23.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.393] frame process finished the id is: 163 the obs is:10 +[12:05:23.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.494] frame process finished the id is: 163 the obs is:10 +[12:05:23.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.595] frame process finished the id is: 163 the obs is:10 +[12:05:23.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.696] frame process finished the id is: 163 the obs is:10 +[12:05:23.800] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.800] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.800] frame process finished the id is: 163 the obs is:10 +[12:05:23.896] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.896] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.896] frame process finished the id is: 163 the obs is:10 +[12:05:23.998] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.998] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:23.998] frame process finished the id is: 163 the obs is:10 +[12:05:24.096] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.096] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.096] frame process finished the id is: 163 the obs is:10 +[12:05:24.196] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.196] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.196] frame process finished the id is: 163 the obs is:10 +[12:05:24.294] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.294] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.294] frame process finished the id is: 163 the obs is:10 +[12:05:24.397] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.397] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.397] frame process finished the id is: 163 the obs is:10 +[12:05:24.494] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.494] frame process finished the id is: 163 the obs is:10 +[12:05:24.594] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.594] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.594] frame process finished the id is: 163 the obs is:10 +[12:05:24.696] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.696] frame process finished the id is: 163 the obs is:10 +[12:05:24.796] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.796] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.796] frame process finished the id is: 163 the obs is:10 +[12:05:24.894] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.894] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:24.894] frame process finished the id is: 163 the obs is:10 +[12:05:25.000] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:25.000] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:25.000] frame process finished the id is: 163 the obs is:10 +[12:05:25.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:25.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:25.094] frame process finished the id is: 163 the obs is:10 +[12:05:25.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:25.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:25.194] frame process finished the id is: 163 the obs is:10 +[12:05:25.296] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:25.296] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:25.296] frame process finished the id is: 163 the obs is:10 +[12:05:25.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:25.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:25.393] frame process finished the id is: 163 the obs is:10 +[12:05:25.476] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:25.476] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[12:05:25.476] frame process finished the id is: 163 the obs is:10 diff --git a/GPU_version/vio/src/global_optimizer.cpp b/GPU_version/vio/src/global_optimizer.cpp index 61edcc0..5e27428 100644 --- a/GPU_version/vio/src/global_optimizer.cpp +++ b/GPU_version/vio/src/global_optimizer.cpp @@ -86,7 +86,7 @@ namespace vio { { // New Keyframe Vertex (*it_kf)->v_kf_ = createG2oFrameSE3(*it_kf); - for(auto&& it_ftr:(*it_kf)->fts_) + for(auto& it_ftr:(*it_kf)->fts_) { if(it_ftr->point==NULL)continue; if(it_ftr->point->type_ != vio::Point::TYPE_GOOD)continue; @@ -119,36 +119,29 @@ namespace vio { g2o::CameraParameters* cam_params = new g2o::CameraParameters(1.0, Vector2d(0.,0.), 0.); cam_params->setId(0); if (!optimizer.addParameter(cam_params)) { - assert(false); + assert(false && "Camera initialization in BA"); } // init g2o - list< pair> > incorrect_edges; g2o::OptimizableGraph::VertexContainer points; auto end=map_.keyframes_.end(); auto end_1=end--; for(auto it=map_.keyframes_.begin(); it!=map_.keyframes_.end();++it){ optimizer.addVertex((*it)->v_kf_); - for(auto&& p:(*it)->fts_){ + for(auto& p:(*it)->fts_){ if(p->point == NULL)continue; - if(p->point->v_pt_.first == NULL)continue; - if(!p->point->v_pt_.second.empty()){ - if(p->point->v_pt_.second.size()>1){ - optimizer.addVertex(p->point->v_pt_.first);///TODO - if(p->point->v_pt_.first->dimension() == 3)points.push_back(p->point->v_pt_.first); - for(auto&& e:p->point->v_pt_.second)optimizer.addEdge(e); - p->point->v_pt_.second.clear(); - } + if(p->point->v_pt_.first == NULL || p->point->v_pt_.second.empty())continue; + if(p->point->v_pt_.second.size()>1){ + optimizer.addVertex(p->point->v_pt_.first);///TODO + points.push_back(p->point->v_pt_.first); + for(auto&& e:p->point->v_pt_.second)optimizer.addEdge(e); + p->point->v_pt_.second.clear(); } } - if(!(*it)->v_kf_->edges().empty()){ - if((*it)->v_kf_->edges().size()>1 && (*it)->v_kf_->dimension()==3)points.push_back((*it)->v_kf_); - if(it == end_1-- || it ==end || it==map_.keyframes_.end()) (*it)->v_kf_->setFixed(false); - }else{ - optimizer.removeVertex((*it)->v_kf_); - } + if(it == end_1-- || it ==end || it==map_.keyframes_.end()) (*it)->v_kf_->setFixed(false); + if((*it)->v_kf_->dimension()==3)points.push_back((*it)->v_kf_); } // Optimization - if(points.empty()){ + if(points.empty() || optimizer.vertices().empty()){ optimizer.clear(); continue; }