From ef14e33bdf695fe17c622392080aa7ffccf704ef Mon Sep 17 00:00:00 2001 From: gfuse Date: Mon, 18 Oct 2021 14:49:40 +0200 Subject: [PATCH] do calibration and edit --- GPU_version/vio/CMakeLists.txt | 3 + GPU_version/vio/depth_filter_log.txt | 658 ------ GPU_version/vio/frame_handler_log.txt | 1855 ----------------- .../vio/include/vio/global_optimizer.h | 2 +- GPU_version/vio/launch/Px30.launch | 2 +- GPU_version/vio/param/vo_fast.yaml | 2 +- GPU_version/vio/src/global_optimizer.cpp | 17 +- 7 files changed, 18 insertions(+), 2521 deletions(-) delete mode 100755 GPU_version/vio/depth_filter_log.txt delete mode 100755 GPU_version/vio/frame_handler_log.txt diff --git a/GPU_version/vio/CMakeLists.txt b/GPU_version/vio/CMakeLists.txt index ebe326a..5398a7e 100755 --- a/GPU_version/vio/CMakeLists.txt +++ b/GPU_version/vio/CMakeLists.txt @@ -1,3 +1,6 @@ +# build g2o with -DG2O_HAVE_OPENGL=ON -DBUILD_WITH_MARCH_NATIVE=ON +# G2o version => https://github.com/RainerKuemmerle/g2o/tree/memory_management + SET(PROJECT_NAME vio) PROJECT(${PROJECT_NAME}) CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3) diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt deleted file mode 100755 index c99d93f..0000000 --- a/GPU_version/vio/depth_filter_log.txt +++ /dev/null @@ -1,658 +0,0 @@ -[19:07:57.571] New key frame -[19:07:57.571] BA loop run -[19:07:57.572] init error: 20.124301 -[19:07:57.575] end error: 0.000366 -[19:07:57.725] New key frame -[19:07:57.725] BA loop run -[19:07:57.726] init error: 3.326193 -[19:07:57.729] end error: 0.063434 -[19:07:57.892] New key frame -[19:07:57.892] BA loop run -[19:07:58.033] New key frame -[19:07:58.033] BA loop run -[19:07:58.033] init error: 5.224831 -[19:07:58.034] end error: 0.000000 -[19:07:58.206] New key frame -[19:07:58.206] BA loop run -[19:07:58.206] init error: 16.211948 -[19:07:58.208] end error: 0.000001 -[19:07:58.406] New key frame -[19:07:58.406] BA loop run -[19:07:58.409] init error: 48.486817 -[19:07:58.413] end error: 2.767577 -[19:07:58.593] New key frame -[19:07:58.593] BA loop run -[19:07:58.595] init error: 348.821161 -[19:07:58.600] end error: 1.276149 -[19:07:58.892] New key frame -[19:07:58.892] BA loop run -[19:07:58.894] init error: 1915.998266 -[19:07:58.899] end error: 3.539466 -[19:07:59.206] New key frame -[19:07:59.206] BA loop run -[19:07:59.208] init error: 62.901709 -[19:07:59.216] end error: 2.655298 -[19:07:59.583] New key frame -[19:07:59.583] BA loop run -[19:07:59.585] init error: 36.592363 -[19:07:59.592] end error: 0.916429 -[19:07:59.821] New key frame -[19:07:59.821] BA loop run -[19:07:59.822] init error: 42.686031 -[19:07:59.828] end error: 1.124509 -[19:08:00.077] New key frame -[19:08:00.077] BA loop run -[19:08:00.078] init error: 306.849947 -[19:08:00.086] end error: 2.161691 -[19:08:00.316] New key frame -[19:08:00.316] BA loop run -[19:08:00.318] init error: 43.793156 -[19:08:00.326] end error: 0.286283 -[19:08:00.565] New key frame -[19:08:00.565] BA loop run -[19:08:00.567] init error: 114.305784 -[19:08:00.577] end error: 2.788313 -[19:08:00.829] New key frame -[19:08:00.829] BA loop run -[19:08:00.831] init error: 244.921992 -[19:08:00.840] end error: 3.144747 -[19:08:01.075] New key frame -[19:08:01.075] BA loop run -[19:08:01.077] init error: 175.755635 -[19:08:01.085] end error: 2.467674 -[19:08:01.352] New key frame -[19:08:01.352] BA loop run -[19:08:01.354] init error: 2023.324703 -[19:08:01.366] end error: 2.591742 -[19:08:01.561] New key frame -[19:08:01.561] BA loop run -[19:08:01.563] init error: 57.058299 -[19:08:01.570] end error: 2.626874 -[19:08:01.755] New key frame -[19:08:01.755] BA loop run -[19:08:01.757] init error: 729.558334 -[19:08:01.763] end error: 1.215458 -[19:08:01.957] New key frame -[19:08:01.957] BA loop run -[19:08:01.960] init error: 297.638335 -[19:08:01.968] end error: 3.091007 -[19:08:02.150] New key frame -[19:08:02.150] BA loop run -[19:08:02.152] init error: 144.108217 -[19:08:02.162] end error: 5.496201 -[19:08:02.356] New key frame -[19:08:02.356] BA loop run -[19:08:02.358] init error: 177.430184 -[19:08:02.366] end error: 3.954758 -[19:08:02.558] New key frame -[19:08:02.558] BA loop run -[19:08:02.560] init error: 127.969103 -[19:08:02.573] end error: 3.019139 -[19:08:02.801] New key frame -[19:08:02.802] BA loop run -[19:08:02.804] init error: 87.389767 -[19:08:02.819] end error: 1.922565 -[19:08:03.105] New key frame -[19:08:03.105] BA loop run -[19:08:03.107] init error: 3304.183444 -[19:08:03.121] end error: 2.712068 -[19:08:03.338] New key frame -[19:08:03.338] BA loop run -[19:08:03.340] init error: 226.922840 -[19:08:03.350] end error: 2.476651 -[19:08:03.594] New key frame -[19:08:03.594] BA loop run -[19:08:03.596] init error: 93.843590 -[19:08:03.606] end error: 2.491450 -[19:08:03.762] New key frame -[19:08:03.762] BA loop run -[19:08:03.765] init error: 1540.880986 -[19:08:03.775] end error: 3.174820 -[19:08:03.905] New key frame -[19:08:03.905] BA loop run -[19:08:03.908] init error: 59.127683 -[19:08:03.916] end error: 1.047741 -[19:08:04.135] New key frame -[19:08:04.135] BA loop run -[19:08:04.139] init error: 165.054727 -[19:08:04.150] end error: 4.635068 -[19:08:04.399] New key frame -[19:08:04.399] BA loop run -[19:08:04.403] init error: 84.080127 -[19:08:04.414] end error: 0.297043 -[19:08:04.637] New key frame -[19:08:04.637] BA loop run -[19:08:04.642] init error: 79.358421 -[19:08:04.654] end error: 0.269855 -[19:08:04.840] New key frame -[19:08:04.840] BA loop run -[19:08:04.845] init error: 126.204088 -[19:08:04.886] end error: 0.000484 -[19:08:05.064] New key frame -[19:08:05.064] BA loop run -[19:08:05.069] init error: 942.581476 -[19:08:05.081] end error: 0.000467 -[19:08:05.255] New key frame -[19:08:05.255] BA loop run -[19:08:05.259] init error: 36.688360 -[19:08:05.308] end error: 1.078818 -[19:08:05.607] New key frame -[19:08:05.607] BA loop run -[19:08:05.613] init error: 354592.408913 -[19:08:05.626] end error: 526.740896 -[19:08:05.961] New key frame -[19:08:05.961] BA loop run -[19:08:05.965] init error: 340.419486 -[19:08:05.979] end error: 3.914580 -[19:08:06.888] New key frame -[19:08:06.888] BA loop run -[19:08:06.892] init error: 5395.758872 -[19:08:06.901] end error: 1.489281 -[19:08:07.302] New key frame -[19:08:07.302] BA loop run -[19:08:07.306] init error: 143.068603 -[19:08:07.322] end error: 3.227177 -[19:08:07.706] New key frame -[19:08:07.706] BA loop run -[19:08:07.710] init error: 12406.169850 -[19:08:07.719] end error: 22.960628 -[19:08:08.376] New key frame -[19:08:08.376] BA loop run -[19:08:08.380] init error: 23441.247347 -[19:08:08.389] end error: 11.344908 -[19:08:08.769] New key frame -[19:08:08.769] BA loop run -[19:08:08.772] init error: 311.001814 -[19:08:08.785] end error: 2.741961 -[19:08:09.146] New key frame -[19:08:09.146] BA loop run -[19:08:09.151] init error: 2233.139659 -[19:08:09.165] end error: 5.287275 -[19:08:09.507] New key frame -[19:08:09.507] BA loop run -[19:08:09.512] init error: 141.205930 -[19:08:09.522] end error: 4.366998 -[19:08:09.909] New key frame -[19:08:09.909] BA loop run -[19:08:09.914] init error: 3004.172520 -[19:08:09.926] end error: 6.696819 -[19:08:10.343] New key frame -[19:08:10.343] BA loop run -[19:08:10.348] init error: 717.712530 -[19:08:10.358] end error: 19.996458 -[19:08:10.763] New key frame -[19:08:10.764] BA loop run -[19:08:10.769] init error: 381.142383 -[19:08:10.781] end error: 18.124120 -[19:08:11.149] New key frame -[19:08:11.149] BA loop run -[19:08:11.153] init error: 110.654655 -[19:08:11.167] end error: 9.119094 -[19:08:11.667] New key frame -[19:08:11.667] BA loop run -[19:08:11.673] init error: 148.874228 -[19:08:11.688] end error: 6.669374 -[19:08:12.204] New key frame -[19:08:12.204] BA loop run -[19:08:12.211] init error: 132.139573 -[19:08:12.232] end error: 8.932782 -[19:08:12.732] New key frame -[19:08:12.732] BA loop run -[19:08:12.740] init error: 132.865428 -[19:08:12.761] end error: 13.242387 -[19:08:13.253] New key frame -[19:08:13.253] BA loop run -[19:08:13.262] init error: 132.371013 -[19:08:13.281] end error: 13.640638 -[19:08:13.812] New key frame -[19:08:13.812] BA loop run -[19:08:13.824] init error: 420.872838 -[19:08:13.847] end error: 71.267133 -[19:08:14.437] New key frame -[19:08:14.437] BA loop run -[19:08:14.445] init error: 246.103669 -[19:08:14.466] end error: 35.143164 -[19:08:14.901] New key frame -[19:08:14.901] BA loop run -[19:08:14.910] init error: 595.048774 -[19:08:14.930] end error: 6.163617 -[19:08:15.429] New key frame -[19:08:15.429] BA loop run -[19:08:15.440] init error: 217.000308 -[19:08:15.469] end error: 7.208416 -[19:08:16.142] New key frame -[19:08:16.142] BA loop run -[19:08:16.149] init error: 581.567047 -[19:08:16.169] end error: 2.480761 -[19:08:16.652] New key frame -[19:08:16.652] BA loop run -[19:08:16.658] init error: 144.297517 -[19:08:16.677] end error: 3.885534 -[19:08:17.390] New key frame -[19:08:17.390] BA loop run -[19:08:17.397] init error: 205.203008 -[19:08:17.419] end error: 5.931317 -[19:08:18.184] New key frame -[19:08:18.184] BA loop run -[19:08:18.192] init error: 2362.207276 -[19:08:18.217] end error: 8.164335 -[19:08:18.863] New key frame -[19:08:18.863] BA loop run -[19:08:18.872] init error: 15541.837434 -[19:08:18.897] end error: 30.216289 -[19:08:19.517] New key frame -[19:08:19.517] BA loop run -[19:08:19.530] init error: 5645.073677 -[19:08:19.572] end error: 28.499126 -[19:08:20.298] New key frame -[19:08:20.298] BA loop run -[19:08:20.307] init error: 12194.098173 -[19:08:20.336] end error: 13.802437 -[19:08:20.989] New key frame -[19:08:20.989] BA loop run -[19:08:21.001] init error: 768.314319 -[19:08:21.037] end error: 24.252743 -[19:08:21.889] New key frame -[19:08:21.889] BA loop run -[19:08:21.900] init error: 4254.552392 -[19:08:21.924] end error: 44.963277 -[19:08:22.816] New key frame -[19:08:22.817] BA loop run -[19:08:22.828] init error: 372.261075 -[19:08:22.864] end error: 9.733314 -[19:08:23.453] New key frame -[19:08:23.453] BA loop run -[19:08:23.466] init error: 7895.034185 -[19:08:23.499] end error: 14.295506 -[19:08:24.035] New key frame -[19:08:24.035] BA loop run -[19:08:24.047] init error: 983.457179 -[19:08:24.077] end error: 27.183696 -[19:08:24.707] New key frame -[19:08:24.707] BA loop run -[19:08:24.719] init error: 238.905484 -[19:08:24.752] end error: 31.446009 -[19:08:25.574] New key frame -[19:08:25.574] BA loop run -[19:08:25.586] init error: 6639.216114 -[19:08:25.615] end error: 63.603546 -[19:08:26.418] New key frame -[19:08:26.418] BA loop run -[19:08:26.431] init error: 1527.439349 -[19:08:26.467] end error: 102.500410 -[19:08:27.104] New key frame -[19:08:27.104] BA loop run -[19:08:27.118] init error: 1682.446704 -[19:08:27.158] end error: 63.194832 -[19:08:28.170] New key frame -[19:08:28.170] BA loop run -[19:08:28.184] init error: 44402.645376 -[19:08:28.221] end error: 100.878931 -[19:08:29.319] New key frame -[19:08:29.319] BA loop run -[19:08:29.335] init error: 23143.431080 -[19:08:29.375] end error: 106.133547 -[19:08:29.885] New key frame -[19:08:29.885] BA loop run -[19:08:29.901] init error: 11041.869810 -[19:08:29.945] end error: 92.381053 -[19:08:30.974] New key frame -[19:08:30.974] BA loop run -[19:08:30.996] init error: 12458.156341 -[19:08:31.043] end error: 284.208753 -[19:08:32.234] New key frame -[19:08:32.234] BA loop run -[19:08:32.252] init error: 3241.041272 -[19:08:32.303] end error: 138.828491 -[19:08:33.769] New key frame -[19:08:33.769] BA loop run -[19:08:33.789] init error: 342796.721782 -[19:08:33.834] end error: 870.263472 -[19:08:34.914] New key frame -[19:08:34.914] BA loop run -[19:08:34.928] init error: 663960.189876 -[19:08:34.965] end error: 872.220583 -[19:08:36.148] New key frame -[19:08:36.148] BA loop run -[19:08:36.160] init error: 44034623.483747 -[19:08:36.190] end error: 2783.771215 -[19:08:37.044] New key frame -[19:08:37.044] BA loop run -[19:08:37.058] init error: 15634.066874 -[19:08:37.090] end error: 433.156869 -[19:08:38.420] New key frame -[19:08:38.420] BA loop run -[19:08:38.432] init error: 503468.223023 -[19:08:38.458] end error: 847.134752 -[19:08:39.613] New key frame -[19:08:39.613] BA loop run -[19:08:39.625] init error: 389294.375516 -[19:08:39.648] end error: 690.928109 -[19:08:40.874] New key frame -[19:08:40.874] BA loop run -[19:08:40.889] init error: 2377335.676515 -[19:08:40.915] end error: 1104.021857 -[19:08:43.363] New key frame -[19:08:43.363] BA loop run -[19:08:43.376] init error: 1446751.118520 -[19:08:43.400] end error: 1436.698234 -[19:08:44.738] New key frame -[19:08:44.738] BA loop run -[19:08:44.746] init error: 671993.539226 -[19:08:44.771] end error: 1126.179519 -[19:08:46.569] New key frame -[19:08:46.570] BA loop run -[19:08:46.578] init error: 38227755.723560 -[19:08:46.595] end error: 1152.006000 -[19:08:47.336] New key frame -[19:08:47.336] BA loop run -[19:08:47.343] init error: 552349.637205 -[19:08:47.357] end error: 514.800584 -[19:08:48.048] New key frame -[19:08:48.048] BA loop run -[19:08:48.054] init error: 1662425.910845 -[19:08:48.065] end error: 346.807761 -[19:08:48.696] New key frame -[19:08:48.696] BA loop run -[19:08:48.701] init error: 1551.689280 -[19:08:48.713] end error: 34.723154 -[19:08:50.537] New key frame -[19:08:50.537] BA loop run -[19:08:50.540] init error: 17253.587149 -[19:08:50.547] end error: 41.350147 -[19:08:50.944] New key frame -[19:08:50.944] BA loop run -[19:08:50.947] init error: 41829.307931 -[19:08:50.952] end error: 13.714445 -[19:08:51.401] New key frame -[19:08:51.401] BA loop run -[19:08:51.405] init error: 6269.468046 -[19:08:51.412] end error: 1.252471 -[19:08:51.879] New key frame -[19:08:51.879] BA loop run -[19:08:51.883] init error: 80889.919449 -[19:08:51.889] end error: 5.937364 -[19:08:52.330] New key frame -[19:08:52.330] BA loop run -[19:08:52.334] init error: 9300.475177 -[19:08:52.340] end error: 6.408737 -[19:08:52.723] New key frame -[19:08:52.723] BA loop run -[19:08:52.726] init error: 6762.686568 -[19:08:52.732] end error: 30.922879 -[19:08:53.046] New key frame -[19:08:53.046] BA loop run -[19:08:53.049] init error: 700473.491322 -[19:08:53.055] end error: 53.988333 -[19:08:53.337] New key frame -[19:08:53.337] BA loop run -[19:08:53.340] init error: 137404.671135 -[19:08:53.345] end error: 28.566632 -[19:08:53.632] New key frame -[19:08:53.632] BA loop run -[19:08:53.636] init error: 2455.155716 -[19:08:53.642] end error: 7.978690 -[19:08:53.928] New key frame -[19:08:53.928] BA loop run -[19:08:53.932] init error: 12036.376719 -[19:08:53.939] end error: 30.499619 -[19:08:54.198] New key frame -[19:08:54.198] BA loop run -[19:08:54.203] init error: 1078.009475 -[19:08:54.211] end error: 50.562398 -[19:08:54.516] New key frame -[19:08:54.516] BA loop run -[19:08:54.521] init error: 6000.783577 -[19:08:54.531] end error: 182.849311 -[19:08:54.817] New key frame -[19:08:54.817] BA loop run -[19:08:54.822] init error: 17020.616100 -[19:08:54.831] end error: 47.082725 -[19:08:55.144] New key frame -[19:08:55.144] BA loop run -[19:08:55.151] init error: 367551.921240 -[19:08:55.161] end error: 329.161299 -[19:08:55.452] New key frame -[19:08:55.452] BA loop run -[19:08:55.460] init error: 921304.542850 -[19:08:55.473] end error: 1085.927310 -[19:08:55.776] New key frame -[19:08:55.776] BA loop run -[19:08:55.784] init error: 52108.764078 -[19:08:55.800] end error: 356.900435 -[19:08:56.139] New key frame -[19:08:56.139] BA loop run -[19:08:56.148] init error: 347174.233661 -[19:08:56.164] end error: 128.466734 -[19:08:56.569] New key frame -[19:08:56.569] BA loop run -[19:08:56.578] init error: 115657.173290 -[19:08:56.595] end error: 567.610467 -[19:08:57.088] New key frame -[19:08:57.088] BA loop run -[19:08:57.097] init error: 34133.221553 -[19:08:57.113] end error: 105.756833 -[19:08:57.655] New key frame -[19:08:57.655] BA loop run -[19:08:57.666] init error: 1690132.313171 -[19:08:57.687] end error: 232.489549 -[19:08:58.406] New key frame -[19:08:58.406] BA loop run -[19:08:58.419] init error: 37636.651818 -[19:08:58.444] end error: 303.571524 -[19:08:59.291] New key frame -[19:08:59.291] BA loop run -[19:08:59.305] init error: 113246.107218 -[19:08:59.336] end error: 1694.849522 -[19:09:00.011] New key frame -[19:09:00.011] BA loop run -[19:09:00.030] init error: 156038.558897 -[19:09:00.063] end error: 447.036669 -[19:09:00.744] New key frame -[19:09:00.744] BA loop run -[19:09:00.764] init error: 2348.101843 -[19:09:00.797] end error: 1079.336873 -[19:09:01.371] New key frame -[19:09:01.372] BA loop run -[19:09:01.391] init error: 8593.408104 -[19:09:01.428] end error: 1483.332738 -[19:09:02.517] New key frame -[19:09:02.517] BA loop run -[19:09:02.537] init error: 602342.957103 -[19:09:02.575] end error: 632.161000 -[19:09:03.518] New key frame -[19:09:03.518] BA loop run -[19:09:03.541] init error: 2532.563297 -[19:09:03.595] end error: 1354.499854 -[19:09:05.686] New key frame -[19:09:05.686] BA loop run -[19:09:05.702] init error: 2417.686791 -[19:09:05.743] end error: 257.207984 -[19:09:06.762] New key frame -[19:09:06.762] BA loop run -[19:09:06.781] init error: 92905.664997 -[19:09:06.825] end error: 552.618345 -[19:09:07.734] New key frame -[19:09:07.734] BA loop run -[19:09:07.752] init error: 76574.633398 -[19:09:07.790] end error: 536.851969 -[19:09:08.316] New key frame -[19:09:08.317] BA loop run -[19:09:08.336] init error: 17765.492579 -[19:09:08.381] end error: 537.227541 -[19:09:08.888] New key frame -[19:09:08.888] BA loop run -[19:09:08.907] init error: 2713.787254 -[19:09:08.946] end error: 344.511587 -[19:09:09.764] New key frame -[19:09:09.764] BA loop run -[19:09:09.784] init error: 28287.606737 -[19:09:09.830] end error: 495.225474 -[19:09:10.843] New key frame -[19:09:10.843] BA loop run -[19:09:10.866] init error: 182562.043663 -[19:09:10.920] end error: 1447.150602 -[19:09:11.932] New key frame -[19:09:11.932] BA loop run -[19:09:11.957] init error: 295804.193193 -[19:09:12.011] end error: 863.894614 -[19:09:12.832] New key frame -[19:09:12.832] BA loop run -[19:09:12.857] init error: 30989.020287 -[19:09:12.932] end error: 865.154263 -[19:09:13.632] New key frame -[19:09:13.632] BA loop run -[19:09:13.657] init error: 2005.115013 -[19:09:13.713] end error: 754.150107 -[19:09:14.562] New key frame -[19:09:14.562] BA loop run -[19:09:14.590] init error: 2930.989857 -[19:09:14.704] end error: 847.762853 -[19:09:15.411] New key frame -[19:09:15.411] BA loop run -[19:09:15.439] init error: 8141.425072 -[19:09:15.505] end error: 656.188305 -[19:09:16.068] New key frame -[19:09:16.068] BA loop run -[19:09:16.090] init error: 7883.882089 -[19:09:16.139] end error: 549.824669 -[19:09:16.817] New key frame -[19:09:16.817] BA loop run -[19:09:16.838] init error: 31683.980719 -[19:09:16.885] end error: 561.011736 -[19:09:17.385] New key frame -[19:09:17.385] BA loop run -[19:09:17.406] init error: 59327.635941 -[19:09:17.472] end error: 483.543798 -[19:09:17.892] New key frame -[19:09:17.892] BA loop run -[19:09:17.913] init error: 4670.716461 -[19:09:17.968] end error: 379.145547 -[19:09:18.604] New key frame -[19:09:18.604] BA loop run -[19:09:18.627] init error: 5209.772044 -[19:09:18.698] end error: 406.523648 -[19:09:19.314] New key frame -[19:09:19.314] BA loop run -[19:09:19.342] init error: 24325.460496 -[19:09:19.396] end error: 1069.182673 -[19:09:20.044] New key frame -[19:09:20.044] BA loop run -[19:09:20.067] init error: 67332.643981 -[19:09:20.120] end error: 451.879759 -[19:09:20.768] New key frame -[19:09:20.768] BA loop run -[19:09:20.795] init error: 5823.475524 -[19:09:20.849] end error: 715.265627 -[19:09:21.296] New key frame -[19:09:21.296] BA loop run -[19:09:21.317] init error: 12157.100550 -[19:09:21.366] end error: 441.857794 -[19:09:22.053] New key frame -[19:09:22.053] BA loop run -[19:09:22.074] init error: 28622.816252 -[19:09:22.123] end error: 800.104694 -[19:09:22.991] New key frame -[19:09:22.991] BA loop run -[19:09:23.011] init error: 3101.906475 -[19:09:23.071] end error: 354.338690 -[19:09:23.883] New key frame -[19:09:23.883] BA loop run -[19:09:23.912] init error: 135469.987048 -[19:09:23.966] end error: 1135.546090 -[19:09:24.720] New key frame -[19:09:24.720] BA loop run -[19:09:24.747] init error: 13523.226465 -[19:09:24.816] end error: 666.512385 -[19:09:25.480] New key frame -[19:09:25.481] BA loop run -[19:09:25.503] init error: 435607.138491 -[19:09:25.555] end error: 595.250050 -[19:09:26.154] New key frame -[19:09:26.154] BA loop run -[19:09:26.175] init error: 15305.018933 -[19:09:26.244] end error: 393.300600 -[19:09:26.639] New key frame -[19:09:26.639] BA loop run -[19:09:26.663] init error: 5086.688488 -[19:09:26.771] end error: 1158.814927 -[19:09:27.192] New key frame -[19:09:27.192] BA loop run -[19:09:27.214] init error: 169567.864815 -[19:09:27.259] end error: 906.772537 -[19:09:27.636] New key frame -[19:09:27.636] BA loop run -[19:09:27.656] init error: 2315.138570 -[19:09:27.710] end error: 429.474969 -[19:09:28.021] New key frame -[19:09:28.021] BA loop run -[19:09:28.041] init error: 2193.575695 -[19:09:28.083] end error: 646.445919 -[19:09:28.645] New key frame -[19:09:28.645] BA loop run -[19:09:28.665] init error: 5229.595941 -[19:09:28.710] end error: 561.443113 -[19:09:29.317] New key frame -[19:09:29.317] BA loop run -[19:09:29.338] init error: 392563.566338 -[19:09:29.382] end error: 312.687692 -[19:09:29.969] New key frame -[19:09:29.969] BA loop run -[19:09:29.991] init error: 22890.618899 -[19:09:30.036] end error: 187.744379 -[19:09:30.596] New key frame -[19:09:30.596] BA loop run -[19:09:30.620] init error: 44921.900136 -[19:09:30.676] end error: 372.990847 -[19:09:31.359] New key frame -[19:09:31.359] BA loop run -[19:09:31.389] init error: 10506.844043 -[19:09:31.454] end error: 1413.312563 -[19:09:32.052] New key frame -[19:09:32.052] BA loop run -[19:09:32.085] init error: 8061.284444 -[19:09:32.146] end error: 695.109379 -[19:09:32.677] New key frame -[19:09:32.677] BA loop run -[19:09:32.710] init error: 22051.193591 -[19:09:32.791] end error: 487.391619 -[19:09:33.253] New key frame -[19:09:33.253] BA loop run -[19:09:33.292] init error: 408549.445554 -[19:09:33.360] end error: 2152.703612 -[19:09:34.085] New key frame -[19:09:34.086] BA loop run -[19:09:34.123] init error: 426652.390483 -[19:09:34.210] end error: 895.246709 -[19:09:34.790] New key frame -[19:09:34.790] BA loop run -[19:09:34.823] init error: 146290.284901 -[19:09:34.905] end error: 952.559704 -[19:09:35.659] New key frame -[19:09:35.659] BA loop run -[19:09:35.691] init error: 881388.768973 -[19:09:35.774] end error: 1705.674421 -[19:09:36.533] New key frame -[19:09:36.533] BA loop run -[19:09:36.562] init error: 76209.846512 -[19:09:36.633] end error: 1204.167804 -[19:09:37.454] New key frame -[19:09:37.454] BA loop run -[19:09:37.483] init error: 11119.525258 -[19:09:37.554] end error: 1859.468648 -[19:09:38.341] New key frame -[19:09:38.341] BA loop run -[19:09:38.367] init error: 5625.588972 -[19:09:38.466] end error: 2318.181275 -[19:09:39.275] New key frame -[19:09:39.275] BA loop run -[19:09:39.302] init error: 13654.263186 -[19:09:39.377] end error: 801.690669 -[19:09:40.328] New key frame -[19:09:40.328] BA loop run -[19:09:40.363] init error: 3104.981592 -[19:09:40.433] end error: 707.488389 -[19:09:41.352] New key frame -[19:09:41.352] BA loop run -[19:09:41.377] init error: 2056.058613 -[19:09:41.444] end error: 877.723256 diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt deleted file mode 100755 index a13e6e8..0000000 --- a/GPU_version/vio/frame_handler_log.txt +++ /dev/null @@ -1,1855 +0,0 @@ -[19:07:52.624] Init: frame zero: 0.000000, 0.000000 0.000000 -[19:07:52.624] Init: Selected first frame. -[19:07:52.624] frame process finished the id is: 0 the obs is:0 -[19:07:52.655] Init: px average disparity is:0.032512 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:52.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:52.655] frame process finished the id is: 1 the obs is:0 -[19:07:52.752] Init: px average disparity is:0.031284 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:52.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:52.752] frame process finished the id is: 2 the obs is:0 -[19:07:52.850] Init: px average disparity is:0.036556 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:52.850] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:52.850] frame process finished the id is: 3 the obs is:0 -[19:07:52.952] Init: px average disparity is:0.032202 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:52.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:52.952] frame process finished the id is: 4 the obs is:0 -[19:07:53.049] Init: px average disparity is:0.041515 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:53.049] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:53.049] frame process finished the id is: 5 the obs is:0 -[19:07:53.150] Init: px average disparity is:0.030973 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:53.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:53.150] frame process finished the id is: 6 the obs is:0 -[19:07:53.247] Init: px average disparity is:0.031908 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:53.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:53.247] frame process finished the id is: 7 the obs is:0 -[19:07:53.350] Init: px average disparity is:0.035828 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:53.350] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:53.350] frame process finished the id is: 8 the obs is:0 -[19:07:53.447] Init: px average disparity is:0.031084 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:53.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:53.447] frame process finished the id is: 9 the obs is:0 -[19:07:53.549] Init: px average disparity is:0.040163 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:53.549] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:53.549] frame process finished the id is: 10 the obs is:0 -[19:07:53.651] Init: px average disparity is:0.036231 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:53.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:53.651] frame process finished the id is: 11 the obs is:0 -[19:07:53.750] Init: px average disparity is:0.032094 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:53.750] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:53.750] frame process finished the id is: 12 the obs is:0 -[19:07:53.846] Init: px average disparity is:0.039061 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:53.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:53.846] frame process finished the id is: 13 the obs is:0 -[19:07:53.917] Odometry x=0.000000, y=0.000000, theta=-0.000000 -[19:07:53.958] Init: px average disparity is:0.039995 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:53.958] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:53.958] frame process finished the id is: 14 the obs is:0 -[19:07:54.048] Init: px average disparity is:0.032783 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:54.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:54.048] frame process finished the id is: 15 the obs is:0 -[19:07:54.140] Odometry x=0.000002, y=0.019215, theta=-0.000002 -[19:07:54.155] Init: px average disparity is:0.152070 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:54.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:54.155] frame process finished the id is: 16 the obs is:0 -[19:07:54.251] Init: px average disparity is:6.438189 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:54.251] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:54.251] frame process finished the id is: 17 the obs is:0 -[19:07:54.357] Init: px average disparity is:4.621185 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:54.357] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:54.357] frame process finished the id is: 18 the obs is:0 -[19:07:54.408] Odometry x=-0.000077, y=0.051753, theta=0.002548 -[19:07:54.457] Init: px average disparity is:4.962524 ,While minimum is: 10.000000 KLT tracked : 896 -[19:07:54.457] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:54.457] frame process finished the id is: 19 the obs is:0 -[19:07:54.553] Init: px average disparity is:9.757717 ,While minimum is: 10.000000 KLT tracked : 895 -[19:07:54.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:54.553] frame process finished the id is: 20 the obs is:0 -[19:07:54.684] Odometry x=-0.000142, y=0.082503, theta=0.000328 -[19:07:54.741] 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 -[19:07:54.741] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:54.741] frame process finished the id is: 21 the obs is:0 -[19:07:54.839] 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 -[19:07:54.839] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:54.839] frame process finished the id is: 22 the obs is:0 -[19:07:54.894] Odometry x=0.000084, y=0.112105, theta=0.003193 -[19:07:54.946] 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 -[19:07:54.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:54.946] frame process finished the id is: 23 the obs is:0 -[19:07:55.054] 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 -[19:07:55.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:55.054] frame process finished the id is: 24 the obs is:0 -[19:07:55.194] 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 -[19:07:55.194] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:55.194] frame process finished the id is: 25 the obs is:0 -[19:07:55.197] Odometry x=0.000025, y=0.141120, theta=0.009788 -[19:07:55.304] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:28.646685 ,While minimum is: 10.000000 KLT tracked: 887 -[19:07:55.304] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:55.304] frame process finished the id is: 26 the obs is:0 -[19:07:55.419] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:34.191057 ,While minimum is: 10.000000 KLT tracked: 887 -[19:07:55.419] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:55.419] frame process finished the id is: 27 the obs is:0 -[19:07:55.425] Odometry x=-0.000361, y=0.170199, theta=0.014686 -[19:07:55.547] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:41.345493 ,While minimum is: 10.000000 KLT tracked: 883 -[19:07:55.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:55.547] frame process finished the id is: 28 the obs is:0 -[19:07:55.661] Odometry x=-0.000705, y=0.199401, theta=0.015152 -[19:07:55.681] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:47.654688 ,While minimum is: 10.000000 KLT tracked: 847 -[19:07:55.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:55.681] frame process finished the id is: 29 the obs is:0 -[19:07:55.796] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:43.551931 ,While minimum is: 10.000000 KLT tracked: 786 -[19:07:55.796] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:55.796] frame process finished the id is: 30 the obs is:0 -[19:07:55.906] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:47.016634 ,While minimum is: 10.000000 KLT tracked: 760 -[19:07:55.907] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:55.907] frame process finished the id is: 31 the obs is:0 -[19:07:55.919] Odometry x=-0.001338, y=0.228181, theta=0.024783 -[19:07:56.020] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:44.933811 ,While minimum is: 10.000000 KLT tracked: 753 -[19:07:56.020] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:56.020] frame process finished the id is: 32 the obs is:0 -[19:07:56.134] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:49.476444 ,While minimum is: 10.000000 KLT tracked: 751 -[19:07:56.134] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:56.134] frame process finished the id is: 33 the obs is:0 -[19:07:56.146] Odometry x=-0.002141, y=0.256590, theta=0.034493 -[19:07:56.252] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:50.914915 ,While minimum is: 10.000000 KLT tracked: 737 -[19:07:56.252] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:56.252] frame process finished the id is: 34 the obs is:0 -[19:07:56.363] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:45.043391 ,While minimum is: 10.000000 KLT tracked: 737 -[19:07:56.363] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:56.363] frame process finished the id is: 35 the obs is:0 -[19:07:56.388] Odometry x=-0.003079, y=0.284319, theta=0.034810 -[19:07:56.474] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:42.854049 ,While minimum is: 10.000000 KLT tracked: 734 -[19:07:56.474] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:56.474] frame process finished the id is: 36 the obs is:0 -[19:07:56.635] Odometry x=-0.003642, y=0.310262, theta=0.038457 -[19:07:56.652] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:84.759268 ,While minimum is: 10.000000 KLT tracked: 718 -[19:07:56.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:56.652] frame process finished the id is: 37 the obs is:0 -[19:07:56.769] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:41.534774 ,While minimum is: 10.000000 KLT tracked: 698 -[19:07:56.769] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:56.769] frame process finished the id is: 38 the obs is:0 -[19:07:56.878] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:41.890483 ,While minimum is: 10.000000 KLT tracked: 694 -[19:07:56.878] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:56.878] frame process finished the id is: 39 the obs is:0 -[19:07:56.889] Odometry x=-0.004564, y=0.336417, theta=0.035257 -[19:07:56.994] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:50.036648 ,While minimum is: 10.000000 KLT tracked: 694 -[19:07:56.994] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:56.994] frame process finished the id is: 40 the obs is:0 -[19:07:57.103] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:50.460980 ,While minimum is: 10.000000 KLT tracked: 694 -[19:07:57.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:57.103] frame process finished the id is: 41 the obs is:0 -[19:07:57.210] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.866775 ,While minimum is: 10.000000 KLT tracked: 694 -[19:07:57.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:57.210] frame process finished the id is: 42 the obs is:0 -[19:07:57.227] Odometry x=-0.004899, y=0.361293, theta=0.040091 -[19:07:57.319] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.873502 ,While minimum is: 10.000000 KLT tracked: 694 -[19:07:57.319] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[19:07:57.319] frame process finished the id is: 43 the obs is:0 -[19:07:57.392] Odometry x=-0.004733, y=0.385165, theta=0.053182 -[19:07:57.427] Init finished: Homography RANSAC (inlier) is:132 ,While 40 inliers minimum required. px average disparity is:54.897266 ,While minimum is: 10.000000 KLT tracked: 692 -[19:07:57.427] Init: distance between the first and current frame is x:-0.006247 ,z=0.436171,angle between two frames: 0.051089 -[19:07:57.427] Init: Selected Second frame. The number of features: 132 depth mean:0.833198 min:0.519654 -[19:07:57.427] frame process finished the id is: 44 the obs is:132 -[19:07:57.570] After Reprojection Map nMatches:70 ,distance between ekf and vo x:-0.001390 ,z=0.002815,angle between two frames:0.000268 -[19:07:57.570] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =53 error init =0.083212 error end=0.035462 -[19:07:57.570] After pose optimization, distance between ekf and vo x:-0.001390 ,z=0.002815,angle between two frames:0.000268 -[19:07:57.570] Update EKF and 3D points the number of feature in the new frame: 53 and number of obs: 53 -[19:07:57.570] frame Scene Depth mean:0.731697 ,depth min:0.514046 -[19:07:57.571] need key frame pitch dis: 0.058935 translation dif:0.436229 -[19:07:57.571] Choose frame as a key frame Scene Depth mean:0.731697 ,depth min:0.514046 -[19:07:57.571] frame process finished the id is: 45 the obs is:53 -[19:07:57.641] Odometry x=-0.007188, y=0.436170, theta=0.058935 -[19:07:57.725] After Reprojection Map nMatches:64 ,distance between ekf and vo x:-0.003230 ,z=0.002067,angle between two frames:0.001707 -[19:07:57.725] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =57 error init =0.021342 error end=0.047718 -[19:07:57.725] After pose optimization, distance between ekf and vo x:-0.003230 ,z=0.002067,angle between two frames:0.001707 -[19:07:57.725] Update EKF and 3D points the number of feature in the new frame: 57 and number of obs: 57 -[19:07:57.725] frame Scene Depth mean:0.721604 ,depth min:0.350223 -[19:07:57.725] need key frame pitch dis: 0.056694 translation dif:0.785248 -[19:07:57.725] Choose frame as a key frame Scene Depth mean:0.721604 ,depth min:0.350223 -[19:07:57.725] frame process finished the id is: 46 the obs is:57 -[19:07:57.884] Odometry x=-0.002575, y=0.447790, theta=0.054150 -[19:07:57.890] After Reprojection Map nMatches:78 ,distance between ekf and vo x:-0.002836 ,z=0.003202,angle between two frames:0.000173 -[19:07:57.891] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =69 error init =0.004715 error end=0.005971 -[19:07:57.891] After pose optimization, distance between ekf and vo x:-0.002836 ,z=0.003202,angle between two frames:0.000173 -[19:07:57.891] Update EKF and 3D points the number of feature in the new frame: 69 and number of obs: 69 -[19:07:57.891] frame Scene Depth mean:0.834815 ,depth min:0.250172 -[19:07:57.892] need key frame pitch dis: 2.899390 translation dif:0.869348 -[19:07:57.892] Choose frame as a key frame Scene Depth mean:0.834815 ,depth min:0.250172 -[19:07:57.892] frame process finished the id is: 47 the obs is:69 -[19:07:58.032] After Reprojection Map nMatches:82 ,distance between ekf and vo x:-0.001697 ,z=0.002509,angle between two frames:0.000069 -[19:07:58.032] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =66 error init =0.019267 error end=0.056642 -[19:07:58.032] After pose optimization, distance between ekf and vo x:-0.001697 ,z=0.002509,angle between two frames:0.000069 -[19:07:58.032] Update EKF and 3D points the number of feature in the new frame: 66 and number of obs: 66 -[19:07:58.032] frame Scene Depth mean:0.764360 ,depth min:0.213546 -[19:07:58.033] need key frame pitch dis: 2.896245 translation dif:0.871927 -[19:07:58.033] Choose frame as a key frame Scene Depth mean:0.764360 ,depth min:0.213546 -[19:07:58.033] frame process finished the id is: 48 the obs is:66 -[19:07:58.165] Odometry x=-0.005055, y=0.487625, theta=0.057294 -[19:07:58.205] After Reprojection Map nMatches:77 ,distance between ekf and vo x:-0.004788 ,z=0.004709,angle between two frames:0.000458 -[19:07:58.205] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =62 error init =0.041164 error end=0.082425 -[19:07:58.205] After pose optimization, distance between ekf and vo x:-0.004788 ,z=0.004709,angle between two frames:0.000458 -[19:07:58.205] Update EKF and 3D points the number of feature in the new frame: 62 and number of obs: 62 -[19:07:58.205] frame Scene Depth mean:0.538488 ,depth min:0.155249 -[19:07:58.206] need key frame pitch dis: 0.899303 translation dif:1.395660 -[19:07:58.206] Choose frame as a key frame Scene Depth mean:0.538488 ,depth min:0.155249 -[19:07:58.206] frame process finished the id is: 49 the obs is:62 -[19:07:58.387] Odometry x=-0.007392, y=0.516207, theta=0.059347 -[19:07:58.404] After Reprojection Map nMatches:66 ,distance between ekf and vo x:-0.005603 ,z=0.006762,angle between two frames:0.000056 -[19:07:58.404] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =58 error init =0.035684 error end=0.127969 -[19:07:58.404] After pose optimization, distance between ekf and vo x:-0.005603 ,z=0.006762,angle between two frames:0.000056 -[19:07:58.404] Update EKF and 3D points the number of feature in the new frame: 58 and number of obs: 58 -[19:07:58.404] frame Scene Depth mean:0.534527 ,depth min:0.061689 -[19:07:58.406] need key frame pitch dis: 0.199591 translation dif:0.420229 -[19:07:58.406] Choose frame as a key frame Scene Depth mean:0.534527 ,depth min:0.061689 -[19:07:58.406] frame process finished the id is: 50 the obs is:57 -[19:07:58.592] After Reprojection Map nMatches:76 ,distance between ekf and vo x:-0.004301 ,z=0.005403,angle between two frames:0.000201 -[19:07:58.592] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =47 error init =0.064996 error end=0.110783 -[19:07:58.592] After pose optimization, distance between ekf and vo x:-0.004301 ,z=0.005403,angle between two frames:0.000201 -[19:07:58.592] Update EKF and 3D points the number of feature in the new frame: 47 and number of obs: 47 -[19:07:58.592] frame Scene Depth mean:0.680989 ,depth min:0.061062 -[19:07:58.593] need key frame pitch dis: 0.184793 translation dif:0.808032 -[19:07:58.593] Choose frame as a key frame Scene Depth mean:0.680989 ,depth min:0.061062 -[19:07:58.593] frame process finished the id is: 51 the obs is:47 -[19:07:58.648] Odometry x=-0.009693, y=0.547924, theta=0.060366 -[19:07:58.890] After Reprojection Map nMatches:81 ,distance between ekf and vo x:-0.010686 ,z=0.012267,angle between two frames:0.000436 -[19:07:58.890] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =64 error init =0.034569 error end=0.049451 -[19:07:58.890] After pose optimization, distance between ekf and vo x:-0.010686 ,z=0.012267,angle between two frames:0.000436 -[19:07:58.890] Update EKF and 3D points the number of feature in the new frame: 64 and number of obs: 64 -[19:07:58.890] frame Scene Depth mean:2.366307 ,depth min:0.069239 -[19:07:58.892] need key frame pitch dis: 0.092998 translation dif:1.345032 -[19:07:58.892] Choose frame as a key frame Scene Depth mean:2.366307 ,depth min:0.069239 -[19:07:58.892] frame process finished the id is: 52 the obs is:64 -[19:07:58.900] Odometry x=-0.012816, y=0.561274, theta=0.057861 -[19:07:59.204] Odometry x=-0.015035, y=0.575016, theta=0.063807 -[19:07:59.204] After Reprojection Map nMatches:112 ,distance between ekf and vo x:-0.011155 ,z=0.013549,angle between two frames:0.000363 -[19:07:59.204] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =78 error init =0.042854 error end=0.058138 -[19:07:59.204] After pose optimization, distance between ekf and vo x:-0.011155 ,z=0.013549,angle between two frames:0.000363 -[19:07:59.204] Update EKF and 3D points the number of feature in the new frame: 78 and number of obs: 78 -[19:07:59.204] frame Scene Depth mean:3.510809 ,depth min:0.129117 -[19:07:59.206] need key frame pitch dis: 0.386819 translation dif:0.588260 -[19:07:59.206] Choose frame as a key frame Scene Depth mean:3.510809 ,depth min:0.129117 -[19:07:59.206] frame process finished the id is: 53 the obs is:78 -[19:07:59.377] Odometry x=-0.018068, y=0.612951, theta=0.073087 -[19:07:59.581] After Reprojection Map nMatches:107 ,distance between ekf and vo x:-0.012535 ,z=0.018159,angle between two frames:0.000005 -[19:07:59.582] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =80 error init =0.029941 error end=0.022475 -[19:07:59.582] After pose optimization, distance between ekf and vo x:-0.012535 ,z=0.018159,angle between two frames:0.000005 -[19:07:59.582] Update EKF and 3D points the number of feature in the new frame: 80 and number of obs: 80 -[19:07:59.582] frame Scene Depth mean:2.765662 ,depth min:0.074678 -[19:07:59.583] need key frame pitch dis: 0.143444 translation dif:0.530452 -[19:07:59.583] Choose frame as a key frame Scene Depth mean:2.765662 ,depth min:0.074678 -[19:07:59.583] frame process finished the id is: 54 the obs is:80 -[19:07:59.664] Odometry x=-0.023157, y=0.632555, theta=0.054065 -[19:07:59.819] After Reprojection Map nMatches:96 ,distance between ekf and vo x:-0.004103 ,z=0.004044,angle between two frames:0.000114 -[19:07:59.820] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =70 error init =0.015743 error end=0.012158 -[19:07:59.820] After pose optimization, distance between ekf and vo x:-0.003501 ,z=0.003844,angle between two frames:0.000089 -[19:07:59.820] Update EKF and 3D points the number of feature in the new frame: 70 and number of obs: 70 -[19:07:59.820] frame Scene Depth mean:3.670456 ,depth min:0.218147 -[19:07:59.821] need key frame pitch dis: 0.114498 translation dif:0.582214 -[19:07:59.821] Choose frame as a key frame Scene Depth mean:3.670456 ,depth min:0.218147 -[19:07:59.821] frame process finished the id is: 55 the obs is:70 -[19:07:59.876] Odometry x=-0.024516, y=0.644025, theta=0.047813 -[19:08:00.075] After Reprojection Map nMatches:93 ,distance between ekf and vo x:-0.009974 ,z=0.015692,angle between two frames:0.000060 -[19:08:00.075] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =77 error init =0.006148 error end=0.001906 -[19:08:00.075] After pose optimization, distance between ekf and vo x:-0.009974 ,z=0.015692,angle between two frames:0.000060 -[19:08:00.075] Update EKF and 3D points the number of feature in the new frame: 77 and number of obs: 77 -[19:08:00.075] frame Scene Depth mean:5.045044 ,depth min:0.560106 -[19:08:00.077] need key frame pitch dis: 3.152453 translation dif:0.974316 -[19:08:00.077] Choose frame as a key frame Scene Depth mean:5.045044 ,depth min:0.560106 -[19:08:00.077] frame process finished the id is: 56 the obs is:77 -[19:08:00.135] Odometry x=-0.027592, y=0.658807, theta=0.044892 -[19:08:00.313] After Reprojection Map nMatches:105 ,distance between ekf and vo x:0.053407 ,z=-0.064597,angle between two frames:0.000585 -[19:08:00.314] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =78 error init =0.043283 error end=0.020017 -[19:08:00.314] After pose optimization, distance between ekf and vo x:0.051066 ,z=-0.062995,angle between two frames:0.000527 -[19:08:00.314] Update EKF and 3D points the number of feature in the new frame: 78 and number of obs: 78 -[19:08:00.314] frame Scene Depth mean:4.666186 ,depth min:0.224751 -[19:08:00.316] need key frame pitch dis: 0.028099 translation dif:1.088520 -[19:08:00.316] Choose frame as a key frame Scene Depth mean:4.666186 ,depth min:0.224751 -[19:08:00.316] frame process finished the id is: 57 the obs is:78 -[19:08:00.399] Odometry x=-0.015336, y=0.653386, theta=0.052759 -[19:08:00.564] After Reprojection Map nMatches:91 ,distance between ekf and vo x:0.001511 ,z=0.030346,angle between two frames:0.013907 -[19:08:00.564] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =63 error init =0.003694 error end=0.005815 -[19:08:00.564] After pose optimization, distance between ekf and vo x:0.001511 ,z=0.030346,angle between two frames:0.013907 -[19:08:00.564] Update EKF and 3D points the number of feature in the new frame: 63 and number of obs: 63 -[19:08:00.564] frame Scene Depth mean:5.800218 ,depth min:0.365645 -[19:08:00.565] need key frame pitch dis: 0.000625 translation dif:1.101400 -[19:08:00.565] Choose frame as a key frame Scene Depth mean:5.800218 ,depth min:0.365645 -[19:08:00.565] frame process finished the id is: 58 the obs is:63 -[19:08:00.629] Odometry x=-0.016559, y=0.671883, theta=0.063667 -[19:08:00.827] After Reprojection Map nMatches:99 ,distance between ekf and vo x:-0.024355 ,z=0.023808,angle between two frames:0.090794 -[19:08:00.828] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =68 error init =0.075980 error end=0.098288 -[19:08:00.828] After pose optimization, distance between ekf and vo x:-0.024355 ,z=0.023808,angle between two frames:0.090794 -[19:08:00.828] Update EKF and 3D points the number of feature in the new frame: 68 and number of obs: 68 -[19:08:00.828] frame Scene Depth mean:5.089148 ,depth min:0.226421 -[19:08:00.829] need key frame pitch dis: 0.077510 translation dif:0.364371 -[19:08:00.829] Choose frame as a key frame Scene Depth mean:5.089148 ,depth min:0.226421 -[19:08:00.829] frame process finished the id is: 59 the obs is:68 -[19:08:00.881] Odometry x=-0.022926, y=0.691473, theta=0.079642 -[19:08:01.073] After Reprojection Map nMatches:107 ,distance between ekf and vo x:-0.000908 ,z=0.001122,angle between two frames:0.000000 -[19:08:01.073] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =79 error init =0.002461 error end=0.001102 -[19:08:01.073] After pose optimization, distance between ekf and vo x:-0.000908 ,z=0.001122,angle between two frames:0.000000 -[19:08:01.073] Update EKF and 3D points the number of feature in the new frame: 79 and number of obs: 79 -[19:08:01.073] frame Scene Depth mean:4.891886 ,depth min:0.146433 -[19:08:01.075] need key frame pitch dis: 3.192513 translation dif:0.354364 -[19:08:01.075] Choose frame as a key frame Scene Depth mean:4.891886 ,depth min:0.146433 -[19:08:01.075] frame process finished the id is: 60 the obs is:79 -[19:08:01.211] Odometry x=-0.023849, y=0.702552, theta=0.083727 -[19:08:01.350] After Reprojection Map nMatches:116 ,distance between ekf and vo x:-0.003668 ,z=0.003348,angle between two frames:0.000041 -[19:08:01.350] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =95 error init =0.016130 error end=0.018447 -[19:08:01.350] After pose optimization, distance between ekf and vo x:-0.003668 ,z=0.003348,angle between two frames:0.000041 -[19:08:01.350] Update EKF and 3D points the number of feature in the new frame: 95 and number of obs: 95 -[19:08:01.350] frame Scene Depth mean:4.480419 ,depth min:0.113790 -[19:08:01.352] need key frame pitch dis: 3.007979 translation dif:0.900980 -[19:08:01.352] Choose frame as a key frame Scene Depth mean:4.480419 ,depth min:0.113790 -[19:08:01.352] frame process finished the id is: 61 the obs is:95 -[19:08:01.376] Odometry x=-0.028121, y=0.712562, theta=0.098333 -[19:08:01.559] After Reprojection Map nMatches:102 ,distance between ekf and vo x:-0.008865 ,z=0.004952,angle between two frames:0.000180 -[19:08:01.560] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =69 error init =0.060537 error end=0.053306 -[19:08:01.560] After pose optimization, distance between ekf and vo x:-0.008865 ,z=0.004952,angle between two frames:0.000180 -[19:08:01.560] Update EKF and 3D points the number of feature in the new frame: 69 and number of obs: 69 -[19:08:01.560] frame Scene Depth mean:5.611353 ,depth min:0.348617 -[19:08:01.561] need key frame pitch dis: 0.170699 translation dif:1.583821 -[19:08:01.561] Choose frame as a key frame Scene Depth mean:5.611353 ,depth min:0.348617 -[19:08:01.561] frame process finished the id is: 62 the obs is:69 -[19:08:01.681] Odometry x=-0.032396, y=0.723334, theta=0.111041 -[19:08:01.753] After Reprojection Map nMatches:116 ,distance between ekf and vo x:-0.003390 ,z=0.003295,angle between two frames:0.000275 -[19:08:01.753] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =91 error init =0.007008 error end=0.003137 -[19:08:01.753] After pose optimization, distance between ekf and vo x:-0.003390 ,z=0.003295,angle between two frames:0.000275 -[19:08:01.753] Update EKF and 3D points the number of feature in the new frame: 91 and number of obs: 91 -[19:08:01.753] frame Scene Depth mean:7.593545 ,depth min:0.122070 -[19:08:01.755] need key frame pitch dis: 0.821111 translation dif:9.168117 -[19:08:01.755] Choose frame as a key frame Scene Depth mean:7.593545 ,depth min:0.122070 -[19:08:01.755] frame process finished the id is: 63 the obs is:91 -[19:08:01.881] Odometry x=-0.034840, y=0.734009, theta=0.105084 -[19:08:01.954] After Reprojection Map nMatches:90 ,distance between ekf and vo x:-0.101104 ,z=-0.102155,angle between two frames:0.100334 -[19:08:01.954] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =85 error init =0.015975 error end=0.008779 -[19:08:01.954] After pose optimization, distance between ekf and vo x:-0.101104 ,z=-0.102155,angle between two frames:0.100334 -[19:08:01.954] Update EKF and 3D points the number of feature in the new frame: 85 and number of obs: 85 -[19:08:01.954] frame Scene Depth mean:5.735229 ,depth min:0.985120 -[19:08:01.957] need key frame pitch dis: 0.067839 translation dif:1.311483 -[19:08:01.957] Choose frame as a key frame Scene Depth mean:5.735229 ,depth min:0.985120 -[19:08:01.957] frame process finished the id is: 64 the obs is:85 -[19:08:02.132] Odometry x=-0.061584, y=0.722479, theta=0.083069 -[19:08:02.147] After Reprojection Map nMatches:128 ,distance between ekf and vo x:-0.097477 ,z=-0.102294,angle between two frames:0.100068 -[19:08:02.148] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =92 error init =0.046503 error end=0.023565 -[19:08:02.148] After pose optimization, distance between ekf and vo x:-0.097477 ,z=-0.102294,angle between two frames:0.100068 -[19:08:02.148] Update EKF and 3D points the number of feature in the new frame: 92 and number of obs: 92 -[19:08:02.148] frame Scene Depth mean:5.785500 ,depth min:0.062565 -[19:08:02.150] need key frame pitch dis: 0.081041 translation dif:1.293830 -[19:08:02.150] Choose frame as a key frame Scene Depth mean:5.785500 ,depth min:0.062565 -[19:08:02.150] frame process finished the id is: 65 the obs is:88 -[19:08:02.354] After Reprojection Map nMatches:116 ,distance between ekf and vo x:-0.118465 ,z=-0.117924,angle between two frames:0.112572 -[19:08:02.354] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =93 error init =0.008306 error end=0.004353 -[19:08:02.354] After pose optimization, distance between ekf and vo x:-0.118465 ,z=-0.117924,angle between two frames:0.112572 -[19:08:02.354] Update EKF and 3D points the number of feature in the new frame: 93 and number of obs: 93 -[19:08:02.354] frame Scene Depth mean:7.021753 ,depth min:0.084580 -[19:08:02.356] need key frame pitch dis: 1.129401 translation dif:12.814132 -[19:08:02.356] Choose frame as a key frame Scene Depth mean:7.021753 ,depth min:0.084580 -[19:08:02.356] frame process finished the id is: 66 the obs is:93 -[19:08:02.385] Odometry x=-0.110877, y=0.705604, theta=0.068262 -[19:08:02.555] After Reprojection Map nMatches:115 ,distance between ekf and vo x:-0.098352 ,z=-0.100945,angle between two frames:0.099982 -[19:08:02.555] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =86 error init =0.021539 error end=0.016114 -[19:08:02.555] After pose optimization, distance between ekf and vo x:-0.098352 ,z=-0.100945,angle between two frames:0.099982 -[19:08:02.555] Update EKF and 3D points the number of feature in the new frame: 86 and number of obs: 86 -[19:08:02.555] frame Scene Depth mean:7.025957 ,depth min:0.380767 -[19:08:02.558] need key frame pitch dis: 3.118916 translation dif:1.558271 -[19:08:02.558] Choose frame as a key frame Scene Depth mean:7.025957 ,depth min:0.380767 -[19:08:02.558] frame process finished the id is: 67 the obs is:86 -[19:08:02.619] Odometry x=-0.135874, y=0.691414, theta=0.044983 -[19:08:02.798] After Reprojection Map nMatches:114 ,distance between ekf and vo x:-0.101259 ,z=-0.098835,angle between two frames:0.100012 -[19:08:02.799] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =90 error init =0.037696 error end=0.010383 -[19:08:02.799] After pose optimization, distance between ekf and vo x:-0.101511 ,z=-0.098945,angle between two frames:0.100014 -[19:08:02.799] Update EKF and 3D points the number of feature in the new frame: 90 and number of obs: 90 -[19:08:02.799] frame Scene Depth mean:8.221427 ,depth min:0.819303 -[19:08:02.801] need key frame pitch dis: 0.103740 translation dif:3.859285 -[19:08:02.801] Choose frame as a key frame Scene Depth mean:8.221427 ,depth min:0.819303 -[19:08:02.801] frame process finished the id is: 68 the obs is:90 -[19:08:02.871] Odometry x=-0.161017, y=0.677627, theta=0.024364 -[19:08:03.102] After Reprojection Map nMatches:120 ,distance between ekf and vo x:-0.102840 ,z=-0.098162,angle between two frames:0.100025 -[19:08:03.102] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =92 error init =0.015864 error end=0.007383 -[19:08:03.102] After pose optimization, distance between ekf and vo x:-0.102840 ,z=-0.098162,angle between two frames:0.100025 -[19:08:03.102] Update EKF and 3D points the number of feature in the new frame: 92 and number of obs: 92 -[19:08:03.102] frame Scene Depth mean:6.946818 ,depth min:0.109610 -[19:08:03.105] need key frame pitch dis: 0.244416 translation dif:4.877928 -[19:08:03.105] Choose frame as a key frame Scene Depth mean:6.946818 ,depth min:0.109610 -[19:08:03.105] frame process finished the id is: 69 the obs is:85 -[19:08:03.336] After Reprojection Map nMatches:127 ,distance between ekf and vo x:-0.107066 ,z=-0.094740,angle between two frames:0.100101 -[19:08:03.336] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =83 error init =0.022660 error end=0.008130 -[19:08:03.336] After pose optimization, distance between ekf and vo x:-0.107066 ,z=-0.094740,angle between two frames:0.100101 -[19:08:03.336] Update EKF and 3D points the number of feature in the new frame: 83 and number of obs: 83 -[19:08:03.336] frame Scene Depth mean:6.787710 ,depth min:1.093623 -[19:08:03.338] need key frame pitch dis: 0.116302 translation dif:2.099660 -[19:08:03.338] Choose frame as a key frame Scene Depth mean:6.787710 ,depth min:1.093623 -[19:08:03.338] frame process finished the id is: 70 the obs is:83 -[19:08:03.591] After Reprojection Map nMatches:126 ,distance between ekf and vo x:-0.003460 ,z=0.000914,angle between two frames:0.000312 -[19:08:03.591] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =105 error init =0.007198 error end=0.009588 -[19:08:03.591] After pose optimization, distance between ekf and vo x:-0.003460 ,z=0.000914,angle between two frames:0.000312 -[19:08:03.591] Update EKF and 3D points the number of feature in the new frame: 105 and number of obs: 105 -[19:08:03.591] frame Scene Depth mean:5.725837 ,depth min:0.325688 -[19:08:03.594] need key frame pitch dis: 0.097244 translation dif:1.562784 -[19:08:03.594] Choose frame as a key frame Scene Depth mean:5.725837 ,depth min:0.325688 -[19:08:03.594] frame process finished the id is: 71 the obs is:104 -[19:08:03.760] After Reprojection Map nMatches:130 ,distance between ekf and vo x:0.003235 ,z=0.020704,angle between two frames:0.002148 -[19:08:03.760] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =111 error init =0.005062 error end=0.002840 -[19:08:03.760] After pose optimization, distance between ekf and vo x:0.003235 ,z=0.020704,angle between two frames:0.002148 -[19:08:03.760] Update EKF and 3D points the number of feature in the new frame: 111 and number of obs: 111 -[19:08:03.760] frame Scene Depth mean:5.470644 ,depth min:0.260229 -[19:08:03.762] need key frame pitch dis: 0.338371 translation dif:1.982902 -[19:08:03.762] Choose frame as a key frame Scene Depth mean:5.470644 ,depth min:0.260229 -[19:08:03.762] frame process finished the id is: 72 the obs is:111 -[19:08:03.902] After Reprojection Map nMatches:140 ,distance between ekf and vo x:-0.014747 ,z=0.023405,angle between two frames:0.001605 -[19:08:03.902] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =115 error init =0.039046 error end=0.006603 -[19:08:03.902] After pose optimization, distance between ekf and vo x:-0.014747 ,z=0.023405,angle between two frames:0.001605 -[19:08:03.902] Update EKF and 3D points the number of feature in the new frame: 115 and number of obs: 115 -[19:08:03.902] frame Scene Depth mean:3.742446 ,depth min:0.127611 -[19:08:03.905] need key frame pitch dis: 0.137961 translation dif:0.715047 -[19:08:03.905] Choose frame as a key frame Scene Depth mean:3.742446 ,depth min:0.127611 -[19:08:03.905] frame process finished the id is: 73 the obs is:115 -[19:08:04.132] After Reprojection Map nMatches:130 ,distance between ekf and vo x:-0.055057 ,z=0.080394,angle between two frames:0.006504 -[19:08:04.132] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =99 error init =0.020062 error end=0.025518 -[19:08:04.132] After pose optimization, distance between ekf and vo x:-0.055057 ,z=0.080394,angle between two frames:0.006504 -[19:08:04.132] Update EKF and 3D points the number of feature in the new frame: 99 and number of obs: 99 -[19:08:04.132] frame Scene Depth mean:4.719049 ,depth min:0.140236 -[19:08:04.135] need key frame pitch dis: 0.026359 translation dif:0.492052 -[19:08:04.135] Choose frame as a key frame Scene Depth mean:4.719049 ,depth min:0.140236 -[19:08:04.135] frame process finished the id is: 74 the obs is:99 -[19:08:04.396] After Reprojection Map nMatches:157 ,distance between ekf and vo x:-0.004261 ,z=0.005824,angle between two frames:0.000561 -[19:08:04.397] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =115 error init =0.043612 error end=0.016198 -[19:08:04.397] After pose optimization, distance between ekf and vo x:-0.004261 ,z=0.005824,angle between two frames:0.000561 -[19:08:04.397] Update EKF and 3D points the number of feature in the new frame: 115 and number of obs: 115 -[19:08:04.397] frame Scene Depth mean:3.535424 ,depth min:0.098922 -[19:08:04.399] need key frame pitch dis: 0.328668 translation dif:0.809543 -[19:08:04.399] Choose frame as a key frame Scene Depth mean:3.535424 ,depth min:0.098922 -[19:08:04.399] frame process finished the id is: 75 the obs is:115 -[19:08:04.634] After Reprojection Map nMatches:160 ,distance between ekf and vo x:-0.023098 ,z=0.034259,angle between two frames:0.001881 -[19:08:04.634] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =150 error init =0.020363 error end=0.006721 -[19:08:04.634] After pose optimization, distance between ekf and vo x:-0.023098 ,z=0.034259,angle between two frames:0.001881 -[19:08:04.634] Update EKF and 3D points the number of feature in the new frame: 150 and number of obs: 150 -[19:08:04.634] frame Scene Depth mean:2.853287 ,depth min:0.506901 -[19:08:04.637] need key frame pitch dis: 0.372242 translation dif:0.941180 -[19:08:04.637] Choose frame as a key frame Scene Depth mean:2.853287 ,depth min:0.506901 -[19:08:04.637] frame process finished the id is: 76 the obs is:150 -[19:08:04.645] Odometry x=-0.169877, y=0.691068, theta=0.012201 -[19:08:04.836] After Reprojection Map nMatches:157 ,distance between ekf and vo x:-0.022112 ,z=0.048925,angle between two frames:0.002297 -[19:08:04.837] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =115 error init =0.019824 error end=0.018372 -[19:08:04.837] After pose optimization, distance between ekf and vo x:-0.022112 ,z=0.048925,angle between two frames:0.002297 -[19:08:04.837] Update EKF and 3D points the number of feature in the new frame: 115 and number of obs: 115 -[19:08:04.837] frame Scene Depth mean:3.181730 ,depth min:0.528056 -[19:08:04.840] need key frame pitch dis: 0.092096 translation dif:0.507305 -[19:08:04.840] Choose frame as a key frame Scene Depth mean:3.181730 ,depth min:0.528056 -[19:08:04.840] frame process finished the id is: 77 the obs is:115 -[19:08:04.902] Odometry x=-0.175200, y=0.703424, theta=0.005715 -[19:08:05.060] After Reprojection Map nMatches:156 ,distance between ekf and vo x:-0.031342 ,z=0.055628,angle between two frames:0.000127 -[19:08:05.061] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =106 error init =0.015070 error end=0.023756 -[19:08:05.061] After pose optimization, distance between ekf and vo x:-0.031342 ,z=0.055628,angle between two frames:0.000127 -[19:08:05.061] Update EKF and 3D points the number of feature in the new frame: 106 and number of obs: 106 -[19:08:05.061] frame Scene Depth mean:5.273465 ,depth min:0.187470 -[19:08:05.064] need key frame pitch dis: 0.008865 translation dif:1.819924 -[19:08:05.064] Choose frame as a key frame Scene Depth mean:5.273465 ,depth min:0.187470 -[19:08:05.064] frame process finished the id is: 78 the obs is:106 -[19:08:05.207] Odometry x=-0.182911, y=0.717137, theta=-0.007508 -[19:08:05.251] After Reprojection Map nMatches:210 ,distance between ekf and vo x:0.031441 ,z=-0.048148,angle between two frames:0.004097 -[19:08:05.251] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =178 error init =0.011098 error end=0.007086 -[19:08:05.251] After pose optimization, distance between ekf and vo x:0.031441 ,z=-0.048148,angle between two frames:0.004097 -[19:08:05.251] Update EKF and 3D points the number of feature in the new frame: 178 and number of obs: 178 -[19:08:05.251] frame Scene Depth mean:6.919656 ,depth min:0.400271 -[19:08:05.255] need key frame pitch dis: 0.076095 translation dif:2.589073 -[19:08:05.255] Choose frame as a key frame Scene Depth mean:6.919656 ,depth min:0.400271 -[19:08:05.255] frame process finished the id is: 79 the obs is:178 -[19:08:05.394] Odometry x=-0.175218, y=0.705275, theta=-0.066214 -[19:08:05.604] After Reprojection Map nMatches:167 ,distance between ekf and vo x:0.007217 ,z=-0.005198,angle between two frames:0.001666 -[19:08:05.605] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =119 error init =0.026116 error end=0.016149 -[19:08:05.605] After pose optimization, distance between ekf and vo x:0.007217 ,z=-0.005198,angle between two frames:0.001666 -[19:08:05.605] Update EKF and 3D points the number of feature in the new frame: 119 and number of obs: 119 -[19:08:05.605] frame Scene Depth mean:6.125483 ,depth min:0.074478 -[19:08:05.607] need key frame pitch dis: 0.094379 translation dif:0.815932 -[19:08:05.607] Choose frame as a key frame Scene Depth mean:6.125483 ,depth min:0.074478 -[19:08:05.607] frame process finished the id is: 80 the obs is:119 -[19:08:05.639] Odometry x=-0.173438, y=0.704001, theta=-0.119673 -[19:08:05.957] After Reprojection Map nMatches:226 ,distance between ekf and vo x:0.009611 ,z=-0.019348,angle between two frames:0.000594 -[19:08:05.958] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =152 error init =0.028758 error end=0.019984 -[19:08:05.958] After pose optimization, distance between ekf and vo x:0.009611 ,z=-0.019348,angle between two frames:0.000594 -[19:08:05.958] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152 -[19:08:05.958] frame Scene Depth mean:6.805445 ,depth min:0.293584 -[19:08:05.961] need key frame pitch dis: 0.143936 translation dif:2.484845 -[19:08:05.961] Choose frame as a key frame Scene Depth mean:6.805445 ,depth min:0.293584 -[19:08:05.961] frame process finished the id is: 81 the obs is:151 -[19:08:06.456] After Reprojection Map nMatches:273 ,distance between ekf and vo x:-0.514046 ,z=-0.224963,angle between two frames:0.400473 -[19:08:06.457] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =205 error init =0.106227 error end=0.014233 -[19:08:06.457] After pose optimization, distance between ekf and vo x:-0.514046 ,z=-0.224963,angle between two frames:0.400473 -[19:08:06.457] frame process finished the id is: 81 the obs is:151 -[19:08:06.884] After Reprojection Map nMatches:218 ,distance between ekf and vo x:0.000467 ,z=-0.002916,angle between two frames:0.000037 -[19:08:06.885] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =170 error init =0.005528 error end=0.003045 -[19:08:06.885] After pose optimization, distance between ekf and vo x:0.000469 ,z=-0.002916,angle between two frames:0.000037 -[19:08:06.885] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170 -[19:08:06.885] frame Scene Depth mean:4.091783 ,depth min:0.166781 -[19:08:06.886] Odometry x=-0.172928, y=0.702764, theta=-0.173199 -[19:08:06.888] need key frame pitch dis: 0.455209 translation dif:0.603005 -[19:08:06.888] Choose frame as a key frame Scene Depth mean:4.091783 ,depth min:0.166781 -[19:08:06.888] frame process finished the id is: 83 the obs is:169 -[19:08:07.201] Odometry x=-0.172801, y=0.703448, theta=-0.175431 -[19:08:07.297] After Reprojection Map nMatches:265 ,distance between ekf and vo x:-0.007008 ,z=0.044863,angle between two frames:0.000172 -[19:08:07.298] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =183 error init =0.033774 error end=0.011446 -[19:08:07.298] After pose optimization, distance between ekf and vo x:-0.007008 ,z=0.044863,angle between two frames:0.000172 -[19:08:07.298] Update EKF and 3D points the number of feature in the new frame: 183 and number of obs: 183 -[19:08:07.298] frame Scene Depth mean:6.320973 ,depth min:0.212024 -[19:08:07.302] need key frame pitch dis: 0.174654 translation dif:0.518587 -[19:08:07.302] Choose frame as a key frame Scene Depth mean:6.320973 ,depth min:0.212024 -[19:08:07.302] frame process finished the id is: 84 the obs is:183 -[19:08:07.420] Odometry x=-0.173407, y=0.719801, theta=-0.169188 -[19:08:07.639] Odometry x=-0.171781, y=0.729823, theta=-0.164313 -[19:08:07.702] After Reprojection Map nMatches:222 ,distance between ekf and vo x:-0.002801 ,z=0.000071,angle between two frames:0.000196 -[19:08:07.703] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =152 error init =0.054511 error end=0.026729 -[19:08:07.703] After pose optimization, distance between ekf and vo x:-0.002801 ,z=0.000071,angle between two frames:0.000196 -[19:08:07.703] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152 -[19:08:07.703] frame Scene Depth mean:6.680856 ,depth min:0.172547 -[19:08:07.706] need key frame pitch dis: 3.034479 translation dif:0.768927 -[19:08:07.706] Choose frame as a key frame Scene Depth mean:6.680856 ,depth min:0.172547 -[19:08:07.706] frame process finished the id is: 85 the obs is:152 -[19:08:07.883] Odometry x=-0.171275, y=0.736959, theta=-0.168182 -[19:08:08.032] After Reprojection Map nMatches:233 ,distance between ekf and vo x:-0.001992 ,z=0.042068,angle between two frames:0.000165 -[19:08:08.033] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =177 error init =0.043564 error end=0.011926 -[19:08:08.033] After pose optimization, distance between ekf and vo x:-0.001992 ,z=0.042068,angle between two frames:0.000165 -[19:08:08.033] Update EKF and 3D points the number of feature in the new frame: 177 and number of obs: 177 -[19:08:08.033] frame Scene Depth mean:5.308118 ,depth min:0.092438 -[19:08:08.037] need key frame pitch dis: 0.066514 translation dif:0.056050 -[19:08:08.037] frame process finished the id is: 86 the obs is:177 -[19:08:08.175] Odometry x=-0.169542, y=0.754259, theta=-0.160136 -[19:08:08.370] After Reprojection Map nMatches:261 ,distance between ekf and vo x:0.002370 ,z=0.107913,angle between two frames:0.000945 -[19:08:08.371] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =234 error init =0.010756 error end=0.001759 -[19:08:08.371] After pose optimization, distance between ekf and vo x:0.002370 ,z=0.107913,angle between two frames:0.000945 -[19:08:08.371] Update EKF and 3D points the number of feature in the new frame: 234 and number of obs: 234 -[19:08:08.371] frame Scene Depth mean:4.831193 ,depth min:0.184579 -[19:08:08.376] need key frame pitch dis: 0.240696 translation dif:0.231845 -[19:08:08.376] Choose frame as a key frame Scene Depth mean:4.831193 ,depth min:0.184579 -[19:08:08.376] frame process finished the id is: 87 the obs is:234 -[19:08:08.393] Odometry x=-0.170060, y=0.790743, theta=-0.149682 -[19:08:08.679] Odometry x=-0.168471, y=0.800513, theta=-0.137410 -[19:08:08.761] After Reprojection Map nMatches:257 ,distance between ekf and vo x:-0.002164 ,z=0.002334,angle between two frames:0.000137 -[19:08:08.763] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =218 error init =0.005070 error end=0.001967 -[19:08:08.763] After pose optimization, distance between ekf and vo x:0.015105 ,z=-0.125379,angle between two frames:0.004376 -[19:08:08.763] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218 -[19:08:08.763] frame Scene Depth mean:5.368237 ,depth min:0.299050 -[19:08:08.768] need key frame pitch dis: 2.851909 translation dif:0.032451 -[19:08:08.768] Choose frame as a key frame Scene Depth mean:5.368237 ,depth min:0.299050 -[19:08:08.769] frame process finished the id is: 88 the obs is:218 -[19:08:08.911] Odometry x=-0.164027, y=0.778540, theta=-0.147807 -[19:08:09.141] After Reprojection Map nMatches:304 ,distance between ekf and vo x:0.017872 ,z=0.024670,angle between two frames:0.002043 -[19:08:09.142] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =218 error init =0.043602 error end=0.017132 -[19:08:09.142] After pose optimization, distance between ekf and vo x:0.017872 ,z=0.024670,angle between two frames:0.002043 -[19:08:09.142] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218 -[19:08:09.142] frame Scene Depth mean:5.377891 ,depth min:0.310275 -[19:08:09.146] need key frame pitch dis: 0.028108 translation dif:1.936225 -[19:08:09.146] Choose frame as a key frame Scene Depth mean:5.377891 ,depth min:0.310275 -[19:08:09.146] frame process finished the id is: 89 the obs is:218 -[19:08:09.214] Odometry x=-0.158631, y=0.792221, theta=-0.157909 -[19:08:09.376] Odometry x=-0.156514, y=0.802368, theta=-0.167055 -[19:08:09.502] After Reprojection Map nMatches:261 ,distance between ekf and vo x:0.001850 ,z=0.017695,angle between two frames:0.000293 -[19:08:09.503] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =184 error init =0.034697 error end=0.015032 -[19:08:09.503] After pose optimization, distance between ekf and vo x:0.001850 ,z=0.017695,angle between two frames:0.000293 -[19:08:09.503] Update EKF and 3D points the number of feature in the new frame: 184 and number of obs: 184 -[19:08:09.503] frame Scene Depth mean:5.371862 ,depth min:0.175639 -[19:08:09.507] need key frame pitch dis: 0.158371 translation dif:2.290617 -[19:08:09.507] Choose frame as a key frame Scene Depth mean:5.371862 ,depth min:0.175639 -[19:08:09.507] frame process finished the id is: 90 the obs is:184 -[19:08:09.631] Odometry x=-0.152053, y=0.814666, theta=-0.149266 -[19:08:09.904] After Reprojection Map nMatches:269 ,distance between ekf and vo x:0.004533 ,z=0.015656,angle between two frames:0.000655 -[19:08:09.905] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =172 error init =0.035046 error end=0.012303 -[19:08:09.905] After pose optimization, distance between ekf and vo x:0.004533 ,z=0.015656,angle between two frames:0.000655 -[19:08:09.905] Update EKF and 3D points the number of feature in the new frame: 172 and number of obs: 172 -[19:08:09.905] frame Scene Depth mean:5.178269 ,depth min:0.190028 -[19:08:09.909] need key frame pitch dis: 3.172872 translation dif:1.007180 -[19:08:09.909] Choose frame as a key frame Scene Depth mean:5.178269 ,depth min:0.190028 -[19:08:09.909] frame process finished the id is: 91 the obs is:172 -[19:08:09.919] Odometry x=-0.147559, y=0.828184, theta=-0.144788 -[19:08:10.145] Odometry x=-0.145343, y=0.838382, theta=-0.134831 -[19:08:10.338] After Reprojection Map nMatches:218 ,distance between ekf and vo x:0.006110 ,z=-0.000405,angle between two frames:0.000377 -[19:08:10.338] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =177 error init =0.015726 error end=0.007585 -[19:08:10.338] After pose optimization, distance between ekf and vo x:0.006110 ,z=-0.000405,angle between two frames:0.000377 -[19:08:10.338] Update EKF and 3D points the number of feature in the new frame: 177 and number of obs: 177 -[19:08:10.339] frame Scene Depth mean:5.056200 ,depth min:0.050915 -[19:08:10.343] need key frame pitch dis: 0.046262 translation dif:0.392254 -[19:08:10.343] Choose frame as a key frame Scene Depth mean:5.056200 ,depth min:0.050915 -[19:08:10.343] frame process finished the id is: 92 the obs is:176 -[19:08:10.397] Odometry x=-0.143222, y=0.845992, theta=-0.138970 -[19:08:10.636] Odometry x=-0.141853, y=0.855924, theta=-0.151210 -[19:08:10.758] After Reprojection Map nMatches:305 ,distance between ekf and vo x:-0.039610 ,z=-0.001377,angle between two frames:0.004032 -[19:08:10.759] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =241 error init =0.016017 error end=0.008127 -[19:08:10.759] After pose optimization, distance between ekf and vo x:-0.039610 ,z=-0.001377,angle between two frames:0.004032 -[19:08:10.759] Update EKF and 3D points the number of feature in the new frame: 241 and number of obs: 241 -[19:08:10.759] frame Scene Depth mean:4.966667 ,depth min:0.142967 -[19:08:10.763] need key frame pitch dis: 0.187107 translation dif:1.977009 -[19:08:10.763] Choose frame as a key frame Scene Depth mean:4.966667 ,depth min:0.142967 -[19:08:10.763] frame process finished the id is: 93 the obs is:241 -[19:08:10.891] Odometry x=-0.150958, y=0.862543, theta=-0.173103 -[19:08:11.142] After Reprojection Map nMatches:267 ,distance between ekf and vo x:0.000392 ,z=0.006474,angle between two frames:0.000099 -[19:08:11.143] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =229 error init =0.013191 error end=0.007892 -[19:08:11.143] After pose optimization, distance between ekf and vo x:0.000447 ,z=0.006097,angle between two frames:0.000097 -[19:08:11.143] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229 -[19:08:11.144] frame Scene Depth mean:4.451808 ,depth min:0.238892 -[19:08:11.149] need key frame pitch dis: 3.179886 translation dif:0.671151 -[19:08:11.149] Choose frame as a key frame Scene Depth mean:4.451808 ,depth min:0.238892 -[19:08:11.149] frame process finished the id is: 94 the obs is:229 -[19:08:11.181] Odometry x=-0.150153, y=0.871907, theta=-0.185540 -[19:08:11.413] Odometry x=-0.148281, y=0.881721, theta=-0.183337 -[19:08:11.642] Odometry x=-0.146090, y=0.894149, theta=-0.182776 -[19:08:11.660] After Reprojection Map nMatches:333 ,distance between ekf and vo x:0.023629 ,z=0.084064,angle between two frames:0.002986 -[19:08:11.661] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =253 error init =0.017173 error end=0.017565 -[19:08:11.661] After pose optimization, distance between ekf and vo x:0.023629 ,z=0.084064,angle between two frames:0.002986 -[19:08:11.661] Update EKF and 3D points the number of feature in the new frame: 253 and number of obs: 253 -[19:08:11.661] frame Scene Depth mean:5.052711 ,depth min:0.211640 -[19:08:11.667] need key frame pitch dis: 3.221323 translation dif:0.665451 -[19:08:11.667] Choose frame as a key frame Scene Depth mean:5.052711 ,depth min:0.211640 -[19:08:11.667] frame process finished the id is: 95 the obs is:253 -[19:08:11.874] Odometry x=-0.139663, y=0.918807, theta=-0.188130 -[19:08:12.141] Odometry x=-0.137722, y=0.929108, theta=-0.195275 -[19:08:12.198] After Reprojection Map nMatches:385 ,distance between ekf and vo x:0.000654 ,z=0.002449,angle between two frames:0.000398 -[19:08:12.199] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =314 error init =0.033845 error end=0.011126 -[19:08:12.199] After pose optimization, distance between ekf and vo x:0.000654 ,z=0.002449,angle between two frames:0.000398 -[19:08:12.199] Update EKF and 3D points the number of feature in the new frame: 314 and number of obs: 314 -[19:08:12.199] frame Scene Depth mean:2.369722 ,depth min:0.051240 -[19:08:12.204] need key frame pitch dis: 0.307497 translation dif:0.028592 -[19:08:12.204] Choose frame as a key frame Scene Depth mean:2.369722 ,depth min:0.051240 -[19:08:12.204] frame process finished the id is: 96 the obs is:306 -[19:08:12.396] Odometry x=-0.135381, y=0.937481, theta=-0.198039 -[19:08:12.648] Odometry x=-0.133478, y=0.948119, theta=-0.200658 -[19:08:12.724] After Reprojection Map nMatches:364 ,distance between ekf and vo x:0.002340 ,z=0.002143,angle between two frames:0.001266 -[19:08:12.725] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =286 error init =0.027350 error end=0.021370 -[19:08:12.725] After pose optimization, distance between ekf and vo x:0.002340 ,z=0.002143,angle between two frames:0.001266 -[19:08:12.725] Update EKF and 3D points the number of feature in the new frame: 286 and number of obs: 286 -[19:08:12.725] frame Scene Depth mean:2.869049 ,depth min:0.103461 -[19:08:12.732] need key frame pitch dis: 0.336967 translation dif:0.350346 -[19:08:12.732] Choose frame as a key frame Scene Depth mean:2.869049 ,depth min:0.103461 -[19:08:12.732] frame process finished the id is: 97 the obs is:286 -[19:08:12.870] Odometry x=-0.130610, y=0.957042, theta=-0.206753 -[19:08:13.233] Odometry x=-0.128971, y=0.969822, theta=-0.213539 -[19:08:13.246] After Reprojection Map nMatches:363 ,distance between ekf and vo x:0.002361 ,z=0.017499,angle between two frames:0.001163 -[19:08:13.249] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =234 error init =0.015304 error end=0.026750 -[19:08:13.249] After pose optimization, distance between ekf and vo x:0.002757 ,z=0.015008,angle between two frames:0.001124 -[19:08:13.249] Update EKF and 3D points the number of feature in the new frame: 234 and number of obs: 234 -[19:08:13.249] frame Scene Depth mean:2.282278 ,depth min:0.050510 -[19:08:13.253] need key frame pitch dis: 0.382977 translation dif:0.146335 -[19:08:13.253] Choose frame as a key frame Scene Depth mean:2.282278 ,depth min:0.050510 -[19:08:13.253] frame process finished the id is: 98 the obs is:220 -[19:08:13.408] Odometry x=-0.123280, y=0.995619, theta=-0.208643 -[19:08:13.645] Odometry x=-0.120172, y=1.009883, theta=-0.199330 -[19:08:13.806] After Reprojection Map nMatches:426 ,distance between ekf and vo x:-0.005862 ,z=-0.005751,angle between two frames:0.008784 -[19:08:13.807] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =378 error init =0.006211 error end=0.004032 -[19:08:13.807] After pose optimization, distance between ekf and vo x:-0.005862 ,z=-0.005751,angle between two frames:0.008784 -[19:08:13.807] Update EKF and 3D points the number of feature in the new frame: 378 and number of obs: 378 -[19:08:13.807] frame Scene Depth mean:1.584623 ,depth min:0.096629 -[19:08:13.812] need key frame pitch dis: 0.306957 translation dif:0.723736 -[19:08:13.812] Choose frame as a key frame Scene Depth mean:1.584623 ,depth min:0.096629 -[19:08:13.812] frame process finished the id is: 99 the obs is:377 -[19:08:13.882] Odometry x=-0.119190, y=1.015643, theta=-0.209261 -[19:08:14.132] Odometry x=-0.116784, y=1.026417, theta=-0.205095 -[19:08:14.391] Odometry x=-0.113905, y=1.040055, theta=-0.199826 -[19:08:14.427] After Reprojection Map nMatches:424 ,distance between ekf and vo x:-0.001270 ,z=-0.001424,angle between two frames:0.000231 -[19:08:14.429] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =305 error init =0.065689 error end=0.102579 -[19:08:14.429] After pose optimization, distance between ekf and vo x:0.055671 ,z=0.002935,angle between two frames:0.005529 -[19:08:14.429] Update EKF and 3D points the number of feature in the new frame: 305 and number of obs: 305 -[19:08:14.429] frame Scene Depth mean:2.970628 ,depth min:0.101176 -[19:08:14.437] need key frame pitch dis: 1.067742 translation dif:2.533634 -[19:08:14.437] Choose frame as a key frame Scene Depth mean:2.970628 ,depth min:0.101176 -[19:08:14.437] frame process finished the id is: 100 the obs is:305 -[19:08:14.645] Odometry x=-0.099781, y=1.046238, theta=-0.198901 -[19:08:14.877] Odometry x=-0.097766, y=1.057121, theta=-0.204542 -[19:08:14.894] After Reprojection Map nMatches:326 ,distance between ekf and vo x:0.001171 ,z=0.000279,angle between two frames:0.000142 -[19:08:14.895] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =260 error init =0.031333 error end=0.022124 -[19:08:14.895] After pose optimization, distance between ekf and vo x:0.001171 ,z=0.000279,angle between two frames:0.000142 -[19:08:14.895] Update EKF and 3D points the number of feature in the new frame: 260 and number of obs: 260 -[19:08:14.895] frame Scene Depth mean:3.669894 ,depth min:0.314161 -[19:08:14.901] need key frame pitch dis: 0.597359 translation dif:2.313697 -[19:08:14.901] Choose frame as a key frame Scene Depth mean:3.669894 ,depth min:0.314161 -[19:08:14.901] frame process finished the id is: 101 the obs is:260 -[19:08:15.213] Odometry x=-0.092510, y=1.082109, theta=-0.206759 -[19:08:15.389] Odometry x=-0.089566, y=1.096804, theta=-0.205044 -[19:08:15.422] After Reprojection Map nMatches:392 ,distance between ekf and vo x:0.000850 ,z=0.000140,angle between two frames:0.000073 -[19:08:15.423] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =339 error init =0.010002 error end=0.005600 -[19:08:15.423] After pose optimization, distance between ekf and vo x:0.000850 ,z=0.000140,angle between two frames:0.000073 -[19:08:15.423] Update EKF and 3D points the number of feature in the new frame: 339 and number of obs: 339 -[19:08:15.423] frame Scene Depth mean:4.317574 ,depth min:0.347856 -[19:08:15.429] need key frame pitch dis: 0.472831 translation dif:0.925038 -[19:08:15.429] Choose frame as a key frame Scene Depth mean:4.317574 ,depth min:0.347856 -[19:08:15.429] frame process finished the id is: 102 the obs is:339 -[19:08:15.636] Odometry x=-0.084214, y=1.122095, theta=-0.203830 -[19:08:15.912] Odometry x=-0.079156, y=1.138271, theta=-0.170248 -[19:08:16.134] After Reprojection Map nMatches:441 ,distance between ekf and vo x:0.000981 ,z=-0.000212,angle between two frames:0.000055 -[19:08:16.137] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =262 error init =0.020491 error end=0.021752 -[19:08:16.137] After pose optimization, distance between ekf and vo x:0.002035 ,z=-0.000828,angle between two frames:0.000082 -[19:08:16.137] Update EKF and 3D points the number of feature in the new frame: 262 and number of obs: 262 -[19:08:16.137] frame Scene Depth mean:5.954592 ,depth min:0.052177 -[19:08:16.138] Odometry x=-0.078140, y=1.144757, theta=-0.175456 -[19:08:16.142] need key frame pitch dis: 0.065698 translation dif:0.528112 -[19:08:16.142] Choose frame as a key frame Scene Depth mean:5.954592 ,depth min:0.052177 -[19:08:16.142] frame process finished the id is: 103 the obs is:261 -[19:08:16.387] Odometry x=-0.076029, y=1.155867, theta=-0.161553 -[19:08:16.646] After Reprojection Map nMatches:407 ,distance between ekf and vo x:0.000470 ,z=-0.000183,angle between two frames:0.000023 -[19:08:16.647] Odometry x=-0.074099, y=1.170042, theta=-0.147702 -[19:08:16.648] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =278 error init =0.020501 error end=0.011054 -[19:08:16.648] After pose optimization, distance between ekf and vo x:0.000470 ,z=-0.000183,angle between two frames:0.000023 -[19:08:16.648] Update EKF and 3D points the number of feature in the new frame: 278 and number of obs: 278 -[19:08:16.648] frame Scene Depth mean:2.790472 ,depth min:0.054641 -[19:08:16.652] need key frame pitch dis: 0.171215 translation dif:1.178634 -[19:08:16.652] Choose frame as a key frame Scene Depth mean:2.790472 ,depth min:0.054641 -[19:08:16.652] frame process finished the id is: 104 the obs is:269 -[19:08:16.897] Odometry x=-0.070027, y=1.195160, theta=-0.102073 -[19:08:17.177] Odometry x=-0.068739, y=1.209846, theta=-0.091343 -[19:08:17.378] Odometry x=-0.068108, y=1.225428, theta=-0.096735 -[19:08:17.381] After Reprojection Map nMatches:457 ,distance between ekf and vo x:-0.002957 ,z=-0.010482,angle between two frames:0.000277 -[19:08:17.384] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =345 error init =0.013322 error end=0.016087 -[19:08:17.384] After pose optimization, distance between ekf and vo x:-0.002022 ,z=-0.010700,angle between two frames:0.000239 -[19:08:17.384] Update EKF and 3D points the number of feature in the new frame: 345 and number of obs: 345 -[19:08:17.384] frame Scene Depth mean:2.202305 ,depth min:0.058168 -[19:08:17.390] need key frame pitch dis: 0.196986 translation dif:0.849974 -[19:08:17.390] Choose frame as a key frame Scene Depth mean:2.202305 ,depth min:0.058168 -[19:08:17.390] frame process finished the id is: 105 the obs is:337 -[19:08:17.622] Odometry x=-0.065859, y=1.249072, theta=-0.076055 -[19:08:17.892] Odometry x=-0.064537, y=1.264016, theta=-0.101019 -[19:08:18.119] Odometry x=-0.064015, y=1.279390, theta=-0.128828 -[19:08:18.176] After Reprojection Map nMatches:467 ,distance between ekf and vo x:0.002132 ,z=-0.021190,angle between two frames:0.000071 -[19:08:18.177] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =374 error init =0.027889 error end=0.026948 -[19:08:18.177] After pose optimization, distance between ekf and vo x:0.002132 ,z=-0.021190,angle between two frames:0.000071 -[19:08:18.177] Update EKF and 3D points the number of feature in the new frame: 374 and number of obs: 374 -[19:08:18.177] frame Scene Depth mean:2.294818 ,depth min:0.114459 -[19:08:18.183] need key frame pitch dis: 0.194483 translation dif:0.234518 -[19:08:18.183] Choose frame as a key frame Scene Depth mean:2.294818 ,depth min:0.114459 -[19:08:18.184] frame process finished the id is: 106 the obs is:373 -[19:08:18.366] Odometry x=-0.062555, y=1.277043, theta=-0.125811 -[19:08:18.664] Odometry x=-0.061011, y=1.288015, theta=-0.121680 -[19:08:18.856] After Reprojection Map nMatches:519 ,distance between ekf and vo x:0.000744 ,z=0.000501,angle between two frames:0.000050 -[19:08:18.857] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =343 error init =0.029283 error end=0.034624 -[19:08:18.857] After pose optimization, distance between ekf and vo x:0.000744 ,z=0.000501,angle between two frames:0.000050 -[19:08:18.857] Update EKF and 3D points the number of feature in the new frame: 343 and number of obs: 343 -[19:08:18.857] frame Scene Depth mean:2.186999 ,depth min:0.066037 -[19:08:18.863] need key frame pitch dis: 0.122273 translation dif:0.259435 -[19:08:18.863] Choose frame as a key frame Scene Depth mean:2.186999 ,depth min:0.066037 -[19:08:18.863] frame process finished the id is: 107 the obs is:339 -[19:08:18.887] Odometry x=-0.063273, y=1.299809, theta=-0.091990 -[19:08:19.197] Odometry x=-0.062208, y=1.310998, theta=-0.088661 -[19:08:19.388] Odometry x=-0.060298, y=1.323744, theta=-0.106859 -[19:08:19.507] After Reprojection Map nMatches:578 ,distance between ekf and vo x:0.000960 ,z=0.000833,angle between two frames:0.000056 -[19:08:19.509] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =437 error init =0.019957 error end=0.018455 -[19:08:19.509] After pose optimization, distance between ekf and vo x:0.000960 ,z=0.000833,angle between two frames:0.000056 -[19:08:19.509] Update EKF and 3D points the number of feature in the new frame: 437 and number of obs: 437 -[19:08:19.510] frame Scene Depth mean:2.092229 ,depth min:0.053533 -[19:08:19.517] need key frame pitch dis: 0.028681 translation dif:1.084618 -[19:08:19.517] Choose frame as a key frame Scene Depth mean:2.092229 ,depth min:0.053533 -[19:08:19.517] frame process finished the id is: 108 the obs is:427 -[19:08:19.629] Odometry x=-0.061824, y=1.329730, theta=-0.096526 -[19:08:19.906] Odometry x=-0.060595, y=1.341056, theta=-0.083008 -[19:08:20.140] Odometry x=-0.059136, y=1.355816, theta=-0.096429 -[19:08:20.288] After Reprojection Map nMatches:523 ,distance between ekf and vo x:0.000734 ,z=0.000374,angle between two frames:0.000044 -[19:08:20.290] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =401 error init =0.029890 error end=0.032624 -[19:08:20.290] After pose optimization, distance between ekf and vo x:0.000734 ,z=0.000374,angle between two frames:0.000044 -[19:08:20.290] Update EKF and 3D points the number of feature in the new frame: 401 and number of obs: 401 -[19:08:20.290] frame Scene Depth mean:1.936543 ,depth min:0.051786 -[19:08:20.297] need key frame pitch dis: 0.108020 translation dif:0.525819 -[19:08:20.298] Choose frame as a key frame Scene Depth mean:1.936543 ,depth min:0.051786 -[19:08:20.298] frame process finished the id is: 109 the obs is:400 -[19:08:20.374] Odometry x=-0.060336, y=1.361361, theta=-0.114542 -[19:08:20.979] After Reprojection Map nMatches:491 ,distance between ekf and vo x:0.001070 ,z=0.000167,angle between two frames:0.000064 -[19:08:20.982] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =384 error init =0.010500 error end=0.023347 -[19:08:20.982] After pose optimization, distance between ekf and vo x:0.018434 ,z=-0.003750,angle between two frames:0.001462 -[19:08:20.982] Update EKF and 3D points the number of feature in the new frame: 384 and number of obs: 384 -[19:08:20.983] frame Scene Depth mean:3.327508 ,depth min:0.123623 -[19:08:20.989] need key frame pitch dis: 3.079018 translation dif:1.671072 -[19:08:20.989] Choose frame as a key frame Scene Depth mean:3.327508 ,depth min:0.123623 -[19:08:20.989] frame process finished the id is: 110 the obs is:384 -[19:08:21.639] Odometry x=-0.055866, y=1.360641, theta=-0.121050 -[19:08:21.879] After Reprojection Map nMatches:652 ,distance between ekf and vo x:0.001351 ,z=-0.000835,angle between two frames:0.000097 -[19:08:21.881] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =459 error init =0.013738 error end=0.015389 -[19:08:21.881] After pose optimization, distance between ekf and vo x:0.001351 ,z=-0.000835,angle between two frames:0.000097 -[19:08:21.881] Update EKF and 3D points the number of feature in the new frame: 459 and number of obs: 459 -[19:08:21.881] frame Scene Depth mean:2.800624 ,depth min:0.060292 -[19:08:21.889] need key frame pitch dis: 0.239543 translation dif:1.282616 -[19:08:21.889] Choose frame as a key frame Scene Depth mean:2.800624 ,depth min:0.060292 -[19:08:21.889] frame process finished the id is: 111 the obs is:459 -[19:08:21.913] Odometry x=-0.057667, y=1.363148, theta=-0.121141 -[19:08:22.147] Odometry x=-0.056955, y=1.369070, theta=-0.120404 -[19:08:22.380] Odometry x=-0.056136, y=1.377932, theta=-0.112250 -[19:08:22.618] Odometry x=-0.055298, y=1.388827, theta=-0.100680 -[19:08:22.807] After Reprojection Map nMatches:664 ,distance between ekf and vo x:-0.003322 ,z=0.020076,angle between two frames:0.000314 -[19:08:22.809] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =516 error init =0.008021 error end=0.013526 -[19:08:22.809] After pose optimization, distance between ekf and vo x:-0.003322 ,z=0.020076,angle between two frames:0.000314 -[19:08:22.809] Update EKF and 3D points the number of feature in the new frame: 516 and number of obs: 516 -[19:08:22.809] frame Scene Depth mean:3.162551 ,depth min:0.069259 -[19:08:22.816] need key frame pitch dis: 0.082657 translation dif:0.771971 -[19:08:22.816] Choose frame as a key frame Scene Depth mean:3.162551 ,depth min:0.069259 -[19:08:22.816] frame process finished the id is: 112 the obs is:511 -[19:08:22.888] Odometry x=-0.055780, y=1.395905, theta=-0.102923 -[19:08:23.210] Odometry x=-0.054957, y=1.404073, theta=-0.103801 -[19:08:23.393] Odometry x=-0.054796, y=1.413968, theta=-0.071598 -[19:08:23.444] After Reprojection Map nMatches:509 ,distance between ekf and vo x:0.000441 ,z=0.000637,angle between two frames:0.000025 -[19:08:23.446] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =347 error init =0.022076 error end=0.023957 -[19:08:23.446] After pose optimization, distance between ekf and vo x:0.000441 ,z=0.000637,angle between two frames:0.000025 -[19:08:23.446] Update EKF and 3D points the number of feature in the new frame: 347 and number of obs: 347 -[19:08:23.446] frame Scene Depth mean:3.089965 ,depth min:0.105386 -[19:08:23.453] need key frame pitch dis: 0.266294 translation dif:1.521586 -[19:08:23.453] Choose frame as a key frame Scene Depth mean:3.089965 ,depth min:0.105386 -[19:08:23.453] frame process finished the id is: 113 the obs is:347 -[19:08:23.642] Odometry x=-0.054736, y=1.418662, theta=-0.074543 -[19:08:23.907] Odometry x=-0.054083, y=1.426803, theta=-0.069176 -[19:08:24.024] After Reprojection Map nMatches:483 ,distance between ekf and vo x:0.000967 ,z=-0.000292,angle between two frames:0.000062 -[19:08:24.028] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =374 error init =0.022105 error end=0.018557 -[19:08:24.028] After pose optimization, distance between ekf and vo x:0.006728 ,z=-0.007465,angle between two frames:0.000013 -[19:08:24.028] Update EKF and 3D points the number of feature in the new frame: 374 and number of obs: 374 -[19:08:24.028] frame Scene Depth mean:3.054638 ,depth min:0.096209 -[19:08:24.034] need key frame pitch dis: 0.119879 translation dif:1.709808 -[19:08:24.034] Choose frame as a key frame Scene Depth mean:3.054638 ,depth min:0.096209 -[19:08:24.035] frame process finished the id is: 114 the obs is:371 -[19:08:24.144] Odometry x=-0.053546, y=1.435679, theta=-0.063960 -[19:08:24.404] Odometry x=-0.052983, y=1.443744, theta=-0.051137 -[19:08:24.622] Odometry x=-0.052754, y=1.453061, theta=-0.018909 -[19:08:24.695] After Reprojection Map nMatches:615 ,distance between ekf and vo x:0.000419 ,z=0.000660,angle between two frames:0.000018 -[19:08:24.697] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =505 error init =0.008626 error end=0.014204 -[19:08:24.697] After pose optimization, distance between ekf and vo x:0.000419 ,z=0.000660,angle between two frames:0.000018 -[19:08:24.697] Update EKF and 3D points the number of feature in the new frame: 505 and number of obs: 505 -[19:08:24.697] frame Scene Depth mean:3.107758 ,depth min:0.079955 -[19:08:24.706] need key frame pitch dis: 3.089346 translation dif:0.808961 -[19:08:24.706] Choose frame as a key frame Scene Depth mean:3.107758 ,depth min:0.079955 -[19:08:24.707] frame process finished the id is: 115 the obs is:502 -[19:08:24.894] Odometry x=-0.052917, y=1.457269, theta=-0.010453 -[19:08:25.165] Odometry x=-0.052898, y=1.467643, theta=-0.005949 -[19:08:25.395] Odometry x=-0.052935, y=1.477984, theta=0.000798 -[19:08:25.564] After Reprojection Map nMatches:634 ,distance between ekf and vo x:0.000625 ,z=0.000913,angle between two frames:0.000053 -[19:08:25.565] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =484 error init =0.024491 error end=0.020095 -[19:08:25.565] After pose optimization, distance between ekf and vo x:0.000625 ,z=0.000913,angle between two frames:0.000053 -[19:08:25.566] Update EKF and 3D points the number of feature in the new frame: 484 and number of obs: 484 -[19:08:25.566] frame Scene Depth mean:2.799449 ,depth min:0.073325 -[19:08:25.573] need key frame pitch dis: 0.094833 translation dif:0.232466 -[19:08:25.573] Choose frame as a key frame Scene Depth mean:2.799449 ,depth min:0.073325 -[19:08:25.574] frame process finished the id is: 116 the obs is:484 -[19:08:25.653] Odometry x=-0.055571, y=1.480270, theta=-0.017755 -[19:08:25.869] Odometry x=-0.055533, y=1.488603, theta=-0.024416 -[19:08:26.139] Odometry x=-0.056097, y=1.498511, theta=0.012706 -[19:08:26.369] Odometry x=-0.056783, y=1.510052, theta=0.016121 -[19:08:26.406] After Reprojection Map nMatches:695 ,distance between ekf and vo x:0.000227 ,z=0.001548,angle between two frames:0.000044 -[19:08:26.408] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =556 error init =0.018414 error end=0.013276 -[19:08:26.408] After pose optimization, distance between ekf and vo x:0.000227 ,z=0.001548,angle between two frames:0.000044 -[19:08:26.408] Update EKF and 3D points the number of feature in the new frame: 556 and number of obs: 556 -[19:08:26.408] frame Scene Depth mean:3.458866 ,depth min:0.057092 -[19:08:26.418] need key frame pitch dis: 0.395086 translation dif:0.928757 -[19:08:26.418] Choose frame as a key frame Scene Depth mean:3.458866 ,depth min:0.057092 -[19:08:26.418] frame process finished the id is: 117 the obs is:556 -[19:08:26.627] Odometry x=-0.056868, y=1.528430, theta=0.005921 -[19:08:27.095] After Reprojection Map nMatches:634 ,distance between ekf and vo x:0.000210 ,z=0.000173,angle between two frames:0.000019 -[19:08:27.097] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =416 error init =0.035113 error end=0.043452 -[19:08:27.097] After pose optimization, distance between ekf and vo x:0.000210 ,z=0.000173,angle between two frames:0.000019 -[19:08:27.097] Update EKF and 3D points the number of feature in the new frame: 416 and number of obs: 416 -[19:08:27.097] frame Scene Depth mean:3.429968 ,depth min:0.063328 -[19:08:27.104] need key frame pitch dis: 0.003871 translation dif:0.312856 -[19:08:27.104] Choose frame as a key frame Scene Depth mean:3.429968 ,depth min:0.063328 -[19:08:27.104] frame process finished the id is: 118 the obs is:416 -[19:08:27.906] Odometry x=-0.056990, y=1.528798, theta=-0.007502 -[19:08:28.146] Odometry x=-0.057814, y=1.529193, theta=-0.010019 -[19:08:28.158] After Reprojection Map nMatches:682 ,distance between ekf and vo x:0.000130 ,z=0.000768,angle between two frames:0.000032 -[19:08:28.160] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =537 error init =0.023635 error end=0.024978 -[19:08:28.160] After pose optimization, distance between ekf and vo x:0.000130 ,z=0.000768,angle between two frames:0.000032 -[19:08:28.160] Update EKF and 3D points the number of feature in the new frame: 537 and number of obs: 537 -[19:08:28.160] frame Scene Depth mean:3.823346 ,depth min:0.186173 -[19:08:28.169] need key frame pitch dis: 0.548946 translation dif:0.752401 -[19:08:28.170] Choose frame as a key frame Scene Depth mean:3.823346 ,depth min:0.186173 -[19:08:28.170] frame process finished the id is: 119 the obs is:529 -[19:08:28.401] Odometry x=-0.057712, y=1.529234, theta=-0.140003 -[19:08:28.645] Odometry x=-0.058096, y=1.529751, theta=-0.256127 -[19:08:28.897] Odometry x=-0.058726, y=1.529866, theta=-0.402947 -[19:08:29.202] Odometry x=-0.058784, y=1.530102, theta=-0.553986 -[19:08:29.303] After Reprojection Map nMatches:720 ,distance between ekf and vo x:0.000464 ,z=0.000912,angle between two frames:0.000041 -[19:08:29.306] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =593 error init =0.019674 error end=0.015439 -[19:08:29.306] After pose optimization, distance between ekf and vo x:0.000464 ,z=0.000912,angle between two frames:0.000041 -[19:08:29.306] Update EKF and 3D points the number of feature in the new frame: 593 and number of obs: 593 -[19:08:29.306] frame Scene Depth mean:3.914182 ,depth min:0.061721 -[19:08:29.319] need key frame pitch dis: 0.284540 translation dif:0.116150 -[19:08:29.319] Choose frame as a key frame Scene Depth mean:3.914182 ,depth min:0.061721 -[19:08:29.319] frame process finished the id is: 120 the obs is:590 -[19:08:29.870] After Reprojection Map nMatches:553 ,distance between ekf and vo x:-0.000009 ,z=-0.000018,angle between two frames:0.000003 -[19:08:29.874] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =443 error init =0.026842 error end=0.009484 -[19:08:29.874] After pose optimization, distance between ekf and vo x:0.022787 ,z=-0.017528,angle between two frames:0.001790 -[19:08:29.874] Update EKF and 3D points the number of feature in the new frame: 443 and number of obs: 443 -[19:08:29.874] frame Scene Depth mean:4.614778 ,depth min:0.074523 -[19:08:29.885] need key frame pitch dis: 3.718996 translation dif:1.322922 -[19:08:29.885] Choose frame as a key frame Scene Depth mean:4.614778 ,depth min:0.074523 -[19:08:29.885] frame process finished the id is: 121 the obs is:443 -[19:08:30.641] Odometry x=-0.053421, y=1.526050, theta=-0.603219 -[19:08:30.881] Odometry x=-0.053424, y=1.526055, theta=-0.602748 -[19:08:30.959] After Reprojection Map nMatches:773 ,distance between ekf and vo x:0.000004 ,z=-0.000014,angle between two frames:0.000003 -[19:08:30.961] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =622 error init =0.052937 error end=0.012496 -[19:08:30.961] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000014,angle between two frames:0.000003 -[19:08:30.961] Update EKF and 3D points the number of feature in the new frame: 622 and number of obs: 622 -[19:08:30.961] frame Scene Depth mean:4.859708 ,depth min:0.062650 -[19:08:30.974] need key frame pitch dis: 0.724938 translation dif:0.905935 -[19:08:30.974] Choose frame as a key frame Scene Depth mean:4.859708 ,depth min:0.062650 -[19:08:30.974] frame process finished the id is: 122 the obs is:622 -[19:08:31.213] Odometry x=-0.053426, y=1.526062, theta=-0.627226 -[19:08:31.388] Odometry x=-0.053442, y=1.526409, theta=-0.678155 -[19:08:31.669] Odometry x=-0.053429, y=1.526491, theta=-0.747707 -[19:08:32.215] After Reprojection Map nMatches:951 ,distance between ekf and vo x:0.000011 ,z=0.000004,angle between two frames:0.000000 -[19:08:32.220] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =712 error init =0.071102 error end=0.017374 -[19:08:32.220] After pose optimization, distance between ekf and vo x:0.015468 ,z=-0.017212,angle between two frames:0.002130 -[19:08:32.220] Update EKF and 3D points the number of feature in the new frame: 712 and number of obs: 712 -[19:08:32.221] frame Scene Depth mean:4.483658 ,depth min:0.103676 -[19:08:32.234] need key frame pitch dis: 1.021269 translation dif:1.269501 -[19:08:32.234] Choose frame as a key frame Scene Depth mean:4.483658 ,depth min:0.103676 -[19:08:32.234] frame process finished the id is: 123 the obs is:712 -[19:08:33.192] Odometry x=-0.051386, y=1.524591, theta=-0.771164 -[19:08:33.382] Odometry x=-0.051364, y=1.525116, theta=-0.793631 -[19:08:33.628] Odometry x=-0.051342, y=1.525195, theta=-0.852885 -[19:08:33.753] After Reprojection Map nMatches:936 ,distance between ekf and vo x:-0.000023 ,z=0.000016,angle between two frames:0.000002 -[19:08:33.755] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =666 error init =0.119565 error end=0.018783 -[19:08:33.755] After pose optimization, distance between ekf and vo x:-0.000023 ,z=0.000016,angle between two frames:0.000002 -[19:08:33.755] Update EKF and 3D points the number of feature in the new frame: 666 and number of obs: 666 -[19:08:33.756] frame Scene Depth mean:4.631617 ,depth min:0.057598 -[19:08:33.768] need key frame pitch dis: 0.538995 translation dif:1.537596 -[19:08:33.768] Choose frame as a key frame Scene Depth mean:4.631617 ,depth min:0.057598 -[19:08:33.769] frame process finished the id is: 124 the obs is:666 -[19:08:33.894] Odometry x=-0.051004, y=1.524908, theta=-0.944600 -[19:08:34.128] Odometry x=-0.050616, y=1.525096, theta=-1.010011 -[19:08:34.406] Odometry x=-0.050504, y=1.525131, theta=-1.072455 -[19:08:34.645] Odometry x=-0.050568, y=1.525171, theta=-1.139396 -[19:08:34.899] After Reprojection Map nMatches:975 ,distance between ekf and vo x:0.000009 ,z=-0.000001,angle between two frames:0.000001 -[19:08:34.902] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =711 error init =0.165071 error end=0.052063 -[19:08:34.902] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000001,angle between two frames:0.000001 -[19:08:34.902] Update EKF and 3D points the number of feature in the new frame: 711 and number of obs: 711 -[19:08:34.903] frame Scene Depth mean:3.508296 ,depth min:0.136653 -[19:08:34.914] need key frame pitch dis: 0.961131 translation dif:2.618109 -[19:08:34.914] Choose frame as a key frame Scene Depth mean:3.508296 ,depth min:0.136653 -[19:08:34.914] frame process finished the id is: 125 the obs is:702 -[19:08:35.635] Odometry x=-0.049771, y=1.525595, theta=-1.123551 -[19:08:35.889] Odometry x=-0.046087, y=1.527336, theta=-1.122049 -[19:08:36.118] Odometry x=-0.031151, y=1.534695, theta=-1.120220 -[19:08:36.127] After Reprojection Map nMatches:864 ,distance between ekf and vo x:-0.000001 ,z=-0.000003,angle between two frames:0.000000 -[19:08:36.133] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =634 error init =0.350250 error end=0.052200 -[19:08:36.133] After pose optimization, distance between ekf and vo x:0.054712 ,z=-0.149404,angle between two frames:0.005512 -[19:08:36.133] Update EKF and 3D points the number of feature in the new frame: 634 and number of obs: 634 -[19:08:36.133] frame Scene Depth mean:3.198993 ,depth min:0.185816 -[19:08:36.148] need key frame pitch dis: 4.148485 translation dif:1.488363 -[19:08:36.148] Choose frame as a key frame Scene Depth mean:3.198993 ,depth min:0.185816 -[19:08:36.148] frame process finished the id is: 126 the obs is:634 -[19:08:36.396] Odometry x=-0.010125, y=1.504044, theta=-1.103153 -[19:08:36.638] Odometry x=0.004030, y=1.511249, theta=-1.107765 -[19:08:36.870] Odometry x=0.018606, y=1.518322, theta=-1.101006 -[19:08:37.024] After Reprojection Map nMatches:846 ,distance between ekf and vo x:0.000006 ,z=-0.000003,angle between two frames:0.000000 -[19:08:37.029] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =659 error init =0.209829 error end=0.066231 -[19:08:37.029] After pose optimization, distance between ekf and vo x:0.106794 ,z=0.040761,angle between two frames:0.022818 -[19:08:37.029] Update EKF and 3D points the number of feature in the new frame: 659 and number of obs: 659 -[19:08:37.029] frame Scene Depth mean:3.513984 ,depth min:0.096474 -[19:08:37.044] need key frame pitch dis: 0.983323 translation dif:0.515802 -[19:08:37.044] Choose frame as a key frame Scene Depth mean:3.513984 ,depth min:0.096474 -[19:08:37.044] frame process finished the id is: 127 the obs is:659 -[19:08:38.403] After Reprojection Map nMatches:862 ,distance between ekf and vo x:0.000025 ,z=-0.000026,angle between two frames:0.000000 -[19:08:38.406] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =623 error init =0.260472 error end=0.068802 -[19:08:38.406] After pose optimization, distance between ekf and vo x:0.000025 ,z=-0.000026,angle between two frames:0.000000 -[19:08:38.406] Update EKF and 3D points the number of feature in the new frame: 623 and number of obs: 623 -[19:08:38.406] frame Scene Depth mean:3.116213 ,depth min:0.102041 -[19:08:38.419] need key frame pitch dis: 0.315362 translation dif:1.262559 -[19:08:38.419] Choose frame as a key frame Scene Depth mean:3.116213 ,depth min:0.102041 -[19:08:38.420] frame process finished the id is: 128 the obs is:623 -[19:08:38.638] Odometry x=0.027928, y=1.523967, theta=-1.097555 -[19:08:38.885] Odometry x=0.030854, y=1.524939, theta=-1.096054 -[19:08:39.221] Odometry x=0.036955, y=1.527575, theta=-1.093895 -[19:08:39.373] Odometry x=0.043801, y=1.531099, theta=-1.087879 -[19:08:39.599] After Reprojection Map nMatches:789 ,distance between ekf and vo x:0.000009 ,z=-0.000003,angle between two frames:0.000000 -[19:08:39.602] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =556 error init =0.152698 error end=0.091487 -[19:08:39.602] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000003,angle between two frames:0.000000 -[19:08:39.602] Update EKF and 3D points the number of feature in the new frame: 556 and number of obs: 556 -[19:08:39.602] frame Scene Depth mean:2.648624 ,depth min:0.100903 -[19:08:39.613] need key frame pitch dis: 1.981665 translation dif:1.367926 -[19:08:39.613] Choose frame as a key frame Scene Depth mean:2.648624 ,depth min:0.100903 -[19:08:39.613] frame process finished the id is: 129 the obs is:556 -[19:08:39.643] Odometry x=0.046604, y=1.532185, theta=-1.084769 -[19:08:39.910] Odometry x=0.052170, y=1.535101, theta=-1.081177 -[19:08:40.154] Odometry x=0.059999, y=1.539092, theta=-1.080662 -[19:08:40.403] Odometry x=0.068319, y=1.543509, theta=-1.072939 -[19:08:40.630] Odometry x=0.077266, y=1.548347, theta=-1.077635 -[19:08:40.856] After Reprojection Map nMatches:1047 ,distance between ekf and vo x:0.000140 ,z=-0.000014,angle between two frames:0.000000 -[19:08:40.859] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =859 error init =0.087174 error end=0.021242 -[19:08:40.859] After pose optimization, distance between ekf and vo x:0.000140 ,z=-0.000014,angle between two frames:0.000000 -[19:08:40.859] Update EKF and 3D points the number of feature in the new frame: 859 and number of obs: 859 -[19:08:40.859] frame Scene Depth mean:2.632292 ,depth min:0.071035 -[19:08:40.874] need key frame pitch dis: 1.531702 translation dif:0.526394 -[19:08:40.874] Choose frame as a key frame Scene Depth mean:2.632292 ,depth min:0.071035 -[19:08:40.874] frame process finished the id is: 130 the obs is:859 -[19:08:40.880] Odometry x=0.077085, y=1.548299, theta=-1.074424 -[19:08:41.213] Odometry x=0.084188, y=1.551505, theta=-1.068684 -[19:08:41.420] Odometry x=0.092462, y=1.556000, theta=-1.061138 -[19:08:41.641] Odometry x=0.101366, y=1.560950, theta=-1.058147 -[19:08:41.906] Odometry x=0.110442, y=1.565715, theta=-1.053936 -[19:08:42.142] After Reprojection Map nMatches:979 ,distance between ekf and vo x:0.000027 ,z=-0.000013,angle between two frames:0.000000 -[19:08:42.149] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =682 error init =0.301343 error end=0.020745 -[19:08:42.149] After pose optimization, distance between ekf and vo x:0.604816 ,z=-1.129894,angle between two frames:0.012142 -[19:08:42.149] frame process finished the id is: 130 the obs is:859 -[19:08:42.151] Odometry x=0.119217, y=1.570611, theta=-1.051336 -[19:08:43.347] After Reprojection Map nMatches:993 ,distance between ekf and vo x:0.000015 ,z=-0.000002,angle between two frames:0.000001 -[19:08:43.350] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =805 error init =0.098115 error end=0.019550 -[19:08:43.350] After pose optimization, distance between ekf and vo x:0.000015 ,z=-0.000002,angle between two frames:0.000001 -[19:08:43.350] Update EKF and 3D points the number of feature in the new frame: 805 and number of obs: 805 -[19:08:43.350] frame Scene Depth mean:2.721778 ,depth min:0.078245 -[19:08:43.363] need key frame pitch dis: 1.297817 translation dif:2.128961 -[19:08:43.363] Choose frame as a key frame Scene Depth mean:2.721778 ,depth min:0.078245 -[19:08:43.363] frame process finished the id is: 132 the obs is:805 -[19:08:43.411] Odometry x=0.119233, y=1.570602, theta=-1.054253 -[19:08:43.454] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000064 ,z=-0.000021,angle between two frames:0.000003 -[19:08:43.454] After pose optimization, distance between ekf and vo x:0.000064 ,z=-0.000021,angle between two frames:0.000003 -[19:08:43.454] frame process finished the id is: 132 the obs is:805 -[19:08:43.548] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000070 ,z=-0.000019,angle between two frames:0.000003 -[19:08:43.548] After pose optimization, distance between ekf and vo x:0.000070 ,z=-0.000019,angle between two frames:0.000003 -[19:08:43.548] frame process finished the id is: 132 the obs is:805 -[19:08:43.639] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000072 ,z=-0.000020,angle between two frames:0.000002 -[19:08:43.639] After pose optimization, distance between ekf and vo x:0.000072 ,z=-0.000020,angle between two frames:0.000002 -[19:08:43.639] frame process finished the id is: 132 the obs is:805 -[19:08:43.649] Odometry x=0.119258, y=1.570564, theta=-1.076119 -[19:08:43.734] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000072 ,z=-0.000020,angle between two frames:0.000002 -[19:08:43.734] After pose optimization, distance between ekf and vo x:0.000072 ,z=-0.000020,angle between two frames:0.000002 -[19:08:43.734] frame process finished the id is: 132 the obs is:805 -[19:08:43.874] Odometry x=0.119275, y=1.570563, theta=-1.153539 -[19:08:44.150] Odometry x=0.119288, y=1.570469, theta=-1.284343 -[19:08:44.395] Odometry x=0.119287, y=1.570496, theta=-1.413010 -[19:08:44.719] After Reprojection Map nMatches:1064 ,distance between ekf and vo x:0.000053 ,z=-0.000021,angle between two frames:0.000002 -[19:08:44.722] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =824 error init =0.160930 error end=0.026693 -[19:08:44.722] After pose optimization, distance between ekf and vo x:0.000053 ,z=-0.000021,angle between two frames:0.000002 -[19:08:44.722] Update EKF and 3D points the number of feature in the new frame: 824 and number of obs: 824 -[19:08:44.722] frame Scene Depth mean:2.692931 ,depth min:0.064861 -[19:08:44.737] need key frame pitch dis: 1.891740 translation dif:2.947645 -[19:08:44.737] Choose frame as a key frame Scene Depth mean:2.692931 ,depth min:0.064861 -[19:08:44.738] frame process finished the id is: 137 the obs is:807 -[19:08:44.829] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000028 ,z=-0.000028,angle between two frames:0.000000 -[19:08:44.829] After pose optimization, distance between ekf and vo x:0.000028 ,z=-0.000028,angle between two frames:0.000000 -[19:08:44.829] frame process finished the id is: 137 the obs is:807 -[19:08:44.911] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 -[19:08:44.911] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 -[19:08:44.911] frame process finished the id is: 137 the obs is:807 -[19:08:44.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 -[19:08:44.992] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 -[19:08:44.992] frame process finished the id is: 137 the obs is:807 -[19:08:45.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001 -[19:08:45.095] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001 -[19:08:45.095] frame process finished the id is: 137 the obs is:807 -[19:08:45.183] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 -[19:08:45.183] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 -[19:08:45.183] frame process finished the id is: 137 the obs is:807 -[19:08:45.297] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001 -[19:08:45.297] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001 -[19:08:45.297] frame process finished the id is: 137 the obs is:807 -[19:08:45.377] Odometry x=0.119191, y=1.569948, theta=-1.426706 -[19:08:45.386] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001 -[19:08:45.386] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001 -[19:08:45.386] frame process finished the id is: 137 the obs is:807 -[19:08:45.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 -[19:08:45.488] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 -[19:08:45.488] frame process finished the id is: 137 the obs is:807 -[19:08:45.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000013 ,z=-0.000017,angle between two frames:0.000000 -[19:08:45.592] After pose optimization, distance between ekf and vo x:0.000013 ,z=-0.000017,angle between two frames:0.000000 -[19:08:45.592] frame process finished the id is: 137 the obs is:807 -[19:08:45.636] Odometry x=0.119178, y=1.569899, theta=-1.451161 -[19:08:45.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000013 ,z=-0.000016,angle between two frames:0.000001 -[19:08:45.693] After pose optimization, distance between ekf and vo x:0.000013 ,z=-0.000016,angle between two frames:0.000001 -[19:08:45.693] frame process finished the id is: 137 the obs is:807 -[19:08:45.780] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000001 -[19:08:45.780] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000001 -[19:08:45.780] frame process finished the id is: 137 the obs is:807 -[19:08:45.882] Odometry x=0.119130, y=1.569842, theta=-1.516541 -[19:08:46.137] Odometry x=0.119155, y=1.569871, theta=-1.617934 -[19:08:46.380] Odometry x=0.119149, y=1.569850, theta=-1.728217 -[19:08:46.557] After Reprojection Map nMatches:873 ,distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000001 -[19:08:46.560] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =559 error init =0.215918 error end=0.253845 -[19:08:46.560] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000001 -[19:08:46.560] Update EKF and 3D points the number of feature in the new frame: 559 and number of obs: 559 -[19:08:46.561] frame Scene Depth mean:3.379793 ,depth min:0.052674 -[19:08:46.569] need key frame pitch dis: 0.788090 translation dif:6.662733 -[19:08:46.569] Choose frame as a key frame Scene Depth mean:3.379793 ,depth min:0.052674 -[19:08:46.569] frame process finished the id is: 149 the obs is:454 -[19:08:46.633] Odometry x=0.119220, y=1.569534, theta=-1.856107 -[19:08:46.920] Odometry x=0.119194, y=1.569568, theta=-1.939685 -[19:08:47.322] After Reprojection Map nMatches:716 ,distance between ekf and vo x:0.000004 ,z=-0.000040,angle between two frames:0.000003 -[19:08:47.327] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =464 error init =0.155072 error end=0.084434 -[19:08:47.327] After pose optimization, distance between ekf and vo x:0.022013 ,z=0.013355,angle between two frames:0.003195 -[19:08:47.327] Update EKF and 3D points the number of feature in the new frame: 464 and number of obs: 464 -[19:08:47.328] frame Scene Depth mean:2.913452 ,depth min:0.086289 -[19:08:47.336] need key frame pitch dis: 2.284302 translation dif:1.580027 -[19:08:47.336] Choose frame as a key frame Scene Depth mean:2.913452 ,depth min:0.086289 -[19:08:47.336] frame process finished the id is: 150 the obs is:426 -[19:08:48.038] After Reprojection Map nMatches:506 ,distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000001 -[19:08:48.042] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =292 error init =0.188098 error end=0.147132 -[19:08:48.042] After pose optimization, distance between ekf and vo x:0.000023 ,z=0.000041,angle between two frames:0.000002 -[19:08:48.042] Update EKF and 3D points the number of feature in the new frame: 292 and number of obs: 292 -[19:08:48.042] frame Scene Depth mean:4.162992 ,depth min:0.092066 -[19:08:48.048] need key frame pitch dis: 4.913533 translation dif:4.865920 -[19:08:48.048] Choose frame as a key frame Scene Depth mean:4.162992 ,depth min:0.092066 -[19:08:48.048] frame process finished the id is: 151 the obs is:292 -[19:08:48.156] Odometry x=0.120276, y=1.570277, theta=-1.982779 -[19:08:48.376] Odometry x=0.120273, y=1.570274, theta=-1.999037 -[19:08:48.629] Odometry x=0.120257, y=1.570268, theta=-2.057196 -[19:08:48.688] After Reprojection Map nMatches:394 ,distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000003 -[19:08:48.691] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =238 error init =0.083938 error end=0.091798 -[19:08:48.691] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000061,angle between two frames:0.000000 -[19:08:48.691] Update EKF and 3D points the number of feature in the new frame: 238 and number of obs: 238 -[19:08:48.691] frame Scene Depth mean:5.485150 ,depth min:0.116261 -[19:08:48.695] need key frame pitch dis: 0.468237 translation dif:2.979594 -[19:08:48.695] Choose frame as a key frame Scene Depth mean:5.485150 ,depth min:0.116261 -[19:08:48.696] frame process finished the id is: 152 the obs is:213 -[19:08:48.893] Odometry x=0.120261, y=1.570281, theta=-2.140816 -[19:08:49.193] Odometry x=0.120254, y=1.570273, theta=-2.211995 -[19:08:49.204] After Reprojection Map nMatches:363 ,distance between ekf and vo x:-0.008829 ,z=0.562177,angle between two frames:0.400037 -[19:08:49.206] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =256 error init =0.039534 error end=0.060363 -[19:08:49.206] After pose optimization, distance between ekf and vo x:-0.007097 ,z=0.563031,angle between two frames:0.400053 -[19:08:49.206] frame process finished the id is: 152 the obs is:213 -[19:08:49.382] Odometry x=0.120264, y=1.570249, theta=-2.313300 -[19:08:49.608] After Reprojection Map nMatches:312 ,distance between ekf and vo x:0.198315 ,z=0.950063,angle between two frames:0.700068 -[19:08:49.610] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =191 error init =0.153525 error end=0.559753 -[19:08:49.610] After pose optimization, distance between ekf and vo x:0.198544 ,z=0.950108,angle between two frames:0.700068 -[19:08:49.610] frame process finished the id is: 152 the obs is:213 -[19:08:50.164] After Reprojection Map nMatches:213 ,distance between ekf and vo x:0.248680 ,z=0.797557,angle between two frames:0.599929 -[19:08:50.166] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =140 error init =1.436337 error end=0.114395 -[19:08:50.166] After pose optimization, distance between ekf and vo x:0.248680 ,z=0.797557,angle between two frames:0.599929 -[19:08:50.166] frame process finished the id is: 152 the obs is:213 -[19:08:50.533] After Reprojection Map nMatches:295 ,distance between ekf and vo x:0.007435 ,z=0.141168,angle between two frames:0.100000 -[19:08:50.534] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =218 error init =0.016935 error end=0.014367 -[19:08:50.534] After pose optimization, distance between ekf and vo x:0.007640 ,z=0.141267,angle between two frames:0.100006 -[19:08:50.534] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218 -[19:08:50.534] frame Scene Depth mean:2.848498 ,depth min:0.620156 -[19:08:50.537] need key frame pitch dis: 2.258919 translation dif:1.526918 -[19:08:50.537] Choose frame as a key frame Scene Depth mean:2.848498 ,depth min:0.620156 -[19:08:50.537] frame process finished the id is: 156 the obs is:215 -[19:08:50.937] After Reprojection Map nMatches:271 ,distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000000 -[19:08:50.939] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =215 error init =0.254372 error end=0.016372 -[19:08:50.939] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000000 -[19:08:50.939] Update EKF and 3D points the number of feature in the new frame: 215 and number of obs: 215 -[19:08:50.940] frame Scene Depth mean:3.521079 ,depth min:0.096342 -[19:08:50.944] need key frame pitch dis: 4.972940 translation dif:4.434875 -[19:08:50.944] Choose frame as a key frame Scene Depth mean:3.521079 ,depth min:0.096342 -[19:08:50.944] frame process finished the id is: 157 the obs is:215 -[19:08:51.394] After Reprojection Map nMatches:353 ,distance between ekf and vo x:0.008881 ,z=0.141082,angle between two frames:0.100000 -[19:08:51.396] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =287 error init =0.168934 error end=0.020201 -[19:08:51.396] After pose optimization, distance between ekf and vo x:0.008884 ,z=0.141083,angle between two frames:0.100000 -[19:08:51.396] Update EKF and 3D points the number of feature in the new frame: 287 and number of obs: 287 -[19:08:51.396] frame Scene Depth mean:4.275350 ,depth min:0.391104 -[19:08:51.401] need key frame pitch dis: 4.953530 translation dif:0.975848 -[19:08:51.401] Choose frame as a key frame Scene Depth mean:4.275350 ,depth min:0.391104 -[19:08:51.401] frame process finished the id is: 158 the obs is:287 -[19:08:51.872] After Reprojection Map nMatches:434 ,distance between ekf and vo x:-0.000066 ,z=-0.000081,angle between two frames:0.000010 -[19:08:51.875] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =208 error init =0.208172 error end=0.100608 -[19:08:51.875] After pose optimization, distance between ekf and vo x:0.001755 ,z=0.001895,angle between two frames:0.000073 -[19:08:51.875] Update EKF and 3D points the number of feature in the new frame: 208 and number of obs: 208 -[19:08:51.875] frame Scene Depth mean:4.311469 ,depth min:0.370871 -[19:08:51.879] need key frame pitch dis: 0.089296 translation dif:5.950477 -[19:08:51.879] Choose frame as a key frame Scene Depth mean:4.311469 ,depth min:0.370871 -[19:08:51.879] frame process finished the id is: 159 the obs is:208 -[19:08:51.902] Odometry x=0.121056, y=1.578592, theta=-2.369192 -[19:08:52.157] Odometry x=0.121054, y=1.578579, theta=-2.372067 -[19:08:52.323] After Reprojection Map nMatches:293 ,distance between ekf and vo x:0.008902 ,z=0.141081,angle between two frames:0.100000 -[19:08:52.325] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =207 error init =0.030061 error end=0.040087 -[19:08:52.325] After pose optimization, distance between ekf and vo x:0.009624 ,z=0.142031,angle between two frames:0.099893 -[19:08:52.325] Update EKF and 3D points the number of feature in the new frame: 207 and number of obs: 207 -[19:08:52.325] frame Scene Depth mean:4.296439 ,depth min:0.412402 -[19:08:52.330] need key frame pitch dis: 0.021236 translation dif:5.657905 -[19:08:52.330] Choose frame as a key frame Scene Depth mean:4.296439 ,depth min:0.412402 -[19:08:52.330] frame process finished the id is: 160 the obs is:207 -[19:08:52.376] Odometry x=0.123263, y=1.611617, theta=-2.397659 -[19:08:52.633] Odometry x=0.123234, y=1.611588, theta=-2.413955 -[19:08:52.716] After Reprojection Map nMatches:299 ,distance between ekf and vo x:0.012912 ,z=0.140771,angle between two frames:0.100000 -[19:08:52.718] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =209 error init =0.141978 error end=0.033408 -[19:08:52.718] After pose optimization, distance between ekf and vo x:0.013005 ,z=0.140808,angle between two frames:0.100008 -[19:08:52.718] Update EKF and 3D points the number of feature in the new frame: 209 and number of obs: 209 -[19:08:52.718] frame Scene Depth mean:6.430306 ,depth min:0.370892 -[19:08:52.723] need key frame pitch dis: 0.122049 translation dif:5.752578 -[19:08:52.723] Choose frame as a key frame Scene Depth mean:6.430306 ,depth min:0.370892 -[19:08:52.723] frame process finished the id is: 161 the obs is:209 -[19:08:52.895] Odometry x=0.125928, y=1.644458, theta=-2.455434 -[19:08:53.040] After Reprojection Map nMatches:275 ,distance between ekf and vo x:0.021019 ,z=0.139791,angle between two frames:0.100000 -[19:08:53.042] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =215 error init =0.123860 error end=0.017795 -[19:08:53.042] After pose optimization, distance between ekf and vo x:0.021043 ,z=0.139805,angle between two frames:0.100000 -[19:08:53.042] Update EKF and 3D points the number of feature in the new frame: 215 and number of obs: 215 -[19:08:53.042] frame Scene Depth mean:5.232192 ,depth min:0.514313 -[19:08:53.046] need key frame pitch dis: 1.467668 translation dif:5.504385 -[19:08:53.046] Choose frame as a key frame Scene Depth mean:5.232192 ,depth min:0.514313 -[19:08:53.046] frame process finished the id is: 162 the obs is:215 -[19:08:53.331] After Reprojection Map nMatches:279 ,distance between ekf and vo x:0.000004 ,z=-0.000001,angle between two frames:0.000000 -[19:08:53.333] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =179 error init =0.503934 error end=0.062247 -[19:08:53.333] After pose optimization, distance between ekf and vo x:0.000139 ,z=0.000124,angle between two frames:0.000001 -[19:08:53.333] Update EKF and 3D points the number of feature in the new frame: 179 and number of obs: 179 -[19:08:53.333] frame Scene Depth mean:5.649374 ,depth min:0.485740 -[19:08:53.337] need key frame pitch dis: 0.291993 translation dif:8.200772 -[19:08:53.337] Choose frame as a key frame Scene Depth mean:5.649374 ,depth min:0.485740 -[19:08:53.337] frame process finished the id is: 163 the obs is:179 -[19:08:53.627] After Reprojection Map nMatches:249 ,distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000000 -[19:08:53.629] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =177 error init =1.031501 error end=0.034666 -[19:08:53.629] After pose optimization, distance between ekf and vo x:0.000097 ,z=0.000094,angle between two frames:0.000002 -[19:08:53.629] Update EKF and 3D points the number of feature in the new frame: 177 and number of obs: 177 -[19:08:53.629] frame Scene Depth mean:5.666079 ,depth min:0.479403 -[19:08:53.632] need key frame pitch dis: 0.556490 translation dif:4.785711 -[19:08:53.632] Choose frame as a key frame Scene Depth mean:5.666079 ,depth min:0.479403 -[19:08:53.632] frame process finished the id is: 164 the obs is:177 -[19:08:53.922] After Reprojection Map nMatches:229 ,distance between ekf and vo x:0.000006 ,z=-0.000002,angle between two frames:0.000002 -[19:08:53.924] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =153 error init =0.197852 error end=0.081893 -[19:08:53.924] After pose optimization, distance between ekf and vo x:0.000032 ,z=0.000019,angle between two frames:0.000002 -[19:08:53.924] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153 -[19:08:53.924] frame Scene Depth mean:5.124951 ,depth min:1.161673 -[19:08:53.928] need key frame pitch dis: 0.556293 translation dif:4.785115 -[19:08:53.928] Choose frame as a key frame Scene Depth mean:5.124951 ,depth min:1.161673 -[19:08:53.928] frame process finished the id is: 165 the obs is:153 -[19:08:54.157] Odometry x=0.126026, y=1.644977, theta=-2.465449 -[19:08:54.193] After Reprojection Map nMatches:187 ,distance between ekf and vo x:0.000002 ,z=-0.000001,angle between two frames:0.000000 -[19:08:54.195] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =152 error init =0.231922 error end=0.010930 -[19:08:54.195] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000000 -[19:08:54.195] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152 -[19:08:54.195] frame Scene Depth mean:4.874925 ,depth min:1.199333 -[19:08:54.198] need key frame pitch dis: 1.881429 translation dif:2.868665 -[19:08:54.198] Choose frame as a key frame Scene Depth mean:4.874925 ,depth min:1.199333 -[19:08:54.198] frame process finished the id is: 166 the obs is:152 -[19:08:54.422] Odometry x=0.126227, y=1.644672, theta=-2.465421 -[19:08:54.509] After Reprojection Map nMatches:263 ,distance between ekf and vo x:0.000001 ,z=-0.000001,angle between two frames:0.000000 -[19:08:54.511] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =205 error init =0.159396 error end=0.028222 -[19:08:54.511] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000000,angle between two frames:0.000000 -[19:08:54.511] Update EKF and 3D points the number of feature in the new frame: 205 and number of obs: 205 -[19:08:54.511] frame Scene Depth mean:4.335582 ,depth min:0.241710 -[19:08:54.516] need key frame pitch dis: 1.498487 translation dif:3.165179 -[19:08:54.516] Choose frame as a key frame Scene Depth mean:4.335582 ,depth min:0.241710 -[19:08:54.516] frame process finished the id is: 167 the obs is:205 -[19:08:54.652] Odometry x=0.131779, y=1.638545, theta=-2.460860 -[19:08:54.808] After Reprojection Map nMatches:336 ,distance between ekf and vo x:0.000001 ,z=0.000001,angle between two frames:0.000000 -[19:08:54.811] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =271 error init =0.088123 error end=0.033563 -[19:08:54.811] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000001,angle between two frames:0.000000 -[19:08:54.811] Update EKF and 3D points the number of feature in the new frame: 271 and number of obs: 271 -[19:08:54.811] frame Scene Depth mean:3.305145 ,depth min:0.445639 -[19:08:54.816] need key frame pitch dis: 0.395376 translation dif:0.436608 -[19:08:54.816] Choose frame as a key frame Scene Depth mean:3.305145 ,depth min:0.445639 -[19:08:54.817] frame process finished the id is: 168 the obs is:271 -[19:08:54.915] Odometry x=0.135075, y=1.634408, theta=-2.454598 -[19:08:55.135] After Reprojection Map nMatches:397 ,distance between ekf and vo x:0.000002 ,z=-0.000001,angle between two frames:0.000000 -[19:08:55.138] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =316 error init =0.110650 error end=0.021209 -[19:08:55.138] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000000 -[19:08:55.138] Update EKF and 3D points the number of feature in the new frame: 316 and number of obs: 316 -[19:08:55.138] frame Scene Depth mean:2.930400 ,depth min:0.475973 -[19:08:55.144] need key frame pitch dis: 0.505729 translation dif:0.663558 -[19:08:55.144] Choose frame as a key frame Scene Depth mean:2.930400 ,depth min:0.475973 -[19:08:55.144] frame process finished the id is: 169 the obs is:316 -[19:08:55.187] Odometry x=0.138348, y=1.630364, theta=-2.453342 -[19:08:55.360] Odometry x=0.142722, y=1.625078, theta=-2.457596 -[19:08:55.443] After Reprojection Map nMatches:390 ,distance between ekf and vo x:0.000000 ,z=0.000002,angle between two frames:0.000000 -[19:08:55.446] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =310 error init =0.070028 error end=0.027988 -[19:08:55.446] After pose optimization, distance between ekf and vo x:0.000261 ,z=0.000228,angle between two frames:0.000005 -[19:08:55.446] Update EKF and 3D points the number of feature in the new frame: 310 and number of obs: 310 -[19:08:55.446] frame Scene Depth mean:2.332547 ,depth min:0.200468 -[19:08:55.452] need key frame pitch dis: 1.190081 translation dif:1.151456 -[19:08:55.452] Choose frame as a key frame Scene Depth mean:2.332547 ,depth min:0.200468 -[19:08:55.452] frame process finished the id is: 170 the obs is:310 -[19:08:55.639] Odometry x=0.146302, y=1.620545, theta=-2.459953 -[19:08:55.763] After Reprojection Map nMatches:432 ,distance between ekf and vo x:0.000001 ,z=0.000001,angle between two frames:0.000000 -[19:08:55.767] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =352 error init =0.078891 error end=0.032588 -[19:08:55.767] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000001,angle between two frames:0.000000 -[19:08:55.767] Update EKF and 3D points the number of feature in the new frame: 352 and number of obs: 352 -[19:08:55.767] frame Scene Depth mean:2.251489 ,depth min:0.224080 -[19:08:55.776] need key frame pitch dis: 0.641012 translation dif:0.584982 -[19:08:55.776] Choose frame as a key frame Scene Depth mean:2.251489 ,depth min:0.224080 -[19:08:55.776] frame process finished the id is: 171 the obs is:352 -[19:08:55.875] Odometry x=0.148861, y=1.616477, theta=-2.461982 -[19:08:56.126] After Reprojection Map nMatches:525 ,distance between ekf and vo x:0.000001 ,z=0.000002,angle between two frames:0.000000 -[19:08:56.130] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =391 error init =0.106907 error end=0.103163 -[19:08:56.130] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000004,angle between two frames:0.000000 -[19:08:56.130] Update EKF and 3D points the number of feature in the new frame: 391 and number of obs: 391 -[19:08:56.130] frame Scene Depth mean:1.517007 ,depth min:0.073505 -[19:08:56.139] need key frame pitch dis: 0.606481 translation dif:1.763317 -[19:08:56.139] Choose frame as a key frame Scene Depth mean:1.517007 ,depth min:0.073505 -[19:08:56.139] frame process finished the id is: 172 the obs is:391 -[19:08:56.145] Odometry x=0.152306, y=1.612146, theta=-2.459771 -[19:08:56.556] After Reprojection Map nMatches:548 ,distance between ekf and vo x:-0.000003 ,z=0.000000,angle between two frames:0.000000 -[19:08:56.560] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =432 error init =0.109507 error end=0.086448 -[19:08:56.560] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000000 -[19:08:56.560] Update EKF and 3D points the number of feature in the new frame: 432 and number of obs: 432 -[19:08:56.560] frame Scene Depth mean:1.716561 ,depth min:0.231057 -[19:08:56.564] Odometry x=0.157581, y=1.606650, theta=-2.452416 -[19:08:56.568] need key frame pitch dis: 0.690688 translation dif:1.635784 -[19:08:56.568] Choose frame as a key frame Scene Depth mean:1.716561 ,depth min:0.231057 -[19:08:56.569] frame process finished the id is: 173 the obs is:432 -[19:08:56.784] Odometry x=0.162418, y=1.600727, theta=-2.450653 -[19:08:56.926] Odometry x=0.168087, y=1.594055, theta=-2.449912 -[19:08:57.075] After Reprojection Map nMatches:648 ,distance between ekf and vo x:-0.000015 ,z=0.000016,angle between two frames:0.000000 -[19:08:57.079] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =485 error init =0.179072 error end=0.037011 -[19:08:57.079] After pose optimization, distance between ekf and vo x:0.000443 ,z=0.000391,angle between two frames:0.000011 -[19:08:57.079] Update EKF and 3D points the number of feature in the new frame: 485 and number of obs: 485 -[19:08:57.079] frame Scene Depth mean:1.578128 ,depth min:0.201971 -[19:08:57.087] need key frame pitch dis: 0.553263 translation dif:0.825328 -[19:08:57.087] Choose frame as a key frame Scene Depth mean:1.578128 ,depth min:0.201971 -[19:08:57.088] frame process finished the id is: 174 the obs is:485 -[19:08:57.367] Odometry x=0.170141, y=1.591492, theta=-2.448369 -[19:08:57.501] Odometry x=0.174522, y=1.586095, theta=-2.447591 -[19:08:57.634] Odometry x=0.180290, y=1.579142, theta=-2.445283 -[19:08:57.640] After Reprojection Map nMatches:716 ,distance between ekf and vo x:-0.000005 ,z=0.000005,angle between two frames:0.000000 -[19:08:57.644] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =569 error init =0.009696 error end=0.017383 -[19:08:57.644] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000013,angle between two frames:0.000002 -[19:08:57.644] Update EKF and 3D points the number of feature in the new frame: 569 and number of obs: 569 -[19:08:57.644] frame Scene Depth mean:0.989067 ,depth min:0.224008 -[19:08:57.655] need key frame pitch dis: 1.100993 translation dif:0.969880 -[19:08:57.655] Choose frame as a key frame Scene Depth mean:0.989067 ,depth min:0.224008 -[19:08:57.655] frame process finished the id is: 175 the obs is:569 -[19:08:57.884] Odometry x=0.190822, y=1.566405, theta=-2.438813 -[19:08:58.142] Odometry x=0.197185, y=1.558878, theta=-2.429558 -[19:08:58.384] After Reprojection Map nMatches:884 ,distance between ekf and vo x:-0.000005 ,z=0.000006,angle between two frames:0.000000 -[19:08:58.390] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =723 error init =0.077503 error end=0.023825 -[19:08:58.390] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000055,angle between two frames:0.000000 -[19:08:58.390] Update EKF and 3D points the number of feature in the new frame: 723 and number of obs: 723 -[19:08:58.390] frame Scene Depth mean:1.346718 ,depth min:0.368302 -[19:08:58.400] Odometry x=0.200759, y=1.555054, theta=-2.427831 -[19:08:58.406] need key frame pitch dis: 1.027541 translation dif:1.211106 -[19:08:58.406] Choose frame as a key frame Scene Depth mean:1.346718 ,depth min:0.368302 -[19:08:58.406] frame process finished the id is: 176 the obs is:723 -[19:08:58.626] Odometry x=0.205974, y=1.548923, theta=-2.417248 -[19:08:58.914] Odometry x=0.213058, y=1.540853, theta=-2.415087 -[19:08:59.206] Odometry x=0.221537, y=1.531279, theta=-2.419816 -[19:08:59.265] After Reprojection Map nMatches:982 ,distance between ekf and vo x:-0.000000 ,z=0.000007,angle between two frames:0.000000 -[19:08:59.271] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =830 error init =0.063773 error end=0.022274 -[19:08:59.271] After pose optimization, distance between ekf and vo x:0.000036 ,z=0.000014,angle between two frames:0.000002 -[19:08:59.271] Update EKF and 3D points the number of feature in the new frame: 830 and number of obs: 830 -[19:08:59.272] frame Scene Depth mean:1.449441 ,depth min:0.178427 -[19:08:59.291] need key frame pitch dis: 1.202487 translation dif:1.525741 -[19:08:59.291] Choose frame as a key frame Scene Depth mean:1.449441 ,depth min:0.178427 -[19:08:59.291] frame process finished the id is: 177 the obs is:830 -[19:08:59.402] Odometry x=0.223191, y=1.529606, theta=-2.419542 -[19:08:59.641] Odometry x=0.229508, y=1.522089, theta=-2.417013 -[19:08:59.917] Odometry x=0.237152, y=1.512585, theta=-2.413079 -[19:08:59.987] After Reprojection Map nMatches:966 ,distance between ekf and vo x:-0.000021 ,z=0.000028,angle between two frames:0.000000 -[19:08:59.994] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =744 error init =0.126400 error end=0.042646 -[19:08:59.994] After pose optimization, distance between ekf and vo x:0.000660 ,z=0.000622,angle between two frames:0.000003 -[19:08:59.994] Update EKF and 3D points the number of feature in the new frame: 744 and number of obs: 744 -[19:08:59.994] frame Scene Depth mean:1.355863 ,depth min:0.074743 -[19:09:00.010] need key frame pitch dis: 1.478948 translation dif:0.987928 -[19:09:00.010] Choose frame as a key frame Scene Depth mean:1.355863 ,depth min:0.074743 -[19:09:00.011] frame process finished the id is: 178 the obs is:736 -[19:09:00.140] Odometry x=0.240560, y=1.509198, theta=-2.408368 -[19:09:00.387] Odometry x=0.247472, y=1.502126, theta=-2.410391 -[19:09:00.647] Odometry x=0.255729, y=1.492934, theta=-2.417619 -[19:09:00.725] After Reprojection Map nMatches:955 ,distance between ekf and vo x:-0.000027 ,z=0.000007,angle between two frames:0.000000 -[19:09:00.729] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =696 error init =0.158847 error end=0.053764 -[19:09:00.729] After pose optimization, distance between ekf and vo x:-0.000027 ,z=0.000007,angle between two frames:0.000000 -[19:09:00.729] Update EKF and 3D points the number of feature in the new frame: 696 and number of obs: 696 -[19:09:00.729] frame Scene Depth mean:1.320771 ,depth min:0.073765 -[19:09:00.744] need key frame pitch dis: 1.228502 translation dif:1.394220 -[19:09:00.744] Choose frame as a key frame Scene Depth mean:1.320771 ,depth min:0.073765 -[19:09:00.744] frame process finished the id is: 179 the obs is:696 -[19:09:00.894] Odometry x=0.258280, y=1.489216, theta=-2.425323 -[19:09:01.177] Odometry x=0.265544, y=1.480571, theta=-2.422713 -[19:09:01.356] After Reprojection Map nMatches:719 ,distance between ekf and vo x:0.000007 ,z=-0.000007,angle between two frames:0.000000 -[19:09:01.361] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =500 error init =0.122687 error end=0.032288 -[19:09:01.361] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000007,angle between two frames:0.000000 -[19:09:01.361] Update EKF and 3D points the number of feature in the new frame: 500 and number of obs: 500 -[19:09:01.362] frame Scene Depth mean:1.259979 ,depth min:0.063559 -[19:09:01.371] need key frame pitch dis: 1.193786 translation dif:1.169945 -[19:09:01.371] Choose frame as a key frame Scene Depth mean:1.259979 ,depth min:0.063559 -[19:09:01.371] frame process finished the id is: 180 the obs is:499 -[19:09:01.387] Odometry x=0.272697, y=1.471631, theta=-2.416208 -[19:09:01.653] Odometry x=0.278748, y=1.464619, theta=-2.400133 -[19:09:01.883] Odometry x=0.286168, y=1.456573, theta=-2.369970 -[19:09:02.128] Odometry x=0.295436, y=1.447442, theta=-2.363502 -[19:09:02.397] Odometry x=0.305018, y=1.437669, theta=-2.354517 -[19:09:02.495] After Reprojection Map nMatches:964 ,distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000 -[19:09:02.502] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =726 error init =0.173781 error end=0.048840 -[19:09:02.502] After pose optimization, distance between ekf and vo x:0.000037 ,z=0.000044,angle between two frames:0.000001 -[19:09:02.502] Update EKF and 3D points the number of feature in the new frame: 726 and number of obs: 726 -[19:09:02.503] frame Scene Depth mean:1.221820 ,depth min:0.065771 -[19:09:02.517] need key frame pitch dis: 1.091039 translation dif:1.243617 -[19:09:02.517] Choose frame as a key frame Scene Depth mean:1.221820 ,depth min:0.065771 -[19:09:02.517] frame process finished the id is: 181 the obs is:726 -[19:09:02.634] Odometry x=0.306638, y=1.436410, theta=-2.356279 -[19:09:02.916] Odometry x=0.314485, y=1.429211, theta=-2.359894 -[19:09:03.231] Odometry x=0.324249, y=1.419801, theta=-2.366154 -[19:09:03.384] Odometry x=0.333921, y=1.410419, theta=-2.370100 -[19:09:03.497] After Reprojection Map nMatches:916 ,distance between ekf and vo x:-0.000074 ,z=0.000047,angle between two frames:0.000000 -[19:09:03.505] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =693 error init =0.165262 error end=0.054206 -[19:09:03.505] After pose optimization, distance between ekf and vo x:-0.000054 ,z=0.000040,angle between two frames:0.000006 -[19:09:03.505] Update EKF and 3D points the number of feature in the new frame: 693 and number of obs: 693 -[19:09:03.505] frame Scene Depth mean:1.103501 ,depth min:0.059206 -[19:09:03.518] need key frame pitch dis: 1.039475 translation dif:1.153795 -[19:09:03.518] Choose frame as a key frame Scene Depth mean:1.103501 ,depth min:0.059206 -[19:09:03.518] frame process finished the id is: 182 the obs is:693 -[19:09:03.650] Odometry x=0.335070, y=1.408663, theta=-2.364292 -[19:09:03.874] Odometry x=0.342049, y=1.400864, theta=-2.359286 -[19:09:04.145] Odometry x=0.351293, y=1.391709, theta=-2.353615 -[19:09:04.378] Odometry x=0.360892, y=1.382241, theta=-2.354031 -[19:09:04.536] After Reprojection Map nMatches:822 ,distance between ekf and vo x:-0.000264 ,z=0.000112,angle between two frames:0.000007 -[19:09:04.542] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =571 error init =0.108453 error end=0.063638 -[19:09:04.542] After pose optimization, distance between ekf and vo x:0.733444 ,z=0.753993,angle between two frames:0.002474 -[19:09:04.542] frame process finished the id is: 182 the obs is:693 -[19:09:04.625] Odometry x=0.370604, y=1.372569, theta=-2.353664 -[19:09:04.898] Odometry x=0.380404, y=1.362847, theta=-2.352638 -[19:09:05.184] Odometry x=0.390181, y=1.353147, theta=-2.346466 -[19:09:05.388] Odometry x=0.400881, y=1.342717, theta=-2.348644 -[19:09:05.621] Odometry x=0.411146, y=1.332607, theta=-2.343890 -[19:09:05.669] After Reprojection Map nMatches:725 ,distance between ekf and vo x:-0.001397 ,z=0.000229,angle between two frames:0.000986 -[19:09:05.675] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =520 error init =0.076917 error end=0.079075 -[19:09:05.675] After pose optimization, distance between ekf and vo x:-0.001217 ,z=0.000882,angle between two frames:0.001045 -[19:09:05.675] Update EKF and 3D points the number of feature in the new frame: 520 and number of obs: 520 -[19:09:05.675] frame Scene Depth mean:0.964814 ,depth min:0.057796 -[19:09:05.686] need key frame pitch dis: 0.893824 translation dif:0.775501 -[19:09:05.686] Choose frame as a key frame Scene Depth mean:0.964814 ,depth min:0.057796 -[19:09:05.686] frame process finished the id is: 184 the obs is:520 -[19:09:05.879] Odometry x=0.410116, y=1.333831, theta=-2.344914 -[19:09:06.144] Odometry x=0.417473, y=1.326184, theta=-2.339198 -[19:09:06.388] Odometry x=0.427343, y=1.316815, theta=-2.337554 -[19:09:06.644] Odometry x=0.437473, y=1.306728, theta=-2.340098 -[19:09:06.744] After Reprojection Map nMatches:771 ,distance between ekf and vo x:-0.000225 ,z=0.000447,angle between two frames:0.000591 -[19:09:06.750] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =588 error init =0.101734 error end=0.057316 -[19:09:06.750] After pose optimization, distance between ekf and vo x:-0.000203 ,z=0.000480,angle between two frames:0.000589 -[19:09:06.750] Update EKF and 3D points the number of feature in the new frame: 588 and number of obs: 588 -[19:09:06.750] frame Scene Depth mean:1.145524 ,depth min:0.064561 -[19:09:06.761] need key frame pitch dis: 0.880810 translation dif:0.544931 -[19:09:06.762] Choose frame as a key frame Scene Depth mean:1.145524 ,depth min:0.064561 -[19:09:06.762] frame process finished the id is: 185 the obs is:588 -[19:09:06.902] Odometry x=0.438571, y=1.305089, theta=-2.348521 -[19:09:07.188] Odometry x=0.446228, y=1.297382, theta=-2.352965 -[19:09:07.385] Odometry x=0.456377, y=1.287943, theta=-2.354474 -[19:09:07.631] Odometry x=0.466330, y=1.278138, theta=-2.357681 -[19:09:07.718] After Reprojection Map nMatches:790 ,distance between ekf and vo x:-0.000147 ,z=0.000055,angle between two frames:0.000000 -[19:09:07.724] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =576 error init =0.112529 error end=0.053443 -[19:09:07.724] After pose optimization, distance between ekf and vo x:0.001199 ,z=0.001500,angle between two frames:0.000037 -[19:09:07.724] Update EKF and 3D points the number of feature in the new frame: 576 and number of obs: 576 -[19:09:07.724] frame Scene Depth mean:1.281792 ,depth min:0.052262 -[19:09:07.733] need key frame pitch dis: 0.898883 translation dif:0.510322 -[19:09:07.734] Choose frame as a key frame Scene Depth mean:1.281792 ,depth min:0.052262 -[19:09:07.734] frame process finished the id is: 186 the obs is:576 -[19:09:07.932] Odometry x=0.470863, y=1.274877, theta=-2.362113 -[19:09:08.130] Odometry x=0.477494, y=1.267696, theta=-2.351950 -[19:09:08.306] After Reprojection Map nMatches:469 ,distance between ekf and vo x:-0.000019 ,z=0.000017,angle between two frames:0.000000 -[19:09:08.310] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =314 error init =1.258258 error end=0.128917 -[19:09:08.310] After pose optimization, distance between ekf and vo x:0.007116 ,z=0.006654,angle between two frames:0.000330 -[19:09:08.310] Update EKF and 3D points the number of feature in the new frame: 314 and number of obs: 314 -[19:09:08.311] frame Scene Depth mean:1.268006 ,depth min:0.072989 -[19:09:08.316] need key frame pitch dis: 1.257273 translation dif:0.459143 -[19:09:08.316] Choose frame as a key frame Scene Depth mean:1.268006 ,depth min:0.072989 -[19:09:08.316] frame process finished the id is: 187 the obs is:314 -[19:09:08.402] Odometry x=0.484833, y=1.263910, theta=-2.356273 -[19:09:08.646] Odometry x=0.491908, y=1.256068, theta=-2.352224 -[19:09:08.878] After Reprojection Map nMatches:611 ,distance between ekf and vo x:-0.000052 ,z=0.000033,angle between two frames:0.000000 -[19:09:08.880] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =422 error init =0.177629 error end=0.040739 -[19:09:08.880] After pose optimization, distance between ekf and vo x:-0.000052 ,z=0.000033,angle between two frames:0.000000 -[19:09:08.880] Update EKF and 3D points the number of feature in the new frame: 422 and number of obs: 422 -[19:09:08.880] frame Scene Depth mean:1.109916 ,depth min:0.050825 -[19:09:08.888] need key frame pitch dis: 1.217433 translation dif:0.537726 -[19:09:08.888] Choose frame as a key frame Scene Depth mean:1.109916 ,depth min:0.050825 -[19:09:08.888] frame process finished the id is: 188 the obs is:422 -[19:09:08.891] Odometry x=0.497379, y=1.250766, theta=-2.336620 -[19:09:09.202] Odometry x=0.505337, y=1.243676, theta=-2.332981 -[19:09:09.385] Odometry x=0.515223, y=1.234212, theta=-2.340663 -[19:09:09.645] Odometry x=0.525385, y=1.223960, theta=-2.338149 -[19:09:09.743] After Reprojection Map nMatches:1056 ,distance between ekf and vo x:-0.000066 ,z=0.000023,angle between two frames:0.000000 -[19:09:09.749] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =813 error init =0.167644 error end=0.036928 -[19:09:09.749] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000661,angle between two frames:0.000032 -[19:09:09.749] Update EKF and 3D points the number of feature in the new frame: 813 and number of obs: 813 -[19:09:09.749] frame Scene Depth mean:1.329058 ,depth min:0.053605 -[19:09:09.764] need key frame pitch dis: 1.245225 translation dif:0.943365 -[19:09:09.764] Choose frame as a key frame Scene Depth mean:1.329058 ,depth min:0.053605 -[19:09:09.764] frame process finished the id is: 189 the obs is:813 -[19:09:09.910] Odometry x=0.526635, y=1.222838, theta=-2.335948 -[19:09:10.151] Odometry x=0.534148, y=1.215522, theta=-2.330097 -[19:09:10.376] Odometry x=0.543765, y=1.206463, theta=-2.334180 -[19:09:10.634] Odometry x=0.553816, y=1.196832, theta=-2.329905 -[19:09:10.820] After Reprojection Map nMatches:1075 ,distance between ekf and vo x:-0.000149 ,z=0.000114,angle between two frames:0.000022 -[19:09:10.827] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =881 error init =0.036533 error end=0.029911 -[19:09:10.827] After pose optimization, distance between ekf and vo x:-0.000092 ,z=0.000175,angle between two frames:0.000022 -[19:09:10.827] Update EKF and 3D points the number of feature in the new frame: 881 and number of obs: 881 -[19:09:10.827] frame Scene Depth mean:1.125584 ,depth min:0.056398 -[19:09:10.842] need key frame pitch dis: 1.252957 translation dif:0.930980 -[19:09:10.843] Choose frame as a key frame Scene Depth mean:1.125584 ,depth min:0.056398 -[19:09:10.843] frame process finished the id is: 190 the obs is:881 -[19:09:10.917] Odometry x=0.554705, y=1.194951, theta=-2.336006 -[19:09:11.180] Odometry x=0.562157, y=1.187574, theta=-2.336452 -[19:09:11.410] Odometry x=0.571689, y=1.178215, theta=-2.333501 -[19:09:11.640] Odometry x=0.581593, y=1.168245, theta=-2.330118 -[19:09:11.897] Odometry x=0.592798, y=1.158114, theta=-2.331543 -[19:09:11.912] After Reprojection Map nMatches:1010 ,distance between ekf and vo x:-0.000134 ,z=0.000094,angle between two frames:0.000000 -[19:09:11.919] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =675 error init =0.124931 error end=0.079103 -[19:09:11.919] After pose optimization, distance between ekf and vo x:0.000757 ,z=0.001812,angle between two frames:0.000087 -[19:09:11.919] Update EKF and 3D points the number of feature in the new frame: 675 and number of obs: 675 -[19:09:11.920] frame Scene Depth mean:1.433193 ,depth min:0.055254 -[19:09:11.932] need key frame pitch dis: 1.379949 translation dif:0.736164 -[19:09:11.932] Choose frame as a key frame Scene Depth mean:1.433193 ,depth min:0.055254 -[19:09:11.932] frame process finished the id is: 191 the obs is:675 -[19:09:12.152] Odometry x=0.592035, y=1.159598, theta=-2.328320 -[19:09:12.404] Odometry x=0.599658, y=1.152588, theta=-2.324900 -[19:09:12.630] Odometry x=0.609231, y=1.143738, theta=-2.319033 -[19:09:12.816] After Reprojection Map nMatches:824 ,distance between ekf and vo x:-0.000089 ,z=0.000084,angle between two frames:0.000003 -[19:09:12.818] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =650 error init =0.057883 error end=0.064654 -[19:09:12.818] After pose optimization, distance between ekf and vo x:-0.000089 ,z=0.000084,angle between two frames:0.000003 -[19:09:12.818] Update EKF and 3D points the number of feature in the new frame: 650 and number of obs: 650 -[19:09:12.818] frame Scene Depth mean:1.589307 ,depth min:0.083292 -[19:09:12.831] need key frame pitch dis: 1.298203 translation dif:0.872662 -[19:09:12.831] Choose frame as a key frame Scene Depth mean:1.589307 ,depth min:0.083292 -[19:09:12.832] frame process finished the id is: 192 the obs is:650 -[19:09:12.884] Odometry x=0.614203, y=1.139504, theta=-2.311514 -[19:09:13.221] Odometry x=0.621995, y=1.132384, theta=-2.312014 -[19:09:13.376] Odometry x=0.631708, y=1.123388, theta=-2.301252 -[19:09:13.620] After Reprojection Map nMatches:529 ,distance between ekf and vo x:-0.000089 ,z=0.000059,angle between two frames:0.000000 -[19:09:13.625] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =395 error init =0.049908 error end=0.068969 -[19:09:13.625] After pose optimization, distance between ekf and vo x:0.000210 ,z=0.000168,angle between two frames:0.000032 -[19:09:13.625] Update EKF and 3D points the number of feature in the new frame: 395 and number of obs: 395 -[19:09:13.625] frame Scene Depth mean:1.370725 ,depth min:0.063762 -[19:09:13.632] need key frame pitch dis: 1.272559 translation dif:0.841129 -[19:09:13.632] Choose frame as a key frame Scene Depth mean:1.370725 ,depth min:0.063762 -[19:09:13.632] frame process finished the id is: 193 the obs is:395 -[19:09:13.649] Odometry x=0.635617, y=1.120015, theta=-2.299241 -[19:09:13.892] Odometry x=0.644352, y=1.112322, theta=-2.298508 -[19:09:14.121] Odometry x=0.655097, y=1.102628, theta=-2.295011 -[19:09:14.390] Odometry x=0.664142, y=1.094510, theta=-2.301240 -[19:09:14.552] After Reprojection Map nMatches:439 ,distance between ekf and vo x:-0.000066 ,z=0.000062,angle between two frames:0.000000 -[19:09:14.556] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =280 error init =0.053063 error end=0.045443 -[19:09:14.556] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000139,angle between two frames:0.000000 -[19:09:14.556] Update EKF and 3D points the number of feature in the new frame: 280 and number of obs: 280 -[19:09:14.556] frame Scene Depth mean:1.407705 ,depth min:0.096057 -[19:09:14.562] need key frame pitch dis: 1.230496 translation dif:0.420429 -[19:09:14.562] Choose frame as a key frame Scene Depth mean:1.407705 ,depth min:0.096057 -[19:09:14.562] frame process finished the id is: 194 the obs is:280 -[19:09:14.619] Odometry x=0.661652, y=1.098982, theta=-2.313564 -[19:09:14.860] Odometry x=0.669485, y=1.091571, theta=-2.313454 -[19:09:15.182] Odometry x=0.678933, y=1.082718, theta=-2.313714 -[19:09:15.399] After Reprojection Map nMatches:503 ,distance between ekf and vo x:-0.000055 ,z=0.000072,angle between two frames:0.000007 -[19:09:15.403] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =355 error init =0.073142 error end=0.040438 -[19:09:15.403] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000249,angle between two frames:0.000006 -[19:09:15.403] Update EKF and 3D points the number of feature in the new frame: 355 and number of obs: 355 -[19:09:15.403] frame Scene Depth mean:1.436304 ,depth min:0.083229 -[19:09:15.404] Odometry x=0.682774, y=1.079370, theta=-2.306834 -[19:09:15.410] need key frame pitch dis: 1.221920 translation dif:0.728772 -[19:09:15.410] Choose frame as a key frame Scene Depth mean:1.436304 ,depth min:0.083229 -[19:09:15.411] frame process finished the id is: 195 the obs is:355 -[19:09:15.647] Odometry x=0.690467, y=1.072206, theta=-2.288870 -[19:09:15.890] Odometry x=0.700395, y=1.063436, theta=-2.271456 -[19:09:16.055] After Reprojection Map nMatches:543 ,distance between ekf and vo x:-0.000046 ,z=0.000050,angle between two frames:0.000000 -[19:09:16.058] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =420 error init =0.064906 error end=0.048604 -[19:09:16.058] After pose optimization, distance between ekf and vo x:0.000034 ,z=0.000124,angle between two frames:0.000000 -[19:09:16.058] Update EKF and 3D points the number of feature in the new frame: 420 and number of obs: 420 -[19:09:16.058] frame Scene Depth mean:1.131370 ,depth min:0.066897 -[19:09:16.068] need key frame pitch dis: 0.958089 translation dif:0.586786 -[19:09:16.068] Choose frame as a key frame Scene Depth mean:1.131370 ,depth min:0.066897 -[19:09:16.068] frame process finished the id is: 196 the obs is:420 -[19:09:16.125] Odometry x=0.704438, y=1.060205, theta=-2.246910 -[19:09:16.383] Odometry x=0.712430, y=1.053065, theta=-2.224823 -[19:09:16.631] Odometry x=0.722844, y=1.044937, theta=-2.203250 -[19:09:16.803] After Reprojection Map nMatches:514 ,distance between ekf and vo x:-0.000088 ,z=0.000114,angle between two frames:0.000014 -[19:09:16.807] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =379 error init =0.103914 error end=0.058455 -[19:09:16.807] After pose optimization, distance between ekf and vo x:0.001244 ,z=0.001806,angle between two frames:0.000028 -[19:09:16.808] Update EKF and 3D points the number of feature in the new frame: 379 and number of obs: 379 -[19:09:16.808] frame Scene Depth mean:1.150947 ,depth min:0.066890 -[19:09:16.817] need key frame pitch dis: 1.160760 translation dif:0.739101 -[19:09:16.817] Choose frame as a key frame Scene Depth mean:1.150947 ,depth min:0.066890 -[19:09:16.817] frame process finished the id is: 197 the obs is:379 -[19:09:16.885] Odometry x=0.727287, y=1.042698, theta=-2.224777 -[19:09:17.185] Odometry x=0.735624, y=1.035998, theta=-2.233854 -[19:09:17.375] After Reprojection Map nMatches:547 ,distance between ekf and vo x:-0.000085 ,z=0.000117,angle between two frames:0.000002 -[19:09:17.376] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =414 error init =0.027977 error end=0.018183 -[19:09:17.376] After pose optimization, distance between ekf and vo x:-0.000085 ,z=0.000117,angle between two frames:0.000002 -[19:09:17.377] Update EKF and 3D points the number of feature in the new frame: 414 and number of obs: 414 -[19:09:17.377] frame Scene Depth mean:1.106667 ,depth min:0.072547 -[19:09:17.385] need key frame pitch dis: 0.897510 translation dif:0.494617 -[19:09:17.385] Choose frame as a key frame Scene Depth mean:1.106667 ,depth min:0.072547 -[19:09:17.385] frame process finished the id is: 198 the obs is:414 -[19:09:17.398] Odometry x=0.739663, y=1.031758, theta=-2.246751 -[19:09:17.643] Odometry x=0.747932, y=1.025240, theta=-2.257404 -[19:09:17.880] After Reprojection Map nMatches:467 ,distance between ekf and vo x:-0.000060 ,z=0.000088,angle between two frames:0.000008 -[19:09:17.882] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =392 error init =0.023020 error end=0.019841 -[19:09:17.882] After pose optimization, distance between ekf and vo x:-0.000060 ,z=0.000088,angle between two frames:0.000008 -[19:09:17.882] Update EKF and 3D points the number of feature in the new frame: 392 and number of obs: 392 -[19:09:17.882] frame Scene Depth mean:1.139866 ,depth min:0.098902 -[19:09:17.891] need key frame pitch dis: 0.940548 translation dif:0.562789 -[19:09:17.891] Choose frame as a key frame Scene Depth mean:1.139866 ,depth min:0.098902 -[19:09:17.892] frame process finished the id is: 199 the obs is:392 -[19:09:17.902] Odometry x=0.753792, y=1.020363, theta=-2.254619 -[19:09:18.141] Odometry x=0.761885, y=1.013816, theta=-2.247680 -[19:09:18.407] Odometry x=0.772092, y=1.005496, theta=-2.238428 -[19:09:18.589] After Reprojection Map nMatches:679 ,distance between ekf and vo x:-0.000116 ,z=0.000133,angle between two frames:0.000007 -[19:09:18.594] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =521 error init =0.009284 error end=0.016670 -[19:09:18.594] After pose optimization, distance between ekf and vo x:-0.000113 ,z=0.000135,angle between two frames:0.000007 -[19:09:18.594] Update EKF and 3D points the number of feature in the new frame: 521 and number of obs: 521 -[19:09:18.594] frame Scene Depth mean:1.234621 ,depth min:0.074158 -[19:09:18.604] need key frame pitch dis: 0.933401 translation dif:0.527987 -[19:09:18.604] Choose frame as a key frame Scene Depth mean:1.234621 ,depth min:0.074158 -[19:09:18.604] frame process finished the id is: 200 the obs is:521 -[19:09:18.644] Odometry x=0.775642, y=1.000120, theta=-2.239223 -[19:09:18.920] Odometry x=0.784592, y=0.994056, theta=-2.249538 -[19:09:19.165] Odometry x=0.795183, y=0.985451, theta=-2.256466 -[19:09:19.303] After Reprojection Map nMatches:629 ,distance between ekf and vo x:-0.000084 ,z=0.000077,angle between two frames:0.000007 -[19:09:19.306] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =393 error init =0.040180 error end=0.026007 -[19:09:19.306] After pose optimization, distance between ekf and vo x:-0.000084 ,z=0.000077,angle between two frames:0.000007 -[19:09:19.306] Update EKF and 3D points the number of feature in the new frame: 393 and number of obs: 393 -[19:09:19.306] frame Scene Depth mean:1.331490 ,depth min:0.064988 -[19:09:19.314] need key frame pitch dis: 1.111025 translation dif:0.776013 -[19:09:19.314] Choose frame as a key frame Scene Depth mean:1.331490 ,depth min:0.064988 -[19:09:19.314] frame process finished the id is: 201 the obs is:393 -[19:09:19.386] Odometry x=0.802174, y=0.981561, theta=-2.242861 -[19:09:19.646] Odometry x=0.810608, y=0.974704, theta=-2.228576 -[19:09:19.890] Odometry x=0.821482, y=0.967290, theta=-2.214675 -[19:09:20.032] After Reprojection Map nMatches:636 ,distance between ekf and vo x:-0.000141 ,z=0.000114,angle between two frames:0.000014 -[19:09:20.035] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =446 error init =0.065269 error end=0.028095 -[19:09:20.035] After pose optimization, distance between ekf and vo x:-0.000141 ,z=0.000114,angle between two frames:0.000014 -[19:09:20.035] Update EKF and 3D points the number of feature in the new frame: 446 and number of obs: 446 -[19:09:20.035] frame Scene Depth mean:1.046629 ,depth min:0.060342 -[19:09:20.044] need key frame pitch dis: 1.043684 translation dif:0.819848 -[19:09:20.044] Choose frame as a key frame Scene Depth mean:1.046629 ,depth min:0.060342 -[19:09:20.044] frame process finished the id is: 202 the obs is:446 -[19:09:20.125] Odometry x=0.825711, y=0.964009, theta=-2.209805 -[19:09:20.384] Odometry x=0.834559, y=0.957592, theta=-2.224066 -[19:09:20.652] Odometry x=0.845295, y=0.949183, theta=-2.218642 -[19:09:20.754] After Reprojection Map nMatches:715 ,distance between ekf and vo x:-0.000117 ,z=0.000111,angle between two frames:0.000006 -[19:09:20.757] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =483 error init =0.075034 error end=0.032867 -[19:09:20.757] After pose optimization, distance between ekf and vo x:-0.000117 ,z=0.000111,angle between two frames:0.000006 -[19:09:20.757] Update EKF and 3D points the number of feature in the new frame: 483 and number of obs: 483 -[19:09:20.757] frame Scene Depth mean:1.524689 ,depth min:0.156163 -[19:09:20.768] need key frame pitch dis: 0.934056 translation dif:0.608232 -[19:09:20.768] Choose frame as a key frame Scene Depth mean:1.524689 ,depth min:0.156163 -[19:09:20.768] frame process finished the id is: 203 the obs is:483 -[19:09:20.878] Odometry x=0.849396, y=0.945396, theta=-2.235775 -[19:09:21.188] Odometry x=0.858292, y=0.938498, theta=-2.234757 -[19:09:21.287] After Reprojection Map nMatches:376 ,distance between ekf and vo x:-0.000134 ,z=0.000122,angle between two frames:0.000006 -[19:09:21.290] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =258 error init =0.117769 error end=0.074208 -[19:09:21.290] After pose optimization, distance between ekf and vo x:0.000237 ,z=0.000537,angle between two frames:0.000051 -[19:09:21.290] Update EKF and 3D points the number of feature in the new frame: 258 and number of obs: 258 -[19:09:21.290] frame Scene Depth mean:1.093960 ,depth min:0.073159 -[19:09:21.296] need key frame pitch dis: 0.074644 translation dif:0.360075 -[19:09:21.296] Choose frame as a key frame Scene Depth mean:1.093960 ,depth min:0.073159 -[19:09:21.296] frame process finished the id is: 204 the obs is:258 -[19:09:22.040] After Reprojection Map nMatches:782 ,distance between ekf and vo x:-0.000174 ,z=0.000141,angle between two frames:0.000007 -[19:09:22.043] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =517 error init =0.079773 error end=0.044766 -[19:09:22.043] After pose optimization, distance between ekf and vo x:-0.000174 ,z=0.000141,angle between two frames:0.000007 -[19:09:22.043] Update EKF and 3D points the number of feature in the new frame: 517 and number of obs: 517 -[19:09:22.044] frame Scene Depth mean:1.161524 ,depth min:0.084150 -[19:09:22.053] need key frame pitch dis: 0.830690 translation dif:0.543875 -[19:09:22.053] Choose frame as a key frame Scene Depth mean:1.161524 ,depth min:0.084150 -[19:09:22.053] frame process finished the id is: 205 the obs is:517 -[19:09:22.969] After Reprojection Map nMatches:941 ,distance between ekf and vo x:-0.000220 ,z=0.000096,angle between two frames:0.000003 -[19:09:22.975] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =707 error init =0.097006 error end=0.064697 -[19:09:22.975] After pose optimization, distance between ekf and vo x:-0.000213 ,z=0.000104,angle between two frames:0.000003 -[19:09:22.975] Update EKF and 3D points the number of feature in the new frame: 707 and number of obs: 707 -[19:09:22.976] frame Scene Depth mean:1.183506 ,depth min:0.124622 -[19:09:22.990] need key frame pitch dis: 0.779435 translation dif:0.537237 -[19:09:22.990] Choose frame as a key frame Scene Depth mean:1.183506 ,depth min:0.124622 -[19:09:22.991] frame process finished the id is: 206 the obs is:707 -[19:09:23.864] After Reprojection Map nMatches:886 ,distance between ekf and vo x:-0.000243 ,z=0.000144,angle between two frames:0.000058 -[19:09:23.870] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =574 error init =0.090578 error end=0.040344 -[19:09:23.870] After pose optimization, distance between ekf and vo x:-0.000015 ,z=0.000161,angle between two frames:0.000102 -[19:09:23.870] Update EKF and 3D points the number of feature in the new frame: 574 and number of obs: 574 -[19:09:23.870] frame Scene Depth mean:1.386107 ,depth min:0.091644 -[19:09:23.883] need key frame pitch dis: 1.045724 translation dif:0.436922 -[19:09:23.883] Choose frame as a key frame Scene Depth mean:1.386107 ,depth min:0.091644 -[19:09:23.883] frame process finished the id is: 207 the obs is:574 -[19:09:23.890] Odometry x=0.859767, y=0.940459, theta=-2.244533 -[19:09:24.127] Odometry x=0.859769, y=0.940449, theta=-2.244148 -[19:09:24.409] Odometry x=0.859818, y=0.940336, theta=-2.264717 -[19:09:24.632] Odometry x=0.860133, y=0.940208, theta=-2.341269 -[19:09:24.701] After Reprojection Map nMatches:1001 ,distance between ekf and vo x:-0.000257 ,z=0.000232,angle between two frames:0.000343 -[19:09:24.707] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =691 error init =0.154180 error end=0.062567 -[19:09:24.707] After pose optimization, distance between ekf and vo x:-0.000290 ,z=0.000485,angle between two frames:0.000315 -[19:09:24.707] Update EKF and 3D points the number of feature in the new frame: 691 and number of obs: 691 -[19:09:24.707] frame Scene Depth mean:1.006580 ,depth min:0.101583 -[19:09:24.720] need key frame pitch dis: 1.253279 translation dif:0.363370 -[19:09:24.720] Choose frame as a key frame Scene Depth mean:1.006580 ,depth min:0.101583 -[19:09:24.720] frame process finished the id is: 208 the obs is:687 -[19:09:24.921] Odometry x=0.860034, y=0.940044, theta=-2.411279 -[19:09:25.181] Odometry x=0.860055, y=0.940010, theta=-2.458734 -[19:09:25.384] Odometry x=0.860270, y=0.939684, theta=-2.534627 -[19:09:25.463] After Reprojection Map nMatches:793 ,distance between ekf and vo x:-0.000170 ,z=0.000215,angle between two frames:0.000000 -[19:09:25.469] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =578 error init =0.068785 error end=0.015506 -[19:09:25.469] After pose optimization, distance between ekf and vo x:-0.000291 ,z=0.000177,angle between two frames:0.000008 -[19:09:25.469] Update EKF and 3D points the number of feature in the new frame: 578 and number of obs: 578 -[19:09:25.469] frame Scene Depth mean:1.157397 ,depth min:0.104844 -[19:09:25.480] need key frame pitch dis: 1.312002 translation dif:0.348742 -[19:09:25.480] Choose frame as a key frame Scene Depth mean:1.157397 ,depth min:0.104844 -[19:09:25.480] frame process finished the id is: 209 the obs is:569 -[19:09:25.650] Odometry x=0.860171, y=0.939866, theta=-2.607678 -[19:09:25.918] Odometry x=0.860171, y=0.939865, theta=-2.652559 -[19:09:26.138] After Reprojection Map nMatches:633 ,distance between ekf and vo x:-0.000050 ,z=0.000153,angle between two frames:0.000011 -[19:09:26.143] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =427 error init =0.447151 error end=0.095984 -[19:09:26.143] After pose optimization, distance between ekf and vo x:0.028788 ,z=0.016887,angle between two frames:0.000027 -[19:09:26.143] Update EKF and 3D points the number of feature in the new frame: 427 and number of obs: 427 -[19:09:26.143] frame Scene Depth mean:0.997610 ,depth min:0.179814 -[19:09:26.147] Odometry x=0.865878, y=0.942615, theta=-2.736029 -[19:09:26.154] need key frame pitch dis: 1.659143 translation dif:0.754620 -[19:09:26.154] Choose frame as a key frame Scene Depth mean:0.997610 ,depth min:0.179814 -[19:09:26.154] frame process finished the id is: 210 the obs is:427 -[19:09:26.405] Odometry x=0.865880, y=0.942617, theta=-2.775777 -[19:09:26.624] After Reprojection Map nMatches:516 ,distance between ekf and vo x:-0.000016 ,z=0.000066,angle between two frames:0.000006 -[19:09:26.625] Odometry x=0.865874, y=0.942570, theta=-2.828235 -[19:09:26.627] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =401 error init =0.114240 error end=0.052675 -[19:09:26.627] After pose optimization, distance between ekf and vo x:-0.000016 ,z=0.000066,angle between two frames:0.000006 -[19:09:26.627] Update EKF and 3D points the number of feature in the new frame: 401 and number of obs: 401 -[19:09:26.627] frame Scene Depth mean:0.858628 ,depth min:0.071935 -[19:09:26.638] need key frame pitch dis: 2.042321 translation dif:1.003497 -[19:09:26.638] Choose frame as a key frame Scene Depth mean:0.858628 ,depth min:0.071935 -[19:09:26.639] frame process finished the id is: 211 the obs is:401 -[19:09:26.880] Odometry x=0.865881, y=0.942566, theta=-2.946338 -[19:09:27.181] After Reprojection Map nMatches:367 ,distance between ekf and vo x:-0.000026 ,z=0.000089,angle between two frames:0.000012 -[19:09:27.184] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =253 error init =0.005451 error end=0.003905 -[19:09:27.184] After pose optimization, distance between ekf and vo x:-0.000028 ,z=0.000092,angle between two frames:0.000013 -[19:09:27.184] Update EKF and 3D points the number of feature in the new frame: 253 and number of obs: 253 -[19:09:27.184] frame Scene Depth mean:0.965758 ,depth min:0.078956 -[19:09:27.192] need key frame pitch dis: 2.205783 translation dif:0.369844 -[19:09:27.192] Choose frame as a key frame Scene Depth mean:0.965758 ,depth min:0.078956 -[19:09:27.192] frame process finished the id is: 212 the obs is:253 -[19:09:27.201] Odometry x=0.865853, y=0.942570, theta=-3.018003 -[19:09:27.383] Odometry x=0.865576, y=0.942383, theta=-3.067106 -[19:09:27.623] After Reprojection Map nMatches:439 ,distance between ekf and vo x:0.000006 ,z=0.000019,angle between two frames:0.000000 -[19:09:27.627] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =290 error init =0.074679 error end=0.059112 -[19:09:27.627] After pose optimization, distance between ekf and vo x:-0.000087 ,z=0.000149,angle between two frames:0.000026 -[19:09:27.627] Update EKF and 3D points the number of feature in the new frame: 290 and number of obs: 290 -[19:09:27.627] frame Scene Depth mean:0.905291 ,depth min:0.275329 -[19:09:27.636] need key frame pitch dis: 2.291409 translation dif:0.402103 -[19:09:27.636] Choose frame as a key frame Scene Depth mean:0.905291 ,depth min:0.275329 -[19:09:27.636] frame process finished the id is: 213 the obs is:290 -[19:09:27.645] Odometry x=0.865551, y=0.942394, theta=-3.124123 -[19:09:28.009] After Reprojection Map nMatches:460 ,distance between ekf and vo x:0.000046 ,z=-0.000041,angle between two frames:0.000013 -[19:09:28.011] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =341 error init =0.283887 error end=0.058693 -[19:09:28.011] After pose optimization, distance between ekf and vo x:0.000046 ,z=-0.000041,angle between two frames:0.000013 -[19:09:28.012] Update EKF and 3D points the number of feature in the new frame: 341 and number of obs: 341 -[19:09:28.012] frame Scene Depth mean:1.349902 ,depth min:0.121060 -[19:09:28.021] need key frame pitch dis: 6.102654 translation dif:0.593885 -[19:09:28.021] Choose frame as a key frame Scene Depth mean:1.349902 ,depth min:0.121060 -[19:09:28.021] frame process finished the id is: 214 the obs is:341 -[19:09:28.420] Odometry x=0.866266, y=0.943000, theta=3.122711 -[19:09:28.633] After Reprojection Map nMatches:582 ,distance between ekf and vo x:-0.000048 ,z=-0.000017,angle between two frames:0.000007 -[19:09:28.635] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =465 error init =0.043260 error end=0.045172 -[19:09:28.635] After pose optimization, distance between ekf and vo x:-0.000048 ,z=-0.000017,angle between two frames:0.000007 -[19:09:28.635] Update EKF and 3D points the number of feature in the new frame: 465 and number of obs: 465 -[19:09:28.635] Odometry x=0.866101, y=0.942779, theta=-2.297688 -[19:09:28.635] frame Scene Depth mean:1.793862 ,depth min:0.073556 -[19:09:28.645] need key frame pitch dis: 0.651305 translation dif:0.628138 -[19:09:28.645] Choose frame as a key frame Scene Depth mean:1.793862 ,depth min:0.073556 -[19:09:28.645] frame process finished the id is: 215 the obs is:448 -[19:09:28.877] Odometry x=0.866131, y=0.942669, theta=-2.301481 -[19:09:29.215] Odometry x=0.866162, y=0.942661, theta=-2.341730 -[19:09:29.301] After Reprojection Map nMatches:781 ,distance between ekf and vo x:-0.000047 ,z=0.000107,angle between two frames:0.000006 -[19:09:29.304] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =596 error init =0.162936 error end=0.043747 -[19:09:29.304] After pose optimization, distance between ekf and vo x:-0.000047 ,z=0.000107,angle between two frames:0.000006 -[19:09:29.304] Update EKF and 3D points the number of feature in the new frame: 596 and number of obs: 596 -[19:09:29.304] frame Scene Depth mean:1.491091 ,depth min:0.092058 -[19:09:29.317] need key frame pitch dis: 0.742077 translation dif:0.257240 -[19:09:29.317] Choose frame as a key frame Scene Depth mean:1.491091 ,depth min:0.092058 -[19:09:29.317] frame process finished the id is: 216 the obs is:596 -[19:09:29.953] After Reprojection Map nMatches:802 ,distance between ekf and vo x:-0.000056 ,z=0.000100,angle between two frames:0.000026 -[19:09:29.955] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =669 error init =0.013290 error end=0.031033 -[19:09:29.955] After pose optimization, distance between ekf and vo x:-0.000056 ,z=0.000100,angle between two frames:0.000026 -[19:09:29.955] Update EKF and 3D points the number of feature in the new frame: 669 and number of obs: 669 -[19:09:29.956] frame Scene Depth mean:1.468670 ,depth min:0.115167 -[19:09:29.969] need key frame pitch dis: 1.274524 translation dif:0.164664 -[19:09:29.969] Choose frame as a key frame Scene Depth mean:1.468670 ,depth min:0.115167 -[19:09:29.969] frame process finished the id is: 217 the obs is:669 -[19:09:30.580] After Reprojection Map nMatches:803 ,distance between ekf and vo x:0.008736 ,z=0.141131,angle between two frames:0.100016 -[19:09:30.584] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =639 error init =0.033964 error end=0.016848 -[19:09:30.584] After pose optimization, distance between ekf and vo x:0.008781 ,z=0.140959,angle between two frames:0.100068 -[19:09:30.584] Update EKF and 3D points the number of feature in the new frame: 639 and number of obs: 639 -[19:09:30.584] frame Scene Depth mean:1.615642 ,depth min:0.298077 -[19:09:30.595] need key frame pitch dis: 1.517077 translation dif:0.690389 -[19:09:30.595] Choose frame as a key frame Scene Depth mean:1.615642 ,depth min:0.298077 -[19:09:30.596] frame process finished the id is: 218 the obs is:632 -[19:09:30.625] Odometry x=0.869425, y=0.973992, theta=-2.380271 -[19:09:30.886] Odometry x=0.869530, y=0.973840, theta=-2.379753 -[19:09:31.226] Odometry x=0.873434, y=0.967308, theta=-2.377534 -[19:09:31.337] After Reprojection Map nMatches:803 ,distance between ekf and vo x:0.010347 ,z=0.141248,angle between two frames:0.100205 -[19:09:31.343] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =672 error init =0.051518 error end=0.016318 -[19:09:31.343] After pose optimization, distance between ekf and vo x:0.010353 ,z=0.141253,angle between two frames:0.100205 -[19:09:31.343] Update EKF and 3D points the number of feature in the new frame: 672 and number of obs: 672 -[19:09:31.343] frame Scene Depth mean:1.897107 ,depth min:0.413362 -[19:09:31.358] need key frame pitch dis: 0.033302 translation dif:1.128878 -[19:09:31.358] Choose frame as a key frame Scene Depth mean:1.897107 ,depth min:0.413362 -[19:09:31.359] frame process finished the id is: 219 the obs is:672 -[19:09:31.378] Odometry x=0.878814, y=0.997565, theta=-2.386870 -[19:09:31.646] Odometry x=0.885450, y=0.990528, theta=-2.388402 -[19:09:31.902] Odometry x=0.894507, y=0.980869, theta=-2.388785 -[19:09:32.030] After Reprojection Map nMatches:763 ,distance between ekf and vo x:0.011364 ,z=0.140984,angle between two frames:0.100015 -[19:09:32.036] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =604 error init =0.086678 error end=0.064171 -[19:09:32.036] After pose optimization, distance between ekf and vo x:0.012702 ,z=0.141873,angle between two frames:0.100072 -[19:09:32.036] Update EKF and 3D points the number of feature in the new frame: 604 and number of obs: 604 -[19:09:32.037] frame Scene Depth mean:1.937123 ,depth min:0.358365 -[19:09:32.052] need key frame pitch dis: 1.549299 translation dif:1.050067 -[19:09:32.052] Choose frame as a key frame Scene Depth mean:1.937123 ,depth min:0.358365 -[19:09:32.052] frame process finished the id is: 220 the obs is:604 -[19:09:32.154] Odometry x=0.901609, y=1.009871, theta=-2.407283 -[19:09:32.390] Odometry x=0.909326, y=1.002332, theta=-2.411497 -[19:09:32.633] Odometry x=0.918081, y=0.992364, theta=-2.397669 -[19:09:32.663] After Reprojection Map nMatches:716 ,distance between ekf and vo x:0.013993 ,z=0.140864,angle between two frames:0.100201 -[19:09:32.665] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =575 error init =0.015554 error end=0.018382 -[19:09:32.665] After pose optimization, distance between ekf and vo x:0.013993 ,z=0.140864,angle between two frames:0.100201 -[19:09:32.665] Update EKF and 3D points the number of feature in the new frame: 575 and number of obs: 575 -[19:09:32.665] frame Scene Depth mean:1.882569 ,depth min:0.312255 -[19:09:32.677] need key frame pitch dis: 0.185130 translation dif:0.866960 -[19:09:32.677] Choose frame as a key frame Scene Depth mean:1.882569 ,depth min:0.312255 -[19:09:32.677] frame process finished the id is: 221 the obs is:575 -[19:09:32.900] Odometry x=0.924542, y=1.021167, theta=-2.403711 -[19:09:33.238] After Reprojection Map nMatches:492 ,distance between ekf and vo x:-0.000267 ,z=0.000357,angle between two frames:0.000315 -[19:09:33.242] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =421 error init =0.023790 error end=0.125647 -[19:09:33.242] After pose optimization, distance between ekf and vo x:-0.000198 ,z=0.000487,angle between two frames:0.000266 -[19:09:33.242] Update EKF and 3D points the number of feature in the new frame: 421 and number of obs: 421 -[19:09:33.242] frame Scene Depth mean:1.629531 ,depth min:0.076634 -[19:09:33.252] need key frame pitch dis: 0.045375 translation dif:1.022365 -[19:09:33.252] Choose frame as a key frame Scene Depth mean:1.629531 ,depth min:0.076634 -[19:09:33.253] frame process finished the id is: 222 the obs is:421 -[19:09:33.644] Odometry x=0.924630, y=1.021442, theta=-2.413310 -[19:09:33.918] Odometry x=0.926498, y=1.019335, theta=-2.411939 -[19:09:34.067] After Reprojection Map nMatches:700 ,distance between ekf and vo x:-0.000111 ,z=0.000095,angle between two frames:0.000020 -[19:09:34.070] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =569 error init =0.081902 error end=0.036307 -[19:09:34.070] After pose optimization, distance between ekf and vo x:-0.000111 ,z=0.000095,angle between two frames:0.000020 -[19:09:34.070] Update EKF and 3D points the number of feature in the new frame: 569 and number of obs: 569 -[19:09:34.070] frame Scene Depth mean:1.799135 ,depth min:0.225861 -[19:09:34.085] need key frame pitch dis: 0.495937 translation dif:0.979510 -[19:09:34.085] Choose frame as a key frame Scene Depth mean:1.799135 ,depth min:0.225861 -[19:09:34.085] frame process finished the id is: 223 the obs is:569 -[19:09:34.144] Odometry x=0.931834, y=1.013202, theta=-2.408116 -[19:09:34.413] Odometry x=0.938665, y=1.007073, theta=-2.415456 -[19:09:34.769] After Reprojection Map nMatches:741 ,distance between ekf and vo x:-0.000045 ,z=0.000068,angle between two frames:0.000000 -[19:09:34.775] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =552 error init =0.087746 error end=0.052547 -[19:09:34.775] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000186,angle between two frames:0.000003 -[19:09:34.775] Update EKF and 3D points the number of feature in the new frame: 552 and number of obs: 552 -[19:09:34.775] frame Scene Depth mean:1.896821 ,depth min:0.222796 -[19:09:34.789] need key frame pitch dis: 0.149504 translation dif:0.607901 -[19:09:34.789] Choose frame as a key frame Scene Depth mean:1.896821 ,depth min:0.222796 -[19:09:34.790] frame process finished the id is: 224 the obs is:552 -[19:09:35.640] After Reprojection Map nMatches:706 ,distance between ekf and vo x:-0.000233 ,z=0.000133,angle between two frames:0.000208 -[19:09:35.646] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =520 error init =0.057584 error end=0.028301 -[19:09:35.646] After pose optimization, distance between ekf and vo x:-0.000225 ,z=0.000148,angle between two frames:0.000207 -[19:09:35.646] Update EKF and 3D points the number of feature in the new frame: 520 and number of obs: 520 -[19:09:35.646] frame Scene Depth mean:1.756442 ,depth min:0.149414 -[19:09:35.659] need key frame pitch dis: 0.109839 translation dif:0.603034 -[19:09:35.659] Choose frame as a key frame Scene Depth mean:1.756442 ,depth min:0.149414 -[19:09:35.659] frame process finished the id is: 225 the obs is:520 -[19:09:36.513] After Reprojection Map nMatches:736 ,distance between ekf and vo x:-0.000240 ,z=0.000113,angle between two frames:0.000250 -[19:09:36.518] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =558 error init =0.046580 error end=0.021623 -[19:09:36.518] After pose optimization, distance between ekf and vo x:0.001332 ,z=0.001707,angle between two frames:0.000183 -[19:09:36.518] Update EKF and 3D points the number of feature in the new frame: 558 and number of obs: 558 -[19:09:36.519] frame Scene Depth mean:1.826381 ,depth min:0.363538 -[19:09:36.533] need key frame pitch dis: 0.950902 translation dif:0.561608 -[19:09:36.533] Choose frame as a key frame Scene Depth mean:1.826381 ,depth min:0.363538 -[19:09:36.533] frame process finished the id is: 226 the obs is:558 -[19:09:37.435] After Reprojection Map nMatches:775 ,distance between ekf and vo x:-0.000025 ,z=0.000044,angle between two frames:0.000021 -[19:09:37.438] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =593 error init =0.034096 error end=0.030129 -[19:09:37.438] After pose optimization, distance between ekf and vo x:-0.000025 ,z=0.000044,angle between two frames:0.000021 -[19:09:37.438] Update EKF and 3D points the number of feature in the new frame: 593 and number of obs: 593 -[19:09:37.438] frame Scene Depth mean:1.710265 ,depth min:0.084964 -[19:09:37.454] need key frame pitch dis: 0.452788 translation dif:0.493467 -[19:09:37.454] Choose frame as a key frame Scene Depth mean:1.710265 ,depth min:0.084964 -[19:09:37.454] frame process finished the id is: 227 the obs is:593 -[19:09:38.316] After Reprojection Map nMatches:776 ,distance between ekf and vo x:0.000023 ,z=-0.000012,angle between two frames:0.000005 -[19:09:38.322] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =568 error init =0.065394 error end=0.064366 -[19:09:38.322] After pose optimization, distance between ekf and vo x:0.002570 ,z=0.002403,angle between two frames:0.000089 -[19:09:38.322] Update EKF and 3D points the number of feature in the new frame: 568 and number of obs: 568 -[19:09:38.323] frame Scene Depth mean:1.605166 ,depth min:0.108616 -[19:09:38.341] need key frame pitch dis: 0.450289 translation dif:0.492126 -[19:09:38.341] Choose frame as a key frame Scene Depth mean:1.605166 ,depth min:0.108616 -[19:09:38.341] frame process finished the id is: 228 the obs is:568 -[19:09:39.248] After Reprojection Map nMatches:817 ,distance between ekf and vo x:0.000031 ,z=-0.000019,angle between two frames:0.000004 -[19:09:39.254] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =652 error init =0.067207 error end=0.053330 -[19:09:39.254] After pose optimization, distance between ekf and vo x:0.000373 ,z=0.000311,angle between two frames:0.000004 -[19:09:39.254] Update EKF and 3D points the number of feature in the new frame: 652 and number of obs: 652 -[19:09:39.254] frame Scene Depth mean:1.622706 ,depth min:0.108242 -[19:09:39.274] need key frame pitch dis: 0.028337 translation dif:0.323849 -[19:09:39.274] Choose frame as a key frame Scene Depth mean:1.622706 ,depth min:0.108242 -[19:09:39.275] frame process finished the id is: 229 the obs is:652 -[19:09:40.306] After Reprojection Map nMatches:732 ,distance between ekf and vo x:-0.000056 ,z=0.000042,angle between two frames:0.000005 -[19:09:40.312] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =560 error init =0.064117 error end=0.162470 -[19:09:40.312] After pose optimization, distance between ekf and vo x:0.001586 ,z=0.002057,angle between two frames:0.000168 -[19:09:40.312] Update EKF and 3D points the number of feature in the new frame: 560 and number of obs: 560 -[19:09:40.312] frame Scene Depth mean:1.932263 ,depth min:0.184998 -[19:09:40.328] need key frame pitch dis: 0.311630 translation dif:0.483592 -[19:09:40.328] Choose frame as a key frame Scene Depth mean:1.932263 ,depth min:0.184998 -[19:09:40.328] frame process finished the id is: 230 the obs is:560 -[19:09:41.334] After Reprojection Map nMatches:789 ,distance between ekf and vo x:-0.000048 ,z=0.000023,angle between two frames:0.000002 -[19:09:41.339] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =568 error init =0.053787 error end=0.025728 -[19:09:41.339] After pose optimization, distance between ekf and vo x:0.000184 ,z=0.000152,angle between two frames:0.000016 -[19:09:41.339] Update EKF and 3D points the number of feature in the new frame: 568 and number of obs: 568 -[19:09:41.340] frame Scene Depth mean:1.795506 ,depth min:0.172455 -[19:09:41.352] need key frame pitch dis: 0.701687 translation dif:0.585070 -[19:09:41.352] Choose frame as a key frame Scene Depth mean:1.795506 ,depth min:0.172455 -[19:09:41.352] frame process finished the id is: 231 the obs is:568 diff --git a/GPU_version/vio/include/vio/global_optimizer.h b/GPU_version/vio/include/vio/global_optimizer.h index 03c803b..ad48c6b 100644 --- a/GPU_version/vio/include/vio/global_optimizer.h +++ b/GPU_version/vio/include/vio/global_optimizer.h @@ -86,7 +86,7 @@ protected: /// Create a g2o vertice from a keyframe object. std::shared_ptr createG2oFrameSE3( - FramePtr kf); + FramePtr kf, bool state); /// Creates a g2o vertice from a mappoint object. std::shared_ptr createG2oPoint( Vector3d pos); diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index 7c4cbdf..d12f08d 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -1,6 +1,6 @@ - + diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index 73f21c3..0e0de00 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -8,7 +8,7 @@ vio: init_min_disparity: 10 structureoptim_max_pts: 50 kfselect_mindist: 0.01 - poseoptim_thresh: 1.3 + poseoptim_thresh: 2.0 ACC_ekf: 0.2 #acc white noise in continuous in EKF GYO_ekf: 0.1 #gyro white noise in continuous in EKF VO_ekf_translation: 1.0 #VO noise in EKF diff --git a/GPU_version/vio/src/global_optimizer.cpp b/GPU_version/vio/src/global_optimizer.cpp index c0d7228..d1d60c4 100644 --- a/GPU_version/vio/src/global_optimizer.cpp +++ b/GPU_version/vio/src/global_optimizer.cpp @@ -95,10 +95,16 @@ namespace vio { ba_mux_.lock(); // Go through all Keyframes v_id_ = 0; + auto end=map_.keyframes_.end(); + auto end_1=end--; for(auto it_kf=map_.keyframes_.begin();it_kf!=map_.keyframes_.end();++it_kf) { // New Keyframe Vertex - (*it_kf)->v_kf_ = createG2oFrameSE3(*it_kf); + if(it_kf !=map_.keyframes_.end() && it_kf !=end && it_kf !=end_1){ + (*it_kf)->v_kf_ = createG2oFrameSE3(*it_kf,true); + }else{ + (*it_kf)->v_kf_ = createG2oFrameSE3(*it_kf,false); + } optimizer_->addVertex((*it_kf)->v_kf_); for(auto& it_ftr:(*it_kf)->fts_) { @@ -151,8 +157,8 @@ namespace vio { for(list::iterator it_kf = map_.keyframes_.begin(); it_kf != map_.keyframes_.end();++it_kf) { - (*it_kf)->T_f_w_ = SE2_5(SE3((*it_kf)->v_kf_->estimate().rotation().toRotationMatrix(), - (*it_kf)->v_kf_->estimate().translation())); +/* (*it_kf)->T_f_w_ = SE2_5(SE3((*it_kf)->v_kf_->estimate().rotation().toRotationMatrix(), + (*it_kf)->v_kf_->estimate().translation()));*/ for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr) { if((*it_ftr)->point == NULL) @@ -169,12 +175,13 @@ namespace vio { } std::shared_ptr - BA_Glob::createG2oFrameSE3(FramePtr frame) + BA_Glob::createG2oFrameSE3(FramePtr frame, bool state) { std::shared_ptr v= std::make_shared(); ++v_id_; v->setId(v_id_); - v->setFixed(false); + // not all frames are fixed + v->setFixed(state); v->setEstimate(g2o::SE3Quat(frame->se3().unit_quaternion(), frame->se3().translation())); return v; }