diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt index d8f974b..dbb9e21 100755 --- a/GPU_version/vio/depth_filter_log.txt +++ b/GPU_version/vio/depth_filter_log.txt @@ -1,6 +1,18 @@ -[17:12:03.647] New key frame -[17:12:03.647] BA loop -[17:12:44.004] New key frame -[17:12:44.004] BA loop -[17:12:44.192] New key frame -[17:12:44.192] BA loop +[19:47:24.922] New key frame +[19:47:24.922] BA loop +[19:47:25.028] New key frame +[19:47:25.028] BA loop +[19:47:25.138] New key frame +[19:47:25.138] BA loop +[19:47:25.234] New key frame +[19:47:25.234] BA loop +[19:47:30.451] New key frame +[19:47:30.451] BA loop +[19:47:32.031] New key frame +[19:47:32.031] BA loop +[19:47:44.267] New key frame +[19:47:44.268] BA loop +[19:48:08.881] New key frame +[19:48:08.881] BA loop +[19:49:01.049] New key frame +[19:49:01.049] BA loop diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index 3f03776..08fa9ad 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,3434 +1,676 @@ -[17:11:54.774] Init: frame zero: 0.000000, 0.000000 0.000000 -[17:11:54.774] Init: Selected first frame. -[17:11:54.774] frame process finished the id is: 0 the obs is:0 -[17:11:54.787] Init: px average disparity is:0.172758 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:54.787] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:54.787] frame process finished the id is: 1 the obs is:0 -[17:11:54.884] Init: px average disparity is:0.201742 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:54.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:54.884] frame process finished the id is: 2 the obs is:0 -[17:11:54.983] Init: px average disparity is:0.313015 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:54.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:54.983] frame process finished the id is: 3 the obs is:0 -[17:11:55.085] Init: px average disparity is:0.361645 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:55.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:55.085] frame process finished the id is: 4 the obs is:0 -[17:11:55.182] Init: px average disparity is:0.364241 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:55.182] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:55.182] frame process finished the id is: 5 the obs is:0 -[17:11:55.281] Init: px average disparity is:0.385082 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:55.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:55.281] frame process finished the id is: 6 the obs is:0 -[17:11:55.382] Init: px average disparity is:0.390899 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:55.382] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:55.382] frame process finished the id is: 7 the obs is:0 -[17:11:55.484] Init: px average disparity is:0.477527 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:55.484] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:55.484] frame process finished the id is: 8 the obs is:0 -[17:11:55.581] Init: px average disparity is:0.448349 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:55.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:55.581] frame process finished the id is: 9 the obs is:0 -[17:11:55.690] Init: px average disparity is:0.566287 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:55.690] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:55.690] frame process finished the id is: 10 the obs is:0 -[17:11:55.792] Init: px average disparity is:0.543055 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:55.792] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:55.793] frame process finished the id is: 11 the obs is:0 -[17:11:55.892] Init: px average disparity is:0.590355 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:55.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:55.892] frame process finished the id is: 12 the obs is:0 -[17:11:55.993] Init: px average disparity is:0.586119 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:55.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:55.993] frame process finished the id is: 13 the obs is:0 -[17:11:56.093] Init: px average disparity is:0.628194 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:56.093] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:56.093] frame process finished the id is: 14 the obs is:0 -[17:11:56.192] Init: px average disparity is:0.593164 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:56.192] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:56.192] frame process finished the id is: 15 the obs is:0 -[17:11:56.293] Init: px average disparity is:0.662760 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:56.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:56.293] frame process finished the id is: 16 the obs is:0 -[17:11:56.394] Init: px average disparity is:0.667646 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:56.394] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:56.394] frame process finished the id is: 17 the obs is:0 -[17:11:56.493] Init: px average disparity is:0.599362 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:56.493] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:56.493] frame process finished the id is: 18 the obs is:0 -[17:11:56.592] Init: px average disparity is:0.626093 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:56.593] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:56.593] frame process finished the id is: 19 the obs is:0 -[17:11:56.692] Init: px average disparity is:0.619001 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:56.692] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:56.692] frame process finished the id is: 20 the obs is:0 -[17:11:56.792] Init: px average disparity is:0.619136 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:56.792] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:56.792] frame process finished the id is: 21 the obs is:0 -[17:11:56.892] Init: px average disparity is:0.601060 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:56.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:56.892] frame process finished the id is: 22 the obs is:0 -[17:11:56.993] Init: px average disparity is:0.594629 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:56.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:56.993] frame process finished the id is: 23 the obs is:0 -[17:11:57.092] Init: px average disparity is:0.599880 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:57.092] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:57.092] frame process finished the id is: 24 the obs is:0 -[17:11:57.193] Init: px average disparity is:0.545959 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:57.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:57.193] frame process finished the id is: 25 the obs is:0 -[17:11:57.292] Init: px average disparity is:0.612244 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:57.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:57.293] frame process finished the id is: 26 the obs is:0 -[17:11:57.393] Init: px average disparity is:0.552641 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:57.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:57.393] frame process finished the id is: 27 the obs is:0 -[17:11:57.493] Init: px average disparity is:0.535403 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:57.493] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:57.493] frame process finished the id is: 28 the obs is:0 -[17:11:57.593] Init: px average disparity is:0.588645 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:57.593] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:57.593] frame process finished the id is: 29 the obs is:0 -[17:11:57.693] Init: px average disparity is:0.583976 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:57.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:57.693] frame process finished the id is: 30 the obs is:0 -[17:11:57.792] Init: px average disparity is:0.549757 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:57.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:57.793] frame process finished the id is: 31 the obs is:0 -[17:11:57.893] Init: px average disparity is:0.616166 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:57.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:57.893] frame process finished the id is: 32 the obs is:0 -[17:11:57.993] Init: px average disparity is:0.563134 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:57.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:57.993] frame process finished the id is: 33 the obs is:0 -[17:11:58.093] Init: px average disparity is:0.584492 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:58.093] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:58.093] frame process finished the id is: 34 the obs is:0 -[17:11:58.194] Init: px average disparity is:0.579335 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:58.194] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:58.194] frame process finished the id is: 35 the obs is:0 -[17:11:58.294] Init: px average disparity is:0.598716 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:58.294] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:58.294] frame process finished the id is: 36 the obs is:0 -[17:11:58.393] Init: px average disparity is:0.565848 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:58.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:58.393] frame process finished the id is: 37 the obs is:0 -[17:11:58.493] Init: px average disparity is:0.565890 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:58.493] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:58.493] frame process finished the id is: 38 the obs is:0 -[17:11:58.593] Init: px average disparity is:0.553919 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:58.594] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:58.594] frame process finished the id is: 39 the obs is:0 -[17:11:58.692] Init: px average disparity is:0.616115 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:58.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:58.693] frame process finished the id is: 40 the obs is:0 -[17:11:58.796] Init: px average disparity is:0.566093 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:58.796] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:58.796] frame process finished the id is: 41 the obs is:0 -[17:11:58.892] Init: px average disparity is:0.567436 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:58.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:58.892] frame process finished the id is: 42 the obs is:0 -[17:11:58.993] Init: px average disparity is:0.577059 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:58.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:58.993] frame process finished the id is: 43 the obs is:0 -[17:11:59.093] Init: px average disparity is:0.573469 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:59.093] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:59.093] frame process finished the id is: 44 the obs is:0 -[17:11:59.193] Init: px average disparity is:0.578291 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:59.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:59.193] frame process finished the id is: 45 the obs is:0 -[17:11:59.293] Init: px average disparity is:0.589306 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:59.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:59.293] frame process finished the id is: 46 the obs is:0 -[17:11:59.393] Init: px average disparity is:0.564525 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:59.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:59.393] frame process finished the id is: 47 the obs is:0 -[17:11:59.493] Init: px average disparity is:0.576495 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:59.494] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:59.494] frame process finished the id is: 48 the obs is:0 -[17:11:59.593] Init: px average disparity is:0.564883 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:59.593] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:59.593] frame process finished the id is: 49 the obs is:0 -[17:11:59.694] Init: px average disparity is:0.561558 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:59.694] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:59.694] frame process finished the id is: 50 the obs is:0 -[17:11:59.793] Init: px average disparity is:0.556288 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:59.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:59.793] frame process finished the id is: 51 the obs is:0 -[17:11:59.893] Init: px average disparity is:0.576670 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:59.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:59.893] frame process finished the id is: 52 the obs is:0 -[17:11:59.993] Init: px average disparity is:0.631701 ,While minimum is: 10.000000 KLT tracked : 289 -[17:11:59.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:11:59.994] frame process finished the id is: 53 the obs is:0 -[17:12:00.094] Init: px average disparity is:0.594549 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:00.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:00.094] frame process finished the id is: 54 the obs is:0 -[17:12:00.193] Init: px average disparity is:0.601162 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:00.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:00.193] frame process finished the id is: 55 the obs is:0 -[17:12:00.296] Init: px average disparity is:0.560766 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:00.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:00.296] frame process finished the id is: 56 the obs is:0 -[17:12:00.381] Init: px average disparity is:0.576117 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:00.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:00.382] frame process finished the id is: 57 the obs is:0 -[17:12:00.496] Init: px average disparity is:0.550259 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:00.496] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:00.496] frame process finished the id is: 58 the obs is:0 -[17:12:00.594] Init: px average disparity is:0.558625 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:00.594] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:00.594] frame process finished the id is: 59 the obs is:0 -[17:12:00.692] Init: px average disparity is:0.558588 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:00.692] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:00.692] frame process finished the id is: 60 the obs is:0 -[17:12:00.793] Init: px average disparity is:0.580301 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:00.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:00.793] frame process finished the id is: 61 the obs is:0 -[17:12:00.893] Init: px average disparity is:0.604858 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:00.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:00.893] frame process finished the id is: 62 the obs is:0 -[17:12:00.993] Init: px average disparity is:0.593513 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:00.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:00.993] frame process finished the id is: 63 the obs is:0 -[17:12:01.092] Init: px average disparity is:0.550602 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:01.092] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:01.092] frame process finished the id is: 64 the obs is:0 -[17:12:01.194] Init: px average disparity is:0.563679 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:01.194] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:01.194] frame process finished the id is: 65 the obs is:0 -[17:12:01.292] Init: px average disparity is:0.584935 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:01.292] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:01.292] frame process finished the id is: 66 the obs is:0 -[17:12:01.392] Init: px average disparity is:0.593140 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:01.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:01.392] frame process finished the id is: 67 the obs is:0 -[17:12:01.496] Init: px average disparity is:0.586973 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:01.497] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:01.497] frame process finished the id is: 68 the obs is:0 -[17:12:01.592] Init: px average disparity is:0.581842 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:01.592] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:01.593] frame process finished the id is: 69 the obs is:0 -[17:12:01.693] Init: px average disparity is:0.553551 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:01.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:01.693] frame process finished the id is: 70 the obs is:0 -[17:12:01.793] Init: px average disparity is:0.545325 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:01.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:01.793] frame process finished the id is: 71 the obs is:0 -[17:12:01.893] Init: px average disparity is:0.605028 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:01.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:01.893] frame process finished the id is: 72 the obs is:0 -[17:12:01.993] Init: px average disparity is:0.505007 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:01.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:01.993] frame process finished the id is: 73 the obs is:0 -[17:12:02.094] Init: px average disparity is:0.576057 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:02.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:02.094] frame process finished the id is: 74 the obs is:0 -[17:12:02.193] Init: px average disparity is:0.596579 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:02.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:02.193] frame process finished the id is: 75 the obs is:0 -[17:12:02.293] Init: px average disparity is:0.619819 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:02.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:02.293] frame process finished the id is: 76 the obs is:0 -[17:12:02.395] Init: px average disparity is:0.600371 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:02.395] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:02.395] frame process finished the id is: 77 the obs is:0 -[17:12:02.494] Init: px average disparity is:0.599256 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:02.494] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:02.494] frame process finished the id is: 78 the obs is:0 -[17:12:02.541] Odometry x=0.000000, y=0.000000, theta=-0.000000 -[17:12:02.593] Init: px average disparity is:0.566610 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:02.593] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:02.594] frame process finished the id is: 79 the obs is:0 -[17:12:02.641] Odometry x=0.000000, y=0.000000, theta=-0.000000 -[17:12:02.695] Init: px average disparity is:0.587722 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:02.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:02.695] frame process finished the id is: 80 the obs is:0 -[17:12:02.737] Odometry x=0.000001, y=0.013355, theta=-0.000979 -[17:12:02.795] Init: px average disparity is:6.740154 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:02.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:02.795] frame process finished the id is: 81 the obs is:0 -[17:12:02.841] Odometry x=-0.003901, y=0.095117, theta=0.021456 -[17:12:02.893] Init: px average disparity is:3.541135 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:02.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:02.893] frame process finished the id is: 82 the obs is:0 -[17:12:02.943] Odometry x=-0.004273, y=0.105861, theta=0.002213 -[17:12:02.993] Init: px average disparity is:5.016869 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:02.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:02.993] frame process finished the id is: 83 the obs is:0 -[17:12:03.039] Odometry x=-0.004300, y=0.117098, theta=0.002495 -[17:12:03.094] Init: px average disparity is:4.792613 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:03.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:03.094] frame process finished the id is: 84 the obs is:0 -[17:12:03.132] Odometry x=-0.004079, y=0.115686, theta=0.001524 -[17:12:03.194] Init: px average disparity is:6.633594 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:03.194] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:03.194] frame process finished the id is: 85 the obs is:0 -[17:12:03.237] Odometry x=-0.004143, y=0.127195, theta=0.009457 -[17:12:03.293] Init: px average disparity is:7.916255 ,While minimum is: 10.000000 KLT tracked : 289 -[17:12:03.294] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:03.294] frame process finished the id is: 86 the obs is:0 -[17:12:03.338] Odometry x=-0.002634, y=0.138026, theta=-0.004483 -[17:12:03.442] Odometry x=-0.002507, y=0.149310, theta=-0.005029 -[17:12:03.465] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required. px average disparity is:11.843733 ,While minimum is: 10.000000 KLT tracked: 289 -[17:12:03.465] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:03.465] frame process finished the id is: 87 the obs is:0 -[17:12:03.539] Odometry x=-0.002509, y=0.160659, theta=0.007860 -[17:12:03.551] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required. px average disparity is:10.018337 ,While minimum is: 10.000000 KLT tracked: 289 -[17:12:03.551] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[17:12:03.551] frame process finished the id is: 88 the obs is:0 -[17:12:03.632] Odometry x=-0.002449, y=0.171300, theta=0.003164 -[17:12:03.647] Init finished: Homography RANSAC (inlier) is:30 ,While 30 inliers minimum required. px average disparity is:10.711583 ,While minimum is: 10.000000 KLT tracked: 289 -[17:12:03.647] Init: distance between the first and current frame is x:-0.002449 ,z=0.171300,angle between two frames: 0.003164 -[17:12:03.647] Init: Selected Second frame. The number of features: 30 depth mean:-0.219337 min:-0.527999 -[17:12:03.647] frame process finished the id is: 89 the obs is:30 -[17:12:03.737] Odometry x=-0.002448, y=0.181502, theta=-0.001828 -[17:12:03.753] After Reprojection Map nPoint:30 ,nCell:18 ,nMatches:14 ,distance between ekf and vo x:0.000276 ,z=0.000055,angle between two frames:0.001571 -[17:12:03.754] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 error init =0.000680 error end=0.000519 -[17:12:03.754] After pose optimization, distance between ekf and vo x:0.000370 ,z=-0.004096,angle between two frames:0.011745 -[17:12:03.754] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21 -[17:12:03.754] frame process finished the id is: 90 the obs is:21 -[17:12:03.835] Odometry x=-0.002104, y=0.178213, theta=-0.012651 -[17:12:03.869] After Reprojection Map nPoint:21 ,nCell:12 ,nMatches:9 ,distance between ekf and vo x:0.000330 ,z=-0.001747,angle between two frames:0.000584 -[17:12:03.869] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.001028 error end=0.001028 -[17:12:03.869] After pose optimization, distance between ekf and vo x:0.000330 ,z=-0.001747,angle between two frames:0.000584 -[17:12:03.869] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 -[17:12:03.869] frame process finished the id is: 91 the obs is:16 -[17:12:03.937] Odometry x=-0.001750, y=0.177304, theta=-0.012812 -[17:12:03.966] After Reprojection Map nPoint:16 ,nCell:11 ,nMatches:9 ,distance between ekf and vo x:0.000094 ,z=0.000481,angle between two frames:0.003055 -[17:12:03.966] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000507 error end=0.000428 -[17:12:03.966] After pose optimization, distance between ekf and vo x:-0.003721 ,z=-0.000026,angle between two frames:0.021260 -[17:12:03.966] frame process finished the id is: 91 the obs is:16 -[17:12:04.037] Odometry x=-0.001569, y=0.190705, theta=0.000436 -[17:12:04.055] After Reprojection Map nPoint:16 ,nCell:13 ,nMatches:6 ,distance between ekf and vo x:0.000542 ,z=-0.000068,angle between two frames:0.000117 -[17:12:04.056] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001869 error end=0.001747 -[17:12:04.056] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.013402,angle between two frames:0.002733 -[17:12:04.056] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:04.056] frame process finished the id is: 93 the obs is:10 -[17:12:04.137] Odometry x=-0.001491, y=0.193225, theta=-0.007475 -[17:12:04.162] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:0.000179 ,z=-0.001168,angle between two frames:0.003220 -[17:12:04.163] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.001343 error end=0.000848 -[17:12:04.163] After pose optimization, distance between ekf and vo x:-0.003050 ,z=-0.013480,angle between two frames:0.009208 -[17:12:04.163] frame process finished the id is: 93 the obs is:10 -[17:12:04.237] Odometry x=-0.001291, y=0.204116, theta=-0.001460 -[17:12:04.260] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:5 ,distance between ekf and vo x:0.000155 ,z=-0.000222,angle between two frames:0.004142 -[17:12:04.260] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000266 error end=0.000255 -[17:12:04.260] After pose optimization, distance between ekf and vo x:-0.001185 ,z=-0.000416,angle between two frames:0.001528 -[17:12:04.260] frame process finished the id is: 93 the obs is:10 -[17:12:04.339] Odometry x=-0.000013, y=0.214817, theta=0.004115 -[17:12:04.351] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000065 ,z=0.000326,angle between two frames:0.000891 -[17:12:04.351] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000152 error end=0.000151 -[17:12:04.351] After pose optimization, distance between ekf and vo x:-0.000473 ,z=0.002141,angle between two frames:0.004124 -[17:12:04.351] frame process finished the id is: 93 the obs is:10 -[17:12:04.438] Odometry x=0.000061, y=0.226889, theta=-0.004988 -[17:12:04.453] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=0.000245,angle between two frames:0.000914 -[17:12:04.453] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000260 error end=0.000260 -[17:12:04.453] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000245,angle between two frames:0.000914 -[17:12:04.453] frame process finished the id is: 93 the obs is:10 -[17:12:04.537] Odometry x=0.000094, y=0.237356, theta=-0.002720 -[17:12:04.556] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:-0.000113 ,z=0.000629,angle between two frames:0.000549 -[17:12:04.557] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[17:12:04.557] After pose optimization, distance between ekf and vo x:-0.000105 ,z=0.001092,angle between two frames:0.000505 -[17:12:04.557] frame process finished the id is: 93 the obs is:10 -[17:12:04.636] Odometry x=0.000254, y=0.248163, theta=-0.003518 -[17:12:04.662] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:-0.000173 ,z=0.000001,angle between two frames:0.001189 -[17:12:04.662] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.001218 error end=0.001218 -[17:12:04.662] After pose optimization, distance between ekf and vo x:-0.000173 ,z=0.000001,angle between two frames:0.001189 -[17:12:04.662] frame process finished the id is: 93 the obs is:10 -[17:12:04.749] Odometry x=0.000621, y=0.261838, theta=-0.001158 -[17:12:04.751] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:0.000068 ,z=-0.000105,angle between two frames:0.000590 -[17:12:04.751] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.001112 error end=0.000619 -[17:12:04.751] After pose optimization, distance between ekf and vo x:0.000204 ,z=-0.002597,angle between two frames:0.041942 -[17:12:04.751] frame process finished the id is: 93 the obs is:10 -[17:12:04.843] Odometry x=0.000630, y=0.281372, theta=0.002408 -[17:12:04.851] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:0.000060 ,z=-0.000098,angle between two frames:0.000563 -[17:12:04.851] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000626 error end=0.000626 -[17:12:04.851] After pose optimization, distance between ekf and vo x:0.000060 ,z=-0.000098,angle between two frames:0.000563 -[17:12:04.851] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:04.851] frame process finished the id is: 101 the obs is:10 -[17:12:04.938] Odometry x=0.000646, y=0.278193, theta=-0.002559 -[17:12:04.952] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000097 ,z=0.000351,angle between two frames:0.000245 -[17:12:04.952] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000430 error end=0.000405 -[17:12:04.952] After pose optimization, distance between ekf and vo x:-0.005781 ,z=0.000339,angle between two frames:0.022378 -[17:12:04.952] frame process finished the id is: 101 the obs is:10 -[17:12:05.033] Odometry x=0.002915, y=0.290116, theta=0.003525 -[17:12:05.051] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:3 ,distance between ekf and vo x:-0.000114 ,z=0.000343,angle between two frames:0.000406 -[17:12:05.051] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000394 error end=0.000389 -[17:12:05.051] After pose optimization, distance between ekf and vo x:-0.000995 ,z=0.002323,angle between two frames:0.003452 -[17:12:05.051] frame process finished the id is: 101 the obs is:10 -[17:12:05.136] Odometry x=0.002963, y=0.300244, theta=0.002055 -[17:12:05.151] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:2 ,distance between ekf and vo x:-0.000145 ,z=0.000563,angle between two frames:0.000578 -[17:12:05.152] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000003 error end=0.000003 -[17:12:05.152] After pose optimization, distance between ekf and vo x:-0.000155 ,z=0.000573,angle between two frames:0.000590 -[17:12:05.152] frame process finished the id is: 101 the obs is:10 -[17:12:05.239] Odometry x=0.002918, y=0.311301, theta=0.004299 -[17:12:05.251] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000178 ,z=0.000529,angle between two frames:0.000586 -[17:12:05.251] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.001249 error end=0.001153 -[17:12:05.251] After pose optimization, distance between ekf and vo x:-0.001395 ,z=-0.003621,angle between two frames:0.004022 -[17:12:05.251] frame process finished the id is: 101 the obs is:10 -[17:12:05.337] Odometry x=0.002942, y=0.322756, theta=0.003519 -[17:12:05.351] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000110 ,z=0.000407,angle between two frames:0.000358 -[17:12:05.351] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000402 error end=0.000401 -[17:12:05.351] After pose optimization, distance between ekf and vo x:-0.000503 ,z=0.001185,angle between two frames:0.002168 -[17:12:05.351] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:05.351] frame process finished the id is: 106 the obs is:10 -[17:12:05.435] Odometry x=0.005206, y=0.335310, theta=0.014252 -[17:12:05.452] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:-0.000121 ,z=0.000373,angle between two frames:0.000446 -[17:12:05.452] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.001218 error end=0.001193 -[17:12:05.452] After pose optimization, distance between ekf and vo x:-0.002012 ,z=0.001561,angle between two frames:0.006230 -[17:12:05.452] frame process finished the id is: 106 the obs is:10 -[17:12:05.537] Odometry x=0.004785, y=0.345739, theta=0.004165 -[17:12:05.552] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:-0.000147 ,z=0.000416,angle between two frames:0.000690 -[17:12:05.552] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000301 error end=0.000294 -[17:12:05.552] After pose optimization, distance between ekf and vo x:-0.002552 ,z=0.001379,angle between two frames:0.007339 -[17:12:05.552] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:05.552] frame process finished the id is: 108 the obs is:10 -[17:12:05.637] Odometry x=0.002988, y=0.358579, theta=-0.000567 -[17:12:05.652] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:0.000031 ,z=0.000708,angle between two frames:0.002629 -[17:12:05.652] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.001734 error end=0.001734 -[17:12:05.652] After pose optimization, distance between ekf and vo x:0.000309 ,z=0.000578,angle between two frames:0.001812 -[17:12:05.652] frame process finished the id is: 108 the obs is:10 -[17:12:05.735] Odometry x=0.003092, y=0.369299, theta=0.002874 -[17:12:05.753] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:0.000135 ,z=0.000310,angle between two frames:0.000524 -[17:12:05.753] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.001845 error end=0.001815 -[17:12:05.753] After pose optimization, distance between ekf and vo x:-0.001276 ,z=0.008284,angle between two frames:0.000683 -[17:12:05.753] frame process finished the id is: 108 the obs is:10 -[17:12:05.842] Odometry x=0.002659, y=0.387057, theta=0.001681 -[17:12:05.852] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:4 ,distance between ekf and vo x:0.000016 ,z=0.000202,angle between two frames:0.000821 -[17:12:05.852] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000876 error end=0.000872 -[17:12:05.852] After pose optimization, distance between ekf and vo x:-0.002447 ,z=-0.006948,angle between two frames:0.011032 -[17:12:05.852] frame process finished the id is: 108 the obs is:10 -[17:12:05.943] Odometry x=0.002653, y=0.407321, theta=0.009171 -[17:12:05.959] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:0.000271 ,z=0.001684,angle between two frames:0.000189 -[17:12:05.959] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000012 error end=0.000012 -[17:12:05.959] After pose optimization, distance between ekf and vo x:0.000269 ,z=0.001685,angle between two frames:0.000195 -[17:12:05.959] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:05.959] frame process finished the id is: 112 the obs is:10 -[17:12:06.039] Odometry x=0.002904, y=0.409567, theta=0.009628 -[17:12:06.060] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000343 ,z=0.000673,angle between two frames:0.000596 -[17:12:06.061] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000243 error end=0.000243 -[17:12:06.061] After pose optimization, distance between ekf and vo x:0.000286 ,z=0.000708,angle between two frames:0.000460 -[17:12:06.061] frame process finished the id is: 112 the obs is:10 -[17:12:06.137] Odometry x=0.002836, y=0.421942, theta=0.019713 -[17:12:06.152] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000010 ,z=0.000210,angle between two frames:0.000041 -[17:12:06.152] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000636 error end=0.000635 -[17:12:06.152] After pose optimization, distance between ekf and vo x:-0.000076 ,z=0.000240,angle between two frames:0.000219 -[17:12:06.152] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:06.152] frame process finished the id is: 114 the obs is:10 -[17:12:06.236] Odometry x=0.003093, y=0.433779, theta=0.015918 -[17:12:06.251] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:0.000011 ,z=0.000213,angle between two frames:0.000073 -[17:12:06.251] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.002919 error end=0.002902 -[17:12:06.251] After pose optimization, distance between ekf and vo x:-0.001080 ,z=0.000844,angle between two frames:0.004449 -[17:12:06.251] frame process finished the id is: 114 the obs is:10 -[17:12:06.338] Odometry x=0.003053, y=0.444923, theta=0.019676 -[17:12:06.353] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:0.000002 ,z=0.000257,angle between two frames:0.000096 -[17:12:06.353] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.001276 error end=0.001276 -[17:12:06.353] After pose optimization, distance between ekf and vo x:-0.000035 ,z=0.000299,angle between two frames:0.000170 -[17:12:06.353] frame process finished the id is: 114 the obs is:10 -[17:12:06.431] Odometry x=0.002982, y=0.455478, theta=0.017816 -[17:12:06.458] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000217 ,z=0.002307,angle between two frames:0.000663 -[17:12:06.459] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000026 error end=0.000026 -[17:12:06.459] After pose optimization, distance between ekf and vo x:0.000217 ,z=0.002307,angle between two frames:0.000663 -[17:12:06.459] frame process finished the id is: 114 the obs is:10 -[17:12:06.534] Odometry x=0.002821, y=0.472870, theta=0.017566 -[17:12:06.551] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000012 ,z=0.000244,angle between two frames:0.000100 -[17:12:06.552] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000006 error end=0.000006 -[17:12:06.552] After pose optimization, distance between ekf and vo x:-0.000021 ,z=0.000246,angle between two frames:0.000120 -[17:12:06.552] frame process finished the id is: 114 the obs is:10 -[17:12:06.634] Odometry x=0.001914, y=0.483558, theta=0.017433 -[17:12:06.652] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000005 ,z=0.000218,angle between two frames:0.000064 -[17:12:06.652] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000034 error end=0.000034 -[17:12:06.652] After pose optimization, distance between ekf and vo x:0.000010 ,z=0.000232,angle between two frames:0.000052 -[17:12:06.652] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:06.652] frame process finished the id is: 119 the obs is:10 -[17:12:06.734] Odometry x=0.001915, y=0.484362, theta=0.017607 -[17:12:06.766] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000244 ,z=0.003495,angle between two frames:0.000954 -[17:12:06.766] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.001000 error end=0.001000 -[17:12:06.766] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.004061,angle between two frames:0.001352 -[17:12:06.766] frame process finished the id is: 119 the obs is:10 -[17:12:06.839] Odometry x=0.001813, y=0.497387, theta=0.019223 -[17:12:06.852] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000012 ,z=0.000269,angle between two frames:0.000098 -[17:12:06.852] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.001638 error end=0.001637 -[17:12:06.852] After pose optimization, distance between ekf and vo x:0.000143 ,z=0.000569,angle between two frames:0.000235 -[17:12:06.852] frame process finished the id is: 119 the obs is:10 -[17:12:06.935] Odometry x=0.001645, y=0.508829, theta=0.019378 -[17:12:06.952] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:0.000008 ,z=0.000256,angle between two frames:0.000118 -[17:12:06.952] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 error init =0.000002 error end=0.000002 -[17:12:06.952] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000256,angle between two frames:0.000118 -[17:12:06.952] frame process finished the id is: 119 the obs is:10 -[17:12:07.035] Odometry x=0.001555, y=0.519065, theta=0.015351 -[17:12:07.051] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:0.000002 ,z=0.000257,angle between two frames:0.000156 -[17:12:07.051] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000120 error end=0.000120 -[17:12:07.051] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000257,angle between two frames:0.000156 -[17:12:07.051] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:07.051] frame process finished the id is: 123 the obs is:10 -[17:12:07.136] Odometry x=0.001447, y=0.532557, theta=0.018607 -[17:12:07.153] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000012 ,z=0.000265,angle between two frames:0.000129 -[17:12:07.154] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.001036 error end=0.001036 -[17:12:07.154] After pose optimization, distance between ekf and vo x:0.000124 ,z=0.000418,angle between two frames:0.000110 -[17:12:07.154] frame process finished the id is: 123 the obs is:10 -[17:12:07.238] Odometry x=0.001358, y=0.544451, theta=0.009563 -[17:12:07.252] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000022 ,z=0.000180,angle between two frames:0.000198 -[17:12:07.252] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000038 error end=0.000038 -[17:12:07.252] After pose optimization, distance between ekf and vo x:0.000011 ,z=0.000177,angle between two frames:0.000218 -[17:12:07.252] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:07.252] frame process finished the id is: 125 the obs is:10 -[17:12:07.333] Odometry x=0.001369, y=0.545331, theta=0.010089 -[17:12:07.374] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.001136 ,z=0.004963,angle between two frames:0.001038 -[17:12:07.374] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000767 error end=0.000767 -[17:12:07.374] After pose optimization, distance between ekf and vo x:0.001183 ,z=0.005174,angle between two frames:0.000790 -[17:12:07.374] frame process finished the id is: 125 the obs is:10 -[17:12:07.436] Odometry x=0.001346, y=0.558723, theta=0.014656 -[17:12:07.454] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000041 ,z=0.000343,angle between two frames:0.000025 -[17:12:07.454] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000183 error end=0.000183 -[17:12:07.454] After pose optimization, distance between ekf and vo x:0.000046 ,z=0.000369,angle between two frames:0.000002 -[17:12:07.454] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:07.455] frame process finished the id is: 127 the obs is:10 -[17:12:07.532] Odometry x=0.001386, y=0.559669, theta=0.014567 -[17:12:07.556] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000135 ,z=0.000990,angle between two frames:0.000132 -[17:12:07.556] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000000 error end=0.000000 -[17:12:07.556] After pose optimization, distance between ekf and vo x:0.000135 ,z=0.000990,angle between two frames:0.000132 -[17:12:07.556] frame process finished the id is: 127 the obs is:10 -[17:12:07.637] Odometry x=0.001647, y=0.574028, theta=0.014675 -[17:12:07.659] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000301 ,z=0.002606,angle between two frames:0.000239 -[17:12:07.659] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000337 error end=0.000337 -[17:12:07.659] After pose optimization, distance between ekf and vo x:0.000397 ,z=0.002672,angle between two frames:0.000063 -[17:12:07.659] frame process finished the id is: 127 the obs is:10 -[17:12:07.734] Odometry x=0.001558, y=0.585967, theta=0.012711 -[17:12:07.754] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000124 ,z=0.000849,angle between two frames:0.000006 -[17:12:07.754] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.001139 error end=0.001138 -[17:12:07.754] After pose optimization, distance between ekf and vo x:0.000338 ,z=0.000985,angle between two frames:0.000403 -[17:12:07.754] frame process finished the id is: 127 the obs is:10 -[17:12:07.834] Odometry x=0.001570, y=0.598443, theta=0.016830 -[17:12:07.860] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000450 ,z=0.003793,angle between two frames:0.000656 -[17:12:07.860] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.001157 error end=0.001156 -[17:12:07.860] After pose optimization, distance between ekf and vo x:0.000313 ,z=0.003434,angle between two frames:0.000414 -[17:12:07.860] frame process finished the id is: 127 the obs is:10 -[17:12:07.933] Odometry x=0.001479, y=0.610044, theta=0.015988 -[17:12:07.959] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000221 ,z=0.001605,angle between two frames:0.000042 -[17:12:07.959] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000366 error end=0.000366 -[17:12:07.959] After pose optimization, distance between ekf and vo x:0.000218 ,z=0.001624,angle between two frames:0.000041 -[17:12:07.959] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:07.959] frame process finished the id is: 132 the obs is:10 -[17:12:08.042] Odometry x=0.001598, y=0.618906, theta=0.006168 -[17:12:08.059] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000094 ,z=0.001176,angle between two frames:0.000182 -[17:12:08.059] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000169 error end=0.000169 -[17:12:08.059] After pose optimization, distance between ekf and vo x:-0.000223 ,z=-0.001232,angle between two frames:0.000452 -[17:12:08.059] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:08.059] frame process finished the id is: 133 the obs is:10 -[17:12:08.135] Odometry x=0.001386, y=0.618322, theta=0.007052 -[17:12:08.170] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000666 ,z=0.003568,angle between two frames:0.000179 -[17:12:08.170] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000001 error end=0.000001 -[17:12:08.170] After pose optimization, distance between ekf and vo x:0.000666 ,z=0.003568,angle between two frames:0.000179 -[17:12:08.170] frame process finished the id is: 133 the obs is:10 -[17:12:08.238] Odometry x=0.001341, y=0.630923, theta=0.009137 -[17:12:08.259] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000064 ,z=0.001088,angle between two frames:0.000276 -[17:12:08.259] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000544 error end=0.000544 -[17:12:08.259] After pose optimization, distance between ekf and vo x:0.000064 ,z=0.001088,angle between two frames:0.000276 -[17:12:08.259] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:08.259] frame process finished the id is: 135 the obs is:10 -[17:12:08.336] Odometry x=0.001325, y=0.643959, theta=0.005868 -[17:12:08.367] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000308 ,z=0.002638,angle between two frames:0.000552 -[17:12:08.367] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000057 error end=0.000057 -[17:12:08.367] After pose optimization, distance between ekf and vo x:0.000152 ,z=0.002612,angle between two frames:0.000282 -[17:12:08.367] frame process finished the id is: 135 the obs is:10 -[17:12:08.437] Odometry x=0.001396, y=0.655242, theta=0.009155 -[17:12:08.469] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000337 ,z=0.003188,angle between two frames:0.000667 -[17:12:08.470] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000000 error end=0.000000 -[17:12:08.470] After pose optimization, distance between ekf and vo x:0.000337 ,z=0.003188,angle between two frames:0.000667 -[17:12:08.470] frame process finished the id is: 135 the obs is:10 -[17:12:08.534] Odometry x=0.000983, y=0.665733, theta=0.006301 -[17:12:08.562] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000161 ,z=0.001621,angle between two frames:0.000186 -[17:12:08.562] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000001 error end=0.000001 -[17:12:08.562] After pose optimization, distance between ekf and vo x:0.000161 ,z=0.001621,angle between two frames:0.000187 -[17:12:08.562] frame process finished the id is: 135 the obs is:10 -[17:12:08.637] Odometry x=0.000980, y=0.676146, theta=0.002689 -[17:12:08.666] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000619 ,z=0.004796,angle between two frames:0.002373 -[17:12:08.666] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000004 error end=0.000004 -[17:12:08.666] After pose optimization, distance between ekf and vo x:0.000612 ,z=0.004796,angle between two frames:0.002365 -[17:12:08.666] frame process finished the id is: 135 the obs is:10 -[17:12:08.737] Odometry x=0.000987, y=0.688927, theta=-0.002798 -[17:12:08.766] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000620 ,z=0.004815,angle between two frames:0.002400 -[17:12:08.766] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000008 error end=0.000008 -[17:12:08.766] After pose optimization, distance between ekf and vo x:0.000590 ,z=0.004816,angle between two frames:0.002356 -[17:12:08.766] frame process finished the id is: 135 the obs is:10 -[17:12:08.835] Odometry x=0.001035, y=0.700681, theta=-0.006300 -[17:12:08.858] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000291 ,z=0.001271,angle between two frames:0.000143 -[17:12:08.858] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.002370 error end=0.002356 -[17:12:08.858] After pose optimization, distance between ekf and vo x:0.003496 ,z=0.000807,angle between two frames:0.002292 -[17:12:08.858] frame process finished the id is: 135 the obs is:10 -[17:12:08.944] Odometry x=0.000751, y=0.712564, theta=-0.001255 -[17:12:08.963] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000501 ,z=0.002819,angle between two frames:0.000230 -[17:12:08.963] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000232 error end=0.000232 -[17:12:08.963] After pose optimization, distance between ekf and vo x:0.000871 ,z=0.002845,angle between two frames:0.000595 -[17:12:08.963] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:08.963] frame process finished the id is: 142 the obs is:10 -[17:12:09.037] Odometry x=0.001596, y=0.715900, theta=-0.001097 -[17:12:09.074] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000742 ,z=0.006499,angle between two frames:0.003239 -[17:12:09.075] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001384 error end=0.001384 -[17:12:09.075] After pose optimization, distance between ekf and vo x:0.001164 ,z=0.006644,angle between two frames:0.003530 -[17:12:09.075] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:09.075] frame process finished the id is: 143 the obs is:10 -[17:12:09.136] Odometry x=0.002700, y=0.722841, theta=-0.003789 -[17:12:09.162] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000042 ,z=0.000930,angle between two frames:0.000728 -[17:12:09.162] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000001 error end=0.000001 -[17:12:09.162] After pose optimization, distance between ekf and vo x:-0.000042 ,z=0.000930,angle between two frames:0.000728 -[17:12:09.162] frame process finished the id is: 143 the obs is:10 -[17:12:09.239] Odometry x=0.000353, y=0.742128, theta=0.013523 -[17:12:09.267] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000170 ,z=0.001465,angle between two frames:0.001136 -[17:12:09.267] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000113 error end=0.000113 -[17:12:09.267] After pose optimization, distance between ekf and vo x:-0.000123 ,z=0.001504,angle between two frames:0.001211 -[17:12:09.267] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:09.267] frame process finished the id is: 145 the obs is:10 -[17:12:09.337] Odometry x=0.000213, y=0.744147, theta=0.012139 -[17:12:09.364] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000204 ,z=0.001189,angle between two frames:0.000825 -[17:12:09.364] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000202 error end=0.000202 -[17:12:09.364] After pose optimization, distance between ekf and vo x:-0.000113 ,z=0.001204,angle between two frames:0.000947 -[17:12:09.364] frame process finished the id is: 145 the obs is:10 -[17:12:09.434] Odometry x=-0.000935, y=0.758704, theta=0.015255 -[17:12:09.465] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000202 ,z=0.001868,angle between two frames:0.001655 -[17:12:09.465] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000322 error end=0.000322 -[17:12:09.465] After pose optimization, distance between ekf and vo x:-0.000202 ,z=0.001868,angle between two frames:0.001655 -[17:12:09.465] frame process finished the id is: 145 the obs is:10 -[17:12:09.537] Odometry x=-0.001046, y=0.769281, theta=0.012310 -[17:12:09.566] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000262 ,z=0.001817,angle between two frames:0.001673 -[17:12:09.567] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000246 error end=0.000246 -[17:12:09.567] After pose optimization, distance between ekf and vo x:-0.000343 ,z=0.001832,angle between two frames:0.001558 -[17:12:09.567] frame process finished the id is: 145 the obs is:10 -[17:12:09.635] Odometry x=-0.000225, y=0.781975, theta=0.015400 -[17:12:09.666] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000428 ,z=0.001942,angle between two frames:0.001158 -[17:12:09.667] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000077 error end=0.000077 -[17:12:09.667] After pose optimization, distance between ekf and vo x:-0.000418 ,z=0.001954,angle between two frames:0.001173 -[17:12:09.667] frame process finished the id is: 145 the obs is:10 -[17:12:09.738] Odometry x=-0.000186, y=0.792266, theta=0.016994 -[17:12:09.758] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000094 ,z=0.000527,angle between two frames:0.000521 -[17:12:09.758] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000226 error end=0.000226 -[17:12:09.758] After pose optimization, distance between ekf and vo x:-0.000016 ,z=0.000539,angle between two frames:0.000618 -[17:12:09.758] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:09.758] frame process finished the id is: 150 the obs is:10 -[17:12:09.837] Odometry x=-0.000567, y=0.803789, theta=0.019881 -[17:12:09.871] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000258 ,z=0.002345,angle between two frames:0.002188 -[17:12:09.871] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000038 error end=0.000038 -[17:12:09.871] After pose optimization, distance between ekf and vo x:-0.000262 ,z=0.002346,angle between two frames:0.002182 -[17:12:09.871] frame process finished the id is: 150 the obs is:10 -[17:12:09.939] Odometry x=-0.000670, y=0.814651, theta=0.018655 -[17:12:09.966] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000185 ,z=0.001180,angle between two frames:0.001108 -[17:12:09.966] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000063 error end=0.000063 -[17:12:09.966] After pose optimization, distance between ekf and vo x:-0.000185 ,z=0.001180,angle between two frames:0.001108 -[17:12:09.966] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:09.966] frame process finished the id is: 152 the obs is:10 -[17:12:10.032] Odometry x=-0.000913, y=0.816493, theta=0.017488 -[17:12:10.061] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000199 ,z=0.001998,angle between two frames:0.001419 -[17:12:10.061] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =0.000008 error end=0.000008 -[17:12:10.061] After pose optimization, distance between ekf and vo x:-0.000197 ,z=0.001999,angle between two frames:0.001421 -[17:12:10.061] frame process finished the id is: 152 the obs is:10 -[17:12:10.135] Odometry x=-0.002460, y=0.836827, theta=0.013155 -[17:12:10.165] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000200 ,z=0.001422,angle between two frames:0.001247 -[17:12:10.165] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000765 error end=0.000762 -[17:12:10.165] After pose optimization, distance between ekf and vo x:-0.001383 ,z=0.001412,angle between two frames:0.000004 -[17:12:10.165] frame process finished the id is: 152 the obs is:10 -[17:12:10.238] Odometry x=-0.002587, y=0.847844, theta=0.014683 -[17:12:10.266] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000199 ,z=0.001309,angle between two frames:0.001109 -[17:12:10.266] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.001567 error end=0.001559 -[17:12:10.266] After pose optimization, distance between ekf and vo x:0.000937 ,z=0.001806,angle between two frames:0.002500 -[17:12:10.266] frame process finished the id is: 152 the obs is:10 -[17:12:10.337] Odometry x=-0.000091, y=0.858611, theta=0.027333 -[17:12:10.357] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000168 ,z=0.000615,angle between two frames:0.000447 -[17:12:10.358] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000852 error end=0.000849 -[17:12:10.358] After pose optimization, distance between ekf and vo x:-0.001499 ,z=0.000659,angle between two frames:0.001106 -[17:12:10.358] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:10.358] frame process finished the id is: 156 the obs is:10 -[17:12:10.440] Odometry x=-0.001513, y=0.859799, theta=0.028210 -[17:12:10.451] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000027 ,z=0.000153,angle between two frames:0.000120 -[17:12:10.452] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000553 error end=0.000552 -[17:12:10.452] After pose optimization, distance between ekf and vo x:0.000433 ,z=0.000481,angle between two frames:0.000379 -[17:12:10.452] frame process finished the id is: 156 the obs is:10 -[17:12:10.541] Odometry x=-0.001698, y=0.872864, theta=0.031155 -[17:12:10.552] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000020 ,z=0.000101,angle between two frames:0.000101 -[17:12:10.552] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000377 error end=0.000377 -[17:12:10.552] After pose optimization, distance between ekf and vo x:-0.000020 ,z=0.000101,angle between two frames:0.000101 -[17:12:10.552] frame process finished the id is: 156 the obs is:10 -[17:12:10.634] Odometry x=-0.001834, y=0.883772, theta=0.034222 -[17:12:10.651] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000022 ,z=0.000130,angle between two frames:0.000159 -[17:12:10.652] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:10.652] After pose optimization, distance between ekf and vo x:-0.000022 ,z=0.000130,angle between two frames:0.000159 -[17:12:10.652] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:10.652] frame process finished the id is: 159 the obs is:10 -[17:12:10.737] Odometry x=-0.002241, y=0.904213, theta=0.043714 -[17:12:10.750] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000016 ,z=0.000138,angle between two frames:0.000058 -[17:12:10.751] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000670 error end=0.000667 -[17:12:10.751] After pose optimization, distance between ekf and vo x:-0.001065 ,z=0.000299,angle between two frames:0.001224 -[17:12:10.751] frame process finished the id is: 159 the obs is:10 -[17:12:10.838] Odometry x=-0.002440, y=0.915041, theta=0.035770 -[17:12:10.850] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000017 ,z=0.000141,angle between two frames:0.000052 -[17:12:10.851] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000157 error end=0.000157 -[17:12:10.851] After pose optimization, distance between ekf and vo x:0.000030 ,z=0.000162,angle between two frames:0.000003 -[17:12:10.851] frame process finished the id is: 159 the obs is:10 -[17:12:10.940] Odometry x=-0.002666, y=0.928842, theta=0.028455 -[17:12:10.950] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000011 ,z=0.000144,angle between two frames:0.000055 -[17:12:10.950] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000501 error end=0.000500 -[17:12:10.950] After pose optimization, distance between ekf and vo x:-0.000156 ,z=0.000151,angle between two frames:0.000210 -[17:12:10.950] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:10.950] frame process finished the id is: 162 the obs is:10 -[17:12:11.040] Odometry x=-0.002960, y=0.941333, theta=0.031282 -[17:12:11.063] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000003 ,z=0.000086,angle between two frames:0.000143 -[17:12:11.063] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000413 error end=0.000412 -[17:12:11.063] After pose optimization, distance between ekf and vo x:-0.000355 ,z=0.000126,angle between two frames:0.000465 -[17:12:11.063] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:11.063] frame process finished the id is: 163 the obs is:10 -[17:12:11.138] Odometry x=-0.003589, y=0.959881, theta=0.020883 -[17:12:11.155] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000031 ,z=0.000039,angle between two frames:0.000000 -[17:12:11.155] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000273 error end=0.000273 -[17:12:11.155] After pose optimization, distance between ekf and vo x:-0.000202 ,z=0.000058,angle between two frames:0.000192 -[17:12:11.155] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:11.155] frame process finished the id is: 164 the obs is:10 -[17:12:11.235] Odometry x=-0.003896, y=0.976130, theta=0.014848 -[17:12:11.250] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000015 ,z=0.000064,angle between two frames:0.000067 -[17:12:11.250] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000002 error end=0.000002 -[17:12:11.250] After pose optimization, distance between ekf and vo x:-0.000015 ,z=0.000064,angle between two frames:0.000067 -[17:12:11.250] frame process finished the id is: 164 the obs is:10 -[17:12:11.330] Odometry x=-0.004027, y=0.988582, theta=0.019543 -[17:12:11.351] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000031 ,z=0.000093,angle between two frames:0.000051 -[17:12:11.352] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001562 error end=0.001562 -[17:12:11.352] After pose optimization, distance between ekf and vo x:-0.002266 ,z=0.000697,angle between two frames:0.002053 -[17:12:11.352] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:11.352] frame process finished the id is: 166 the obs is:10 -[17:12:11.437] Odometry x=-0.006175, y=0.989890, theta=0.021647 -[17:12:11.452] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000007 ,z=0.000071,angle between two frames:0.000069 -[17:12:11.452] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000621 error end=0.000617 -[17:12:11.452] After pose optimization, distance between ekf and vo x:-0.001461 ,z=0.000076,angle between two frames:0.001528 -[17:12:11.452] frame process finished the id is: 166 the obs is:10 -[17:12:11.536] Odometry x=-0.006316, y=1.002952, theta=0.021309 -[17:12:11.551] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000014 ,z=0.000073,angle between two frames:0.000046 -[17:12:11.551] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000067 error end=0.000067 -[17:12:11.551] After pose optimization, distance between ekf and vo x:0.000049 ,z=0.000069,angle between two frames:0.000017 -[17:12:11.551] frame process finished the id is: 166 the obs is:10 -[17:12:11.639] Odometry x=-0.006481, y=1.015084, theta=0.037593 -[17:12:11.650] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000012 ,z=0.000070,angle between two frames:0.000088 -[17:12:11.651] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.001440 error end=0.001437 -[17:12:11.651] After pose optimization, distance between ekf and vo x:0.001072 ,z=0.000263,angle between two frames:0.000962 -[17:12:11.651] frame process finished the id is: 166 the obs is:10 -[17:12:11.737] Odometry x=-0.006563, y=1.025977, theta=0.028259 -[17:12:11.754] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000005 ,z=0.000071,angle between two frames:0.000100 -[17:12:11.754] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000610 error end=0.000607 -[17:12:11.754] After pose optimization, distance between ekf and vo x:-0.002134 ,z=-0.002725,angle between two frames:0.002333 -[17:12:11.754] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:11.754] frame process finished the id is: 170 the obs is:10 -[17:12:11.840] Odometry x=-0.008598, y=1.024647, theta=0.030634 -[17:12:11.857] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000016 ,z=0.000069,angle between two frames:0.000046 -[17:12:11.857] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.002034 error end=0.002029 -[17:12:11.857] After pose optimization, distance between ekf and vo x:0.001313 ,z=0.000047,angle between two frames:0.001250 -[17:12:11.857] frame process finished the id is: 170 the obs is:10 -[17:12:11.937] Odometry x=-0.008825, y=1.039048, theta=0.018895 -[17:12:11.953] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000016 ,z=0.000057,angle between two frames:0.000054 -[17:12:11.954] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.001125 error end=0.001121 -[17:12:11.954] After pose optimization, distance between ekf and vo x:0.000982 ,z=0.000456,angle between two frames:0.000947 -[17:12:11.954] frame process finished the id is: 170 the obs is:10 -[17:12:12.040] Odometry x=-0.008799, y=1.049898, theta=0.027495 -[17:12:12.051] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000017 ,z=0.000042,angle between two frames:0.000002 -[17:12:12.052] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.000001 error end=0.000001 -[17:12:12.052] After pose optimization, distance between ekf and vo x:-0.000020 ,z=0.000041,angle between two frames:0.000000 -[17:12:12.052] frame process finished the id is: 170 the obs is:10 -[17:12:12.140] Odometry x=-0.009063, y=1.060520, theta=0.013550 -[17:12:12.151] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000029 ,z=0.000050,angle between two frames:0.000010 -[17:12:12.151] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000686 error end=0.000682 -[17:12:12.151] After pose optimization, distance between ekf and vo x:-0.001718 ,z=-0.000044,angle between two frames:0.001591 -[17:12:12.151] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:12.151] frame process finished the id is: 174 the obs is:10 -[17:12:12.238] Odometry x=-0.010215, y=1.066829, theta=0.026871 -[17:12:12.250] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000014 ,z=0.000017,angle between two frames:0.000069 -[17:12:12.251] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000012 error end=0.000012 -[17:12:12.251] After pose optimization, distance between ekf and vo x:-0.000025 ,z=0.000017,angle between two frames:0.000079 -[17:12:12.251] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:12.251] frame process finished the id is: 175 the obs is:10 -[17:12:12.336] Odometry x=-0.010159, y=1.066522, theta=0.026707 -[17:12:12.351] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000014 ,z=0.000075,angle between two frames:0.000084 -[17:12:12.351] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000140 error end=0.000140 -[17:12:12.351] After pose optimization, distance between ekf and vo x:0.000071 ,z=0.000082,angle between two frames:0.000004 -[17:12:12.351] frame process finished the id is: 175 the obs is:10 -[17:12:12.439] Odometry x=-0.011119, y=1.079398, theta=0.023302 -[17:12:12.460] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000103 ,z=0.000238,angle between two frames:0.000258 -[17:12:12.460] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.001734 error end=0.001714 -[17:12:12.460] After pose optimization, distance between ekf and vo x:-0.004185 ,z=-0.000096,angle between two frames:0.004054 -[17:12:12.460] frame process finished the id is: 175 the obs is:10 -[17:12:12.539] Odometry x=-0.011256, y=1.091354, theta=0.021210 -[17:12:12.553] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000011 ,z=0.000100,angle between two frames:0.000137 -[17:12:12.553] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000114 error end=0.000114 -[17:12:12.553] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000100,angle between two frames:0.000137 -[17:12:12.553] frame process finished the id is: 175 the obs is:10 -[17:12:12.637] Odometry x=-0.010754, y=1.102161, theta=0.026203 -[17:12:12.651] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000010 ,z=0.000049,angle between two frames:0.000050 -[17:12:12.652] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000526 error end=0.000525 -[17:12:12.652] After pose optimization, distance between ekf and vo x:0.001089 ,z=-0.002264,angle between two frames:0.000879 -[17:12:12.652] frame process finished the id is: 175 the obs is:10 -[17:12:12.739] Odometry x=-0.010658, y=1.116248, theta=0.005253 -[17:12:12.752] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:-0.000024 ,z=0.000104,angle between two frames:0.000077 -[17:12:12.752] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000000 error end=0.000000 -[17:12:12.752] After pose optimization, distance between ekf and vo x:-0.000024 ,z=0.000104,angle between two frames:0.000078 -[17:12:12.752] frame process finished the id is: 175 the obs is:10 -[17:12:12.839] Odometry x=-0.010854, y=1.149467, theta=-0.010768 -[17:12:12.851] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000033 ,z=0.000104,angle between two frames:0.000082 -[17:12:12.851] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.001380 error end=0.001380 -[17:12:12.851] After pose optimization, distance between ekf and vo x:-0.000033 ,z=0.000104,angle between two frames:0.000082 -[17:12:12.851] frame process finished the id is: 175 the obs is:10 -[17:12:12.937] Odometry x=-0.016484, y=1.138656, theta=0.001429 -[17:12:12.951] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000007 ,z=0.000073,angle between two frames:0.000121 -[17:12:12.951] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000094 error end=0.000094 -[17:12:12.951] After pose optimization, distance between ekf and vo x:0.000294 ,z=0.000192,angle between two frames:0.000194 -[17:12:12.951] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:12.951] frame process finished the id is: 182 the obs is:10 -[17:12:13.041] Odometry x=-0.016558, y=1.137333, theta=0.001616 -[17:12:13.050] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000011 ,z=0.000055,angle between two frames:0.000029 -[17:12:13.051] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.001978 error end=0.001955 -[17:12:13.051] After pose optimization, distance between ekf and vo x:0.002338 ,z=0.000421,angle between two frames:0.001912 -[17:12:13.051] frame process finished the id is: 182 the obs is:10 -[17:12:13.139] Odometry x=0.008068, y=1.164883, theta=0.012378 -[17:12:13.150] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000023 ,z=0.000087,angle between two frames:0.000009 -[17:12:13.150] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000532 error end=0.000531 -[17:12:13.150] After pose optimization, distance between ekf and vo x:0.001232 ,z=0.000482,angle between two frames:0.001081 -[17:12:13.150] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:13.150] frame process finished the id is: 184 the obs is:10 -[17:12:13.237] Odometry x=0.009469, y=1.168081, theta=0.010183 -[17:12:13.253] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000057 ,z=0.000201,angle between two frames:0.000127 -[17:12:13.253] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =0.000006 error end=0.000006 -[17:12:13.253] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000201,angle between two frames:0.000127 -[17:12:13.253] frame process finished the id is: 184 the obs is:10 -[17:12:13.339] Odometry x=0.008690, y=1.177010, theta=0.015971 -[17:12:13.351] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000017 ,z=0.000043,angle between two frames:0.000005 -[17:12:13.351] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000050 error end=0.000050 -[17:12:13.351] After pose optimization, distance between ekf and vo x:0.000115 ,z=0.000077,angle between two frames:0.000115 -[17:12:13.351] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:13.351] frame process finished the id is: 186 the obs is:10 -[17:12:13.437] Odometry x=0.009149, y=1.189448, theta=0.027303 -[17:12:13.451] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000011 ,z=0.000050,angle between two frames:0.000027 -[17:12:13.452] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.001959 error end=0.001950 -[17:12:13.452] After pose optimization, distance between ekf and vo x:0.002169 ,z=0.000926,angle between two frames:0.001887 -[17:12:13.452] frame process finished the id is: 186 the obs is:10 -[17:12:13.537] Odometry x=0.011374, y=1.218074, theta=0.018902 -[17:12:13.553] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000021 ,z=0.000064,angle between two frames:0.000037 -[17:12:13.553] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000009 error end=0.000009 -[17:12:13.553] After pose optimization, distance between ekf and vo x:-0.000034 ,z=0.000068,angle between two frames:0.000048 -[17:12:13.553] frame process finished the id is: 186 the obs is:10 -[17:12:13.640] Odometry x=0.011851, y=1.228739, theta=0.000211 -[17:12:13.651] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000007 ,z=0.000063,angle between two frames:0.000009 -[17:12:13.652] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.000000 error end=0.000000 -[17:12:13.652] After pose optimization, distance between ekf and vo x:-0.000007 ,z=0.000063,angle between two frames:0.000009 -[17:12:13.652] frame process finished the id is: 186 the obs is:10 -[17:12:13.739] Odometry x=0.011829, y=1.239126, theta=-0.002980 -[17:12:13.753] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000014 ,z=0.000045,angle between two frames:0.000021 -[17:12:13.753] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.002016 error end=0.002016 -[17:12:13.753] After pose optimization, distance between ekf and vo x:-0.000014 ,z=0.000045,angle between two frames:0.000021 -[17:12:13.753] frame process finished the id is: 186 the obs is:10 -[17:12:13.831] Odometry x=0.012053, y=1.270136, theta=0.021214 -[17:12:13.851] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000014 ,z=0.000045,angle between two frames:0.000022 -[17:12:13.851] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000135 error end=0.000135 -[17:12:13.851] After pose optimization, distance between ekf and vo x:-0.000014 ,z=0.000045,angle between two frames:0.000022 -[17:12:13.851] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:13.851] frame process finished the id is: 191 the obs is:10 -[17:12:13.932] Odometry x=0.011710, y=1.240678, theta=-0.001623 -[17:12:13.950] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000011 ,z=0.000009,angle between two frames:0.000042 -[17:12:13.950] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000277 error end=0.000277 -[17:12:13.950] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000009,angle between two frames:0.000042 -[17:12:13.950] frame process finished the id is: 191 the obs is:10 -[17:12:14.037] Odometry x=0.010150, y=1.272566, theta=0.007804 -[17:12:14.051] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000022 ,z=0.000081,angle between two frames:0.000048 -[17:12:14.051] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000059 error end=0.000059 -[17:12:14.051] After pose optimization, distance between ekf and vo x:-0.000762 ,z=-0.000337,angle between two frames:0.000639 -[17:12:14.051] frame process finished the id is: 191 the obs is:10 -[17:12:14.131] Odometry x=0.023556, y=1.320756, theta=-0.032259 -[17:12:14.154] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000024 ,z=0.000014,angle between two frames:0.000092 -[17:12:14.154] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000354 error end=0.000354 -[17:12:14.154] After pose optimization, distance between ekf and vo x:-0.000024 ,z=0.000014,angle between two frames:0.000092 -[17:12:14.154] frame process finished the id is: 191 the obs is:10 -[17:12:14.231] Odometry x=0.023550, y=1.330826, theta=-0.005833 -[17:12:14.251] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000028 ,z=0.000034,angle between two frames:0.000040 -[17:12:14.251] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000111 error end=0.000111 -[17:12:14.251] After pose optimization, distance between ekf and vo x:-0.000028 ,z=0.000034,angle between two frames:0.000040 -[17:12:14.251] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:14.251] frame process finished the id is: 195 the obs is:10 -[17:12:14.335] Odometry x=0.023555, y=1.345165, theta=-0.010847 -[17:12:14.351] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000012 ,z=0.000023,angle between two frames:0.000055 -[17:12:14.351] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000346 error end=0.000346 -[17:12:14.351] After pose optimization, distance between ekf and vo x:-0.000012 ,z=0.000023,angle between two frames:0.000055 -[17:12:14.351] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:14.351] frame process finished the id is: 196 the obs is:10 -[17:12:14.436] Odometry x=0.023433, y=1.345611, theta=-0.010572 -[17:12:14.454] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000006 ,z=0.000036,angle between two frames:0.000082 -[17:12:14.454] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000001 error end=0.000001 -[17:12:14.454] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000036,angle between two frames:0.000082 -[17:12:14.454] frame process finished the id is: 196 the obs is:10 -[17:12:14.540] Odometry x=0.037466, y=1.323441, theta=-0.019776 -[17:12:14.550] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000000 ,z=0.000012,angle between two frames:0.000126 -[17:12:14.550] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000009 error end=0.000009 -[17:12:14.550] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000012,angle between two frames:0.000126 -[17:12:14.550] frame process finished the id is: 196 the obs is:10 -[17:12:14.638] Odometry x=0.038236, y=1.361767, theta=-0.011731 -[17:12:14.653] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000006 ,z=0.000027,angle between two frames:0.000037 -[17:12:14.653] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000027,angle between two frames:0.000037 -[17:12:14.653] frame process finished the id is: 196 the obs is:10 -[17:12:14.737] Odometry x=0.038246, y=1.373163, theta=-0.013300 -[17:12:14.754] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000015 ,z=-0.000025,angle between two frames:0.000114 -[17:12:14.754] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000961 error end=0.000953 -[17:12:14.754] After pose optimization, distance between ekf and vo x:0.005408 ,z=0.000099,angle between two frames:0.003102 -[17:12:14.754] frame process finished the id is: 196 the obs is:10 -[17:12:14.837] Odometry x=0.038387, y=1.386804, theta=-0.006282 -[17:12:14.853] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000027 ,z=0.000052,angle between two frames:0.000046 -[17:12:14.853] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000133 error end=0.000132 -[17:12:14.853] After pose optimization, distance between ekf and vo x:-0.001835 ,z=-0.000105,angle between two frames:0.001306 -[17:12:14.853] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:14.853] frame process finished the id is: 201 the obs is:10 -[17:12:14.945] Odometry x=0.036644, y=1.388410, theta=-0.005226 -[17:12:14.952] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000012 ,z=0.000064,angle between two frames:0.000006 -[17:12:14.952] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001738 error end=0.001738 -[17:12:14.952] After pose optimization, distance between ekf and vo x:-0.000012 ,z=0.000064,angle between two frames:0.000006 -[17:12:14.952] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:14.952] frame process finished the id is: 202 the obs is:10 -[17:12:15.043] Odometry x=0.036626, y=1.362906, theta=-0.007850 -[17:12:15.054] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000019 ,z=0.000048,angle between two frames:0.000031 -[17:12:15.054] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000003 error end=0.000003 -[17:12:15.054] After pose optimization, distance between ekf and vo x:-0.000019 ,z=0.000048,angle between two frames:0.000031 -[17:12:15.054] frame process finished the id is: 202 the obs is:10 -[17:12:15.136] Odometry x=0.037336, y=1.388636, theta=-0.020548 -[17:12:15.153] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000026 ,z=0.000061,angle between two frames:0.000014 -[17:12:15.153] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000060 error end=0.000060 -[17:12:15.153] After pose optimization, distance between ekf and vo x:-0.000026 ,z=0.000061,angle between two frames:0.000014 -[17:12:15.153] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:15.153] frame process finished the id is: 204 the obs is:10 -[17:12:15.245] Odometry x=0.037635, y=1.390307, theta=-0.019549 -[17:12:15.253] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000002 ,z=0.000014,angle between two frames:0.000064 -[17:12:15.253] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =0.000001 error end=0.000001 -[17:12:15.253] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000014,angle between two frames:0.000062 -[17:12:15.253] frame process finished the id is: 204 the obs is:10 -[17:12:15.339] Odometry x=0.037681, y=1.405109, theta=-0.018772 -[17:12:15.354] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000006 ,z=0.000020,angle between two frames:0.000053 -[17:12:15.354] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.001525 error end=0.001525 -[17:12:15.354] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000020,angle between two frames:0.000053 -[17:12:15.354] frame process finished the id is: 204 the obs is:10 -[17:12:15.437] Odometry x=0.039025, y=1.414983, theta=-0.011293 -[17:12:15.453] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000016 ,z=-0.000021,angle between two frames:0.000117 -[17:12:15.453] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000975 error end=0.000975 -[17:12:15.453] After pose optimization, distance between ekf and vo x:-0.000016 ,z=-0.000021,angle between two frames:0.000117 -[17:12:15.453] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:15.453] frame process finished the id is: 207 the obs is:10 -[17:12:15.537] Odometry x=0.039039, y=1.426816, theta=0.002635 -[17:12:15.561] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000020 ,z=0.000326,angle between two frames:0.000010 -[17:12:15.561] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000953 error end=0.000953 -[17:12:15.561] After pose optimization, distance between ekf and vo x:-0.000020 ,z=0.000326,angle between two frames:0.000010 -[17:12:15.561] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:15.561] frame process finished the id is: 208 the obs is:10 -[17:12:15.637] Odometry x=0.039057, y=1.431657, theta=0.001885 -[17:12:15.668] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000020 ,z=0.000816,angle between two frames:0.000057 -[17:12:15.669] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000474 error end=0.000474 -[17:12:15.669] After pose optimization, distance between ekf and vo x:0.000672 ,z=0.001230,angle between two frames:0.000509 -[17:12:15.669] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:15.669] frame process finished the id is: 209 the obs is:10 -[17:12:15.740] Odometry x=0.039435, y=1.433546, theta=0.001348 -[17:12:15.776] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000263 ,z=0.001914,angle between two frames:0.000322 -[17:12:15.776] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.002559 error end=0.002528 -[17:12:15.776] After pose optimization, distance between ekf and vo x:0.004180 ,z=0.002575,angle between two frames:0.003499 -[17:12:15.776] frame process finished the id is: 209 the obs is:10 -[17:12:15.838] Odometry x=0.040993, y=1.446531, theta=0.001816 -[17:12:15.876] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000286 ,z=0.001758,angle between two frames:0.000473 -[17:12:15.877] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000940 error end=0.000934 -[17:12:15.877] After pose optimization, distance between ekf and vo x:0.002260 ,z=0.002149,angle between two frames:0.002281 -[17:12:15.877] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:15.877] frame process finished the id is: 211 the obs is:10 -[17:12:15.940] Odometry x=0.042778, y=1.449009, theta=0.000706 -[17:12:15.970] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000177 ,z=0.001458,angle between two frames:0.000717 -[17:12:15.971] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000001 error end=0.000001 -[17:12:15.971] After pose optimization, distance between ekf and vo x:-0.000177 ,z=0.001458,angle between two frames:0.000717 -[17:12:15.971] frame process finished the id is: 211 the obs is:10 -[17:12:16.037] Odometry x=0.042628, y=1.461998, theta=0.011785 -[17:12:16.069] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000232 ,z=0.001535,angle between two frames:0.000726 -[17:12:16.070] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000010 error end=0.000010 -[17:12:16.070] After pose optimization, distance between ekf and vo x:-0.000226 ,z=0.001537,angle between two frames:0.000731 -[17:12:16.070] frame process finished the id is: 211 the obs is:10 -[17:12:16.140] Odometry x=0.053262, y=1.472530, theta=0.017269 -[17:12:16.167] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000125 ,z=0.000942,angle between two frames:0.000309 -[17:12:16.167] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000035 error end=0.000035 -[17:12:16.167] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000953,angle between two frames:0.000368 -[17:12:16.167] frame process finished the id is: 211 the obs is:10 -[17:12:16.237] Odometry x=0.053050, y=1.507499, theta=-0.015104 -[17:12:16.277] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000189 ,z=0.001437,angle between two frames:0.000430 -[17:12:16.277] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[17:12:16.277] After pose optimization, distance between ekf and vo x:-0.000189 ,z=0.001437,angle between two frames:0.000430 -[17:12:16.277] frame process finished the id is: 211 the obs is:10 -[17:12:16.340] Odometry x=0.053135, y=1.518045, theta=-0.010638 -[17:12:16.378] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000129 ,z=0.001812,angle between two frames:0.000880 -[17:12:16.378] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000128 error end=0.000128 -[17:12:16.378] After pose optimization, distance between ekf and vo x:-0.000129 ,z=0.001812,angle between two frames:0.000880 -[17:12:16.378] frame process finished the id is: 211 the obs is:10 -[17:12:16.437] Odometry x=0.037528, y=1.528668, theta=-0.018718 -[17:12:16.479] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000104 ,z=0.001897,angle between two frames:0.000796 -[17:12:16.479] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000019 error end=0.000019 -[17:12:16.479] After pose optimization, distance between ekf and vo x:-0.000104 ,z=0.001897,angle between two frames:0.000796 -[17:12:16.479] frame process finished the id is: 211 the obs is:10 -[17:12:16.536] Odometry x=0.043630, y=1.540130, theta=-0.015996 -[17:12:16.583] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000147 ,z=0.001748,angle between two frames:0.000751 -[17:12:16.583] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000002 error end=0.000002 -[17:12:16.583] After pose optimization, distance between ekf and vo x:-0.000147 ,z=0.001748,angle between two frames:0.000751 -[17:12:16.583] frame process finished the id is: 211 the obs is:10 -[17:12:16.638] Odometry x=0.043919, y=1.556389, theta=-0.017486 -[17:12:16.706] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000168 ,z=0.001474,angle between two frames:0.000665 -[17:12:16.706] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000053 error end=0.000053 -[17:12:16.706] After pose optimization, distance between ekf and vo x:-0.000178 ,z=0.001499,angle between two frames:0.000659 -[17:12:16.706] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:16.706] frame process finished the id is: 219 the obs is:10 -[17:12:16.743] Odometry x=0.044586, y=1.558383, theta=-0.017041 -[17:12:16.800] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000065 ,z=0.000769,angle between two frames:0.000225 -[17:12:16.800] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000003 error end=0.000003 -[17:12:16.800] After pose optimization, distance between ekf and vo x:-0.000065 ,z=0.000769,angle between two frames:0.000225 -[17:12:16.800] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:16.800] frame process finished the id is: 220 the obs is:10 -[17:12:16.839] Odometry x=0.044200, y=1.559866, theta=-0.016629 -[17:12:16.902] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000084 ,z=0.000722,angle between two frames:0.000173 -[17:12:16.902] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000231 error end=0.000231 -[17:12:16.902] After pose optimization, distance between ekf and vo x:-0.000832 ,z=0.000636,angle between two frames:0.000287 -[17:12:16.902] frame process finished the id is: 220 the obs is:10 -[17:12:16.931] Odometry x=0.044186, y=1.560133, theta=-0.014353 -[17:12:16.999] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000099 ,z=0.000732,angle between two frames:0.000203 -[17:12:16.999] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000903 error end=0.000903 -[17:12:16.999] After pose optimization, distance between ekf and vo x:-0.000099 ,z=0.000732,angle between two frames:0.000203 -[17:12:16.999] frame process finished the id is: 220 the obs is:10 -[17:12:17.034] Odometry x=0.044413, y=1.564264, theta=-0.025099 -[17:12:17.094] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000215 ,z=0.001052,angle between two frames:0.000291 -[17:12:17.094] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.001053 error end=0.001053 -[17:12:17.094] After pose optimization, distance between ekf and vo x:-0.000215 ,z=0.001052,angle between two frames:0.000291 -[17:12:17.094] frame process finished the id is: 220 the obs is:10 -[17:12:17.136] Odometry x=0.059241, y=1.566503, theta=-0.016733 -[17:12:17.185] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000016 ,z=0.000088,angle between two frames:0.000004 -[17:12:17.185] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000002 error end=0.000002 -[17:12:17.185] After pose optimization, distance between ekf and vo x:-0.000016 ,z=0.000088,angle between two frames:0.000004 -[17:12:17.185] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:17.185] frame process finished the id is: 224 the obs is:10 -[17:12:17.233] Odometry x=0.059170, y=1.567268, theta=-0.017133 -[17:12:17.293] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000013 ,z=0.000339,angle between two frames:0.000047 -[17:12:17.293] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 error init =0.000001 error end=0.000001 -[17:12:17.293] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000339,angle between two frames:0.000047 -[17:12:17.293] frame process finished the id is: 224 the obs is:10 -[17:12:17.336] Odometry x=0.059282, y=1.585910, theta=-0.033477 -[17:12:17.400] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000145 ,z=0.000992,angle between two frames:0.000482 -[17:12:17.400] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000033 error end=0.000033 -[17:12:17.400] After pose optimization, distance between ekf and vo x:-0.000145 ,z=0.000992,angle between two frames:0.000482 -[17:12:17.400] frame process finished the id is: 224 the obs is:10 -[17:12:17.433] Odometry x=0.059509, y=1.597535, theta=-0.043943 -[17:12:17.508] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000144 ,z=0.001474,angle between two frames:0.000664 -[17:12:17.508] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000792 error end=0.000792 -[17:12:17.508] After pose optimization, distance between ekf and vo x:-0.000144 ,z=0.001474,angle between two frames:0.000664 -[17:12:17.508] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:17.508] frame process finished the id is: 227 the obs is:10 -[17:12:17.534] Odometry x=0.059060, y=1.597984, theta=-0.043678 -[17:12:17.610] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000228 ,z=0.001582,angle between two frames:0.000675 -[17:12:17.610] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =0.000363 error end=0.000363 -[17:12:17.610] After pose optimization, distance between ekf and vo x:-0.000451 ,z=0.001549,angle between two frames:0.000544 -[17:12:17.610] frame process finished the id is: 227 the obs is:10 -[17:12:17.636] Odometry x=0.060002, y=1.644613, theta=-0.047554 -[17:12:17.704] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000035 ,z=0.000663,angle between two frames:0.000270 -[17:12:17.704] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000220 error end=0.000220 -[17:12:17.704] After pose optimization, distance between ekf and vo x:-0.000035 ,z=0.000663,angle between two frames:0.000270 -[17:12:17.704] frame process finished the id is: 227 the obs is:10 -[17:12:17.734] Odometry x=0.070738, y=1.654283, theta=-0.056312 -[17:12:17.799] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000059 ,z=0.000899,angle between two frames:0.000097 -[17:12:17.799] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000052 error end=0.000052 -[17:12:17.799] After pose optimization, distance between ekf and vo x:0.000059 ,z=0.000899,angle between two frames:0.000097 -[17:12:17.799] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:17.799] frame process finished the id is: 230 the obs is:10 -[17:12:17.837] Odometry x=0.070739, y=1.654408, theta=-0.055998 -[17:12:17.907] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000070 ,z=0.001479,angle between two frames:0.000449 -[17:12:17.907] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001446 error end=0.001446 -[17:12:17.907] After pose optimization, distance between ekf and vo x:-0.000070 ,z=0.001479,angle between two frames:0.000449 -[17:12:17.907] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:17.907] frame process finished the id is: 231 the obs is:10 -[17:12:17.935] Odometry x=0.070793, y=1.656532, theta=-0.056444 -[17:12:18.000] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000005 ,z=0.001041,angle between two frames:0.000111 -[17:12:18.000] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000044 error end=0.000044 -[17:12:18.000] After pose optimization, distance between ekf and vo x:-0.000005 ,z=0.001041,angle between two frames:0.000111 -[17:12:18.000] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:18.001] frame process finished the id is: 232 the obs is:10 -[17:12:18.033] Odometry x=0.070814, y=1.658244, theta=-0.056911 -[17:12:18.107] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000169 ,z=0.001381,angle between two frames:0.000484 -[17:12:18.108] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000037 error end=0.000037 -[17:12:18.108] After pose optimization, distance between ekf and vo x:-0.000169 ,z=0.001381,angle between two frames:0.000484 -[17:12:18.108] frame process finished the id is: 232 the obs is:10 -[17:12:18.135] Odometry x=0.070688, y=1.703431, theta=-0.070715 -[17:12:18.202] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000067 ,z=0.001055,angle between two frames:0.000489 -[17:12:18.202] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000034 error end=0.000034 -[17:12:18.203] After pose optimization, distance between ekf and vo x:0.000048 ,z=0.001025,angle between two frames:0.000548 -[17:12:18.203] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:18.203] frame process finished the id is: 234 the obs is:10 -[17:12:18.233] Odometry x=0.070558, y=1.705018, theta=-0.070703 -[17:12:18.300] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000065 ,z=0.000891,angle between two frames:0.000425 -[17:12:18.300] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000188 error end=0.000188 -[17:12:18.300] After pose optimization, distance between ekf and vo x:-0.000065 ,z=0.000891,angle between two frames:0.000425 -[17:12:18.300] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:18.300] frame process finished the id is: 235 the obs is:10 -[17:12:18.336] Odometry x=0.070511, y=1.706218, theta=-0.071100 -[17:12:18.399] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000048 ,z=0.000984,angle between two frames:0.000178 -[17:12:18.399] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000335 error end=0.000335 -[17:12:18.399] After pose optimization, distance between ekf and vo x:0.000048 ,z=0.000984,angle between two frames:0.000178 -[17:12:18.399] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:18.399] frame process finished the id is: 236 the obs is:10 -[17:12:18.436] Odometry x=0.070518, y=1.706100, theta=-0.071293 -[17:12:18.500] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000002 ,z=0.000802,angle between two frames:0.000136 -[17:12:18.501] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000001 error end=0.000001 -[17:12:18.501] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000802,angle between two frames:0.000136 -[17:12:18.501] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:18.501] frame process finished the id is: 237 the obs is:10 -[17:12:18.533] Odometry x=0.070490, y=1.710686, theta=-0.071232 -[17:12:18.600] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000078 ,z=0.001161,angle between two frames:0.000299 -[17:12:18.600] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000000 error end=0.000000 -[17:12:18.600] After pose optimization, distance between ekf and vo x:0.000078 ,z=0.001161,angle between two frames:0.000299 -[17:12:18.600] frame process finished the id is: 237 the obs is:10 -[17:12:18.632] Odometry x=0.071040, y=1.725681, theta=-0.064587 -[17:12:18.700] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000057 ,z=0.001081,angle between two frames:0.000350 -[17:12:18.700] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000005 error end=0.000005 -[17:12:18.700] After pose optimization, distance between ekf and vo x:0.000057 ,z=0.001081,angle between two frames:0.000350 -[17:12:18.700] frame process finished the id is: 237 the obs is:10 -[17:12:18.740] Odometry x=0.063726, y=1.736767, theta=-0.078508 -[17:12:18.800] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000042 ,z=0.000550,angle between two frames:0.000112 -[17:12:18.800] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000002 error end=0.000002 -[17:12:18.800] After pose optimization, distance between ekf and vo x:0.000043 ,z=0.000550,angle between two frames:0.000112 -[17:12:18.800] frame process finished the id is: 237 the obs is:10 -[17:12:18.833] Odometry x=0.076388, y=1.766427, theta=-0.099220 -[17:12:18.901] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000085 ,z=0.000572,angle between two frames:0.000150 -[17:12:18.901] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000214 error end=0.000214 -[17:12:18.901] After pose optimization, distance between ekf and vo x:0.000085 ,z=0.000572,angle between two frames:0.000150 -[17:12:18.901] frame process finished the id is: 237 the obs is:10 -[17:12:18.931] Odometry x=0.083605, y=1.794615, theta=-0.105853 -[17:12:19.008] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000273 ,z=0.001344,angle between two frames:0.000353 -[17:12:19.008] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.001503 error end=0.001503 -[17:12:19.008] After pose optimization, distance between ekf and vo x:0.000273 ,z=0.001344,angle between two frames:0.000353 -[17:12:19.008] frame process finished the id is: 237 the obs is:10 -[17:12:19.039] Odometry x=0.080947, y=1.759899, theta=-0.084086 -[17:12:19.102] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000050 ,z=0.000625,angle between two frames:0.000152 -[17:12:19.103] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000077 error end=0.000077 -[17:12:19.103] After pose optimization, distance between ekf and vo x:-0.000010 ,z=0.000614,angle between two frames:0.000121 -[17:12:19.103] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:19.103] frame process finished the id is: 243 the obs is:10 -[17:12:19.137] Odometry x=0.080967, y=1.761068, theta=-0.083666 -[17:12:19.204] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000004 ,z=0.000929,angle between two frames:0.000421 -[17:12:19.204] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000184 error end=0.000184 -[17:12:19.204] After pose optimization, distance between ekf and vo x:-0.000184 ,z=0.000905,angle between two frames:0.000325 -[17:12:19.204] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:19.204] frame process finished the id is: 244 the obs is:10 -[17:12:19.234] Odometry x=0.079260, y=1.766490, theta=-0.083028 -[17:12:19.301] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000028 ,z=0.000567,angle between two frames:0.000148 -[17:12:19.301] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.002453 error end=0.002453 -[17:12:19.301] After pose optimization, distance between ekf and vo x:0.000028 ,z=0.000567,angle between two frames:0.000148 -[17:12:19.301] frame process finished the id is: 244 the obs is:10 -[17:12:19.336] Odometry x=0.070389, y=1.803452, theta=-0.076697 -[17:12:19.410] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000169 ,z=0.001674,angle between two frames:0.000744 -[17:12:19.410] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000012 error end=0.000012 -[17:12:19.410] After pose optimization, distance between ekf and vo x:0.000169 ,z=0.001674,angle between two frames:0.000744 -[17:12:19.410] frame process finished the id is: 244 the obs is:10 -[17:12:19.441] Odometry x=0.069694, y=1.816504, theta=-0.089132 -[17:12:19.505] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000078 ,z=0.000591,angle between two frames:0.000092 -[17:12:19.505] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000011 error end=0.000011 -[17:12:19.505] After pose optimization, distance between ekf and vo x:0.000078 ,z=0.000591,angle between two frames:0.000092 -[17:12:19.505] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:19.505] frame process finished the id is: 247 the obs is:10 -[17:12:19.540] Odometry x=0.069776, y=1.817562, theta=-0.088601 -[17:12:19.599] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000077 ,z=0.000766,angle between two frames:0.000035 -[17:12:19.599] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:19.599] After pose optimization, distance between ekf and vo x:0.000077 ,z=0.000766,angle between two frames:0.000035 -[17:12:19.599] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:19.599] frame process finished the id is: 248 the obs is:10 -[17:12:19.709] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000221 ,z=0.001334,angle between two frames:0.000076 -[17:12:19.709] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000010 error end=0.000010 -[17:12:19.709] After pose optimization, distance between ekf and vo x:0.000221 ,z=0.001334,angle between two frames:0.000076 -[17:12:19.709] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:19.709] frame process finished the id is: 249 the obs is:10 -[17:12:19.805] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000022 ,z=0.000884,angle between two frames:0.000342 -[17:12:19.805] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000882 error end=0.000882 -[17:12:19.805] After pose optimization, distance between ekf and vo x:0.000022 ,z=0.000884,angle between two frames:0.000342 -[17:12:19.805] frame process finished the id is: 249 the obs is:10 -[17:12:19.900] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000040 ,z=0.000872,angle between two frames:0.000302 -[17:12:19.900] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000615 error end=0.000615 -[17:12:19.900] After pose optimization, distance between ekf and vo x:0.000040 ,z=0.000872,angle between two frames:0.000302 -[17:12:19.900] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:19.901] frame process finished the id is: 251 the obs is:10 -[17:12:20.001] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:0.000188 ,z=0.001135,angle between two frames:0.000194 -[17:12:20.001] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.002573 error end=0.002573 -[17:12:20.001] After pose optimization, distance between ekf and vo x:0.000188 ,z=0.001135,angle between two frames:0.000194 -[17:12:20.001] frame process finished the id is: 251 the obs is:10 -[17:12:20.100] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:0.000187 ,z=0.001131,angle between two frames:0.000197 -[17:12:20.100] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 error init =0.004620 error end=0.004620 -[17:12:20.100] After pose optimization, distance between ekf and vo x:0.000187 ,z=0.001131,angle between two frames:0.000197 -[17:12:20.100] frame process finished the id is: 251 the obs is:10 -[17:12:20.202] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:0.000178 ,z=0.001110,angle between two frames:0.000198 -[17:12:20.202] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000000 error end=0.000000 -[17:12:20.202] After pose optimization, distance between ekf and vo x:0.000178 ,z=0.001110,angle between two frames:0.000198 -[17:12:20.202] frame process finished the id is: 251 the obs is:10 -[17:12:20.300] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000160 ,z=0.001079,angle between two frames:0.000205 -[17:12:20.300] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000475 error end=0.000475 -[17:12:20.300] After pose optimization, distance between ekf and vo x:0.000160 ,z=0.001079,angle between two frames:0.000205 -[17:12:20.300] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:20.300] frame process finished the id is: 255 the obs is:10 -[17:12:20.409] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000366 ,z=0.001586,angle between two frames:0.000068 -[17:12:20.409] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000298 error end=0.000298 -[17:12:20.409] After pose optimization, distance between ekf and vo x:0.000366 ,z=0.001586,angle between two frames:0.000068 -[17:12:20.409] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:20.409] frame process finished the id is: 256 the obs is:10 -[17:12:20.495] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000248,angle between two frames:0.000110 -[17:12:20.496] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.000003 error end=0.000003 -[17:12:20.496] After pose optimization, distance between ekf and vo x:0.000021 ,z=0.000248,angle between two frames:0.000110 -[17:12:20.496] frame process finished the id is: 256 the obs is:10 -[17:12:20.598] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000248,angle between two frames:0.000106 -[17:12:20.598] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[17:12:20.598] After pose optimization, distance between ekf and vo x:0.000021 ,z=0.000248,angle between two frames:0.000106 -[17:12:20.598] frame process finished the id is: 256 the obs is:10 -[17:12:20.694] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000018 ,z=0.000248,angle between two frames:0.000125 -[17:12:20.694] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.004159 error end=0.004159 -[17:12:20.694] After pose optimization, distance between ekf and vo x:0.000018 ,z=0.000248,angle between two frames:0.000125 -[17:12:20.694] frame process finished the id is: 256 the obs is:10 -[17:12:20.794] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000023 ,z=0.000245,angle between two frames:0.000098 -[17:12:20.794] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.004765 error end=0.004765 -[17:12:20.794] After pose optimization, distance between ekf and vo x:0.000023 ,z=0.000245,angle between two frames:0.000098 -[17:12:20.794] frame process finished the id is: 256 the obs is:10 -[17:12:20.894] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000244,angle between two frames:0.000104 -[17:12:20.894] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000119 error end=0.000119 -[17:12:20.894] After pose optimization, distance between ekf and vo x:0.000021 ,z=0.000244,angle between two frames:0.000104 -[17:12:20.894] frame process finished the id is: 256 the obs is:10 -[17:12:20.993] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000022 ,z=0.000244,angle between two frames:0.000104 -[17:12:20.993] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000315 error end=0.000315 -[17:12:20.993] After pose optimization, distance between ekf and vo x:0.000022 ,z=0.000244,angle between two frames:0.000104 -[17:12:20.993] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:20.993] frame process finished the id is: 262 the obs is:10 -[17:12:21.102] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000111 ,z=0.000840,angle between two frames:0.000321 -[17:12:21.102] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:21.102] After pose optimization, distance between ekf and vo x:0.000111 ,z=0.000840,angle between two frames:0.000321 -[17:12:21.102] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:21.103] frame process finished the id is: 263 the obs is:10 -[17:12:21.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000051 ,z=0.000266,angle between two frames:0.000071 -[17:12:21.195] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000811 error end=0.000811 -[17:12:21.195] After pose optimization, distance between ekf and vo x:0.000051 ,z=0.000266,angle between two frames:0.000071 -[17:12:21.195] frame process finished the id is: 263 the obs is:10 -[17:12:21.294] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000051 ,z=0.000266,angle between two frames:0.000071 -[17:12:21.294] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000122 error end=0.000122 -[17:12:21.294] After pose optimization, distance between ekf and vo x:0.000051 ,z=0.000266,angle between two frames:0.000071 -[17:12:21.294] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:21.294] frame process finished the id is: 265 the obs is:10 -[17:12:21.401] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000016 ,z=0.000790,angle between two frames:0.000421 -[17:12:21.401] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.001477 error end=0.001477 -[17:12:21.401] After pose optimization, distance between ekf and vo x:0.000016 ,z=0.000790,angle between two frames:0.000421 -[17:12:21.401] frame process finished the id is: 265 the obs is:10 -[17:12:21.505] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000016 ,z=0.000790,angle between two frames:0.000421 -[17:12:21.505] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.002865 error end=0.002865 -[17:12:21.505] After pose optimization, distance between ekf and vo x:0.000016 ,z=0.000790,angle between two frames:0.000421 -[17:12:21.505] frame process finished the id is: 265 the obs is:10 -[17:12:21.602] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000016 ,z=0.000788,angle between two frames:0.000419 -[17:12:21.602] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:21.602] After pose optimization, distance between ekf and vo x:0.000016 ,z=0.000788,angle between two frames:0.000419 -[17:12:21.602] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:21.602] frame process finished the id is: 268 the obs is:10 -[17:12:21.702] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000024 ,z=0.000787,angle between two frames:0.000387 -[17:12:21.702] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[17:12:21.702] After pose optimization, distance between ekf and vo x:0.000024 ,z=0.000787,angle between two frames:0.000387 -[17:12:21.702] frame process finished the id is: 268 the obs is:10 -[17:12:21.801] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000024 ,z=0.000787,angle between two frames:0.000386 -[17:12:21.801] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000722 error end=0.000722 -[17:12:21.801] After pose optimization, distance between ekf and vo x:0.000024 ,z=0.000787,angle between two frames:0.000386 -[17:12:21.801] frame process finished the id is: 268 the obs is:10 -[17:12:21.902] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000023 ,z=0.000787,angle between two frames:0.000388 -[17:12:21.902] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =0.000055 error end=0.000055 -[17:12:21.902] After pose optimization, distance between ekf and vo x:0.000023 ,z=0.000787,angle between two frames:0.000388 -[17:12:21.902] frame process finished the id is: 268 the obs is:10 -[17:12:22.003] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000025 ,z=0.000787,angle between two frames:0.000384 -[17:12:22.003] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:22.003] After pose optimization, distance between ekf and vo x:0.000025 ,z=0.000787,angle between two frames:0.000384 -[17:12:22.003] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:22.003] frame process finished the id is: 272 the obs is:10 -[17:12:22.101] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000032 ,z=0.000833,angle between two frames:0.000266 -[17:12:22.101] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000203 error end=0.000203 -[17:12:22.101] After pose optimization, distance between ekf and vo x:0.000032 ,z=0.000833,angle between two frames:0.000266 -[17:12:22.101] frame process finished the id is: 272 the obs is:10 -[17:12:22.201] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000032 ,z=0.000831,angle between two frames:0.000266 -[17:12:22.202] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001368 error end=0.001368 -[17:12:22.202] After pose optimization, distance between ekf and vo x:0.000032 ,z=0.000831,angle between two frames:0.000266 -[17:12:22.202] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:22.202] frame process finished the id is: 274 the obs is:10 -[17:12:22.309] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000176 ,z=0.001163,angle between two frames:0.000029 -[17:12:22.309] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000006 error end=0.000006 -[17:12:22.309] After pose optimization, distance between ekf and vo x:0.000176 ,z=0.001163,angle between two frames:0.000029 -[17:12:22.309] frame process finished the id is: 274 the obs is:10 -[17:12:22.411] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000176 ,z=0.001164,angle between two frames:0.000028 -[17:12:22.412] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000460 error end=0.000460 -[17:12:22.412] After pose optimization, distance between ekf and vo x:0.000176 ,z=0.001164,angle between two frames:0.000028 -[17:12:22.412] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:22.412] frame process finished the id is: 276 the obs is:10 -[17:12:22.514] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000174 ,z=0.001339,angle between two frames:0.000095 -[17:12:22.514] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.002709 error end=0.002709 -[17:12:22.514] After pose optimization, distance between ekf and vo x:0.000174 ,z=0.001339,angle between two frames:0.000095 -[17:12:22.514] frame process finished the id is: 276 the obs is:10 -[17:12:22.616] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000173 ,z=0.001339,angle between two frames:0.000096 -[17:12:22.616] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000095 error end=0.000095 -[17:12:22.616] After pose optimization, distance between ekf and vo x:0.000179 ,z=0.001311,angle between two frames:0.000098 -[17:12:22.616] frame process finished the id is: 276 the obs is:10 -[17:12:22.718] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000173 ,z=0.001340,angle between two frames:0.000095 -[17:12:22.718] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000016 error end=0.000016 -[17:12:22.718] After pose optimization, distance between ekf and vo x:0.000218 ,z=0.001330,angle between two frames:0.000117 -[17:12:22.718] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:22.718] frame process finished the id is: 279 the obs is:10 -[17:12:22.817] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000185 ,z=0.001101,angle between two frames:0.000006 -[17:12:22.817] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000139 error end=0.000139 -[17:12:22.817] After pose optimization, distance between ekf and vo x:0.000185 ,z=0.001101,angle between two frames:0.000006 -[17:12:22.817] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:22.817] frame process finished the id is: 280 the obs is:10 -[17:12:22.920] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.001333,angle between two frames:0.000031 -[17:12:22.920] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.001463 error end=0.001463 -[17:12:22.920] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.001333,angle between two frames:0.000031 -[17:12:22.920] frame process finished the id is: 280 the obs is:10 -[17:12:23.021] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.001336,angle between two frames:0.000032 -[17:12:23.021] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000027 error end=0.000027 -[17:12:23.021] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.001336,angle between two frames:0.000032 -[17:12:23.021] frame process finished the id is: 280 the obs is:10 -[17:12:23.124] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000210 ,z=0.001336,angle between two frames:0.000030 -[17:12:23.124] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001305 error end=0.001305 -[17:12:23.124] After pose optimization, distance between ekf and vo x:0.000210 ,z=0.001336,angle between two frames:0.000030 -[17:12:23.124] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:23.124] frame process finished the id is: 283 the obs is:10 -[17:12:23.226] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000226 ,z=0.001396,angle between two frames:0.000045 -[17:12:23.227] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000130 error end=0.000130 -[17:12:23.227] After pose optimization, distance between ekf and vo x:0.000432 ,z=0.001325,angle between two frames:0.000052 -[17:12:23.227] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:23.227] frame process finished the id is: 284 the obs is:10 -[17:12:23.329] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000229 ,z=0.001417,angle between two frames:0.000038 -[17:12:23.330] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000015 error end=0.000015 -[17:12:23.330] After pose optimization, distance between ekf and vo x:0.000269 ,z=0.001409,angle between two frames:0.000019 -[17:12:23.330] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:23.330] frame process finished the id is: 285 the obs is:10 -[17:12:23.432] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000214 ,z=0.001418,angle between two frames:0.000048 -[17:12:23.432] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000121 error end=0.000121 -[17:12:23.432] After pose optimization, distance between ekf and vo x:0.000214 ,z=0.001418,angle between two frames:0.000048 -[17:12:23.432] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:23.432] frame process finished the id is: 286 the obs is:10 -[17:12:23.534] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000212 ,z=0.001441,angle between two frames:0.000079 -[17:12:23.534] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000229 error end=0.000229 -[17:12:23.534] After pose optimization, distance between ekf and vo x:0.000212 ,z=0.001441,angle between two frames:0.000079 -[17:12:23.534] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:23.534] frame process finished the id is: 287 the obs is:10 -[17:12:23.630] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000129 ,z=0.000642,angle between two frames:0.000039 -[17:12:23.630] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.001802 error end=0.001802 -[17:12:23.630] After pose optimization, distance between ekf and vo x:0.000129 ,z=0.000642,angle between two frames:0.000039 -[17:12:23.630] frame process finished the id is: 287 the obs is:10 -[17:12:23.726] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000129 ,z=0.000642,angle between two frames:0.000039 -[17:12:23.727] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000410 error end=0.000410 -[17:12:23.727] After pose optimization, distance between ekf and vo x:0.000129 ,z=0.000642,angle between two frames:0.000039 -[17:12:23.727] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:23.727] frame process finished the id is: 289 the obs is:10 -[17:12:23.818] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000027 ,z=0.000273,angle between two frames:0.000121 -[17:12:23.818] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000453 error end=0.000453 -[17:12:23.818] After pose optimization, distance between ekf and vo x:0.000027 ,z=0.000273,angle between two frames:0.000121 -[17:12:23.818] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:23.818] frame process finished the id is: 290 the obs is:10 -[17:12:23.914] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000115 ,z=0.000638,angle between two frames:0.000076 -[17:12:23.914] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001499 error end=0.001499 -[17:12:23.914] After pose optimization, distance between ekf and vo x:0.000115 ,z=0.000638,angle between two frames:0.000076 -[17:12:23.914] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:23.914] frame process finished the id is: 291 the obs is:10 -[17:12:24.008] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000118 ,z=0.000655,angle between two frames:0.000056 -[17:12:24.009] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.003242 error end=0.003242 -[17:12:24.009] After pose optimization, distance between ekf and vo x:0.000118 ,z=0.000655,angle between two frames:0.000056 -[17:12:24.009] frame process finished the id is: 291 the obs is:10 -[17:12:24.103] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000117 ,z=0.000655,angle between two frames:0.000057 -[17:12:24.103] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000374 error end=0.000374 -[17:12:24.103] After pose optimization, distance between ekf and vo x:0.000117 ,z=0.000655,angle between two frames:0.000057 -[17:12:24.103] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:24.103] frame process finished the id is: 293 the obs is:10 -[17:12:24.201] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000119 ,z=0.000661,angle between two frames:0.000063 -[17:12:24.202] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:24.202] After pose optimization, distance between ekf and vo x:0.000119 ,z=0.000661,angle between two frames:0.000063 -[17:12:24.202] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:24.202] frame process finished the id is: 294 the obs is:10 -[17:12:24.302] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000104 ,z=0.000669,angle between two frames:0.000076 -[17:12:24.302] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000262 error end=0.000262 -[17:12:24.302] After pose optimization, distance between ekf and vo x:0.000104 ,z=0.000669,angle between two frames:0.000076 -[17:12:24.302] frame process finished the id is: 294 the obs is:10 -[17:12:24.402] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000669,angle between two frames:0.000076 -[17:12:24.402] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.000041 error end=0.000041 -[17:12:24.402] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000669,angle between two frames:0.000076 -[17:12:24.402] frame process finished the id is: 294 the obs is:10 -[17:12:24.502] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000671,angle between two frames:0.000075 -[17:12:24.502] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000059 error end=0.000059 -[17:12:24.502] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000671,angle between two frames:0.000075 -[17:12:24.502] frame process finished the id is: 294 the obs is:10 -[17:12:24.602] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000669,angle between two frames:0.000076 -[17:12:24.602] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000240 error end=0.000240 -[17:12:24.602] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000669,angle between two frames:0.000076 -[17:12:24.602] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:24.602] frame process finished the id is: 298 the obs is:10 -[17:12:24.705] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078 -[17:12:24.705] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.002073 error end=0.002073 -[17:12:24.705] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078 -[17:12:24.705] frame process finished the id is: 298 the obs is:10 -[17:12:24.803] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078 -[17:12:24.803] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000351 error end=0.000351 -[17:12:24.803] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078 -[17:12:24.803] frame process finished the id is: 298 the obs is:10 -[17:12:24.907] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078 -[17:12:24.907] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000210 error end=0.000210 -[17:12:24.907] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078 -[17:12:24.907] frame process finished the id is: 298 the obs is:10 -[17:12:25.001] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000077 -[17:12:25.001] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000820 error end=0.000820 -[17:12:25.001] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000077 -[17:12:25.001] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:25.001] frame process finished the id is: 302 the obs is:10 -[17:12:25.100] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000153 ,z=0.000665,angle between two frames:0.000080 -[17:12:25.100] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:25.100] After pose optimization, distance between ekf and vo x:0.000153 ,z=0.000665,angle between two frames:0.000080 -[17:12:25.100] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:25.100] frame process finished the id is: 303 the obs is:10 -[17:12:25.202] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000088 ,z=0.000699,angle between two frames:0.000180 -[17:12:25.202] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.002352 error end=0.002352 -[17:12:25.202] After pose optimization, distance between ekf and vo x:0.000088 ,z=0.000699,angle between two frames:0.000180 -[17:12:25.202] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:25.202] frame process finished the id is: 304 the obs is:10 -[17:12:25.301] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000133 ,z=0.000676,angle between two frames:0.000049 -[17:12:25.301] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:25.301] After pose optimization, distance between ekf and vo x:0.000133 ,z=0.000676,angle between two frames:0.000049 -[17:12:25.301] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:25.301] frame process finished the id is: 305 the obs is:10 -[17:12:25.400] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000082 ,z=0.000714,angle between two frames:0.000167 -[17:12:25.401] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000001 error end=0.000001 -[17:12:25.401] After pose optimization, distance between ekf and vo x:0.000082 ,z=0.000714,angle between two frames:0.000167 -[17:12:25.401] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:25.401] frame process finished the id is: 306 the obs is:10 -[17:12:25.502] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000140 ,z=0.000711,angle between two frames:0.000049 -[17:12:25.502] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000352 error end=0.000352 -[17:12:25.502] After pose optimization, distance between ekf and vo x:0.000140 ,z=0.000711,angle between two frames:0.000049 -[17:12:25.502] frame process finished the id is: 306 the obs is:10 -[17:12:25.601] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000140 ,z=0.000705,angle between two frames:0.000050 -[17:12:25.602] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000016 error end=0.000016 -[17:12:25.602] After pose optimization, distance between ekf and vo x:0.000140 ,z=0.000705,angle between two frames:0.000050 -[17:12:25.602] frame process finished the id is: 306 the obs is:10 -[17:12:25.702] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000140 ,z=0.000707,angle between two frames:0.000050 -[17:12:25.702] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000003 error end=0.000003 -[17:12:25.702] After pose optimization, distance between ekf and vo x:0.000140 ,z=0.000707,angle between two frames:0.000050 -[17:12:25.702] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:25.702] frame process finished the id is: 309 the obs is:10 -[17:12:25.802] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000128 ,z=0.000688,angle between two frames:0.000014 -[17:12:25.802] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000021 error end=0.000021 -[17:12:25.802] After pose optimization, distance between ekf and vo x:0.000128 ,z=0.000688,angle between two frames:0.000014 -[17:12:25.802] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:25.802] frame process finished the id is: 310 the obs is:10 -[17:12:25.905] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000161 ,z=0.000741,angle between two frames:0.000120 -[17:12:25.905] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:25.905] After pose optimization, distance between ekf and vo x:0.000161 ,z=0.000741,angle between two frames:0.000120 -[17:12:25.905] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:25.905] frame process finished the id is: 311 the obs is:10 -[17:12:26.001] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000152 ,z=0.000758,angle between two frames:0.000077 -[17:12:26.001] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000434 error end=0.000434 -[17:12:26.001] After pose optimization, distance between ekf and vo x:0.000152 ,z=0.000758,angle between two frames:0.000077 -[17:12:26.001] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:26.001] frame process finished the id is: 312 the obs is:10 -[17:12:26.102] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000178 ,z=0.000743,angle between two frames:0.000174 -[17:12:26.102] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000023 error end=0.000023 -[17:12:26.102] After pose optimization, distance between ekf and vo x:0.000178 ,z=0.000743,angle between two frames:0.000174 -[17:12:26.102] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:26.102] frame process finished the id is: 313 the obs is:10 -[17:12:26.202] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000166 ,z=0.000758,angle between two frames:0.000122 -[17:12:26.202] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000002 error end=0.000002 -[17:12:26.202] After pose optimization, distance between ekf and vo x:0.000166 ,z=0.000758,angle between two frames:0.000122 -[17:12:26.202] frame process finished the id is: 313 the obs is:10 -[17:12:26.302] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000166 ,z=0.000759,angle between two frames:0.000121 -[17:12:26.302] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000434 error end=0.000434 -[17:12:26.302] After pose optimization, distance between ekf and vo x:0.000166 ,z=0.000759,angle between two frames:0.000121 -[17:12:26.302] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:26.302] frame process finished the id is: 315 the obs is:10 -[17:12:26.406] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000178 ,z=0.000749,angle between two frames:0.000167 -[17:12:26.406] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:26.406] After pose optimization, distance between ekf and vo x:0.000178 ,z=0.000749,angle between two frames:0.000167 -[17:12:26.406] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:26.406] frame process finished the id is: 316 the obs is:10 -[17:12:26.487] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000017 ,z=0.000073,angle between two frames:0.000034 -[17:12:26.487] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000307 error end=0.000307 -[17:12:26.487] After pose optimization, distance between ekf and vo x:0.000017 ,z=0.000073,angle between two frames:0.000034 -[17:12:26.487] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:26.487] frame process finished the id is: 317 the obs is:10 -[17:12:26.587] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041 -[17:12:26.587] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000001 error end=0.000001 -[17:12:26.587] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041 -[17:12:26.587] frame process finished the id is: 317 the obs is:10 -[17:12:26.687] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041 -[17:12:26.687] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.000000 error end=0.000000 -[17:12:26.687] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041 -[17:12:26.687] frame process finished the id is: 317 the obs is:10 -[17:12:26.786] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041 -[17:12:26.786] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000569 error end=0.000569 -[17:12:26.786] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041 -[17:12:26.786] frame process finished the id is: 317 the obs is:10 -[17:12:26.887] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041 -[17:12:26.887] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000046 error end=0.000046 -[17:12:26.887] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041 -[17:12:26.887] frame process finished the id is: 317 the obs is:10 -[17:12:27.000] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041 -[17:12:27.001] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000003 error end=0.000003 -[17:12:27.001] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041 -[17:12:27.001] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:27.001] frame process finished the id is: 322 the obs is:10 -[17:12:27.087] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000020 ,z=0.000073,angle between two frames:0.000041 -[17:12:27.087] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000001 error end=0.000001 -[17:12:27.087] After pose optimization, distance between ekf and vo x:0.000020 ,z=0.000073,angle between two frames:0.000041 -[17:12:27.087] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:27.087] frame process finished the id is: 323 the obs is:10 -[17:12:27.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000100 ,z=0.000352,angle between two frames:0.000107 -[17:12:27.195] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000073 error end=0.000073 -[17:12:27.195] After pose optimization, distance between ekf and vo x:0.000100 ,z=0.000352,angle between two frames:0.000107 -[17:12:27.195] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:27.195] frame process finished the id is: 324 the obs is:10 -[17:12:27.301] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000168 ,z=0.000776,angle between two frames:0.000116 -[17:12:27.301] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000370 error end=0.000370 -[17:12:27.301] After pose optimization, distance between ekf and vo x:0.000168 ,z=0.000776,angle between two frames:0.000116 -[17:12:27.301] frame process finished the id is: 324 the obs is:10 -[17:12:27.401] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000167 ,z=0.000776,angle between two frames:0.000115 -[17:12:27.401] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000005 error end=0.000005 -[17:12:27.401] After pose optimization, distance between ekf and vo x:0.000167 ,z=0.000776,angle between two frames:0.000115 -[17:12:27.401] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:27.401] frame process finished the id is: 326 the obs is:10 -[17:12:27.502] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000169 ,z=0.000779,angle between two frames:0.000116 -[17:12:27.502] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.002371 error end=0.002371 -[17:12:27.502] After pose optimization, distance between ekf and vo x:0.000169 ,z=0.000779,angle between two frames:0.000116 -[17:12:27.502] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:27.502] frame process finished the id is: 327 the obs is:10 -[17:12:27.601] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000168 ,z=0.000792,angle between two frames:0.000101 -[17:12:27.602] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000809 error end=0.000809 -[17:12:27.602] After pose optimization, distance between ekf and vo x:0.000168 ,z=0.000792,angle between two frames:0.000101 -[17:12:27.602] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:27.602] frame process finished the id is: 328 the obs is:10 -[17:12:27.701] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000184 ,z=0.000781,angle between two frames:0.000165 -[17:12:27.701] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001255 error end=0.001255 -[17:12:27.701] After pose optimization, distance between ekf and vo x:0.000184 ,z=0.000781,angle between two frames:0.000165 -[17:12:27.701] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:27.701] frame process finished the id is: 329 the obs is:10 -[17:12:27.800] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000172 ,z=0.000791,angle between two frames:0.000117 -[17:12:27.801] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000009 error end=0.000009 -[17:12:27.801] After pose optimization, distance between ekf and vo x:0.000172 ,z=0.000790,angle between two frames:0.000117 -[17:12:27.801] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:27.801] frame process finished the id is: 330 the obs is:10 -[17:12:27.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000095 ,z=0.000334,angle between two frames:0.000096 -[17:12:27.895] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000101 error end=0.000101 -[17:12:27.895] After pose optimization, distance between ekf and vo x:0.000095 ,z=0.000334,angle between two frames:0.000096 -[17:12:27.895] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:27.895] frame process finished the id is: 331 the obs is:10 -[17:12:28.001] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000177 ,z=0.000806,angle between two frames:0.000117 -[17:12:28.001] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000054 error end=0.000054 -[17:12:28.001] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000806,angle between two frames:0.000117 -[17:12:28.001] frame process finished the id is: 331 the obs is:10 -[17:12:28.101] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000177 ,z=0.000807,angle between two frames:0.000116 -[17:12:28.101] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 error init =0.004330 error end=0.004330 -[17:12:28.101] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000807,angle between two frames:0.000116 -[17:12:28.101] frame process finished the id is: 331 the obs is:10 -[17:12:28.202] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000177 ,z=0.000806,angle between two frames:0.000116 -[17:12:28.202] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.002880 error end=0.002880 -[17:12:28.202] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000806,angle between two frames:0.000116 -[17:12:28.202] frame process finished the id is: 331 the obs is:10 -[17:12:28.303] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000177 ,z=0.000810,angle between two frames:0.000117 -[17:12:28.303] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000018 error end=0.000018 -[17:12:28.303] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000810,angle between two frames:0.000117 -[17:12:28.303] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:28.303] frame process finished the id is: 335 the obs is:10 -[17:12:28.401] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000175 ,z=0.000804,angle between two frames:0.000115 -[17:12:28.401] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000671 error end=0.000671 -[17:12:28.401] After pose optimization, distance between ekf and vo x:0.000175 ,z=0.000804,angle between two frames:0.000115 -[17:12:28.401] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:28.401] frame process finished the id is: 336 the obs is:10 -[17:12:28.496] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102 -[17:12:28.496] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000766 error end=0.000766 -[17:12:28.496] After pose optimization, distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102 -[17:12:28.496] frame process finished the id is: 336 the obs is:10 -[17:12:28.596] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102 -[17:12:28.596] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000009 error end=0.000009 -[17:12:28.596] After pose optimization, distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102 -[17:12:28.596] frame process finished the id is: 336 the obs is:10 -[17:12:28.697] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102 -[17:12:28.697] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:28.697] After pose optimization, distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102 -[17:12:28.697] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:28.697] frame process finished the id is: 339 the obs is:10 -[17:12:28.803] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000195 ,z=0.000822,angle between two frames:0.000200 -[17:12:28.803] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000011 error end=0.000011 -[17:12:28.803] After pose optimization, distance between ekf and vo x:0.000195 ,z=0.000822,angle between two frames:0.000200 -[17:12:28.803] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:28.803] frame process finished the id is: 340 the obs is:10 -[17:12:28.903] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000195 ,z=0.000823,angle between two frames:0.000199 -[17:12:28.903] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001306 error end=0.001306 -[17:12:28.903] After pose optimization, distance between ekf and vo x:0.000195 ,z=0.000823,angle between two frames:0.000199 -[17:12:28.903] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:28.903] frame process finished the id is: 341 the obs is:10 -[17:12:29.003] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000197 ,z=0.000831,angle between two frames:0.000200 -[17:12:29.003] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000077 error end=0.000077 -[17:12:29.003] After pose optimization, distance between ekf and vo x:0.000197 ,z=0.000831,angle between two frames:0.000200 -[17:12:29.003] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:29.003] frame process finished the id is: 342 the obs is:10 -[17:12:29.095] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000377,angle between two frames:0.000072 -[17:12:29.095] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000328 error end=0.000328 -[17:12:29.095] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000377,angle between two frames:0.000072 -[17:12:29.095] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:29.095] frame process finished the id is: 343 the obs is:10 -[17:12:29.196] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000094 ,z=0.000376,angle between two frames:0.000072 -[17:12:29.196] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000014 error end=0.000014 -[17:12:29.196] After pose optimization, distance between ekf and vo x:0.000094 ,z=0.000376,angle between two frames:0.000072 -[17:12:29.196] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:29.196] frame process finished the id is: 344 the obs is:10 -[17:12:29.303] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000202 ,z=0.000842,angle between two frames:0.000206 -[17:12:29.303] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000324 error end=0.000324 -[17:12:29.303] After pose optimization, distance between ekf and vo x:0.000202 ,z=0.000842,angle between two frames:0.000206 -[17:12:29.303] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:29.303] frame process finished the id is: 345 the obs is:10 -[17:12:29.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000101 ,z=0.000381,angle between two frames:0.000095 -[17:12:29.395] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000311 error end=0.000311 -[17:12:29.395] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000346,angle between two frames:0.000100 -[17:12:29.395] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:29.395] frame process finished the id is: 346 the obs is:10 -[17:12:29.497] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000466,angle between two frames:0.000144 -[17:12:29.497] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000004 error end=0.000004 -[17:12:29.497] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000466,angle between two frames:0.000144 -[17:12:29.497] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:29.497] frame process finished the id is: 347 the obs is:10 -[17:12:29.595] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148 -[17:12:29.595] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.001685 error end=0.001685 -[17:12:29.595] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148 -[17:12:29.595] frame process finished the id is: 347 the obs is:10 -[17:12:29.696] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148 -[17:12:29.696] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000023 error end=0.000023 -[17:12:29.696] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148 -[17:12:29.696] frame process finished the id is: 347 the obs is:10 -[17:12:29.799] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148 -[17:12:29.799] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.002604 error end=0.002604 -[17:12:29.799] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148 -[17:12:29.799] frame process finished the id is: 347 the obs is:10 -[17:12:29.894] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148 -[17:12:29.894] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000002 error end=0.000002 -[17:12:29.894] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148 -[17:12:29.894] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:29.894] frame process finished the id is: 351 the obs is:10 -[17:12:29.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000382,angle between two frames:0.000058 -[17:12:29.994] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000024 error end=0.000024 -[17:12:29.994] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000382,angle between two frames:0.000058 -[17:12:29.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:29.994] frame process finished the id is: 352 the obs is:10 -[17:12:30.094] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057 -[17:12:30.094] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.002791 error end=0.002791 -[17:12:30.094] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057 -[17:12:30.094] frame process finished the id is: 352 the obs is:10 -[17:12:30.197] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057 -[17:12:30.197] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000761 error end=0.000761 -[17:12:30.197] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057 -[17:12:30.197] frame process finished the id is: 352 the obs is:10 -[17:12:30.297] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057 -[17:12:30.297] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000002 error end=0.000002 -[17:12:30.297] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057 -[17:12:30.297] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:30.297] frame process finished the id is: 355 the obs is:10 -[17:12:30.396] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000381,angle between two frames:0.000057 -[17:12:30.396] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000011 error end=0.000011 -[17:12:30.396] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000381,angle between two frames:0.000057 -[17:12:30.396] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:30.396] frame process finished the id is: 356 the obs is:10 -[17:12:30.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000115 ,z=0.000381,angle between two frames:0.000148 -[17:12:30.494] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000887 error end=0.000887 -[17:12:30.494] After pose optimization, distance between ekf and vo x:0.000115 ,z=0.000381,angle between two frames:0.000148 -[17:12:30.494] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:30.494] frame process finished the id is: 357 the obs is:10 -[17:12:30.596] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147 -[17:12:30.596] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000038 error end=0.000038 -[17:12:30.596] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147 -[17:12:30.596] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:30.596] frame process finished the id is: 358 the obs is:10 -[17:12:30.696] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000097 ,z=0.000374,angle between two frames:0.000090 -[17:12:30.697] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:30.697] After pose optimization, distance between ekf and vo x:0.000097 ,z=0.000374,angle between two frames:0.000090 -[17:12:30.697] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:30.697] frame process finished the id is: 359 the obs is:10 -[17:12:30.795] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000099 ,z=0.000376,angle between two frames:0.000090 -[17:12:30.795] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:30.795] After pose optimization, distance between ekf and vo x:0.000099 ,z=0.000376,angle between two frames:0.000090 -[17:12:30.795] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:30.795] frame process finished the id is: 360 the obs is:10 -[17:12:30.892] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000313,angle between two frames:0.000124 -[17:12:30.893] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000003 error end=0.000003 -[17:12:30.893] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000313,angle between two frames:0.000124 -[17:12:30.893] frame process finished the id is: 360 the obs is:10 -[17:12:30.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000146 -[17:12:30.995] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[17:12:30.995] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000146 -[17:12:30.995] frame process finished the id is: 360 the obs is:10 -[17:12:31.096] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000111 ,z=0.000371,angle between two frames:0.000144 -[17:12:31.096] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000018 error end=0.000018 -[17:12:31.096] After pose optimization, distance between ekf and vo x:0.000111 ,z=0.000371,angle between two frames:0.000144 -[17:12:31.096] frame process finished the id is: 360 the obs is:10 -[17:12:31.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147 -[17:12:31.195] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.001162 error end=0.001162 -[17:12:31.195] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147 -[17:12:31.195] frame process finished the id is: 360 the obs is:10 -[17:12:31.295] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147 -[17:12:31.295] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000046 error end=0.000046 -[17:12:31.295] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147 -[17:12:31.295] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:31.295] frame process finished the id is: 365 the obs is:10 -[17:12:31.395] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058 -[17:12:31.395] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000005 error end=0.000005 -[17:12:31.395] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058 -[17:12:31.395] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:31.395] frame process finished the id is: 366 the obs is:10 -[17:12:31.500] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000089 ,z=0.000374,angle between two frames:0.000057 -[17:12:31.500] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000082 error end=0.000082 -[17:12:31.500] After pose optimization, distance between ekf and vo x:0.000089 ,z=0.000374,angle between two frames:0.000057 -[17:12:31.500] frame process finished the id is: 366 the obs is:10 -[17:12:31.595] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000089 ,z=0.000374,angle between two frames:0.000057 -[17:12:31.595] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:31.595] After pose optimization, distance between ekf and vo x:0.000089 ,z=0.000374,angle between two frames:0.000057 -[17:12:31.595] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:31.595] frame process finished the id is: 368 the obs is:10 -[17:12:31.696] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000057 -[17:12:31.696] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000018 error end=0.000018 -[17:12:31.696] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000057 -[17:12:31.696] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:31.696] frame process finished the id is: 369 the obs is:10 -[17:12:31.793] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057 -[17:12:31.793] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.001738 error end=0.001738 -[17:12:31.793] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057 -[17:12:31.793] frame process finished the id is: 369 the obs is:10 -[17:12:31.897] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057 -[17:12:31.897] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[17:12:31.897] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057 -[17:12:31.897] frame process finished the id is: 369 the obs is:10 -[17:12:31.997] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057 -[17:12:31.997] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000064 error end=0.000064 -[17:12:31.997] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057 -[17:12:31.997] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:31.997] frame process finished the id is: 372 the obs is:10 -[17:12:32.096] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000058 -[17:12:32.096] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000587 error end=0.000587 -[17:12:32.096] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000058 -[17:12:32.096] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:32.096] frame process finished the id is: 373 the obs is:10 -[17:12:32.200] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000381,angle between two frames:0.000058 -[17:12:32.200] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.001211 error end=0.001211 -[17:12:32.200] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000381,angle between two frames:0.000058 -[17:12:32.200] frame process finished the id is: 373 the obs is:10 -[17:12:32.297] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000381,angle between two frames:0.000057 -[17:12:32.297] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[17:12:32.297] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000381,angle between two frames:0.000057 -[17:12:32.297] frame process finished the id is: 373 the obs is:10 -[17:12:32.393] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000382,angle between two frames:0.000058 -[17:12:32.393] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000045 error end=0.000045 -[17:12:32.394] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000382,angle between two frames:0.000058 -[17:12:32.394] frame process finished the id is: 373 the obs is:10 -[17:12:32.495] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000381,angle between two frames:0.000058 -[17:12:32.495] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001533 error end=0.001533 -[17:12:32.495] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000381,angle between two frames:0.000058 -[17:12:32.495] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:32.495] frame process finished the id is: 377 the obs is:10 -[17:12:32.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000386,angle between two frames:0.000112 -[17:12:32.594] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000659 error end=0.000659 -[17:12:32.594] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000386,angle between two frames:0.000112 -[17:12:32.594] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:32.594] frame process finished the id is: 378 the obs is:10 -[17:12:32.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000098 ,z=0.000374,angle between two frames:0.000090 -[17:12:32.695] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000129 error end=0.000129 -[17:12:32.695] After pose optimization, distance between ekf and vo x:0.000098 ,z=0.000374,angle between two frames:0.000090 -[17:12:32.695] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:32.695] frame process finished the id is: 379 the obs is:10 -[17:12:32.794] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000058 -[17:12:32.794] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.002353 error end=0.002353 -[17:12:32.794] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000058 -[17:12:32.794] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:32.794] frame process finished the id is: 380 the obs is:10 -[17:12:32.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111 -[17:12:32.895] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.003354 error end=0.003354 -[17:12:32.895] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111 -[17:12:32.895] frame process finished the id is: 380 the obs is:10 -[17:12:32.996] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111 -[17:12:32.996] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000146 error end=0.000146 -[17:12:32.996] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111 -[17:12:32.996] frame process finished the id is: 380 the obs is:10 -[17:12:33.097] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111 -[17:12:33.097] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000075 error end=0.000075 -[17:12:33.097] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111 -[17:12:33.097] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:33.097] frame process finished the id is: 383 the obs is:10 -[17:12:33.194] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000085 ,z=0.000352,angle between two frames:0.000045 -[17:12:33.194] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000028 error end=0.000028 -[17:12:33.194] After pose optimization, distance between ekf and vo x:0.000085 ,z=0.000352,angle between two frames:0.000045 -[17:12:33.194] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:33.195] frame process finished the id is: 384 the obs is:10 -[17:12:33.297] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000385,angle between two frames:0.000112 -[17:12:33.297] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:33.297] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000385,angle between two frames:0.000112 -[17:12:33.297] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:33.297] frame process finished the id is: 385 the obs is:10 -[17:12:33.396] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000384,angle between two frames:0.000058 -[17:12:33.396] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000198 error end=0.000198 -[17:12:33.396] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000384,angle between two frames:0.000058 -[17:12:33.396] frame process finished the id is: 385 the obs is:10 -[17:12:33.493] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000383,angle between two frames:0.000058 -[17:12:33.493] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 error init =0.004361 error end=0.004361 -[17:12:33.493] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000383,angle between two frames:0.000058 -[17:12:33.493] frame process finished the id is: 385 the obs is:10 -[17:12:33.595] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000386,angle between two frames:0.000058 -[17:12:33.595] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000444 error end=0.000444 -[17:12:33.595] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000386,angle between two frames:0.000058 -[17:12:33.595] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:33.595] frame process finished the id is: 388 the obs is:10 -[17:12:33.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000058 -[17:12:33.695] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =0.003443 error end=0.003443 -[17:12:33.695] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000058 -[17:12:33.695] frame process finished the id is: 388 the obs is:10 -[17:12:33.795] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000058 -[17:12:33.795] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000037 error end=0.000037 -[17:12:33.795] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000058 -[17:12:33.795] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:33.795] frame process finished the id is: 390 the obs is:10 -[17:12:33.892] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000071 ,z=0.000244,angle between two frames:0.000101 -[17:12:33.892] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000002 error end=0.000002 -[17:12:33.892] After pose optimization, distance between ekf and vo x:0.000071 ,z=0.000244,angle between two frames:0.000101 -[17:12:33.892] frame process finished the id is: 390 the obs is:10 -[17:12:33.993] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000113 ,z=0.000381,angle between two frames:0.000146 -[17:12:33.994] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:33.994] After pose optimization, distance between ekf and vo x:0.000113 ,z=0.000381,angle between two frames:0.000146 -[17:12:33.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:33.994] frame process finished the id is: 392 the obs is:10 -[17:12:34.094] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066 -[17:12:34.094] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000003 error end=0.000003 -[17:12:34.094] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066 -[17:12:34.094] frame process finished the id is: 392 the obs is:10 -[17:12:34.197] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066 -[17:12:34.197] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.001740 error end=0.001740 -[17:12:34.197] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066 -[17:12:34.197] frame process finished the id is: 392 the obs is:10 -[17:12:34.296] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066 -[17:12:34.296] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000018 error end=0.000018 -[17:12:34.296] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066 -[17:12:34.296] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:34.296] frame process finished the id is: 395 the obs is:10 -[17:12:34.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000374,angle between two frames:0.000065 -[17:12:34.394] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000003 error end=0.000003 -[17:12:34.394] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000374,angle between two frames:0.000065 -[17:12:34.394] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:34.394] frame process finished the id is: 396 the obs is:10 -[17:12:34.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058 -[17:12:34.495] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000000 error end=0.000000 -[17:12:34.495] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058 -[17:12:34.495] frame process finished the id is: 396 the obs is:10 -[17:12:34.600] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058 -[17:12:34.600] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.001525 error end=0.001525 -[17:12:34.600] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058 -[17:12:34.600] frame process finished the id is: 396 the obs is:10 -[17:12:34.697] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058 -[17:12:34.697] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001194 error end=0.001194 -[17:12:34.697] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058 -[17:12:34.697] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:34.697] frame process finished the id is: 399 the obs is:10 -[17:12:34.795] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000108 ,z=0.000393,angle between two frames:0.000112 -[17:12:34.795] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000004 error end=0.000004 -[17:12:34.795] After pose optimization, distance between ekf and vo x:0.000108 ,z=0.000393,angle between two frames:0.000112 -[17:12:34.795] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:34.795] frame process finished the id is: 400 the obs is:10 -[17:12:34.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111 -[17:12:34.895] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.002471 error end=0.002471 -[17:12:34.895] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111 -[17:12:34.895] frame process finished the id is: 400 the obs is:10 -[17:12:34.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000390,angle between two frames:0.000112 -[17:12:34.994] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001313 error end=0.001313 -[17:12:34.994] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000390,angle between two frames:0.000112 -[17:12:34.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:34.995] frame process finished the id is: 402 the obs is:10 -[17:12:35.095] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112 -[17:12:35.095] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000416 error end=0.000416 -[17:12:35.095] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112 -[17:12:35.095] frame process finished the id is: 402 the obs is:10 -[17:12:35.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112 -[17:12:35.195] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000000 error end=0.000000 -[17:12:35.195] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112 -[17:12:35.195] frame process finished the id is: 402 the obs is:10 -[17:12:35.295] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112 -[17:12:35.295] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000802 error end=0.000802 -[17:12:35.295] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112 -[17:12:35.295] frame process finished the id is: 402 the obs is:10 -[17:12:35.395] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112 -[17:12:35.395] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000021 error end=0.000021 -[17:12:35.395] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112 -[17:12:35.395] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:35.395] frame process finished the id is: 406 the obs is:10 -[17:12:35.496] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000108 -[17:12:35.496] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:35.496] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000108 -[17:12:35.496] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:35.496] frame process finished the id is: 407 the obs is:10 -[17:12:35.598] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000056 -[17:12:35.598] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000032 error end=0.000032 -[17:12:35.598] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000056 -[17:12:35.598] frame process finished the id is: 407 the obs is:10 -[17:12:35.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000382,angle between two frames:0.000056 -[17:12:35.695] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000654 error end=0.000654 -[17:12:35.695] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000382,angle between two frames:0.000056 -[17:12:35.695] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:35.695] frame process finished the id is: 409 the obs is:10 -[17:12:35.794] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000380,angle between two frames:0.000058 -[17:12:35.794] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000229 error end=0.000229 -[17:12:35.794] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000380,angle between two frames:0.000058 -[17:12:35.794] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:35.794] frame process finished the id is: 410 the obs is:10 -[17:12:35.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000056 -[17:12:35.895] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000106 error end=0.000106 -[17:12:35.895] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000056 -[17:12:35.895] frame process finished the id is: 410 the obs is:10 -[17:12:35.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000056 -[17:12:35.994] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001254 error end=0.001254 -[17:12:35.994] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000056 -[17:12:35.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:35.994] frame process finished the id is: 412 the obs is:10 -[17:12:36.104] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000232 ,z=0.000962,angle between two frames:0.000158 -[17:12:36.104] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:36.104] After pose optimization, distance between ekf and vo x:0.000232 ,z=0.000962,angle between two frames:0.000158 -[17:12:36.104] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:36.104] frame process finished the id is: 413 the obs is:10 -[17:12:36.208] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000370 ,z=0.001502,angle between two frames:0.000365 -[17:12:36.208] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =0.003270 error end=0.003270 -[17:12:36.208] After pose optimization, distance between ekf and vo x:0.000370 ,z=0.001502,angle between two frames:0.000365 -[17:12:36.209] frame process finished the id is: 413 the obs is:10 -[17:12:36.311] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000371 ,z=0.001506,angle between two frames:0.000368 -[17:12:36.311] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000000 error end=0.000000 -[17:12:36.311] After pose optimization, distance between ekf and vo x:0.000371 ,z=0.001506,angle between two frames:0.000368 -[17:12:36.311] frame process finished the id is: 413 the obs is:10 -[17:12:36.412] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000370 ,z=0.001506,angle between two frames:0.000365 -[17:12:36.412] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000041 error end=0.000041 -[17:12:36.412] After pose optimization, distance between ekf and vo x:0.000370 ,z=0.001506,angle between two frames:0.000365 -[17:12:36.412] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:36.412] frame process finished the id is: 416 the obs is:10 -[17:12:36.506] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000232 ,z=0.001067,angle between two frames:0.000139 -[17:12:36.506] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000062 error end=0.000062 -[17:12:36.506] After pose optimization, distance between ekf and vo x:0.000232 ,z=0.001067,angle between two frames:0.000139 -[17:12:36.506] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:36.506] frame process finished the id is: 417 the obs is:10 -[17:12:36.597] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000103 ,z=0.000385,angle between two frames:0.000078 -[17:12:36.597] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000006 error end=0.000006 -[17:12:36.597] After pose optimization, distance between ekf and vo x:0.000103 ,z=0.000385,angle between two frames:0.000078 -[17:12:36.597] frame process finished the id is: 417 the obs is:10 -[17:12:36.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000102 ,z=0.000385,angle between two frames:0.000078 -[17:12:36.695] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000627 error end=0.000627 -[17:12:36.695] After pose optimization, distance between ekf and vo x:0.000102 ,z=0.000385,angle between two frames:0.000078 -[17:12:36.695] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:36.695] frame process finished the id is: 419 the obs is:10 -[17:12:36.802] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000255 ,z=0.001108,angle between two frames:0.000240 -[17:12:36.802] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000111 error end=0.000111 -[17:12:36.802] After pose optimization, distance between ekf and vo x:0.000255 ,z=0.001108,angle between two frames:0.000240 -[17:12:36.802] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:36.802] frame process finished the id is: 420 the obs is:10 -[17:12:36.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029 -[17:12:36.895] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.002950 error end=0.002950 -[17:12:36.895] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029 -[17:12:36.895] frame process finished the id is: 420 the obs is:10 -[17:12:36.999] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029 -[17:12:36.999] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =0.000000 error end=0.000000 -[17:12:36.999] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029 -[17:12:36.999] frame process finished the id is: 420 the obs is:10 -[17:12:37.093] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029 -[17:12:37.093] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000885 error end=0.000885 -[17:12:37.093] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029 -[17:12:37.093] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:37.093] frame process finished the id is: 423 the obs is:10 -[17:12:37.200] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000134 ,z=0.000533,angle between two frames:0.000085 -[17:12:37.200] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:37.200] After pose optimization, distance between ekf and vo x:0.000134 ,z=0.000533,angle between two frames:0.000085 -[17:12:37.200] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:37.200] frame process finished the id is: 424 the obs is:10 -[17:12:37.303] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000212 ,z=0.000818,angle between two frames:0.000162 -[17:12:37.303] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:37.303] After pose optimization, distance between ekf and vo x:0.000212 ,z=0.000818,angle between two frames:0.000162 -[17:12:37.303] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:37.303] frame process finished the id is: 425 the obs is:10 -[17:12:37.393] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029 -[17:12:37.393] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000762 error end=0.000762 -[17:12:37.393] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029 -[17:12:37.393] frame process finished the id is: 425 the obs is:10 -[17:12:37.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029 -[17:12:37.494] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000918 error end=0.000918 -[17:12:37.494] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029 -[17:12:37.494] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:37.494] frame process finished the id is: 427 the obs is:10 -[17:12:37.601] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000093 -[17:12:37.601] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000023 error end=0.000023 -[17:12:37.601] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000093 -[17:12:37.601] frame process finished the id is: 427 the obs is:10 -[17:12:37.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000093 -[17:12:37.695] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:37.695] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000093 -[17:12:37.695] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:37.695] frame process finished the id is: 429 the obs is:10 -[17:12:37.802] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000160 -[17:12:37.802] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.001877 error end=0.001877 -[17:12:37.802] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000160 -[17:12:37.802] frame process finished the id is: 429 the obs is:10 -[17:12:37.902] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000812,angle between two frames:0.000161 -[17:12:37.902] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 error init =0.001134 error end=0.001134 -[17:12:37.902] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000812,angle between two frames:0.000161 -[17:12:37.902] frame process finished the id is: 429 the obs is:10 -[17:12:38.005] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000161 -[17:12:38.005] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000008 error end=0.000008 -[17:12:38.005] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000161 -[17:12:38.005] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:38.006] frame process finished the id is: 432 the obs is:10 -[17:12:38.103] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000159 -[17:12:38.103] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.006431 error end=0.006431 -[17:12:38.103] After pose optimization, distance between ekf and vo x:0.000176 ,z=0.000773,angle between two frames:0.000176 -[17:12:38.103] frame process finished the id is: 432 the obs is:10 -[17:12:38.201] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000159 -[17:12:38.201] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001501 error end=0.001501 -[17:12:38.201] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000159 -[17:12:38.201] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:38.201] frame process finished the id is: 434 the obs is:10 -[17:12:38.294] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000317,angle between two frames:0.000030 -[17:12:38.294] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000028 error end=0.000028 -[17:12:38.294] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000317,angle between two frames:0.000030 -[17:12:38.294] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:38.294] frame process finished the id is: 435 the obs is:10 -[17:12:38.396] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000428,angle between two frames:0.000055 -[17:12:38.396] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000040 error end=0.000040 -[17:12:38.396] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000428,angle between two frames:0.000055 -[17:12:38.396] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:38.396] frame process finished the id is: 436 the obs is:10 -[17:12:38.496] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000440,angle between two frames:0.000059 -[17:12:38.496] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000007 error end=0.000007 -[17:12:38.496] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000440,angle between two frames:0.000059 -[17:12:38.496] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:38.496] frame process finished the id is: 437 the obs is:10 -[17:12:38.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000387,angle between two frames:0.000094 -[17:12:38.594] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:38.594] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000387,angle between two frames:0.000094 -[17:12:38.594] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:38.594] frame process finished the id is: 438 the obs is:10 -[17:12:38.705] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000208 ,z=0.000810,angle between two frames:0.000160 -[17:12:38.705] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000010 error end=0.000010 -[17:12:38.705] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000810,angle between two frames:0.000160 -[17:12:38.705] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:38.705] frame process finished the id is: 439 the obs is:10 -[17:12:38.798] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000148 ,z=0.000592,angle between two frames:0.000102 -[17:12:38.798] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000044 error end=0.000044 -[17:12:38.798] After pose optimization, distance between ekf and vo x:0.000148 ,z=0.000592,angle between two frames:0.000102 -[17:12:38.798] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:38.798] frame process finished the id is: 440 the obs is:10 -[17:12:38.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000108 ,z=0.000392,angle between two frames:0.000094 -[17:12:38.895] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000013 error end=0.000013 -[17:12:38.895] After pose optimization, distance between ekf and vo x:0.000108 ,z=0.000392,angle between two frames:0.000094 -[17:12:38.895] frame process finished the id is: 440 the obs is:10 -[17:12:38.995] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000108 ,z=0.000391,angle between two frames:0.000093 -[17:12:38.995] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000308 error end=0.000308 -[17:12:38.995] After pose optimization, distance between ekf and vo x:0.000108 ,z=0.000391,angle between two frames:0.000093 -[17:12:38.995] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:38.995] frame process finished the id is: 442 the obs is:10 -[17:12:39.109] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000341 ,z=0.001529,angle between two frames:0.000237 -[17:12:39.109] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000106 error end=0.000106 -[17:12:39.109] After pose optimization, distance between ekf and vo x:0.000341 ,z=0.001529,angle between two frames:0.000237 -[17:12:39.109] frame process finished the id is: 442 the obs is:10 -[17:12:39.211] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000342 ,z=0.001533,angle between two frames:0.000238 -[17:12:39.211] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000058 error end=0.000058 -[17:12:39.211] After pose optimization, distance between ekf and vo x:0.000342 ,z=0.001533,angle between two frames:0.000238 -[17:12:39.211] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:39.211] frame process finished the id is: 444 the obs is:10 -[17:12:39.297] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000315,angle between two frames:0.000016 -[17:12:39.297] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000059 error end=0.000059 -[17:12:39.297] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000315,angle between two frames:0.000016 -[17:12:39.297] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:39.297] frame process finished the id is: 445 the obs is:10 -[17:12:39.414] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000348 ,z=0.001561,angle between two frames:0.000274 -[17:12:39.414] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000378 error end=0.000378 -[17:12:39.414] After pose optimization, distance between ekf and vo x:0.000348 ,z=0.001561,angle between two frames:0.000274 -[17:12:39.414] frame process finished the id is: 445 the obs is:10 -[17:12:39.515] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000273 -[17:12:39.515] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.001712 error end=0.001712 -[17:12:39.515] After pose optimization, distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000273 -[17:12:39.515] frame process finished the id is: 445 the obs is:10 -[17:12:39.616] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000275 -[17:12:39.616] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000026 error end=0.000026 -[17:12:39.616] After pose optimization, distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000275 -[17:12:39.616] frame process finished the id is: 445 the obs is:10 -[17:12:39.717] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000273 -[17:12:39.717] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.003545 error end=0.003545 -[17:12:39.717] After pose optimization, distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000273 -[17:12:39.717] frame process finished the id is: 445 the obs is:10 -[17:12:39.819] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000346 ,z=0.001559,angle between two frames:0.000274 -[17:12:39.819] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000335 error end=0.000335 -[17:12:39.819] After pose optimization, distance between ekf and vo x:0.000346 ,z=0.001559,angle between two frames:0.000274 -[17:12:39.819] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:39.819] frame process finished the id is: 450 the obs is:10 -[17:12:39.905] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014 -[17:12:39.905] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.000007 error end=0.000007 -[17:12:39.905] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014 -[17:12:39.905] frame process finished the id is: 450 the obs is:10 -[17:12:39.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014 -[17:12:39.994] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.002615 error end=0.002615 -[17:12:39.994] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014 -[17:12:39.994] frame process finished the id is: 450 the obs is:10 -[17:12:40.095] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000013 -[17:12:40.095] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000000 error end=0.000000 -[17:12:40.095] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000013 -[17:12:40.095] frame process finished the id is: 450 the obs is:10 -[17:12:40.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014 -[17:12:40.195] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000097 error end=0.000097 -[17:12:40.195] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014 -[17:12:40.195] frame process finished the id is: 450 the obs is:10 -[17:12:40.295] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014 -[17:12:40.295] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000048 error end=0.000048 -[17:12:40.295] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014 -[17:12:40.295] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:40.295] frame process finished the id is: 455 the obs is:10 -[17:12:40.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000314,angle between two frames:0.000016 -[17:12:40.394] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.003644 error end=0.003644 -[17:12:40.394] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000314,angle between two frames:0.000016 -[17:12:40.394] frame process finished the id is: 455 the obs is:10 -[17:12:40.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000315,angle between two frames:0.000016 -[17:12:40.494] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000233 error end=0.000233 -[17:12:40.494] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000315,angle between two frames:0.000016 -[17:12:40.494] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:40.494] frame process finished the id is: 457 the obs is:10 -[17:12:40.609] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000351 ,z=0.001567,angle between two frames:0.000274 -[17:12:40.609] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.001635 error end=0.001635 -[17:12:40.609] After pose optimization, distance between ekf and vo x:0.000351 ,z=0.001567,angle between two frames:0.000274 -[17:12:40.609] frame process finished the id is: 457 the obs is:10 -[17:12:40.710] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000353 ,z=0.001570,angle between two frames:0.000275 -[17:12:40.710] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.002356 error end=0.002356 -[17:12:40.710] After pose optimization, distance between ekf and vo x:0.000353 ,z=0.001570,angle between two frames:0.000275 -[17:12:40.710] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:40.710] frame process finished the id is: 459 the obs is:10 -[17:12:40.796] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000315,angle between two frames:0.000016 -[17:12:40.796] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000000 -[17:12:40.796] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000315,angle between two frames:0.000016 -[17:12:40.796] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:40.796] frame process finished the id is: 460 the obs is:10 -[17:12:40.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000328,angle between two frames:0.000079 -[17:12:40.895] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000211 error end=0.000211 -[17:12:40.895] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000328,angle between two frames:0.000079 -[17:12:40.895] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:40.895] frame process finished the id is: 461 the obs is:10 -[17:12:41.002] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000208 ,z=0.000810,angle between two frames:0.000161 -[17:12:41.002] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000019 error end=0.000019 -[17:12:41.002] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000810,angle between two frames:0.000161 -[17:12:41.002] frame process finished the id is: 461 the obs is:10 -[17:12:41.103] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000208 ,z=0.000814,angle between two frames:0.000161 -[17:12:41.103] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000000 error end=0.000000 -[17:12:41.103] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000814,angle between two frames:0.000161 -[17:12:41.103] frame process finished the id is: 461 the obs is:10 -[17:12:41.206] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000208 ,z=0.000811,angle between two frames:0.000161 -[17:12:41.206] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.002618 error end=0.002618 -[17:12:41.206] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000811,angle between two frames:0.000161 -[17:12:41.206] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:41.206] frame process finished the id is: 464 the obs is:10 -[17:12:41.294] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000084 ,z=0.000324,angle between two frames:0.000052 -[17:12:41.294] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000023 error end=0.000023 -[17:12:41.294] After pose optimization, distance between ekf and vo x:0.000084 ,z=0.000324,angle between two frames:0.000052 -[17:12:41.294] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:41.294] frame process finished the id is: 465 the obs is:10 -[17:12:41.393] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000086 ,z=0.000324,angle between two frames:0.000065 -[17:12:41.393] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000001 error end=0.000001 -[17:12:41.393] After pose optimization, distance between ekf and vo x:0.000086 ,z=0.000324,angle between two frames:0.000065 -[17:12:41.393] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:41.393] frame process finished the id is: 466 the obs is:10 -[17:12:41.495] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000104 ,z=0.000385,angle between two frames:0.000078 -[17:12:41.495] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000117 error end=0.000117 -[17:12:41.495] After pose optimization, distance between ekf and vo x:0.000104 ,z=0.000385,angle between two frames:0.000078 -[17:12:41.495] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:41.495] frame process finished the id is: 467 the obs is:10 -[17:12:41.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000385,angle between two frames:0.000094 -[17:12:41.594] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000014 error end=0.000014 -[17:12:41.594] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000385,angle between two frames:0.000094 -[17:12:41.594] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:41.594] frame process finished the id is: 468 the obs is:10 -[17:12:41.707] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000819,angle between two frames:0.000162 -[17:12:41.707] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000227 error end=0.000227 -[17:12:41.707] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000819,angle between two frames:0.000162 -[17:12:41.707] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:41.707] frame process finished the id is: 469 the obs is:10 -[17:12:41.811] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000163 -[17:12:41.811] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000756 error end=0.000756 -[17:12:41.811] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000163 -[17:12:41.811] frame process finished the id is: 469 the obs is:10 -[17:12:41.905] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000163 -[17:12:41.905] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000587 error end=0.000587 -[17:12:41.905] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000163 -[17:12:41.905] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:41.905] frame process finished the id is: 471 the obs is:10 -[17:12:41.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000028 -[17:12:41.994] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001174 error end=0.001174 -[17:12:41.994] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000028 -[17:12:41.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:41.994] frame process finished the id is: 472 the obs is:10 -[17:12:42.111] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000343 ,z=0.001566,angle between two frames:0.000333 -[17:12:42.111] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000733 error end=0.000733 -[17:12:42.111] After pose optimization, distance between ekf and vo x:0.000343 ,z=0.001566,angle between two frames:0.000333 -[17:12:42.111] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:42.111] frame process finished the id is: 473 the obs is:10 -[17:12:42.198] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000026 -[17:12:42.198] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000709 error end=0.000709 -[17:12:42.198] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000026 -[17:12:42.198] frame process finished the id is: 473 the obs is:10 -[17:12:42.296] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000026 -[17:12:42.296] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000654 error end=0.000654 -[17:12:42.296] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000026 -[17:12:42.296] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:42.296] frame process finished the id is: 475 the obs is:10 -[17:12:42.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000027 -[17:12:42.394] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000545 error end=0.000545 -[17:12:42.394] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000027 -[17:12:42.394] frame process finished the id is: 475 the obs is:10 -[17:12:42.493] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000027 -[17:12:42.493] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000166 error end=0.000166 -[17:12:42.493] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000027 -[17:12:42.493] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:42.493] frame process finished the id is: 477 the obs is:10 -[17:12:42.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000028 -[17:12:42.594] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000007 error end=0.000007 -[17:12:42.594] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000028 -[17:12:42.594] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:42.594] frame process finished the id is: 478 the obs is:10 -[17:12:42.702] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000221 ,z=0.000869,angle between two frames:0.000168 -[17:12:42.702] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000160 error end=0.000160 -[17:12:42.702] After pose optimization, distance between ekf and vo x:0.000221 ,z=0.000869,angle between two frames:0.000168 -[17:12:42.702] frame process finished the id is: 478 the obs is:10 -[17:12:42.802] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000216 ,z=0.000841,angle between two frames:0.000161 -[17:12:42.802] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.001256 error end=0.001256 -[17:12:42.802] After pose optimization, distance between ekf and vo x:0.000216 ,z=0.000841,angle between two frames:0.000161 -[17:12:42.802] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:42.802] frame process finished the id is: 480 the obs is:10 -[17:12:42.902] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000154 -[17:12:42.902] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 error init =0.000000 error end=0.000000 -[17:12:42.902] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000154 -[17:12:42.902] frame process finished the id is: 480 the obs is:10 -[17:12:43.001] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000212 ,z=0.000821,angle between two frames:0.000154 -[17:12:43.001] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 error init =0.000095 error end=0.000095 -[17:12:43.001] After pose optimization, distance between ekf and vo x:0.000212 ,z=0.000821,angle between two frames:0.000154 -[17:12:43.001] frame process finished the id is: 480 the obs is:10 -[17:12:43.102] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000154 -[17:12:43.102] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000097 error end=0.000097 -[17:12:43.102] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000154 -[17:12:43.102] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:43.102] frame process finished the id is: 483 the obs is:10 -[17:12:43.193] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000077 ,z=0.000326,angle between two frames:0.000042 -[17:12:43.193] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000363 error end=0.000363 -[17:12:43.193] After pose optimization, distance between ekf and vo x:0.000077 ,z=0.000326,angle between two frames:0.000042 -[17:12:43.193] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:43.193] frame process finished the id is: 484 the obs is:10 -[17:12:43.294] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000385,angle between two frames:0.000057 -[17:12:43.294] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.000009 error end=0.000009 -[17:12:43.294] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000385,angle between two frames:0.000057 -[17:12:43.294] frame process finished the id is: 484 the obs is:10 -[17:12:43.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000385,angle between two frames:0.000057 -[17:12:43.395] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000291 error end=0.000291 -[17:12:43.395] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000385,angle between two frames:0.000057 -[17:12:43.395] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:43.395] frame process finished the id is: 486 the obs is:10 -[17:12:43.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000380,angle between two frames:0.000057 -[17:12:43.494] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000869 error end=0.000869 -[17:12:43.494] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000380,angle between two frames:0.000057 -[17:12:43.494] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:43.494] frame process finished the id is: 487 the obs is:10 -[17:12:43.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000382,angle between two frames:0.000057 -[17:12:43.594] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000057 error end=0.000057 -[17:12:43.594] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000382,angle between two frames:0.000057 -[17:12:43.594] frame process finished the id is: 487 the obs is:10 -[17:12:43.696] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000383,angle between two frames:0.000056 -[17:12:43.696] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000025 error end=0.000025 -[17:12:43.696] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000383,angle between two frames:0.000056 -[17:12:43.696] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:43.696] frame process finished the id is: 489 the obs is:10 -[17:12:43.795] Odometry x=0.072651, y=1.839967, theta=-0.078171 -[17:12:43.797] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000108 ,z=0.000395,angle between two frames:0.000110 -[17:12:43.797] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 error init =0.000001 error end=0.000001 -[17:12:43.797] After pose optimization, distance between ekf and vo x:0.000108 ,z=0.000395,angle between two frames:0.000110 -[17:12:43.797] frame process finished the id is: 489 the obs is:10 -[17:12:43.896] Odometry x=3.052921, y=-0.606922, theta=-2.965814 -[17:12:43.903] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000111,angle between two frames:0.000022 -[17:12:43.904] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.002633 error end=0.001757 -[17:12:43.904] After pose optimization, distance between ekf and vo x:-0.039285 ,z=-0.188058,angle between two frames:0.061787 -[17:12:43.904] frame process finished the id is: 489 the obs is:10 -[17:12:43.999] Odometry x=3.050513, y=-0.595961, theta=-2.985628 -[17:12:44.004] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000109,angle between two frames:0.000022 -[17:12:44.004] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 error init =0.000002 error end=0.000002 -[17:12:44.004] After pose optimization, distance between ekf and vo x:-0.000003 ,z=-0.000013,angle between two frames:0.000061 -[17:12:44.004] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[17:12:44.004] Choose frame as a key frame Scene Depth mean:0.675551 ,depth min:0.359185 -[17:12:44.004] frame process finished the id is: 492 the obs is:10 -[17:12:44.089] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000008 ,z=-0.000013,angle between two frames:0.000003 -[17:12:44.089] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.002877 error end=0.002057 -[17:12:44.089] After pose optimization, distance between ekf and vo x:-0.044666 ,z=-0.194542,angle between two frames:0.063980 -[17:12:44.089] frame process finished the id is: 492 the obs is:10 -[17:12:44.098] Odometry x=3.015019, y=-0.575672, theta=-1.146782 -[17:12:44.192] After Reprojection Map nPoint:50 ,nCell:16 ,nMatches:13 ,distance between ekf and vo x:0.000009 ,z=-0.000007,angle between two frames:0.000001 -[17:12:44.192] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.001038 error end=0.001038 -[17:12:44.192] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000007,angle between two frames:0.000001 -[17:12:44.192] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 -[17:12:44.192] Choose frame as a key frame Scene Depth mean:2.964710 ,depth min:2.851252 -[17:12:44.192] frame process finished the id is: 494 the obs is:35 -[17:12:44.197] Odometry x=3.012330, y=-0.576098, theta=-1.146765 -[17:12:44.297] Odometry x=2.994013, y=-0.581159, theta=-1.128802 -[17:12:44.303] After Reprojection Map nPoint:110 ,nCell:25 ,nMatches:17 ,distance between ekf and vo x:-0.000023 ,z=-0.000002,angle between two frames:0.000014 -[17:12:44.303] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =102 error init =0.000843 error end=0.000843 -[17:12:44.303] After pose optimization, distance between ekf and vo x:-0.000023 ,z=-0.000002,angle between two frames:0.000014 -[17:12:44.303] Update EKF and 3D points the number of feature in the new frame: 102 and number of obs: 102 -[17:12:44.304] frame process finished the id is: 495 the obs is:102 -[17:12:44.397] Odometry x=2.988684, y=-0.586157, theta=-1.139986 -[17:12:44.407] After Reprojection Map nPoint:177 ,nCell:34 ,nMatches:25 ,distance between ekf and vo x:-0.000131 ,z=0.000012,angle between two frames:0.000059 -[17:12:44.407] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =145 error init =0.000405 error end=0.000405 -[17:12:44.407] After pose optimization, distance between ekf and vo x:-0.000131 ,z=0.000012,angle between two frames:0.000059 -[17:12:44.407] Update EKF and 3D points the number of feature in the new frame: 145 and number of obs: 145 -[17:12:44.408] frame process finished the id is: 496 the obs is:145 -[17:12:44.495] Odometry x=2.984662, y=-0.585259, theta=-1.129825 -[17:12:44.513] After Reprojection Map nPoint:220 ,nCell:43 ,nMatches:24 ,distance between ekf and vo x:-0.000179 ,z=0.000009,angle between two frames:0.000097 -[17:12:44.514] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 error init =0.000113 error end=0.000113 -[17:12:44.514] After pose optimization, distance between ekf and vo x:-0.000179 ,z=0.000009,angle between two frames:0.000097 -[17:12:44.514] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173 -[17:12:44.515] frame process finished the id is: 497 the obs is:173 -[17:12:44.598] Odometry x=2.984634, y=-0.585117, theta=-1.130041 -[17:12:44.613] After Reprojection Map nPoint:248 ,nCell:45 ,nMatches:29 ,distance between ekf and vo x:-0.000094 ,z=0.000007,angle between two frames:0.000054 -[17:12:44.614] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =199 error init =0.001097 error end=0.001097 -[17:12:44.614] After pose optimization, distance between ekf and vo x:-0.000094 ,z=0.000007,angle between two frames:0.000054 -[17:12:44.614] Update EKF and 3D points the number of feature in the new frame: 199 and number of obs: 199 -[17:12:44.615] frame process finished the id is: 498 the obs is:199 -[17:12:44.696] Odometry x=2.968193, y=-0.603001, theta=-1.111760 -[17:12:44.706] After Reprojection Map nPoint:274 ,nCell:53 ,nMatches:32 ,distance between ekf and vo x:-0.000052 ,z=0.000001,angle between two frames:0.000027 -[17:12:44.706] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 error init =0.001339 error end=0.001339 -[17:12:44.706] After pose optimization, distance between ekf and vo x:-0.000052 ,z=0.000001,angle between two frames:0.000027 -[17:12:44.706] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189 -[17:12:44.708] frame process finished the id is: 499 the obs is:189 -[17:12:44.795] Odometry x=2.983276, y=-0.586028, theta=-1.129961 -[17:12:44.803] After Reprojection Map nPoint:264 ,nCell:46 ,nMatches:30 ,distance between ekf and vo x:-0.000041 ,z=-0.000007,angle between two frames:0.000027 -[17:12:44.804] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =211 error init =0.000320 error end=0.000320 -[17:12:44.804] After pose optimization, distance between ekf and vo x:-0.000041 ,z=-0.000007,angle between two frames:0.000027 -[17:12:44.804] Update EKF and 3D points the number of feature in the new frame: 211 and number of obs: 211 -[17:12:44.805] frame process finished the id is: 500 the obs is:211 -[17:12:44.894] After Reprojection Map nPoint:286 ,nCell:51 ,nMatches:33 ,distance between ekf and vo x:0.000003 ,z=-0.000003,angle between two frames:0.000000 -[17:12:44.895] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =194 error init =0.000190 error end=0.000190 -[17:12:44.895] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000003,angle between two frames:0.000000 -[17:12:44.895] Update EKF and 3D points the number of feature in the new frame: 194 and number of obs: 194 -[17:12:44.896] frame process finished the id is: 501 the obs is:194 -[17:12:44.897] Odometry x=2.981687, y=-0.587531, theta=-1.129789 -[17:12:44.994] Odometry x=2.966791, y=-0.601323, theta=-1.136188 -[17:12:45.003] After Reprojection Map nPoint:269 ,nCell:42 ,nMatches:32 ,distance between ekf and vo x:0.000008 ,z=-0.000028,angle between two frames:0.000015 -[17:12:45.004] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =196 error init =0.000215 error end=0.000215 -[17:12:45.004] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000028,angle between two frames:0.000015 -[17:12:45.004] Update EKF and 3D points the number of feature in the new frame: 196 and number of obs: 196 -[17:12:45.005] frame process finished the id is: 502 the obs is:196 -[17:12:45.098] Odometry x=2.938165, y=-0.618954, theta=-1.153939 -[17:12:45.108] After Reprojection Map nPoint:271 ,nCell:39 ,nMatches:26 ,distance between ekf and vo x:-0.000131 ,z=0.000013,angle between two frames:0.000051 -[17:12:45.108] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =168 error init =0.000275 error end=0.000275 -[17:12:45.108] After pose optimization, distance between ekf and vo x:-0.000131 ,z=0.000013,angle between two frames:0.000051 -[17:12:45.108] Update EKF and 3D points the number of feature in the new frame: 168 and number of obs: 168 -[17:12:45.109] frame process finished the id is: 503 the obs is:168 -[17:12:45.198] Odometry x=2.949450, y=-0.616248, theta=-1.127796 -[17:12:45.209] After Reprojection Map nPoint:243 ,nCell:48 ,nMatches:29 ,distance between ekf and vo x:-0.000114 ,z=0.000013,angle between two frames:0.000055 -[17:12:45.209] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =149 error init =0.000677 error end=0.000677 -[17:12:45.209] After pose optimization, distance between ekf and vo x:-0.000114 ,z=0.000013,angle between two frames:0.000055 -[17:12:45.209] Update EKF and 3D points the number of feature in the new frame: 149 and number of obs: 149 -[17:12:45.210] frame process finished the id is: 504 the obs is:149 -[17:12:45.297] Odometry x=2.949490, y=-0.582721, theta=-1.130078 -[17:12:45.308] After Reprojection Map nPoint:224 ,nCell:48 ,nMatches:27 ,distance between ekf and vo x:-0.000151 ,z=0.000021,angle between two frames:0.000079 -[17:12:45.308] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 error init =0.000311 error end=0.000311 -[17:12:45.308] After pose optimization, distance between ekf and vo x:-0.000151 ,z=0.000021,angle between two frames:0.000079 -[17:12:45.308] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189 -[17:12:45.309] frame process finished the id is: 505 the obs is:189 -[17:12:45.393] After Reprojection Map nPoint:264 ,nCell:46 ,nMatches:31 ,distance between ekf and vo x:0.000003 ,z=-0.000005,angle between two frames:0.000002 -[17:12:45.394] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =221 error init =0.000596 error end=0.000596 -[17:12:45.394] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000005,angle between two frames:0.000002 -[17:12:45.394] Update EKF and 3D points the number of feature in the new frame: 221 and number of obs: 221 -[17:12:45.395] frame process finished the id is: 506 the obs is:221 -[17:12:45.397] Odometry x=2.947677, y=-0.616014, theta=-1.128204 -[17:12:45.493] Odometry x=2.943011, y=-0.620416, theta=-1.135165 -[17:12:45.494] After Reprojection Map nPoint:296 ,nCell:54 ,nMatches:35 ,distance between ekf and vo x:0.000010 ,z=-0.000006,angle between two frames:0.000000 -[17:12:45.494] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =232 error init =0.000227 error end=0.000227 -[17:12:45.494] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000006,angle between two frames:0.000000 -[17:12:45.494] Update EKF and 3D points the number of feature in the new frame: 232 and number of obs: 232 -[17:12:45.496] frame process finished the id is: 507 the obs is:232 -[17:12:45.594] After Reprojection Map nPoint:307 ,nCell:51 ,nMatches:30 ,distance between ekf and vo x:-0.000002 ,z=-0.000003,angle between two frames:0.000002 -[17:12:45.594] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =202 error init =0.001037 error end=0.001037 -[17:12:45.594] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000003,angle between two frames:0.000002 -[17:12:45.594] Update EKF and 3D points the number of feature in the new frame: 202 and number of obs: 202 -[17:12:45.596] Odometry x=2.942751, y=-0.624162, theta=-1.135796 -[17:12:45.596] frame process finished the id is: 508 the obs is:202 -[17:12:45.700] Odometry x=2.936631, y=-0.631381, theta=-1.156706 -[17:12:45.702] After Reprojection Map nPoint:277 ,nCell:55 ,nMatches:28 ,distance between ekf and vo x:-0.000009 ,z=-0.000005,angle between two frames:0.000007 -[17:12:45.702] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =142 error init =0.000334 error end=0.000334 -[17:12:45.702] After pose optimization, distance between ekf and vo x:-0.000009 ,z=-0.000005,angle between two frames:0.000007 -[17:12:45.702] Update EKF and 3D points the number of feature in the new frame: 142 and number of obs: 142 -[17:12:45.703] frame process finished the id is: 509 the obs is:142 -[17:12:45.800] Odometry x=2.939252, y=-0.630436, theta=-1.157827 -[17:12:45.808] After Reprojection Map nPoint:217 ,nCell:42 ,nMatches:33 ,distance between ekf and vo x:-0.000096 ,z=-0.000006,angle between two frames:0.000052 -[17:12:45.808] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =124 error init =0.000119 error end=0.000119 -[17:12:45.808] After pose optimization, distance between ekf and vo x:-0.000096 ,z=-0.000006,angle between two frames:0.000052 -[17:12:45.808] Update EKF and 3D points the number of feature in the new frame: 124 and number of obs: 124 -[17:12:45.809] frame process finished the id is: 510 the obs is:124 -[17:12:45.894] After Reprojection Map nPoint:199 ,nCell:37 ,nMatches:26 ,distance between ekf and vo x:0.000003 ,z=-0.000004,angle between two frames:0.000000 -[17:12:45.894] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =144 error init =0.000792 error end=0.000792 -[17:12:45.894] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000004,angle between two frames:0.000000 -[17:12:45.894] Update EKF and 3D points the number of feature in the new frame: 144 and number of obs: 144 -[17:12:45.895] frame process finished the id is: 511 the obs is:144 -[17:12:45.897] Odometry x=2.933375, y=-0.631670, theta=-1.156578 -[17:12:45.994] After Reprojection Map nPoint:219 ,nCell:49 ,nMatches:31 ,distance between ekf and vo x:0.000012 ,z=-0.000007,angle between two frames:0.000002 -[17:12:45.995] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 error init =0.001177 error end=0.001177 -[17:12:45.995] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000007,angle between two frames:0.000002 -[17:12:45.995] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173 -[17:12:45.996] Odometry x=2.939905, y=-0.639840, theta=-1.157393 -[17:12:45.996] frame process finished the id is: 512 the obs is:173 -[17:12:46.099] Odometry x=2.938376, y=-0.641623, theta=-1.124527 -[17:12:46.106] After Reprojection Map nPoint:248 ,nCell:56 ,nMatches:32 ,distance between ekf and vo x:-0.000017 ,z=-0.000009,angle between two frames:0.000013 -[17:12:46.106] n deleted obs = 37 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =164 error init =0.002118 error end=0.002118 -[17:12:46.106] After pose optimization, distance between ekf and vo x:-0.000017 ,z=-0.000009,angle between two frames:0.000013 -[17:12:46.106] Update EKF and 3D points the number of feature in the new frame: 164 and number of obs: 164 -[17:12:46.107] frame process finished the id is: 513 the obs is:164 -[17:12:46.195] After Reprojection Map nPoint:239 ,nCell:63 ,nMatches:33 ,distance between ekf and vo x:0.000005 ,z=-0.000004,angle between two frames:0.000001 -[17:12:46.195] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =187 error init =0.000906 error end=0.000906 -[17:12:46.195] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000004,angle between two frames:0.000001 -[17:12:46.195] Update EKF and 3D points the number of feature in the new frame: 187 and number of obs: 187 -[17:12:46.196] frame process finished the id is: 514 the obs is:187 -[17:12:46.199] Odometry x=2.940568, y=-0.639454, theta=-1.156067 -[17:12:46.293] After Reprojection Map nPoint:262 ,nCell:32 ,nMatches:30 ,distance between ekf and vo x:0.000011 ,z=-0.000007,angle between two frames:0.000002 -[17:12:46.293] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =183 error init =0.000178 error end=0.000178 -[17:12:46.293] After pose optimization, distance between ekf and vo x:0.000011 ,z=-0.000007,angle between two frames:0.000002 -[17:12:46.293] Update EKF and 3D points the number of feature in the new frame: 183 and number of obs: 183 -[17:12:46.295] frame process finished the id is: 515 the obs is:183 -[17:12:46.297] Odometry x=2.940152, y=-0.639445, theta=-1.156172 -[17:12:46.394] After Reprojection Map nPoint:258 ,nCell:31 ,nMatches:27 ,distance between ekf and vo x:0.000002 ,z=-0.000003,angle between two frames:0.000001 -[17:12:46.395] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =175 error init =0.000382 error end=0.000382 -[17:12:46.395] After pose optimization, distance between ekf and vo x:0.000002 ,z=-0.000003,angle between two frames:0.000001 -[17:12:46.395] Update EKF and 3D points the number of feature in the new frame: 175 and number of obs: 175 -[17:12:46.396] Odometry x=2.932899, y=-0.645808, theta=-1.144846 -[17:12:46.396] frame process finished the id is: 516 the obs is:175 -[17:12:46.492] After Reprojection Map nPoint:250 ,nCell:32 ,nMatches:25 ,distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000001 -[17:12:46.493] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =161 error init =0.000140 error end=0.000140 -[17:12:46.493] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000001 -[17:12:46.493] Update EKF and 3D points the number of feature in the new frame: 161 and number of obs: 161 -[17:12:46.494] frame process finished the id is: 517 the obs is:161 -[17:12:46.496] Odometry x=2.932397, y=-0.646297, theta=-1.144064 -[17:12:46.594] Odometry x=2.935213, y=-0.644104, theta=-1.127272 -[17:12:46.608] After Reprojection Map nPoint:236 ,nCell:40 ,nMatches:30 ,distance between ekf and vo x:0.000000 ,z=-0.000036,angle between two frames:0.000032 -[17:12:46.609] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =121 error init =0.000380 error end=0.000380 -[17:12:46.609] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000036,angle between two frames:0.000032 -[17:12:46.609] Update EKF and 3D points the number of feature in the new frame: 121 and number of obs: 121 -[17:12:46.609] frame process finished the id is: 518 the obs is:121 -[17:12:46.703] Odometry x=2.932817, y=-0.647425, theta=-1.143675 -[17:12:46.707] After Reprojection Map nPoint:196 ,nCell:30 ,nMatches:27 ,distance between ekf and vo x:-0.000193 ,z=0.000031,angle between two frames:0.000068 -[17:12:46.707] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =130 error init =0.001240 error end=0.001240 -[17:12:46.707] After pose optimization, distance between ekf and vo x:-0.000193 ,z=0.000031,angle between two frames:0.000068 -[17:12:46.707] Update EKF and 3D points the number of feature in the new frame: 130 and number of obs: 130 -[17:12:46.708] frame process finished the id is: 519 the obs is:130 -[17:12:46.798] After Reprojection Map nPoint:205 ,nCell:37 ,nMatches:29 ,distance between ekf and vo x:-0.000170 ,z=0.000036,angle between two frames:0.000065 -[17:12:46.798] Odometry x=2.919886, y=-0.659135, theta=-1.149287 -[17:12:46.799] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =153 error init =0.000294 error end=0.000294 -[17:12:46.799] After pose optimization, distance between ekf and vo x:-0.000170 ,z=0.000036,angle between two frames:0.000065 -[17:12:46.799] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153 -[17:12:46.800] frame process finished the id is: 520 the obs is:153 -[17:12:46.901] Odometry x=2.913863, y=-0.647064, theta=-1.153326 -[17:12:46.907] After Reprojection Map nPoint:228 ,nCell:35 ,nMatches:32 ,distance between ekf and vo x:-0.000172 ,z=0.000030,angle between two frames:0.000072 -[17:12:46.907] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =161 error init =0.000474 error end=0.000474 -[17:12:46.907] After pose optimization, distance between ekf and vo x:-0.000172 ,z=0.000030,angle between two frames:0.000072 -[17:12:46.907] Update EKF and 3D points the number of feature in the new frame: 161 and number of obs: 161 -[17:12:46.908] frame process finished the id is: 521 the obs is:161 -[17:12:46.997] After Reprojection Map nPoint:236 ,nCell:32 ,nMatches:29 ,distance between ekf and vo x:0.000007 ,z=-0.000009,angle between two frames:0.000003 -[17:12:46.997] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =188 error init =0.000993 error end=0.000993 -[17:12:46.997] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000009,angle between two frames:0.000003 -[17:12:46.997] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188 -[17:12:46.998] frame process finished the id is: 522 the obs is:188 -[17:12:47.001] Odometry x=2.913474, y=-0.646611, theta=-1.153622 -[17:12:47.094] After Reprojection Map nPoint:263 ,nCell:37 ,nMatches:31 ,distance between ekf and vo x:0.000006 ,z=-0.000006,angle between two frames:0.000001 -[17:12:47.094] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =155 error init =0.000624 error end=0.000624 -[17:12:47.094] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000006,angle between two frames:0.000001 -[17:12:47.094] Update EKF and 3D points the number of feature in the new frame: 155 and number of obs: 155 -[17:12:47.095] frame process finished the id is: 523 the obs is:155 -[17:12:47.099] Odometry x=2.910074, y=-0.652405, theta=-1.163468 -[17:12:47.201] Odometry x=2.904485, y=-0.659131, theta=-1.162046 -[17:12:47.209] After Reprojection Map nPoint:230 ,nCell:38 ,nMatches:35 ,distance between ekf and vo x:0.000001 ,z=-0.000029,angle between two frames:0.000029 -[17:12:47.210] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =132 error init =0.001648 error end=0.001648 -[17:12:47.210] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000029,angle between two frames:0.000029 -[17:12:47.210] Update EKF and 3D points the number of feature in the new frame: 132 and number of obs: 132 -[17:12:47.211] frame process finished the id is: 524 the obs is:132 -[17:12:47.298] Odometry x=2.903642, y=-0.673838, theta=-1.174520 -[17:12:47.301] After Reprojection Map nPoint:207 ,nCell:35 ,nMatches:31 ,distance between ekf and vo x:0.000008 ,z=-0.000019,angle between two frames:0.000018 -[17:12:47.301] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =163 error init =0.000521 error end=0.000521 -[17:12:47.301] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000019,angle between two frames:0.000018 -[17:12:47.301] Update EKF and 3D points the number of feature in the new frame: 163 and number of obs: 163 -[17:12:47.302] frame process finished the id is: 525 the obs is:163 -[17:12:47.401] Odometry x=2.915059, y=-0.667866, theta=-1.159834 -[17:12:47.407] After Reprojection Map nPoint:238 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:0.000016 ,z=-0.000040,angle between two frames:0.000025 -[17:12:47.408] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =194 error init =0.000544 error end=0.000544 -[17:12:47.408] After pose optimization, distance between ekf and vo x:0.000016 ,z=-0.000040,angle between two frames:0.000025 -[17:12:47.408] Update EKF and 3D points the number of feature in the new frame: 194 and number of obs: 194 -[17:12:47.409] frame process finished the id is: 526 the obs is:194 -[17:12:47.498] Odometry x=2.910036, y=-0.693178, theta=-1.168247 -[17:12:47.508] After Reprojection Map nPoint:269 ,nCell:37 ,nMatches:31 ,distance between ekf and vo x:-0.000045 ,z=0.000013,angle between two frames:0.000023 -[17:12:47.509] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =190 error init =0.000243 error end=0.000243 -[17:12:47.509] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000013,angle between two frames:0.000023 -[17:12:47.509] Update EKF and 3D points the number of feature in the new frame: 190 and number of obs: 190 -[17:12:47.510] frame process finished the id is: 527 the obs is:190 -[17:12:47.600] Odometry x=2.911197, y=-0.664152, theta=-1.170476 -[17:12:47.611] After Reprojection Map nPoint:265 ,nCell:40 ,nMatches:31 ,distance between ekf and vo x:-0.000115 ,z=0.000029,angle between two frames:0.000065 -[17:12:47.611] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =216 error init =0.000397 error end=0.000397 -[17:12:47.611] After pose optimization, distance between ekf and vo x:-0.000115 ,z=0.000029,angle between two frames:0.000065 -[17:12:47.611] Update EKF and 3D points the number of feature in the new frame: 216 and number of obs: 216 -[17:12:47.612] frame process finished the id is: 528 the obs is:216 -[17:12:47.697] Odometry x=2.906389, y=-0.658985, theta=-1.164113 -[17:12:47.719] After Reprojection Map nPoint:291 ,nCell:49 ,nMatches:36 ,distance between ekf and vo x:-0.000193 ,z=0.000063,angle between two frames:0.000089 -[17:12:47.720] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =217 error init =0.000487 error end=0.000487 -[17:12:47.720] After pose optimization, distance between ekf and vo x:-0.000193 ,z=0.000063,angle between two frames:0.000089 -[17:12:47.720] Update EKF and 3D points the number of feature in the new frame: 217 and number of obs: 217 -[17:12:47.721] frame process finished the id is: 529 the obs is:217 -[17:12:47.800] Odometry x=2.900788, y=-0.665884, theta=-1.158332 -[17:12:47.819] After Reprojection Map nPoint:292 ,nCell:33 ,nMatches:29 ,distance between ekf and vo x:-0.000078 ,z=0.000012,angle between two frames:0.000046 -[17:12:47.820] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =192 error init =0.000190 error end=0.000190 -[17:12:47.820] After pose optimization, distance between ekf and vo x:-0.000078 ,z=0.000012,angle between two frames:0.000046 -[17:12:47.820] Update EKF and 3D points the number of feature in the new frame: 192 and number of obs: 192 -[17:12:47.821] frame process finished the id is: 530 the obs is:192 -[17:12:47.898] Odometry x=2.905266, y=-0.659717, theta=-1.163954 -[17:12:47.904] After Reprojection Map nPoint:267 ,nCell:37 ,nMatches:28 ,distance between ekf and vo x:0.000013 ,z=-0.000009,angle between two frames:0.000002 -[17:12:47.905] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =216 error init =0.000257 error end=0.000257 -[17:12:47.905] After pose optimization, distance between ekf and vo x:0.000013 ,z=-0.000009,angle between two frames:0.000002 -[17:12:47.905] Update EKF and 3D points the number of feature in the new frame: 216 and number of obs: 216 -[17:12:47.906] frame process finished the id is: 531 the obs is:216 -[17:12:47.993] After Reprojection Map nPoint:291 ,nCell:42 ,nMatches:28 ,distance between ekf and vo x:0.000012 ,z=-0.000008,angle between two frames:0.000002 -[17:12:47.994] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 error init =0.000522 error end=0.000522 -[17:12:47.994] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000008,angle between two frames:0.000002 -[17:12:47.994] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189 -[17:12:47.995] frame process finished the id is: 532 the obs is:189 -[17:12:47.995] Odometry x=2.901522, y=-0.662906, theta=-1.163898 -[17:12:48.093] Odometry x=2.895868, y=-0.667515, theta=-1.160378 -[17:12:48.093] After Reprojection Map nPoint:264 ,nCell:41 ,nMatches:27 ,distance between ekf and vo x:0.000007 ,z=-0.000005,angle between two frames:0.000001 -[17:12:48.099] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =146 error init =0.000547 error end=0.000546 -[17:12:48.099] After pose optimization, distance between ekf and vo x:-0.000153 ,z=-0.001236,angle between two frames:0.000368 -[17:12:48.099] Update EKF and 3D points the number of feature in the new frame: 146 and number of obs: 146 -[17:12:48.100] frame process finished the id is: 533 the obs is:146 -[17:12:48.195] Odometry x=2.895407, y=-0.668952, theta=-1.161247 -[17:12:48.207] After Reprojection Map nPoint:221 ,nCell:34 ,nMatches:28 ,distance between ekf and vo x:-0.000005 ,z=-0.000015,angle between two frames:0.000019 -[17:12:48.207] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =136 error init =0.000457 error end=0.000457 -[17:12:48.207] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000015,angle between two frames:0.000019 -[17:12:48.207] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136 -[17:12:48.208] frame process finished the id is: 534 the obs is:136 -[17:12:48.298] Odometry x=2.899517, y=-0.668395, theta=-1.169935 -[17:12:48.299] After Reprojection Map nPoint:211 ,nCell:36 ,nMatches:27 ,distance between ekf and vo x:-0.000007 ,z=-0.000026,angle between two frames:0.000022 -[17:12:48.299] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =109 error init =0.000567 error end=0.000567 -[17:12:48.299] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000026,angle between two frames:0.000022 -[17:12:48.299] Update EKF and 3D points the number of feature in the new frame: 109 and number of obs: 109 -[17:12:48.300] frame process finished the id is: 535 the obs is:109 -[17:12:48.391] After Reprojection Map nPoint:184 ,nCell:42 ,nMatches:30 ,distance between ekf and vo x:0.000014 ,z=-0.000010,angle between two frames:0.000002 -[17:12:48.392] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =116 error init =0.000837 error end=0.000837 -[17:12:48.392] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000010,angle between two frames:0.000002 -[17:12:48.392] Update EKF and 3D points the number of feature in the new frame: 116 and number of obs: 116 -[17:12:48.392] frame process finished the id is: 536 the obs is:116 -[17:12:48.401] Odometry x=2.895032, y=-0.674228, theta=-1.162340 -[17:12:48.492] After Reprojection Map nPoint:191 ,nCell:43 ,nMatches:28 ,distance between ekf and vo x:0.000010 ,z=-0.000008,angle between two frames:0.000001 -[17:12:48.492] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 error init =0.000087 error end=0.000087 -[17:12:48.492] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000008,angle between two frames:0.000001 -[17:12:48.492] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173 -[17:12:48.493] Odometry x=2.898066, y=-0.684473, theta=-1.171165 -[17:12:48.494] frame process finished the id is: 537 the obs is:173 -[17:12:48.593] After Reprojection Map nPoint:248 ,nCell:50 ,nMatches:30 ,distance between ekf and vo x:0.000010 ,z=-0.000007,angle between two frames:0.000001 -[17:12:48.593] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =210 error init =0.000340 error end=0.000340 -[17:12:48.593] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000007,angle between two frames:0.000001 -[17:12:48.593] Update EKF and 3D points the number of feature in the new frame: 210 and number of obs: 210 -[17:12:48.594] frame process finished the id is: 538 the obs is:210 -[17:12:48.601] Odometry x=2.898548, y=-0.684088, theta=-1.171940 -[17:12:48.694] Odometry x=2.896967, y=-0.684357, theta=-1.174773 -[17:12:48.703] After Reprojection Map nPoint:285 ,nCell:60 ,nMatches:34 ,distance between ekf and vo x:-0.000001 ,z=-0.000017,angle between two frames:0.000010 -[17:12:48.703] n deleted obs = 32 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =197 error init =0.001123 error end=0.001123 -[17:12:48.703] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000017,angle between two frames:0.000010 -[17:12:48.703] Update EKF and 3D points the number of feature in the new frame: 197 and number of obs: 197 -[17:12:48.705] frame process finished the id is: 539 the obs is:197 -[17:12:48.796] Odometry x=2.891255, y=-0.689340, theta=-1.183272 -[17:12:48.801] After Reprojection Map nPoint:272 ,nCell:48 ,nMatches:27 ,distance between ekf and vo x:0.000005 ,z=-0.000012,angle between two frames:0.000018 -[17:12:48.801] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =129 error init =0.000806 error end=0.000806 -[17:12:48.801] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000012,angle between two frames:0.000018 -[17:12:48.801] Update EKF and 3D points the number of feature in the new frame: 129 and number of obs: 129 -[17:12:48.802] frame process finished the id is: 540 the obs is:129 -[17:12:48.899] Odometry x=2.877387, y=-0.717080, theta=-1.188175 -[17:12:48.912] After Reprojection Map nPoint:204 ,nCell:52 ,nMatches:28 ,distance between ekf and vo x:-0.000050 ,z=-0.000023,angle between two frames:0.000039 -[17:12:48.918] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =155 error init =0.000344 error end=0.000340 -[17:12:48.918] After pose optimization, distance between ekf and vo x:-0.000476 ,z=-0.008991,angle between two frames:0.002447 -[17:12:48.918] Update EKF and 3D points the number of feature in the new frame: 155 and number of obs: 155 -[17:12:48.919] frame process finished the id is: 541 the obs is:155 -[17:12:48.996] Odometry x=2.891863, y=-0.698143, theta=-1.167373 -[17:12:49.017] After Reprojection Map nPoint:230 ,nCell:63 ,nMatches:31 ,distance between ekf and vo x:-0.000044 ,z=0.000013,angle between two frames:0.000026 -[17:12:49.018] n deleted obs = 32 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =164 error init =0.001516 error end=0.001516 -[17:12:49.018] After pose optimization, distance between ekf and vo x:-0.000044 ,z=0.000013,angle between two frames:0.000026 -[17:12:49.018] Update EKF and 3D points the number of feature in the new frame: 164 and number of obs: 164 -[17:12:49.019] frame process finished the id is: 542 the obs is:164 -[17:12:49.096] Odometry x=2.894407, y=-0.693685, theta=-1.178124 -[17:12:49.117] After Reprojection Map nPoint:239 ,nCell:57 ,nMatches:26 ,distance between ekf and vo x:-0.000112 ,z=0.000038,angle between two frames:0.000047 -[17:12:49.117] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =159 error init =0.000598 error end=0.000598 -[17:12:49.117] After pose optimization, distance between ekf and vo x:-0.000112 ,z=0.000038,angle between two frames:0.000047 -[17:12:49.117] Update EKF and 3D points the number of feature in the new frame: 159 and number of obs: 159 -[17:12:49.118] frame process finished the id is: 543 the obs is:159 -[17:12:49.198] Odometry x=2.888694, y=-0.680913, theta=-1.191827 -[17:12:49.224] After Reprojection Map nPoint:234 ,nCell:40 ,nMatches:28 ,distance between ekf and vo x:-0.000243 ,z=0.000093,angle between two frames:0.000097 -[17:12:49.224] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =170 error init =0.000086 error end=0.000086 -[17:12:49.224] After pose optimization, distance between ekf and vo x:-0.000243 ,z=0.000093,angle between two frames:0.000097 -[17:12:49.224] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170 -[17:12:49.225] frame process finished the id is: 544 the obs is:170 -[17:12:49.297] Odometry x=2.892790, y=-0.693745, theta=-1.178136 -[17:12:49.330] After Reprojection Map nPoint:245 ,nCell:46 ,nMatches:30 ,distance between ekf and vo x:-0.000129 ,z=0.000041,angle between two frames:0.000068 -[17:12:49.330] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =167 error init =0.000664 error end=0.000664 -[17:12:49.330] After pose optimization, distance between ekf and vo x:-0.000129 ,z=0.000041,angle between two frames:0.000068 -[17:12:49.330] Update EKF and 3D points the number of feature in the new frame: 167 and number of obs: 167 -[17:12:49.331] frame process finished the id is: 545 the obs is:167 -[17:12:49.399] Odometry x=2.893604, y=-0.694179, theta=-1.177816 -[17:12:49.432] After Reprojection Map nPoint:242 ,nCell:41 ,nMatches:31 ,distance between ekf and vo x:-0.000199 ,z=0.000065,angle between two frames:0.000056 -[17:12:49.433] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =136 error init =0.000292 error end=0.000292 -[17:12:49.433] After pose optimization, distance between ekf and vo x:-0.000199 ,z=0.000065,angle between two frames:0.000056 -[17:12:49.433] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136 -[17:12:49.434] frame process finished the id is: 546 the obs is:136 -[17:12:49.491] Odometry x=2.893196, y=-0.694611, theta=-1.177508 -[17:12:49.537] After Reprojection Map nPoint:211 ,nCell:46 ,nMatches:32 ,distance between ekf and vo x:-0.000105 ,z=0.000019,angle between two frames:0.000040 -[17:12:49.542] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =157 error init =0.000420 error end=0.000419 -[17:12:49.542] After pose optimization, distance between ekf and vo x:-0.000309 ,z=-0.002980,angle between two frames:0.000961 -[17:12:49.542] Update EKF and 3D points the number of feature in the new frame: 157 and number of obs: 157 -[17:12:49.543] frame process finished the id is: 547 the obs is:157 -[17:12:49.593] Odometry x=2.893884, y=-0.696603, theta=-1.178053 -[17:12:49.643] After Reprojection Map nPoint:232 ,nCell:36 ,nMatches:27 ,distance between ekf and vo x:-0.000060 ,z=-0.000020,angle between two frames:0.000023 -[17:12:49.650] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =178 error init =0.000376 error end=0.000376 -[17:12:49.650] After pose optimization, distance between ekf and vo x:-0.000536 ,z=-0.000772,angle between two frames:0.000389 -[17:12:49.650] Update EKF and 3D points the number of feature in the new frame: 178 and number of obs: 178 -[17:12:49.651] frame process finished the id is: 548 the obs is:178 -[17:12:49.694] Odometry x=2.896337, y=-0.695231, theta=-1.177760 -[17:12:49.733] After Reprojection Map nPoint:253 ,nCell:34 ,nMatches:29 ,distance between ekf and vo x:0.000004 ,z=-0.000004,angle between two frames:0.000001 -[17:12:49.734] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =131 error init =0.000219 error end=0.000219 -[17:12:49.734] After pose optimization, distance between ekf and vo x:0.000017 ,z=-0.000021,angle between two frames:0.000004 -[17:12:49.734] Update EKF and 3D points the number of feature in the new frame: 131 and number of obs: 131 -[17:12:49.734] frame process finished the id is: 549 the obs is:131 -[17:12:49.796] Odometry x=2.895975, y=-0.695471, theta=-1.177023 -[17:12:49.832] After Reprojection Map nPoint:206 ,nCell:41 ,nMatches:31 ,distance between ekf and vo x:-0.000298 ,z=0.000118,angle between two frames:0.000098 -[17:12:49.833] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =142 error init =0.000851 error end=0.000851 -[17:12:49.833] After pose optimization, distance between ekf and vo x:-0.000298 ,z=0.000118,angle between two frames:0.000098 -[17:12:49.833] Update EKF and 3D points the number of feature in the new frame: 142 and number of obs: 142 -[17:12:49.834] frame process finished the id is: 550 the obs is:142 -[17:12:49.900] Odometry x=2.895388, y=-0.695613, theta=-1.176479 -[17:12:49.929] After Reprojection Map nPoint:217 ,nCell:39 ,nMatches:32 ,distance between ekf and vo x:-0.000088 ,z=0.000034,angle between two frames:0.000033 -[17:12:49.929] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =179 error init =0.000206 error end=0.000206 -[17:12:49.929] After pose optimization, distance between ekf and vo x:-0.000088 ,z=0.000034,angle between two frames:0.000033 -[17:12:49.929] Update EKF and 3D points the number of feature in the new frame: 179 and number of obs: 179 -[17:12:49.931] frame process finished the id is: 551 the obs is:179 -[17:12:49.997] Odometry x=2.888968, y=-0.700867, theta=-1.179017 -[17:12:50.027] After Reprojection Map nPoint:254 ,nCell:35 ,nMatches:30 ,distance between ekf and vo x:-0.000121 ,z=0.000025,angle between two frames:0.000050 -[17:12:50.034] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =175 error init =0.000490 error end=0.000486 -[17:12:50.034] After pose optimization, distance between ekf and vo x:0.000957 ,z=-0.008510,angle between two frames:0.002365 -[17:12:50.034] Update EKF and 3D points the number of feature in the new frame: 175 and number of obs: 175 -[17:12:50.035] frame process finished the id is: 552 the obs is:175 -[17:12:50.099] Odometry x=2.890472, y=-0.708420, theta=-1.180993 -[17:12:50.124] After Reprojection Map nPoint:250 ,nCell:30 ,nMatches:27 ,distance between ekf and vo x:-0.000034 ,z=-0.000005,angle between two frames:0.000018 -[17:12:50.124] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =199 error init =0.000298 error end=0.000298 -[17:12:50.124] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000005,angle between two frames:0.000018 -[17:12:50.124] Update EKF and 3D points the number of feature in the new frame: 199 and number of obs: 199 -[17:12:50.126] frame process finished the id is: 553 the obs is:199 -[17:12:50.197] Odometry x=2.879753, y=-0.715603, theta=-1.185434 -[17:12:50.216] After Reprojection Map nPoint:274 ,nCell:31 ,nMatches:27 ,distance between ekf and vo x:-0.000008 ,z=-0.000006,angle between two frames:0.000015 -[17:12:50.216] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =183 error init =0.000906 error end=0.000906 -[17:12:50.216] After pose optimization, distance between ekf and vo x:-0.000008 ,z=-0.000006,angle between two frames:0.000015 -[17:12:50.216] Update EKF and 3D points the number of feature in the new frame: 183 and number of obs: 183 -[17:12:50.217] frame process finished the id is: 554 the obs is:183 -[17:12:50.295] Odometry x=2.888774, y=-0.708140, theta=-1.180882 -[17:12:50.299] After Reprojection Map nPoint:258 ,nCell:35 ,nMatches:26 ,distance between ekf and vo x:0.000012 ,z=-0.000003,angle between two frames:0.000003 -[17:12:50.300] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =196 error init =0.000623 error end=0.000623 -[17:12:50.300] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000003,angle between two frames:0.000003 -[17:12:50.300] Update EKF and 3D points the number of feature in the new frame: 196 and number of obs: 196 -[17:12:50.301] frame process finished the id is: 555 the obs is:196 -[17:12:50.393] After Reprojection Map nPoint:271 ,nCell:43 ,nMatches:30 ,distance between ekf and vo x:0.000007 ,z=-0.000003,angle between two frames:0.000001 -[17:12:50.398] Odometry x=2.882133, y=-0.713018, theta=-1.194398 -[17:12:50.399] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =172 error init =0.000838 error end=0.000832 -[17:12:50.399] After pose optimization, distance between ekf and vo x:-0.000318 ,z=-0.005573,angle between two frames:0.001732 -[17:12:50.399] Update EKF and 3D points the number of feature in the new frame: 172 and number of obs: 172 -[17:12:50.401] frame process finished the id is: 556 the obs is:172 -[17:12:50.493] After Reprojection Map nPoint:247 ,nCell:43 ,nMatches:28 ,distance between ekf and vo x:0.000003 ,z=-0.000002,angle between two frames:0.000000 -[17:12:50.493] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =156 error init =0.000581 error end=0.000581 -[17:12:50.493] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000002,angle between two frames:0.000000 -[17:12:50.493] Update EKF and 3D points the number of feature in the new frame: 156 and number of obs: 156 -[17:12:50.494] frame process finished the id is: 557 the obs is:156 -[17:12:50.495] Odometry x=2.880919, y=-0.718869, theta=-1.196308 -[17:12:50.591] After Reprojection Map nPoint:231 ,nCell:37 ,nMatches:24 ,distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000000 -[17:12:50.592] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =153 error init =0.000570 error end=0.000570 -[17:12:50.592] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000000 -[17:12:50.592] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153 -[17:12:50.593] frame process finished the id is: 558 the obs is:153 -[17:12:50.599] Odometry x=2.873304, y=-0.710742, theta=-1.196969 -[17:12:50.698] Odometry x=2.868502, y=-0.710022, theta=-1.217090 -[17:12:50.706] After Reprojection Map nPoint:228 ,nCell:35 ,nMatches:28 ,distance between ekf and vo x:0.000022 ,z=-0.000025,angle between two frames:0.000029 -[17:12:50.706] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =171 error init =0.000528 error end=0.000528 -[17:12:50.706] After pose optimization, distance between ekf and vo x:0.000022 ,z=-0.000025,angle between two frames:0.000029 -[17:12:50.706] Update EKF and 3D points the number of feature in the new frame: 171 and number of obs: 171 -[17:12:50.707] frame process finished the id is: 559 the obs is:171 -[17:12:50.795] Odometry x=2.866310, y=-0.714608, theta=-1.205696 -[17:12:50.800] After Reprojection Map nPoint:246 ,nCell:36 ,nMatches:29 ,distance between ekf and vo x:0.000009 ,z=-0.000025,angle between two frames:0.000015 -[17:12:50.800] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 error init =0.000551 error end=0.000551 -[17:12:50.800] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000025,angle between two frames:0.000015 -[17:12:50.800] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189 -[17:12:50.801] frame process finished the id is: 560 the obs is:189 -[17:12:50.898] Odometry x=2.883274, y=-0.731667, theta=-1.210658 -[17:12:50.917] After Reprojection Map nPoint:264 ,nCell:39 ,nMatches:29 ,distance between ekf and vo x:-0.000084 ,z=0.000029,angle between two frames:0.000050 -[17:12:50.925] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =215 error init =0.000440 error end=0.000440 -[17:12:50.925] After pose optimization, distance between ekf and vo x:0.000820 ,z=-0.001302,angle between two frames:0.000420 -[17:12:50.925] Update EKF and 3D points the number of feature in the new frame: 215 and number of obs: 215 -[17:12:50.926] frame process finished the id is: 561 the obs is:215 -[17:12:50.996] Odometry x=2.866015, y=-0.725617, theta=-1.206381 -[17:12:51.013] After Reprojection Map nPoint:290 ,nCell:40 ,nMatches:29 ,distance between ekf and vo x:0.000007 ,z=-0.000007,angle between two frames:0.000003 -[17:12:51.013] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =233 error init =0.000396 error end=0.000396 -[17:12:51.013] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000007,angle between two frames:0.000003 -[17:12:51.013] Update EKF and 3D points the number of feature in the new frame: 233 and number of obs: 233 -[17:12:51.015] frame process finished the id is: 562 the obs is:233 -[17:12:51.094] Odometry x=2.866785, y=-0.724844, theta=-1.206379 -[17:12:51.097] After Reprojection Map nPoint:308 ,nCell:34 ,nMatches:26 ,distance between ekf and vo x:0.000006 ,z=-0.000003,angle between two frames:0.000001 -[17:12:51.098] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =218 error init =0.001217 error end=0.001217 -[17:12:51.098] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000003,angle between two frames:0.000001 -[17:12:51.098] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218 -[17:12:51.099] frame process finished the id is: 563 the obs is:218 -[17:12:51.192] After Reprojection Map nPoint:293 ,nCell:37 ,nMatches:28 ,distance between ekf and vo x:0.000012 ,z=-0.000005,angle between two frames:0.000002 -[17:12:51.192] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =133 error init =0.000625 error end=0.000625 -[17:12:51.192] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000005,angle between two frames:0.000002 -[17:12:51.192] Update EKF and 3D points the number of feature in the new frame: 133 and number of obs: 133 -[17:12:51.193] frame process finished the id is: 564 the obs is:133 -[17:12:51.198] Odometry x=2.863507, y=-0.727404, theta=-1.205888 -[17:12:51.290] After Reprojection Map nPoint:208 ,nCell:38 ,nMatches:26 ,distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000001 -[17:12:51.290] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =144 error init =0.000172 error end=0.000172 -[17:12:51.290] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000001 -[17:12:51.290] Update EKF and 3D points the number of feature in the new frame: 144 and number of obs: 144 -[17:12:51.291] frame process finished the id is: 565 the obs is:144 -[17:12:51.298] Odometry x=2.862923, y=-0.727760, theta=-1.195778 -[17:12:51.392] After Reprojection Map nPoint:219 ,nCell:38 ,nMatches:29 ,distance between ekf and vo x:0.000005 ,z=-0.000003,angle between two frames:0.000000 -[17:12:51.396] Odometry x=2.861480, y=-0.751810, theta=-1.205987 -[17:12:51.397] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =147 error init =0.000146 error end=0.000146 -[17:12:51.397] After pose optimization, distance between ekf and vo x:0.000011 ,z=-0.000041,angle between two frames:0.000011 -[17:12:51.397] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147 -[17:12:51.398] frame process finished the id is: 566 the obs is:147 -[17:12:51.491] After Reprojection Map nPoint:222 ,nCell:42 ,nMatches:26 ,distance between ekf and vo x:0.000008 ,z=-0.000006,angle between two frames:0.000000 -[17:12:51.491] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =159 error init =0.000372 error end=0.000372 -[17:12:51.491] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000006,angle between two frames:0.000000 -[17:12:51.491] Update EKF and 3D points the number of feature in the new frame: 159 and number of obs: 159 -[17:12:51.492] frame process finished the id is: 567 the obs is:159 -[17:12:51.499] Odometry x=2.865089, y=-0.732871, theta=-1.197314 -[17:12:51.592] After Reprojection Map nPoint:234 ,nCell:47 ,nMatches:29 ,distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000001 -[17:12:51.593] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =179 error init =0.000399 error end=0.000399 -[17:12:51.593] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000001 -[17:12:51.593] Update EKF and 3D points the number of feature in the new frame: 179 and number of obs: 179 -[17:12:51.594] frame process finished the id is: 568 the obs is:179 -[17:12:51.598] Odometry x=2.864651, y=-0.733219, theta=-1.197731 -[17:12:51.693] After Reprojection Map nPoint:254 ,nCell:40 ,nMatches:27 ,distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000001 -[17:12:51.693] n deleted obs = 15 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =187 error init =0.000692 error end=0.000692 -[17:12:51.693] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000001 -[17:12:51.693] Update EKF and 3D points the number of feature in the new frame: 187 and number of obs: 187 -[17:12:51.694] frame process finished the id is: 569 the obs is:187 -[17:12:51.699] Odometry x=2.864025, y=-0.733721, theta=-1.198128 -[17:12:51.790] After Reprojection Map nPoint:262 ,nCell:30 ,nMatches:24 ,distance between ekf and vo x:0.000014 ,z=-0.000008,angle between two frames:0.000004 -[17:12:51.790] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =188 error init =0.000327 error end=0.000327 -[17:12:51.790] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000008,angle between two frames:0.000004 -[17:12:51.790] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188 -[17:12:51.792] frame process finished the id is: 570 the obs is:188 -[17:12:51.798] Odometry x=2.842882, y=-0.737414, theta=-1.197976 -[17:12:51.891] After Reprojection Map nPoint:263 ,nCell:21 ,nMatches:20 ,distance between ekf and vo x:0.000007 ,z=-0.000005,angle between two frames:0.000001 -[17:12:51.891] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =157 error init =0.000548 error end=0.000548 -[17:12:51.891] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000005,angle between two frames:0.000001 -[17:12:51.891] Update EKF and 3D points the number of feature in the new frame: 157 and number of obs: 157 -[17:12:51.892] frame process finished the id is: 571 the obs is:157 -[17:12:51.896] Odometry x=2.844373, y=-0.736402, theta=-1.197699 -[17:12:51.991] After Reprojection Map nPoint:232 ,nCell:22 ,nMatches:21 ,distance between ekf and vo x:0.000017 ,z=-0.000009,angle between two frames:0.000005 -[17:12:51.991] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =165 error init =0.000280 error end=0.000280 -[17:12:51.991] After pose optimization, distance between ekf and vo x:0.000017 ,z=-0.000009,angle between two frames:0.000005 -[17:12:51.991] Update EKF and 3D points the number of feature in the new frame: 165 and number of obs: 165 -[17:12:51.992] frame process finished the id is: 572 the obs is:165 -[17:12:51.996] Odometry x=2.835681, y=-0.729526, theta=-1.186960 -[17:12:52.094] Odometry x=2.819385, y=-0.743188, theta=-1.207477 -[17:12:52.097] After Reprojection Map nPoint:240 ,nCell:32 ,nMatches:25 ,distance between ekf and vo x:-0.000002 ,z=0.000004,angle between two frames:0.000001 -[17:12:52.097] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =151 error init =0.000215 error end=0.000215 -[17:12:52.097] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000004,angle between two frames:0.000001 -[17:12:52.097] Update EKF and 3D points the number of feature in the new frame: 151 and number of obs: 151 -[17:12:52.098] frame process finished the id is: 573 the obs is:151 -[17:12:52.197] Odometry x=2.824449, y=-0.744733, theta=-1.182902 -[17:12:52.204] After Reprojection Map nPoint:226 ,nCell:22 ,nMatches:21 ,distance between ekf and vo x:-0.000001 ,z=0.000005,angle between two frames:0.000029 -[17:12:52.204] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =208 error init =0.000481 error end=0.000481 -[17:12:52.204] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000005,angle between two frames:0.000029 -[17:12:52.204] Update EKF and 3D points the number of feature in the new frame: 208 and number of obs: 208 -[17:12:52.206] frame process finished the id is: 574 the obs is:208 -[17:12:52.299] Odometry x=2.822536, y=-0.746059, theta=-1.168542 -[17:12:52.307] After Reprojection Map nPoint:283 ,nCell:25 ,nMatches:24 ,distance between ekf and vo x:-0.000058 ,z=0.000011,angle between two frames:0.000043 -[17:12:52.307] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =206 error init =0.000163 error end=0.000163 -[17:12:52.307] After pose optimization, distance between ekf and vo x:-0.000058 ,z=0.000011,angle between two frames:0.000043 -[17:12:52.307] Update EKF and 3D points the number of feature in the new frame: 206 and number of obs: 206 -[17:12:52.308] frame process finished the id is: 575 the obs is:206 -[17:12:52.398] Odometry x=2.823474, y=-0.745461, theta=-1.182850 -[17:12:52.400] After Reprojection Map nPoint:281 ,nCell:33 ,nMatches:28 ,distance between ekf and vo x:-0.000022 ,z=0.000007,angle between two frames:0.000012 -[17:12:52.400] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =172 error init =0.000259 error end=0.000259 -[17:12:52.400] After pose optimization, distance between ekf and vo x:-0.000022 ,z=0.000007,angle between two frames:0.000012 -[17:12:52.400] Update EKF and 3D points the number of feature in the new frame: 172 and number of obs: 172 -[17:12:52.401] frame process finished the id is: 576 the obs is:172 -[17:12:52.495] After Reprojection Map nPoint:247 ,nCell:34 ,nMatches:26 ,distance between ekf and vo x:0.000004 ,z=-0.000003,angle between two frames:0.000000 -[17:12:52.495] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =211 error init =0.000485 error end=0.000485 -[17:12:52.495] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000003,angle between two frames:0.000000 -[17:12:52.495] Update EKF and 3D points the number of feature in the new frame: 211 and number of obs: 211 -[17:12:52.496] frame process finished the id is: 577 the obs is:211 -[17:12:52.511] Odometry x=2.822320, y=-0.746387, theta=-1.182782 -[17:12:52.592] After Reprojection Map nPoint:286 ,nCell:31 ,nMatches:28 ,distance between ekf and vo x:0.000012 ,z=-0.000007,angle between two frames:0.000002 -[17:12:52.592] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =207 error init =0.000313 error end=0.000313 -[17:12:52.592] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000007,angle between two frames:0.000002 -[17:12:52.592] Update EKF and 3D points the number of feature in the new frame: 207 and number of obs: 207 -[17:12:52.593] frame process finished the id is: 578 the obs is:207 -[17:12:52.597] Odometry x=2.821577, y=-0.747018, theta=-1.182613 -[17:12:52.691] After Reprojection Map nPoint:282 ,nCell:28 ,nMatches:28 ,distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000000 -[17:12:52.692] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =211 error init =0.000266 error end=0.000266 -[17:12:52.692] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000000 -[17:12:52.692] Update EKF and 3D points the number of feature in the new frame: 211 and number of obs: 211 -[17:12:52.693] frame process finished the id is: 579 the obs is:211 -[17:12:52.703] Odometry x=2.814344, y=-0.752953, theta=-1.183118 -[17:12:52.791] After Reprojection Map nPoint:286 ,nCell:29 ,nMatches:29 ,distance between ekf and vo x:-0.000000 ,z=-0.000003,angle between two frames:0.000001 -[17:12:52.792] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =229 error init =0.000132 error end=0.000132 -[17:12:52.792] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000003,angle between two frames:0.000001 -[17:12:52.792] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229 -[17:12:52.793] frame process finished the id is: 580 the obs is:229 -[17:12:52.798] Odometry x=2.813985, y=-0.753195, theta=-1.183145 -[17:12:52.893] After Reprojection Map nPoint:304 ,nCell:29 ,nMatches:28 ,distance between ekf and vo x:0.000003 ,z=-0.000004,angle between two frames:0.000000 -[17:12:52.894] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =196 error init =0.000727 error end=0.000727 -[17:12:52.894] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000004,angle between two frames:0.000000 -[17:12:52.894] Update EKF and 3D points the number of feature in the new frame: 196 and number of obs: 196 -[17:12:52.895] frame process finished the id is: 581 the obs is:196 -[17:12:52.897] Odometry x=2.813737, y=-0.753417, theta=-1.183465 -[17:12:52.994] Odometry x=2.808332, y=-0.757182, theta=-1.179231 -[17:12:52.999] After Reprojection Map nPoint:271 ,nCell:37 ,nMatches:28 ,distance between ekf and vo x:0.000015 ,z=-0.000028,angle between two frames:0.000018 -[17:12:53.000] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =222 error init =0.001207 error end=0.001207 -[17:12:53.000] After pose optimization, distance between ekf and vo x:0.000015 ,z=-0.000028,angle between two frames:0.000018 -[17:12:53.000] Update EKF and 3D points the number of feature in the new frame: 222 and number of obs: 222 -[17:12:53.001] frame process finished the id is: 582 the obs is:222 -[17:12:53.097] Odometry x=2.803892, y=-0.766007, theta=-1.166652 -[17:12:53.101] After Reprojection Map nPoint:297 ,nCell:26 ,nMatches:22 ,distance between ekf and vo x:0.000004 ,z=-0.000016,angle between two frames:0.000013 -[17:12:53.101] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =227 error init =0.000515 error end=0.000515 -[17:12:53.101] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000016,angle between two frames:0.000013 -[17:12:53.101] Update EKF and 3D points the number of feature in the new frame: 227 and number of obs: 227 -[17:12:53.103] frame process finished the id is: 583 the obs is:227 -[17:12:53.198] Odometry x=2.801171, y=-0.765030, theta=-1.172276 -[17:12:53.300] Odometry x=2.800941, y=-0.766045, theta=-1.175488 -[17:12:53.302] After Reprojection Map nPoint:302 ,nCell:32 ,nMatches:26 ,distance between ekf and vo x:-0.000037 ,z=-0.000001,angle between two frames:0.000007 -[17:12:53.302] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =130 error init =0.000663 error end=0.000663 -[17:12:53.302] After pose optimization, distance between ekf and vo x:-0.000037 ,z=-0.000001,angle between two frames:0.000007 -[17:12:53.302] Update EKF and 3D points the number of feature in the new frame: 130 and number of obs: 130 -[17:12:53.303] frame process finished the id is: 584 the obs is:130 -[17:12:53.397] Odometry x=2.790368, y=-0.776644, theta=-1.182283 -[17:12:53.407] After Reprojection Map nPoint:205 ,nCell:36 ,nMatches:28 ,distance between ekf and vo x:-0.000072 ,z=0.000038,angle between two frames:0.000039 -[17:12:53.407] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =146 error init =0.000328 error end=0.000328 -[17:12:53.408] After pose optimization, distance between ekf and vo x:-0.000072 ,z=0.000038,angle between two frames:0.000039 -[17:12:53.408] Update EKF and 3D points the number of feature in the new frame: 146 and number of obs: 146 -[17:12:53.408] frame process finished the id is: 585 the obs is:146 -[17:12:53.499] Odometry x=2.791882, y=-0.773841, theta=-1.183464 -[17:12:53.505] After Reprojection Map nPoint:221 ,nCell:39 ,nMatches:29 ,distance between ekf and vo x:-0.000045 ,z=0.000048,angle between two frames:0.000026 -[17:12:53.505] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =106 error init =0.001485 error end=0.001485 -[17:12:53.505] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000048,angle between two frames:0.000026 -[17:12:53.505] Update EKF and 3D points the number of feature in the new frame: 106 and number of obs: 106 -[17:12:53.506] frame process finished the id is: 586 the obs is:106 -[17:12:53.596] After Reprojection Map nPoint:181 ,nCell:45 ,nMatches:31 ,distance between ekf and vo x:-0.000041 ,z=0.000020,angle between two frames:0.000008 -[17:12:53.596] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =160 error init =0.000422 error end=0.000422 -[17:12:53.596] After pose optimization, distance between ekf and vo x:-0.000041 ,z=0.000020,angle between two frames:0.000008 -[17:12:53.596] Update EKF and 3D points the number of feature in the new frame: 160 and number of obs: 160 -[17:12:53.596] Odometry x=2.797320, y=-0.768871, theta=-1.176201 -[17:12:53.597] frame process finished the id is: 587 the obs is:160 -[17:12:53.696] After Reprojection Map nPoint:235 ,nCell:45 ,nMatches:34 ,distance between ekf and vo x:-0.000101 ,z=0.000026,angle between two frames:0.000033 -[17:12:53.696] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =152 error init =0.000804 error end=0.000804 -[17:12:53.696] After pose optimization, distance between ekf and vo x:-0.000101 ,z=0.000026,angle between two frames:0.000033 -[17:12:53.696] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152 -[17:12:53.697] frame process finished the id is: 588 the obs is:152 -[17:12:53.699] Odometry x=2.796963, y=-0.769151, theta=-1.176477 -[17:12:53.779] After Reprojection Map nPoint:227 ,nCell:30 ,nMatches:29 ,distance between ekf and vo x:0.000006 ,z=-0.000001,angle between two frames:0.000001 -[17:12:53.780] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =131 error init =0.000286 error end=0.000286 -[17:12:53.780] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000001,angle between two frames:0.000001 -[17:12:53.780] Update EKF and 3D points the number of feature in the new frame: 131 and number of obs: 131 -[17:12:53.780] frame process finished the id is: 589 the obs is:131 -[17:12:53.796] Odometry x=2.796629, y=-0.769435, theta=-1.177005 -[17:12:53.863] After Reprojection Map nPoint:206 ,nCell:36 ,nMatches:32 ,distance between ekf and vo x:0.000004 ,z=0.000001,angle between two frames:0.000001 -[17:12:53.863] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =150 error init =0.000755 error end=0.000755 -[17:12:53.863] After pose optimization, distance between ekf and vo x:0.000004 ,z=0.000001,angle between two frames:0.000001 -[17:12:53.863] Update EKF and 3D points the number of feature in the new frame: 150 and number of obs: 150 -[17:12:53.864] frame process finished the id is: 590 the obs is:150 -[17:12:53.898] Odometry x=2.796298, y=-0.769711, theta=-1.176830 -[17:12:53.949] After Reprojection Map nPoint:225 ,nCell:38 ,nMatches:35 ,distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000002 -[17:12:53.949] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =152 error init =0.000273 error end=0.000273 -[17:12:53.949] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000002 -[17:12:53.949] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152 -[17:12:53.950] frame process finished the id is: 591 the obs is:152 -[17:12:53.995] Odometry x=2.795981, y=-0.769860, theta=-1.176354 -[17:12:54.034] After Reprojection Map nPoint:227 ,nCell:32 ,nMatches:32 ,distance between ekf and vo x:0.000006 ,z=-0.000004,angle between two frames:0.000000 -[17:12:54.034] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =162 error init =0.000150 error end=0.000150 -[17:12:54.034] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000004,angle between two frames:0.000000 -[17:12:54.034] Update EKF and 3D points the number of feature in the new frame: 162 and number of obs: 162 -[17:12:54.035] frame process finished the id is: 592 the obs is:162 -[17:12:54.098] Odometry x=2.795672, y=-0.770127, theta=-1.176301 -[17:12:54.118] After Reprojection Map nPoint:237 ,nCell:34 ,nMatches:31 ,distance between ekf and vo x:0.000004 ,z=-0.000005,angle between two frames:0.000000 -[17:12:54.118] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =107 error init =0.000504 error end=0.000504 -[17:12:54.118] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000005,angle between two frames:0.000000 -[17:12:54.118] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107 -[17:12:54.119] frame process finished the id is: 593 the obs is:107 -[17:12:54.195] Odometry x=2.795379, y=-0.770367, theta=-1.176265 -[17:12:54.203] After Reprojection Map nPoint:182 ,nCell:35 ,nMatches:35 ,distance between ekf and vo x:0.000020 ,z=-0.000007,angle between two frames:0.000006 -[17:12:54.203] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =121 error init =0.001310 error end=0.001310 -[17:12:54.203] After pose optimization, distance between ekf and vo x:0.000020 ,z=-0.000007,angle between two frames:0.000006 -[17:12:54.203] Update EKF and 3D points the number of feature in the new frame: 121 and number of obs: 121 -[17:12:54.204] frame process finished the id is: 594 the obs is:121 -[17:12:54.292] After Reprojection Map nPoint:196 ,nCell:28 ,nMatches:28 ,distance between ekf and vo x:0.000023 ,z=-0.000011,angle between two frames:0.000006 -[17:12:54.293] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =162 error init =0.000155 error end=0.000155 -[17:12:54.293] After pose optimization, distance between ekf and vo x:0.000023 ,z=-0.000011,angle between two frames:0.000006 -[17:12:54.293] Update EKF and 3D points the number of feature in the new frame: 162 and number of obs: 162 -[17:12:54.294] frame process finished the id is: 595 the obs is:162 -[17:12:54.297] Odometry x=2.794206, y=-0.771725, theta=-1.176146 -[17:12:54.394] After Reprojection Map nPoint:237 ,nCell:28 ,nMatches:28 ,distance between ekf and vo x:0.000006 ,z=-0.000004,angle between two frames:0.000000 -[17:12:54.395] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =182 error init =0.000388 error end=0.000388 -[17:12:54.395] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000004,angle between two frames:0.000000 -[17:12:54.395] Update EKF and 3D points the number of feature in the new frame: 182 and number of obs: 182 -[17:12:54.396] frame process finished the id is: 596 the obs is:182 -[17:12:54.400] Odometry x=2.788238, y=-0.776763, theta=-1.173640 -[17:12:54.493] After Reprojection Map nPoint:257 ,nCell:32 ,nMatches:29 ,distance between ekf and vo x:0.000007 ,z=-0.000006,angle between two frames:0.000001 -[17:12:54.493] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =147 error init =0.001068 error end=0.001068 -[17:12:54.493] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000006,angle between two frames:0.000001 -[17:12:54.493] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147 -[17:12:54.494] frame process finished the id is: 597 the obs is:147 -[17:12:54.498] Odometry x=2.787826, y=-0.776248, theta=-1.173821 -[17:12:54.599] Odometry x=2.781877, y=-0.781220, theta=-1.176673 -[17:12:54.601] After Reprojection Map nPoint:222 ,nCell:32 ,nMatches:31 ,distance between ekf and vo x:-0.000114 ,z=0.000057,angle between two frames:0.000028 -[17:12:54.601] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =178 error init =0.000484 error end=0.000484 -[17:12:54.601] After pose optimization, distance between ekf and vo x:-0.000114 ,z=0.000057,angle between two frames:0.000028 -[17:12:54.601] Update EKF and 3D points the number of feature in the new frame: 178 and number of obs: 178 -[17:12:54.602] frame process finished the id is: 598 the obs is:178 -[17:12:54.701] Odometry x=2.776125, y=-0.784691, theta=-1.175027 -[17:12:54.705] After Reprojection Map nPoint:253 ,nCell:31 ,nMatches:31 ,distance between ekf and vo x:-0.000058 ,z=0.000023,angle between two frames:0.000020 -[17:12:54.705] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =170 error init =0.000081 error end=0.000081 -[17:12:54.705] After pose optimization, distance between ekf and vo x:-0.000058 ,z=0.000023,angle between two frames:0.000020 -[17:12:54.705] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170 -[17:12:54.706] frame process finished the id is: 599 the obs is:170 -[17:12:54.794] Odometry x=2.770740, y=-0.789099, theta=-1.175244 -[17:12:54.809] After Reprojection Map nPoint:245 ,nCell:32 ,nMatches:30 ,distance between ekf and vo x:-0.000173 ,z=0.000093,angle between two frames:0.000062 -[17:12:54.809] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =149 error init =0.000197 error end=0.000197 -[17:12:54.809] After pose optimization, distance between ekf and vo x:-0.000173 ,z=0.000093,angle between two frames:0.000062 -[17:12:54.809] Update EKF and 3D points the number of feature in the new frame: 149 and number of obs: 149 -[17:12:54.810] frame process finished the id is: 600 the obs is:149 -[17:12:54.892] Odometry x=2.769524, y=-0.790005, theta=-1.175523 -[17:12:54.901] After Reprojection Map nPoint:224 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:-0.000038 ,z=0.000008,angle between two frames:0.000012 -[17:12:54.901] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =128 error init =0.000246 error end=0.000246 -[17:12:54.901] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000008,angle between two frames:0.000012 -[17:12:54.901] Update EKF and 3D points the number of feature in the new frame: 128 and number of obs: 128 -[17:12:54.902] frame process finished the id is: 601 the obs is:128 -[17:12:54.993] After Reprojection Map nPoint:203 ,nCell:36 ,nMatches:36 ,distance between ekf and vo x:0.000014 ,z=-0.000009,angle between two frames:0.000004 -[17:12:54.993] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =108 error init =0.000837 error end=0.000837 -[17:12:54.993] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000009,angle between two frames:0.000004 -[17:12:54.993] Update EKF and 3D points the number of feature in the new frame: 108 and number of obs: 108 -[17:12:54.994] frame process finished the id is: 602 the obs is:108 -[17:12:55.000] Odometry x=2.773333, y=-0.786729, theta=-1.175035 -[17:12:55.097] Odometry x=2.767759, y=-0.794491, theta=-1.173795 -[17:12:55.100] After Reprojection Map nPoint:183 ,nCell:39 ,nMatches:32 ,distance between ekf and vo x:-0.000011 ,z=-0.000001,angle between two frames:0.000007 -[17:12:55.100] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =150 error init =0.000234 error end=0.000234 -[17:12:55.100] After pose optimization, distance between ekf and vo x:-0.000011 ,z=-0.000001,angle between two frames:0.000007 -[17:12:55.100] Update EKF and 3D points the number of feature in the new frame: 150 and number of obs: 150 -[17:12:55.101] frame process finished the id is: 603 the obs is:150 -[17:12:55.193] After Reprojection Map nPoint:225 ,nCell:35 ,nMatches:34 ,distance between ekf and vo x:0.000015 ,z=-0.000008,angle between two frames:0.000003 -[17:12:55.193] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =140 error init =0.000319 error end=0.000319 -[17:12:55.193] After pose optimization, distance between ekf and vo x:0.000015 ,z=-0.000008,angle between two frames:0.000003 -[17:12:55.193] Update EKF and 3D points the number of feature in the new frame: 140 and number of obs: 140 -[17:12:55.194] frame process finished the id is: 604 the obs is:140 -[17:12:55.199] Odometry x=2.766847, y=-0.795215, theta=-1.173869 -[17:12:55.296] After Reprojection Map nPoint:215 ,nCell:31 ,nMatches:29 ,distance between ekf and vo x:0.000014 ,z=-0.000007,angle between two frames:0.000004 -[17:12:55.296] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =126 error init =0.000615 error end=0.000615 -[17:12:55.296] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000007,angle between two frames:0.000004 -[17:12:55.296] Update EKF and 3D points the number of feature in the new frame: 126 and number of obs: 126 -[17:12:55.297] frame process finished the id is: 605 the obs is:126 -[17:12:55.299] Odometry x=2.763518, y=-0.798018, theta=-1.174789 -[17:12:55.394] After Reprojection Map nPoint:201 ,nCell:39 ,nMatches:35 ,distance between ekf and vo x:0.000028 ,z=-0.000014,angle between two frames:0.000008 -[17:12:55.394] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =120 error init =0.001109 error end=0.001109 -[17:12:55.394] After pose optimization, distance between ekf and vo x:0.000028 ,z=-0.000014,angle between two frames:0.000008 -[17:12:55.394] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120 -[17:12:55.395] frame process finished the id is: 606 the obs is:120 -[17:12:55.397] Odometry x=2.763546, y=-0.799469, theta=-1.174455 -[17:12:55.494] After Reprojection Map nPoint:195 ,nCell:40 ,nMatches:34 ,distance between ekf and vo x:0.000025 ,z=-0.000013,angle between two frames:0.000007 -[17:12:55.494] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =120 error init =0.000340 error end=0.000340 -[17:12:55.494] After pose optimization, distance between ekf and vo x:0.000025 ,z=-0.000013,angle between two frames:0.000007 -[17:12:55.494] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120 -[17:12:55.495] frame process finished the id is: 607 the obs is:120 -[17:12:55.499] Odometry x=2.763255, y=-0.799710, theta=-1.174081 -[17:12:55.598] Odometry x=2.757308, y=-0.804913, theta=-1.179276 -[17:12:55.604] After Reprojection Map nPoint:195 ,nCell:37 ,nMatches:35 ,distance between ekf and vo x:-0.000023 ,z=0.000015,angle between two frames:0.000000 -[17:12:55.604] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =123 error init =0.001077 error end=0.001077 -[17:12:55.604] After pose optimization, distance between ekf and vo x:-0.000023 ,z=0.000015,angle between two frames:0.000000 -[17:12:55.604] Update EKF and 3D points the number of feature in the new frame: 123 and number of obs: 123 -[17:12:55.605] frame process finished the id is: 608 the obs is:123 -[17:12:55.695] Odometry x=2.762635, y=-0.800218, theta=-1.174102 -[17:12:55.720] After Reprojection Map nPoint:198 ,nCell:35 ,nMatches:27 ,distance between ekf and vo x:-0.000202 ,z=0.000066,angle between two frames:0.000068 -[17:12:55.720] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =136 error init =0.000681 error end=0.000681 -[17:12:55.720] After pose optimization, distance between ekf and vo x:-0.000202 ,z=0.000066,angle between two frames:0.000068 -[17:12:55.720] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136 -[17:12:55.721] frame process finished the id is: 609 the obs is:136 -[17:12:55.793] Odometry x=2.754582, y=-0.801871, theta=-1.182115 -[17:12:55.831] After Reprojection Map nPoint:211 ,nCell:40 ,nMatches:31 ,distance between ekf and vo x:-0.000236 ,z=0.000077,angle between two frames:0.000093 -[17:12:55.831] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =174 error init =0.000660 error end=0.000660 -[17:12:55.831] After pose optimization, distance between ekf and vo x:-0.000236 ,z=0.000077,angle between two frames:0.000093 -[17:12:55.831] Update EKF and 3D points the number of feature in the new frame: 174 and number of obs: 174 -[17:12:55.832] frame process finished the id is: 610 the obs is:174 -[17:12:55.897] Odometry x=2.754056, y=-0.801896, theta=-1.181751 -[17:12:55.931] After Reprojection Map nPoint:249 ,nCell:32 ,nMatches:32 ,distance between ekf and vo x:-0.000144 ,z=0.000067,angle between two frames:0.000057 -[17:12:55.932] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 error init =0.000390 error end=0.000390 -[17:12:55.932] After pose optimization, distance between ekf and vo x:-0.000144 ,z=0.000067,angle between two frames:0.000057 -[17:12:55.932] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189 -[17:12:55.933] frame process finished the id is: 611 the obs is:189 -[17:12:55.999] Odometry x=2.753611, y=-0.802170, theta=-1.182065 -[17:12:56.041] After Reprojection Map nPoint:264 ,nCell:21 ,nMatches:21 ,distance between ekf and vo x:-0.000200 ,z=0.000118,angle between two frames:0.000075 -[17:12:56.041] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =209 error init =0.000449 error end=0.000449 -[17:12:56.041] After pose optimization, distance between ekf and vo x:-0.000200 ,z=0.000118,angle between two frames:0.000075 -[17:12:56.041] Update EKF and 3D points the number of feature in the new frame: 209 and number of obs: 209 -[17:12:56.042] frame process finished the id is: 612 the obs is:209 -[17:12:56.096] Odometry x=2.753192, y=-0.802248, theta=-1.182854 -[17:12:56.127] After Reprojection Map nPoint:284 ,nCell:26 ,nMatches:24 ,distance between ekf and vo x:0.000008 ,z=-0.000006,angle between two frames:0.000001 -[17:12:56.136] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =229 error init =0.001062 error end=0.001061 -[17:12:56.136] After pose optimization, distance between ekf and vo x:-0.000098 ,z=-0.000800,angle between two frames:0.000241 -[17:12:56.136] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229 -[17:12:56.137] frame process finished the id is: 613 the obs is:229 -[17:12:56.193] Odometry x=2.752831, y=-0.803491, theta=-1.183325 -[17:12:56.230] After Reprojection Map nPoint:304 ,nCell:29 ,nMatches:27 ,distance between ekf and vo x:-0.000056 ,z=0.000003,angle between two frames:0.000014 -[17:12:56.231] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =240 error init =0.000220 error end=0.000220 -[17:12:56.231] After pose optimization, distance between ekf and vo x:-0.000056 ,z=0.000003,angle between two frames:0.000014 -[17:12:56.231] Update EKF and 3D points the number of feature in the new frame: 240 and number of obs: 240 -[17:12:56.232] frame process finished the id is: 614 the obs is:240 -[17:12:56.295] Odometry x=2.752412, y=-0.803663, theta=-1.182740 -[17:12:56.322] After Reprojection Map nPoint:315 ,nCell:35 ,nMatches:30 ,distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000005 -[17:12:56.323] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =259 error init =0.000673 error end=0.000673 -[17:12:56.323] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000005 -[17:12:56.323] Update EKF and 3D points the number of feature in the new frame: 259 and number of obs: 259 -[17:12:56.324] frame process finished the id is: 615 the obs is:259 -[17:12:56.396] Odometry x=2.752079, y=-0.803942, theta=-1.182319 -[17:12:56.412] After Reprojection Map nPoint:334 ,nCell:40 ,nMatches:36 ,distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.000000 -[17:12:56.412] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =227 error init =0.000420 error end=0.000420 -[17:12:56.412] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.000000 -[17:12:56.412] Update EKF and 3D points the number of feature in the new frame: 227 and number of obs: 227 -[17:12:56.413] frame process finished the id is: 616 the obs is:227 -[17:12:56.496] Odometry x=2.745575, y=-0.808985, theta=-1.176455 -[17:12:56.500] After Reprojection Map nPoint:302 ,nCell:42 ,nMatches:38 ,distance between ekf and vo x:0.000007 ,z=-0.000003,angle between two frames:0.000003 -[17:12:56.501] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =203 error init =0.001146 error end=0.001146 -[17:12:56.501] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000003,angle between two frames:0.000003 -[17:12:56.501] Update EKF and 3D points the number of feature in the new frame: 203 and number of obs: 203 -[17:12:56.502] frame process finished the id is: 617 the obs is:203 -[17:12:56.595] Odometry x=2.743942, y=-0.810407, theta=-1.180923 -[17:12:56.597] After Reprojection Map nPoint:278 ,nCell:43 ,nMatches:39 ,distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000003 -[17:12:56.598] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =200 error init =0.000694 error end=0.000694 -[17:12:56.598] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000003 -[17:12:56.598] Update EKF and 3D points the number of feature in the new frame: 200 and number of obs: 200 -[17:12:56.599] frame process finished the id is: 618 the obs is:200 -[17:12:56.696] After Reprojection Map nPoint:275 ,nCell:41 ,nMatches:39 ,distance between ekf and vo x:0.000005 ,z=-0.000002,angle between two frames:0.000001 -[17:12:56.699] Odometry x=2.738867, y=-0.814728, theta=-1.193363 -[17:12:56.703] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =191 error init =0.001234 error end=0.001232 -[17:12:56.703] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000848,angle between two frames:0.000247 -[17:12:56.703] Update EKF and 3D points the number of feature in the new frame: 191 and number of obs: 191 -[17:12:56.704] frame process finished the id is: 619 the obs is:191 -[17:12:56.797] After Reprojection Map nPoint:266 ,nCell:33 ,nMatches:33 ,distance between ekf and vo x:0.000007 ,z=-0.000002,angle between two frames:0.000002 -[17:12:56.798] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 error init =0.000951 error end=0.000951 -[17:12:56.798] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000002,angle between two frames:0.000002 -[17:12:56.798] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226 -[17:12:56.799] frame process finished the id is: 620 the obs is:226 -[17:12:56.800] Odometry x=2.736329, y=-0.817839, theta=-1.189996 -[17:12:56.893] Odometry x=2.730724, y=-0.822189, theta=-1.182730 -[17:12:56.897] After Reprojection Map nPoint:301 ,nCell:42 ,nMatches:32 ,distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000001 -[17:12:56.897] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =237 error init =0.000212 error end=0.000212 -[17:12:56.897] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000001 -[17:12:56.897] Update EKF and 3D points the number of feature in the new frame: 237 and number of obs: 237 -[17:12:56.899] frame process finished the id is: 621 the obs is:237 -[17:12:56.996] Odometry x=2.729094, y=-0.822565, theta=-1.185290 -[17:12:56.999] After Reprojection Map nPoint:312 ,nCell:41 ,nMatches:31 ,distance between ekf and vo x:0.000010 ,z=-0.000004,angle between two frames:0.000003 -[17:12:56.999] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =277 error init =0.000383 error end=0.000383 -[17:12:56.999] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000004,angle between two frames:0.000003 -[17:12:56.999] Update EKF and 3D points the number of feature in the new frame: 277 and number of obs: 277 -[17:12:57.001] frame process finished the id is: 622 the obs is:277 -[17:12:57.098] Odometry x=2.728586, y=-0.826421, theta=-1.185199 -[17:12:57.100] After Reprojection Map nPoint:352 ,nCell:44 ,nMatches:35 ,distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000001 -[17:12:57.100] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =274 error init =0.000860 error end=0.000860 -[17:12:57.100] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000001 -[17:12:57.100] Update EKF and 3D points the number of feature in the new frame: 274 and number of obs: 274 -[17:12:57.102] frame process finished the id is: 623 the obs is:274 -[17:12:57.198] After Reprojection Map nPoint:349 ,nCell:41 ,nMatches:35 ,distance between ekf and vo x:0.000005 ,z=-0.000000,angle between two frames:0.000001 -[17:12:57.199] n deleted obs = 22 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =240 error init =0.001656 error end=0.001656 -[17:12:57.199] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000000,angle between two frames:0.000001 -[17:12:57.199] Update EKF and 3D points the number of feature in the new frame: 240 and number of obs: 240 -[17:12:57.200] frame process finished the id is: 624 the obs is:240 -[17:12:57.201] Odometry x=2.727339, y=-0.825783, theta=-1.188852 -[17:12:57.294] Odometry x=2.721454, y=-0.830503, theta=-1.197302 -[17:12:57.299] After Reprojection Map nPoint:315 ,nCell:42 ,nMatches:36 ,distance between ekf and vo x:0.000009 ,z=-0.000003,angle between two frames:0.000003 -[17:12:57.300] n deleted obs = 44 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =237 error init =0.001345 error end=0.001345 -[17:12:57.300] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000003,angle between two frames:0.000003 -[17:12:57.300] Update EKF and 3D points the number of feature in the new frame: 237 and number of obs: 237 -[17:12:57.301] frame process finished the id is: 625 the obs is:237 -[17:12:57.397] After Reprojection Map nPoint:312 ,nCell:49 ,nMatches:43 ,distance between ekf and vo x:0.000004 ,z=-0.000001,angle between two frames:0.000001 -[17:12:57.397] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =250 error init =0.000241 error end=0.000241 -[17:12:57.397] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000001,angle between two frames:0.000001 -[17:12:57.397] Update EKF and 3D points the number of feature in the new frame: 250 and number of obs: 250 -[17:12:57.399] frame process finished the id is: 626 the obs is:250 -[17:12:57.401] Odometry x=2.720638, y=-0.833412, theta=-1.193500 -[17:12:57.495] Odometry x=2.714315, y=-0.837039, theta=-1.179288 -[17:12:57.500] After Reprojection Map nPoint:325 ,nCell:36 ,nMatches:36 ,distance between ekf and vo x:0.000006 ,z=0.000000,angle between two frames:0.000001 -[17:12:57.500] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =248 error init =0.000675 error end=0.000675 -[17:12:57.500] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000000,angle between two frames:0.000001 -[17:12:57.500] Update EKF and 3D points the number of feature in the new frame: 248 and number of obs: 248 -[17:12:57.501] frame process finished the id is: 627 the obs is:248 -[17:12:57.597] After Reprojection Map nPoint:323 ,nCell:35 ,nMatches:33 ,distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000002 -[17:12:57.597] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =250 error init =0.000477 error end=0.000477 -[17:12:57.597] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000002 -[17:12:57.597] Update EKF and 3D points the number of feature in the new frame: 250 and number of obs: 250 -[17:12:57.598] Odometry x=2.719408, y=-0.834300, theta=-1.192877 -[17:12:57.599] frame process finished the id is: 628 the obs is:250 -[17:12:57.698] Odometry x=2.713403, y=-0.839150, theta=-1.198301 -[17:12:57.707] After Reprojection Map nPoint:325 ,nCell:50 ,nMatches:36 ,distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000001 -[17:12:57.708] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 error init =0.000403 error end=0.000403 -[17:12:57.708] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000001 -[17:12:57.708] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226 -[17:12:57.709] frame process finished the id is: 629 the obs is:226 -[17:12:57.796] Odometry x=2.713129, y=-0.839376, theta=-1.198273 -[17:12:57.804] After Reprojection Map nPoint:301 ,nCell:40 ,nMatches:36 ,distance between ekf and vo x:-0.000027 ,z=0.000034,angle between two frames:0.000021 -[17:12:57.804] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =206 error init =0.000972 error end=0.000972 -[17:12:57.804] After pose optimization, distance between ekf and vo x:-0.000027 ,z=0.000034,angle between two frames:0.000021 -[17:12:57.804] Update EKF and 3D points the number of feature in the new frame: 206 and number of obs: 206 -[17:12:57.805] frame process finished the id is: 630 the obs is:206 -[17:12:57.893] Odometry x=2.710345, y=-0.862357, theta=-1.204670 -[17:12:57.904] After Reprojection Map nPoint:281 ,nCell:39 ,nMatches:37 ,distance between ekf and vo x:0.000009 ,z=0.000020,angle between two frames:0.000011 -[17:12:57.905] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =251 error init =0.000421 error end=0.000421 -[17:12:57.905] After pose optimization, distance between ekf and vo x:0.000009 ,z=0.000020,angle between two frames:0.000011 -[17:12:57.905] Update EKF and 3D points the number of feature in the new frame: 251 and number of obs: 251 -[17:12:57.906] frame process finished the id is: 631 the obs is:251 -[17:12:58.000] Odometry x=2.711873, y=-0.841434, theta=-1.198334 -[17:12:58.012] After Reprojection Map nPoint:326 ,nCell:37 ,nMatches:36 ,distance between ekf and vo x:-0.000045 ,z=0.000058,angle between two frames:0.000033 -[17:12:58.013] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 error init =0.000345 error end=0.000345 -[17:12:58.013] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000058,angle between two frames:0.000033 -[17:12:58.013] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270 -[17:12:58.015] frame process finished the id is: 632 the obs is:270 -[17:12:58.096] Odometry x=2.704190, y=-0.844800, theta=-1.199923 -[17:12:58.112] After Reprojection Map nPoint:345 ,nCell:38 ,nMatches:36 ,distance between ekf and vo x:-0.000006 ,z=0.000014,angle between two frames:0.000015 -[17:12:58.112] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =294 error init =0.000473 error end=0.000473 -[17:12:58.112] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000014,angle between two frames:0.000015 -[17:12:58.112] Update EKF and 3D points the number of feature in the new frame: 294 and number of obs: 294 -[17:12:58.114] frame process finished the id is: 633 the obs is:294 -[17:12:58.193] Odometry x=2.710271, y=-0.842428, theta=-1.198343 -[17:12:58.203] After Reprojection Map nPoint:369 ,nCell:43 ,nMatches:42 ,distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000000 -[17:12:58.204] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =316 error init =0.000228 error end=0.000228 -[17:12:58.204] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000000 -[17:12:58.204] Update EKF and 3D points the number of feature in the new frame: 316 and number of obs: 316 -[17:12:58.206] frame process finished the id is: 634 the obs is:316 -[17:12:58.295] Odometry x=2.704697, y=-0.847307, theta=-1.191688 -[17:12:58.305] After Reprojection Map nPoint:391 ,nCell:43 ,nMatches:40 ,distance between ekf and vo x:0.000008 ,z=0.000004,angle between two frames:0.000003 -[17:12:58.306] n deleted obs = 26 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =232 error init =0.001338 error end=0.001338 -[17:12:58.306] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000004,angle between two frames:0.000003 -[17:12:58.306] Update EKF and 3D points the number of feature in the new frame: 232 and number of obs: 232 -[17:12:58.307] frame process finished the id is: 635 the obs is:232 -[17:12:58.397] After Reprojection Map nPoint:307 ,nCell:39 ,nMatches:36 ,distance between ekf and vo x:0.000003 ,z=0.000001,angle between two frames:0.000000 -[17:12:58.397] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =212 error init =0.000577 error end=0.000577 -[17:12:58.397] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000001,angle between two frames:0.000000 -[17:12:58.397] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212 -[17:12:58.398] Odometry x=2.708315, y=-0.844084, theta=-1.198197 -[17:12:58.399] frame process finished the id is: 636 the obs is:212 -[17:12:58.495] Odometry x=2.701727, y=-0.846339, theta=-1.210795 -[17:12:58.497] After Reprojection Map nPoint:287 ,nCell:36 ,nMatches:33 ,distance between ekf and vo x:0.000005 ,z=-0.000001,angle between two frames:0.000002 -[17:12:58.497] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =220 error init =0.000573 error end=0.000573 -[17:12:58.497] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000001,angle between two frames:0.000002 -[17:12:58.497] Update EKF and 3D points the number of feature in the new frame: 220 and number of obs: 220 -[17:12:58.498] frame process finished the id is: 637 the obs is:220 -[17:12:58.596] After Reprojection Map nPoint:295 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000001 -[17:12:58.596] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =213 error init =0.000275 error end=0.000275 -[17:12:58.596] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000001 -[17:12:58.596] Update EKF and 3D points the number of feature in the new frame: 213 and number of obs: 213 -[17:12:58.598] frame process finished the id is: 638 the obs is:213 -[17:12:58.598] Odometry x=2.707167, y=-0.844746, theta=-1.198805 -[17:12:58.695] Odometry x=2.701230, y=-0.849216, theta=-1.196121 -[17:12:58.714] After Reprojection Map nPoint:288 ,nCell:42 ,nMatches:32 ,distance between ekf and vo x:-0.000080 ,z=0.000054,angle between two frames:0.000018 -[17:12:58.723] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =237 error init =0.000355 error end=0.000354 -[17:12:58.723] After pose optimization, distance between ekf and vo x:-0.000433 ,z=-0.002358,angle between two frames:0.000782 -[17:12:58.723] Update EKF and 3D points the number of feature in the new frame: 237 and number of obs: 237 -[17:12:58.724] frame process finished the id is: 639 the obs is:237 -[17:12:58.798] Odometry x=2.706092, y=-0.846956, theta=-1.199498 -[17:12:58.822] After Reprojection Map nPoint:312 ,nCell:49 ,nMatches:34 ,distance between ekf and vo x:-0.000069 ,z=0.000059,angle between two frames:0.000027 -[17:12:58.822] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =225 error init =0.000313 error end=0.000313 -[17:12:58.822] After pose optimization, distance between ekf and vo x:-0.000069 ,z=0.000059,angle between two frames:0.000027 -[17:12:58.822] Update EKF and 3D points the number of feature in the new frame: 225 and number of obs: 225 -[17:12:58.824] frame process finished the id is: 640 the obs is:225 -[17:12:58.897] Odometry x=2.699830, y=-0.855782, theta=-1.193418 -[17:12:58.917] After Reprojection Map nPoint:300 ,nCell:36 ,nMatches:33 ,distance between ekf and vo x:-0.000086 ,z=0.000062,angle between two frames:0.000033 -[17:12:58.917] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =207 error init =0.000359 error end=0.000359 -[17:12:58.917] After pose optimization, distance between ekf and vo x:-0.000086 ,z=0.000062,angle between two frames:0.000033 -[17:12:58.917] Update EKF and 3D points the number of feature in the new frame: 207 and number of obs: 207 -[17:12:58.919] frame process finished the id is: 641 the obs is:207 -[17:12:58.999] Odometry x=2.699512, y=-0.856082, theta=-1.193779 -[17:12:59.012] After Reprojection Map nPoint:282 ,nCell:39 ,nMatches:34 ,distance between ekf and vo x:-0.000049 ,z=0.000033,angle between two frames:0.000014 -[17:12:59.020] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =220 error init =0.000425 error end=0.000425 -[17:12:59.020] After pose optimization, distance between ekf and vo x:-0.000048 ,z=-0.000773,angle between two frames:0.000276 -[17:12:59.020] Update EKF and 3D points the number of feature in the new frame: 220 and number of obs: 220 -[17:12:59.022] frame process finished the id is: 642 the obs is:220 -[17:12:59.097] Odometry x=2.693125, y=-0.862484, theta=-1.203393 -[17:12:59.112] After Reprojection Map nPoint:295 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:-0.000034 ,z=0.000030,angle between two frames:0.000011 -[17:12:59.112] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 error init =0.000409 error end=0.000409 -[17:12:59.112] After pose optimization, distance between ekf and vo x:-0.000034 ,z=0.000030,angle between two frames:0.000011 -[17:12:59.112] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226 -[17:12:59.114] frame process finished the id is: 643 the obs is:226 -[17:12:59.195] Odometry x=2.691534, y=-0.862980, theta=-1.205438 -[17:12:59.211] After Reprojection Map nPoint:301 ,nCell:36 ,nMatches:36 ,distance between ekf and vo x:-0.000023 ,z=0.000047,angle between two frames:0.000003 -[17:12:59.211] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =183 error init =0.000614 error end=0.000614 -[17:12:59.211] After pose optimization, distance between ekf and vo x:-0.000023 ,z=0.000047,angle between two frames:0.000003 -[17:12:59.211] Update EKF and 3D points the number of feature in the new frame: 183 and number of obs: 183 -[17:12:59.212] frame process finished the id is: 644 the obs is:183 -[17:12:59.292] Odometry x=2.686124, y=-0.867031, theta=-1.208180 -[17:12:59.321] After Reprojection Map nPoint:258 ,nCell:37 ,nMatches:37 ,distance between ekf and vo x:-0.000143 ,z=0.000097,angle between two frames:0.000064 -[17:12:59.322] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =204 error init =0.000444 error end=0.000444 -[17:12:59.322] After pose optimization, distance between ekf and vo x:-0.000125 ,z=0.000064,angle between two frames:0.000075 -[17:12:59.322] Update EKF and 3D points the number of feature in the new frame: 204 and number of obs: 204 -[17:12:59.323] frame process finished the id is: 645 the obs is:204 -[17:12:59.396] Odometry x=2.685755, y=-0.867117, theta=-1.207977 -[17:12:59.427] After Reprojection Map nPoint:279 ,nCell:33 ,nMatches:30 ,distance between ekf and vo x:-0.000164 ,z=0.000152,angle between two frames:0.000073 -[17:12:59.427] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =255 error init =0.000322 error end=0.000322 -[17:12:59.427] After pose optimization, distance between ekf and vo x:-0.000164 ,z=0.000152,angle between two frames:0.000073 -[17:12:59.427] Update EKF and 3D points the number of feature in the new frame: 255 and number of obs: 255 -[17:12:59.429] frame process finished the id is: 646 the obs is:255 -[17:12:59.499] Odometry x=2.685256, y=-0.867234, theta=-1.207575 -[17:12:59.539] After Reprojection Map nPoint:330 ,nCell:34 ,nMatches:34 ,distance between ekf and vo x:-0.000164 ,z=0.000182,angle between two frames:0.000075 -[17:12:59.540] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =182 error init =0.000471 error end=0.000471 -[17:12:59.540] After pose optimization, distance between ekf and vo x:-0.000164 ,z=0.000182,angle between two frames:0.000075 -[17:12:59.540] Update EKF and 3D points the number of feature in the new frame: 182 and number of obs: 182 -[17:12:59.541] frame process finished the id is: 647 the obs is:182 -[17:12:59.598] Odometry x=2.685481, y=-0.866391, theta=-1.207497 -[17:12:59.649] After Reprojection Map nPoint:257 ,nCell:33 ,nMatches:33 ,distance between ekf and vo x:-0.000157 ,z=0.000147,angle between two frames:0.000061 -[17:12:59.650] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 error init =0.000873 error end=0.000873 -[17:12:59.650] After pose optimization, distance between ekf and vo x:-0.000157 ,z=0.000147,angle between two frames:0.000061 -[17:12:59.650] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226 -[17:12:59.651] frame process finished the id is: 648 the obs is:226 -[17:12:59.698] Odometry x=2.684992, y=-0.866542, theta=-1.207153 -[17:12:59.754] After Reprojection Map nPoint:301 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:-0.000115 ,z=0.000100,angle between two frames:0.000054 -[17:12:59.755] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =259 error init =0.000136 error end=0.000136 -[17:12:59.755] After pose optimization, distance between ekf and vo x:-0.000115 ,z=0.000100,angle between two frames:0.000054 -[17:12:59.755] Update EKF and 3D points the number of feature in the new frame: 259 and number of obs: 259 -[17:12:59.756] frame process finished the id is: 649 the obs is:259 -[17:12:59.796] Odometry x=2.684570, y=-0.866801, theta=-1.206869 -[17:12:59.853] After Reprojection Map nPoint:334 ,nCell:38 ,nMatches:36 ,distance between ekf and vo x:-0.000100 ,z=0.000062,angle between two frames:0.000037 -[17:12:59.854] n deleted obs = 36 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =191 error init =0.001241 error end=0.001241 -[17:12:59.854] After pose optimization, distance between ekf and vo x:-0.000100 ,z=0.000062,angle between two frames:0.000037 -[17:12:59.854] Update EKF and 3D points the number of feature in the new frame: 191 and number of obs: 191 -[17:12:59.855] frame process finished the id is: 650 the obs is:191 -[17:12:59.898] Odometry x=2.684103, y=-0.866862, theta=-1.206624 -[17:12:59.939] After Reprojection Map nPoint:266 ,nCell:38 ,nMatches:29 ,distance between ekf and vo x:-0.000003 ,z=0.000000,angle between two frames:0.000001 -[17:12:59.939] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =194 error init =0.000397 error end=0.000397 -[17:12:59.939] After pose optimization, distance between ekf and vo x:-0.000003 ,z=0.000000,angle between two frames:0.000001 -[17:12:59.939] Update EKF and 3D points the number of feature in the new frame: 194 and number of obs: 194 -[17:12:59.940] frame process finished the id is: 651 the obs is:194 -[17:12:59.995] Odometry x=2.683759, y=-0.867121, theta=-1.206442 -[17:13:00.040] After Reprojection Map nPoint:269 ,nCell:31 ,nMatches:31 ,distance between ekf and vo x:-0.000096 ,z=0.000048,angle between two frames:0.000033 -[17:13:00.041] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =212 error init =0.000483 error end=0.000483 -[17:13:00.041] After pose optimization, distance between ekf and vo x:-0.000096 ,z=0.000048,angle between two frames:0.000033 -[17:13:00.041] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212 -[17:13:00.042] frame process finished the id is: 652 the obs is:212 -[17:13:00.094] Odometry x=2.683589, y=-0.867136, theta=-1.206352 -[17:13:00.142] After Reprojection Map nPoint:287 ,nCell:38 ,nMatches:27 ,distance between ekf and vo x:-0.000167 ,z=0.000154,angle between two frames:0.000055 -[17:13:00.142] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =249 error init =0.000358 error end=0.000358 -[17:13:00.142] After pose optimization, distance between ekf and vo x:-0.000167 ,z=0.000154,angle between two frames:0.000055 -[17:13:00.142] Update EKF and 3D points the number of feature in the new frame: 249 and number of obs: 249 -[17:13:00.144] frame process finished the id is: 653 the obs is:249 -[17:13:00.201] Odometry x=2.683115, y=-0.867282, theta=-1.206491 -[17:13:00.249] After Reprojection Map nPoint:324 ,nCell:44 ,nMatches:34 ,distance between ekf and vo x:-0.000177 ,z=0.000177,angle between two frames:0.000059 -[17:13:00.249] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =260 error init =0.000791 error end=0.000791 -[17:13:00.249] After pose optimization, distance between ekf and vo x:-0.000177 ,z=0.000177,angle between two frames:0.000059 -[17:13:00.249] Update EKF and 3D points the number of feature in the new frame: 260 and number of obs: 260 -[17:13:00.251] frame process finished the id is: 654 the obs is:260 -[17:13:00.293] Odometry x=2.682572, y=-0.867316, theta=-1.206991 -[17:13:00.345] After Reprojection Map nPoint:335 ,nCell:48 ,nMatches:32 ,distance between ekf and vo x:-0.000038 ,z=0.000038,angle between two frames:0.000011 -[17:13:00.346] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =287 error init =0.000745 error end=0.000745 -[17:13:00.346] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000038,angle between two frames:0.000011 -[17:13:00.346] Update EKF and 3D points the number of feature in the new frame: 287 and number of obs: 287 -[17:13:00.347] frame process finished the id is: 655 the obs is:287 -[17:13:00.396] Odometry x=2.682197, y=-0.867372, theta=-1.207031 -[17:13:00.454] After Reprojection Map nPoint:362 ,nCell:35 ,nMatches:28 ,distance between ekf and vo x:-0.000172 ,z=0.000123,angle between two frames:0.000050 -[17:13:00.454] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =306 error init =0.000271 error end=0.000271 -[17:13:00.454] After pose optimization, distance between ekf and vo x:-0.000172 ,z=0.000123,angle between two frames:0.000050 -[17:13:00.454] Update EKF and 3D points the number of feature in the new frame: 306 and number of obs: 306 -[17:13:00.456] frame process finished the id is: 656 the obs is:306 -[17:13:00.499] Odometry x=2.681807, y=-0.867439, theta=-1.207298 -[17:13:00.559] After Reprojection Map nPoint:381 ,nCell:41 ,nMatches:32 ,distance between ekf and vo x:-0.000133 ,z=0.000105,angle between two frames:0.000043 -[17:13:00.560] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =200 error init =0.000509 error end=0.000509 -[17:13:00.560] After pose optimization, distance between ekf and vo x:-0.000133 ,z=0.000105,angle between two frames:0.000043 -[17:13:00.560] Update EKF and 3D points the number of feature in the new frame: 200 and number of obs: 200 -[17:13:00.561] frame process finished the id is: 657 the obs is:200 -[17:13:00.593] Odometry x=2.681326, y=-0.867611, theta=-1.208241 -[17:13:00.648] After Reprojection Map nPoint:275 ,nCell:43 ,nMatches:27 ,distance between ekf and vo x:-0.000009 ,z=-0.000001,angle between two frames:0.000004 -[17:13:00.655] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =198 error init =0.001053 error end=0.001050 -[17:13:00.655] After pose optimization, distance between ekf and vo x:-0.000507 ,z=-0.003034,angle between two frames:0.000947 -[17:13:00.655] Update EKF and 3D points the number of feature in the new frame: 198 and number of obs: 198 -[17:13:00.656] frame process finished the id is: 658 the obs is:198 -[17:13:00.696] Odometry x=2.680548, y=-0.870719, theta=-1.209691 -[17:13:00.756] After Reprojection Map nPoint:273 ,nCell:36 ,nMatches:30 ,distance between ekf and vo x:-0.000057 ,z=0.000020,angle between two frames:0.000019 -[17:13:00.757] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =195 error init =0.000424 error end=0.000424 -[17:13:00.757] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000020,angle between two frames:0.000019 -[17:13:00.757] Update EKF and 3D points the number of feature in the new frame: 195 and number of obs: 195 -[17:13:00.758] frame process finished the id is: 659 the obs is:195 -[17:13:00.796] Odometry x=2.680150, y=-0.871001, theta=-1.210008 -[17:13:00.856] After Reprojection Map nPoint:270 ,nCell:38 ,nMatches:30 ,distance between ekf and vo x:-0.000171 ,z=0.000112,angle between two frames:0.000057 -[17:13:00.856] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =227 error init =0.000686 error end=0.000686 -[17:13:00.856] After pose optimization, distance between ekf and vo x:-0.000171 ,z=0.000112,angle between two frames:0.000057 -[17:13:00.856] Update EKF and 3D points the number of feature in the new frame: 227 and number of obs: 227 -[17:13:00.858] frame process finished the id is: 660 the obs is:227 -[17:13:00.957] After Reprojection Map nPoint:302 ,nCell:38 ,nMatches:29 ,distance between ekf and vo x:-0.000103 ,z=0.000090,angle between two frames:0.000048 -[17:13:00.958] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =217 error init =0.000423 error end=0.000423 -[17:13:00.958] After pose optimization, distance between ekf and vo x:-0.000103 ,z=0.000090,angle between two frames:0.000048 -[17:13:00.958] Update EKF and 3D points the number of feature in the new frame: 217 and number of obs: 217 -[17:13:00.959] frame process finished the id is: 661 the obs is:217 -[17:13:01.057] After Reprojection Map nPoint:292 ,nCell:37 ,nMatches:28 ,distance between ekf and vo x:-0.000125 ,z=0.000101,angle between two frames:0.000053 -[17:13:01.057] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 error init =0.000487 error end=0.000487 -[17:13:01.057] After pose optimization, distance between ekf and vo x:-0.000125 ,z=0.000101,angle between two frames:0.000053 -[17:13:01.057] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270 -[17:13:01.059] frame process finished the id is: 662 the obs is:270 -[17:13:01.167] After Reprojection Map nPoint:345 ,nCell:45 ,nMatches:37 ,distance between ekf and vo x:-0.000179 ,z=0.000173,angle between two frames:0.000073 -[17:13:01.167] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =281 error init =0.000284 error end=0.000284 -[17:13:01.167] After pose optimization, distance between ekf and vo x:-0.000179 ,z=0.000173,angle between two frames:0.000073 -[17:13:01.167] Update EKF and 3D points the number of feature in the new frame: 281 and number of obs: 281 -[17:13:01.169] frame process finished the id is: 663 the obs is:281 -[17:13:01.271] After Reprojection Map nPoint:356 ,nCell:42 ,nMatches:33 ,distance between ekf and vo x:-0.000061 ,z=0.000056,angle between two frames:0.000023 -[17:13:01.272] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 error init =0.000948 error end=0.000948 -[17:13:01.272] After pose optimization, distance between ekf and vo x:0.000035 ,z=0.000018,angle between two frames:0.000019 -[17:13:01.272] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270 -[17:13:01.274] frame process finished the id is: 664 the obs is:270 -[17:13:01.367] After Reprojection Map nPoint:345 ,nCell:41 ,nMatches:32 ,distance between ekf and vo x:-0.000080 ,z=0.000062,angle between two frames:0.000031 -[17:13:01.368] n deleted obs = 43 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =214 error init =0.001372 error end=0.001372 -[17:13:01.368] After pose optimization, distance between ekf and vo x:-0.000080 ,z=0.000062,angle between two frames:0.000031 -[17:13:01.368] Update EKF and 3D points the number of feature in the new frame: 214 and number of obs: 214 -[17:13:01.369] frame process finished the id is: 665 the obs is:214 -[17:13:01.471] After Reprojection Map nPoint:289 ,nCell:34 ,nMatches:28 ,distance between ekf and vo x:-0.000083 ,z=0.000088,angle between two frames:0.000032 -[17:13:01.472] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =214 error init =0.000146 error end=0.000146 -[17:13:01.472] After pose optimization, distance between ekf and vo x:-0.000083 ,z=0.000088,angle between two frames:0.000032 -[17:13:01.472] Update EKF and 3D points the number of feature in the new frame: 214 and number of obs: 214 -[17:13:01.473] frame process finished the id is: 666 the obs is:214 -[17:13:01.565] After Reprojection Map nPoint:289 ,nCell:32 ,nMatches:27 ,distance between ekf and vo x:-0.000006 ,z=0.000009,angle between two frames:0.000007 -[17:13:01.566] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =218 error init =0.000741 error end=0.000741 -[17:13:01.566] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000009,angle between two frames:0.000007 -[17:13:01.566] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218 -[17:13:01.567] frame process finished the id is: 667 the obs is:218 -[17:13:01.653] After Reprojection Map nPoint:293 ,nCell:31 ,nMatches:29 ,distance between ekf and vo x:0.000005 ,z=-0.000002,angle between two frames:0.000001 -[17:13:01.654] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =233 error init =0.000177 error end=0.000177 -[17:13:01.654] After pose optimization, distance between ekf and vo x:0.000011 ,z=-0.000033,angle between two frames:0.000010 -[17:13:01.654] Update EKF and 3D points the number of feature in the new frame: 233 and number of obs: 233 -[17:13:01.655] frame process finished the id is: 668 the obs is:233 -[17:13:01.762] After Reprojection Map nPoint:308 ,nCell:33 ,nMatches:27 ,distance between ekf and vo x:-0.000086 ,z=0.000082,angle between two frames:0.000046 -[17:13:01.762] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =248 error init =0.000771 error end=0.000771 -[17:13:01.762] After pose optimization, distance between ekf and vo x:-0.000086 ,z=0.000082,angle between two frames:0.000046 -[17:13:01.762] Update EKF and 3D points the number of feature in the new frame: 248 and number of obs: 248 -[17:13:01.764] frame process finished the id is: 669 the obs is:248 -[17:13:01.855] After Reprojection Map nPoint:323 ,nCell:36 ,nMatches:30 ,distance between ekf and vo x:-0.000013 ,z=0.000019,angle between two frames:0.000018 -[17:13:01.855] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =247 error init =0.000200 error end=0.000200 -[17:13:01.855] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000019,angle between two frames:0.000018 -[17:13:01.855] Update EKF and 3D points the number of feature in the new frame: 247 and number of obs: 247 -[17:13:01.857] frame process finished the id is: 670 the obs is:247 -[17:13:01.950] After Reprojection Map nPoint:322 ,nCell:14 ,nMatches:14 ,distance between ekf and vo x:-0.000057 ,z=0.000048,angle between two frames:0.000036 -[17:13:01.951] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =130 error init =0.000087 error end=0.000087 -[17:13:01.951] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000048,angle between two frames:0.000036 -[17:13:01.951] Update EKF and 3D points the number of feature in the new frame: 130 and number of obs: 130 -[17:13:01.952] frame process finished the id is: 671 the obs is:130 -[17:13:02.055] After Reprojection Map nPoint:205 ,nCell:26 ,nMatches:24 ,distance between ekf and vo x:-0.000093 ,z=-0.000059,angle between two frames:0.000025 -[17:13:02.060] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =120 error init =0.001158 error end=0.001156 -[17:13:02.060] After pose optimization, distance between ekf and vo x:-0.000501 ,z=-0.002827,angle between two frames:0.001077 -[17:13:02.060] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120 -[17:13:02.060] frame process finished the id is: 672 the obs is:120 -[17:13:02.143] After Reprojection Map nPoint:195 ,nCell:30 ,nMatches:26 ,distance between ekf and vo x:0.000006 ,z=0.000002,angle between two frames:0.000001 -[17:13:02.143] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =107 error init =0.001358 error end=0.001358 -[17:13:02.143] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000002,angle between two frames:0.000001 -[17:13:02.143] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107 -[17:13:02.144] frame process finished the id is: 673 the obs is:107 -[17:13:02.228] After Reprojection Map nPoint:182 ,nCell:32 ,nMatches:28 ,distance between ekf and vo x:0.000018 ,z=-0.000008,angle between two frames:0.000003 -[17:13:02.228] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =137 error init =0.000290 error end=0.000290 -[17:13:02.228] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000008,angle between two frames:0.000003 -[17:13:02.228] Update EKF and 3D points the number of feature in the new frame: 137 and number of obs: 137 -[17:13:02.229] frame process finished the id is: 674 the obs is:137 -[17:13:02.336] After Reprojection Map nPoint:212 ,nCell:36 ,nMatches:29 ,distance between ekf and vo x:-0.000057 ,z=0.000072,angle between two frames:0.000039 -[17:13:02.337] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =146 error init =0.000269 error end=0.000269 -[17:13:02.337] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000072,angle between two frames:0.000039 -[17:13:02.337] Update EKF and 3D points the number of feature in the new frame: 146 and number of obs: 146 -[17:13:02.338] frame process finished the id is: 675 the obs is:146 -[17:13:02.443] After Reprojection Map nPoint:221 ,nCell:32 ,nMatches:29 ,distance between ekf and vo x:-0.000043 ,z=0.000075,angle between two frames:0.000043 -[17:13:02.444] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =137 error init =0.000347 error end=0.000347 -[17:13:02.444] After pose optimization, distance between ekf and vo x:-0.000043 ,z=0.000075,angle between two frames:0.000043 -[17:13:02.444] Update EKF and 3D points the number of feature in the new frame: 137 and number of obs: 137 -[17:13:02.445] frame process finished the id is: 676 the obs is:137 -[17:13:02.543] After Reprojection Map nPoint:212 ,nCell:33 ,nMatches:33 ,distance between ekf and vo x:0.000001 ,z=0.000032,angle between two frames:0.000025 -[17:13:02.544] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =159 error init =0.000241 error end=0.000241 -[17:13:02.544] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000032,angle between two frames:0.000025 -[17:13:02.544] Update EKF and 3D points the number of feature in the new frame: 159 and number of obs: 159 -[17:13:02.544] frame process finished the id is: 677 the obs is:159 -[17:13:02.644] After Reprojection Map nPoint:234 ,nCell:36 ,nMatches:36 ,distance between ekf and vo x:-0.000007 ,z=0.000055,angle between two frames:0.000033 -[17:13:02.645] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =158 error init =0.000157 error end=0.000157 -[17:13:02.645] After pose optimization, distance between ekf and vo x:-0.000007 ,z=0.000055,angle between two frames:0.000033 -[17:13:02.645] Update EKF and 3D points the number of feature in the new frame: 158 and number of obs: 158 -[17:13:02.646] frame process finished the id is: 678 the obs is:158 -[17:13:02.747] After Reprojection Map nPoint:233 ,nCell:33 ,nMatches:33 ,distance between ekf and vo x:-0.000050 ,z=0.000077,angle between two frames:0.000055 -[17:13:02.748] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =186 error init =0.000213 error end=0.000213 -[17:13:02.748] After pose optimization, distance between ekf and vo x:-0.000050 ,z=0.000077,angle between two frames:0.000055 -[17:13:02.748] Update EKF and 3D points the number of feature in the new frame: 186 and number of obs: 186 -[17:13:02.749] frame process finished the id is: 679 the obs is:186 -[17:13:02.839] After Reprojection Map nPoint:261 ,nCell:32 ,nMatches:32 ,distance between ekf and vo x:-0.000013 ,z=0.000021,angle between two frames:0.000015 -[17:13:02.839] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =212 error init =0.000396 error end=0.000396 -[17:13:02.839] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000021,angle between two frames:0.000015 -[17:13:02.839] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212 -[17:13:02.841] frame process finished the id is: 680 the obs is:212 -[17:13:02.935] After Reprojection Map nPoint:287 ,nCell:32 ,nMatches:32 ,distance between ekf and vo x:-0.000029 ,z=0.000058,angle between two frames:0.000037 -[17:13:02.935] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =170 error init =0.000795 error end=0.000795 -[17:13:02.935] After pose optimization, distance between ekf and vo x:-0.000029 ,z=0.000058,angle between two frames:0.000037 -[17:13:02.935] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170 -[17:13:02.936] frame process finished the id is: 681 the obs is:170 -[17:13:03.021] After Reprojection Map nPoint:245 ,nCell:31 ,nMatches:31 ,distance between ekf and vo x:0.000005 ,z=-0.000003,angle between two frames:0.000000 -[17:13:03.027] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =160 error init =0.000200 error end=0.000200 -[17:13:03.027] After pose optimization, distance between ekf and vo x:-0.000162 ,z=-0.000605,angle between two frames:0.000202 -[17:13:03.027] Update EKF and 3D points the number of feature in the new frame: 160 and number of obs: 160 -[17:13:03.028] frame process finished the id is: 682 the obs is:160 -[17:13:03.128] After Reprojection Map nPoint:235 ,nCell:37 ,nMatches:35 ,distance between ekf and vo x:-0.000029 ,z=0.000045,angle between two frames:0.000033 -[17:13:03.136] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =193 error init =0.000424 error end=0.000424 -[17:13:03.136] After pose optimization, distance between ekf and vo x:-0.000318 ,z=-0.001156,angle between two frames:0.000435 -[17:13:03.136] Update EKF and 3D points the number of feature in the new frame: 193 and number of obs: 193 -[17:13:03.137] frame process finished the id is: 683 the obs is:193 -[17:13:03.234] After Reprojection Map nPoint:268 ,nCell:30 ,nMatches:30 ,distance between ekf and vo x:-0.000029 ,z=0.000050,angle between two frames:0.000031 -[17:13:03.235] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =217 error init =0.000450 error end=0.000450 -[17:13:03.235] After pose optimization, distance between ekf and vo x:-0.000029 ,z=0.000050,angle between two frames:0.000031 -[17:13:03.235] Update EKF and 3D points the number of feature in the new frame: 217 and number of obs: 217 -[17:13:03.236] frame process finished the id is: 684 the obs is:217 -[17:13:03.339] After Reprojection Map nPoint:292 ,nCell:30 ,nMatches:30 ,distance between ekf and vo x:-0.000045 ,z=0.000074,angle between two frames:0.000044 -[17:13:03.339] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =256 error init =0.000079 error end=0.000079 -[17:13:03.339] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000074,angle between two frames:0.000044 -[17:13:03.339] Update EKF and 3D points the number of feature in the new frame: 256 and number of obs: 256 -[17:13:03.341] frame process finished the id is: 685 the obs is:256 -[17:13:03.450] After Reprojection Map nPoint:331 ,nCell:28 ,nMatches:28 ,distance between ekf and vo x:-0.000072 ,z=0.000100,angle between two frames:0.000054 -[17:13:03.451] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =236 error init =0.001134 error end=0.001134 -[17:13:03.451] After pose optimization, distance between ekf and vo x:-0.000072 ,z=0.000100,angle between two frames:0.000054 -[17:13:03.451] Update EKF and 3D points the number of feature in the new frame: 236 and number of obs: 236 -[17:13:03.452] frame process finished the id is: 686 the obs is:236 -[17:13:03.541] After Reprojection Map nPoint:311 ,nCell:38 ,nMatches:35 ,distance between ekf and vo x:-0.000027 ,z=0.000028,angle between two frames:0.000015 -[17:13:03.542] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =222 error init =0.000062 error end=0.000062 -[17:13:03.542] After pose optimization, distance between ekf and vo x:-0.000027 ,z=0.000028,angle between two frames:0.000015 -[17:13:03.542] Update EKF and 3D points the number of feature in the new frame: 222 and number of obs: 222 -[17:13:03.543] frame process finished the id is: 687 the obs is:222 -[17:13:03.629] After Reprojection Map nPoint:297 ,nCell:35 ,nMatches:32 ,distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000000 -[17:13:03.629] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =212 error init =0.000419 error end=0.000419 -[17:13:03.629] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000000 -[17:13:03.629] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212 -[17:13:03.630] frame process finished the id is: 688 the obs is:212 -[17:13:03.715] After Reprojection Map nPoint:287 ,nCell:34 ,nMatches:31 ,distance between ekf and vo x:0.000003 ,z=-0.000002,angle between two frames:0.000000 -[17:13:03.715] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =243 error init =0.000245 error end=0.000245 -[17:13:03.715] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000002,angle between two frames:0.000000 -[17:13:03.715] Update EKF and 3D points the number of feature in the new frame: 243 and number of obs: 243 -[17:13:03.717] frame process finished the id is: 689 the obs is:243 -[17:13:03.808] After Reprojection Map nPoint:318 ,nCell:31 ,nMatches:29 ,distance between ekf and vo x:-0.000065 ,z=0.000058,angle between two frames:0.000031 -[17:13:03.818] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 error init =0.000707 error end=0.000707 -[17:13:03.818] After pose optimization, distance between ekf and vo x:-0.000035 ,z=-0.000064,angle between two frames:0.000071 -[17:13:03.818] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270 -[17:13:03.820] frame process finished the id is: 690 the obs is:270 -[17:13:03.913] After Reprojection Map nPoint:345 ,nCell:30 ,nMatches:28 ,distance between ekf and vo x:-0.000014 ,z=0.000039,angle between two frames:0.000030 -[17:13:03.914] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =294 error init =0.000248 error end=0.000248 -[17:13:03.914] After pose optimization, distance between ekf and vo x:-0.000014 ,z=0.000039,angle between two frames:0.000030 -[17:13:03.914] Update EKF and 3D points the number of feature in the new frame: 294 and number of obs: 294 -[17:13:03.916] frame process finished the id is: 691 the obs is:294 -[17:13:04.010] After Reprojection Map nPoint:369 ,nCell:29 ,nMatches:29 ,distance between ekf and vo x:-0.000029 ,z=0.000054,angle between two frames:0.000033 -[17:13:04.021] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =308 error init =0.000596 error end=0.000596 -[17:13:04.021] After pose optimization, distance between ekf and vo x:0.000050 ,z=-0.000257,angle between two frames:0.000169 -[17:13:04.021] Update EKF and 3D points the number of feature in the new frame: 308 and number of obs: 308 -[17:13:04.023] frame process finished the id is: 692 the obs is:308 -[17:13:04.116] After Reprojection Map nPoint:383 ,nCell:35 ,nMatches:32 ,distance between ekf and vo x:-0.000004 ,z=0.000017,angle between two frames:0.000009 -[17:13:04.125] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =242 error init =0.000119 error end=0.000119 -[17:13:04.125] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000302,angle between two frames:0.000110 -[17:13:04.125] Update EKF and 3D points the number of feature in the new frame: 242 and number of obs: 242 -[17:13:04.126] frame process finished the id is: 693 the obs is:242 -[17:13:04.218] After Reprojection Map nPoint:317 ,nCell:35 ,nMatches:35 ,distance between ekf and vo x:-0.000028 ,z=0.000049,angle between two frames:0.000033 -[17:13:04.219] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =265 error init =0.000432 error end=0.000432 -[17:13:04.219] After pose optimization, distance between ekf and vo x:-0.000028 ,z=0.000049,angle between two frames:0.000033 -[17:13:04.219] Update EKF and 3D points the number of feature in the new frame: 265 and number of obs: 265 -[17:13:04.220] frame process finished the id is: 694 the obs is:265 -[17:13:04.306] After Reprojection Map nPoint:340 ,nCell:36 ,nMatches:34 ,distance between ekf and vo x:0.000008 ,z=-0.000007,angle between two frames:0.000001 -[17:13:04.307] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =272 error init =0.000142 error end=0.000142 -[17:13:04.307] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000007,angle between two frames:0.000001 -[17:13:04.307] Update EKF and 3D points the number of feature in the new frame: 272 and number of obs: 272 -[17:13:04.308] frame process finished the id is: 695 the obs is:272 +[19:47:20.187] Init: frame zero: 0.000000, 0.000000 0.000000 +[19:47:20.187] Init: Selected first frame. +[19:47:20.187] frame process finished the id is: 0 the obs is:0 +[19:47:20.270] Init: px average disparity is:0.204329 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:20.270] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:20.270] frame process finished the id is: 1 the obs is:0 +[19:47:20.351] Init: px average disparity is:0.243617 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:20.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:20.351] frame process finished the id is: 2 the obs is:0 +[19:47:20.461] Init: px average disparity is:0.254270 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:20.461] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:20.461] frame process finished the id is: 3 the obs is:0 +[19:47:20.564] Init: px average disparity is:0.251470 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:20.565] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:20.565] frame process finished the id is: 4 the obs is:0 +[19:47:20.652] Init: px average disparity is:0.249118 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:20.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:20.652] frame process finished the id is: 5 the obs is:0 +[19:47:20.752] Init: px average disparity is:0.246301 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:20.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:20.752] frame process finished the id is: 6 the obs is:0 +[19:47:20.856] Init: px average disparity is:0.258817 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:20.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:20.856] frame process finished the id is: 7 the obs is:0 +[19:47:20.955] Init: px average disparity is:0.242331 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:20.955] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:20.955] frame process finished the id is: 8 the obs is:0 +[19:47:21.053] Init: px average disparity is:0.267766 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:21.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:21.053] frame process finished the id is: 9 the obs is:0 +[19:47:21.163] Init: px average disparity is:0.242735 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:21.163] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:21.163] frame process finished the id is: 10 the obs is:0 +[19:47:21.265] Init: px average disparity is:0.258761 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:21.265] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:21.265] frame process finished the id is: 11 the obs is:0 +[19:47:21.363] Init: px average disparity is:0.265155 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:21.363] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:21.363] frame process finished the id is: 12 the obs is:0 +[19:47:21.464] Init: px average disparity is:0.252633 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:21.465] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:21.465] frame process finished the id is: 13 the obs is:0 +[19:47:21.561] Init: px average disparity is:0.260903 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:21.562] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:21.562] frame process finished the id is: 14 the obs is:0 +[19:47:21.663] Init: px average disparity is:0.244260 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:21.663] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:21.663] frame process finished the id is: 15 the obs is:0 +[19:47:21.764] Init: px average disparity is:0.258527 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:21.764] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:21.764] frame process finished the id is: 16 the obs is:0 +[19:47:21.865] Init: px average disparity is:0.282513 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:21.865] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:21.865] frame process finished the id is: 17 the obs is:0 +[19:47:21.964] Init: px average disparity is:0.261825 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:21.964] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:21.964] frame process finished the id is: 18 the obs is:0 +[19:47:22.066] Init: px average disparity is:0.242968 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:22.066] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:22.066] frame process finished the id is: 19 the obs is:0 +[19:47:22.154] Init: px average disparity is:0.245115 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:22.154] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:22.154] frame process finished the id is: 20 the obs is:0 +[19:47:22.253] Init: px average disparity is:0.269605 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:22.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:22.253] frame process finished the id is: 21 the obs is:0 +[19:47:22.351] Init: px average disparity is:0.271846 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:22.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:22.351] frame process finished the id is: 22 the obs is:0 +[19:47:22.452] Init: px average disparity is:0.248510 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:22.452] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:22.452] frame process finished the id is: 23 the obs is:0 +[19:47:22.551] Init: px average disparity is:0.234759 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:22.551] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:22.551] frame process finished the id is: 24 the obs is:0 +[19:47:22.655] Init: px average disparity is:0.274192 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:22.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:22.655] frame process finished the id is: 25 the obs is:0 +[19:47:22.758] Init: px average disparity is:0.264948 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:22.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:22.758] frame process finished the id is: 26 the obs is:0 +[19:47:22.859] Init: px average disparity is:0.235996 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:22.859] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:22.859] frame process finished the id is: 27 the obs is:0 +[19:47:22.961] Init: px average disparity is:0.275517 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:22.961] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:22.961] frame process finished the id is: 28 the obs is:0 +[19:47:23.056] Init: px average disparity is:0.243868 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:23.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:23.056] frame process finished the id is: 29 the obs is:0 +[19:47:23.104] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[19:47:23.156] Init: px average disparity is:0.237670 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:23.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:23.156] frame process finished the id is: 30 the obs is:0 +[19:47:23.200] Odometry x=0.000001, y=0.008332, theta=-0.000004 +[19:47:23.260] Init: px average disparity is:0.229784 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:23.260] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:23.260] frame process finished the id is: 31 the obs is:0 +[19:47:23.301] Odometry x=0.000003, y=0.015649, theta=0.000260 +[19:47:23.356] Init: px average disparity is:1.741080 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:23.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:23.356] frame process finished the id is: 32 the obs is:0 +[19:47:23.401] Odometry x=0.000004, y=0.022464, theta=0.000731 +[19:47:23.456] Init: px average disparity is:6.015370 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:23.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:23.456] frame process finished the id is: 33 the obs is:0 +[19:47:23.503] Odometry x=0.000002, y=0.029049, theta=0.002700 +[19:47:23.557] Init: px average disparity is:7.676594 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:23.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:23.557] frame process finished the id is: 34 the obs is:0 +[19:47:23.601] Odometry x=-0.000016, y=0.035540, theta=0.003148 +[19:47:23.657] Init: px average disparity is:4.989181 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:23.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:23.657] frame process finished the id is: 35 the obs is:0 +[19:47:23.704] Odometry x=-0.000034, y=0.041985, theta=0.004574 +[19:47:23.756] Init: px average disparity is:5.356401 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:23.756] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:23.756] frame process finished the id is: 36 the obs is:0 +[19:47:23.801] Odometry x=-0.000059, y=0.048418, theta=0.005760 +[19:47:23.857] Init: px average disparity is:4.226288 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:23.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:23.857] frame process finished the id is: 37 the obs is:0 +[19:47:23.903] Odometry x=-0.000097, y=0.054837, theta=0.009711 +[19:47:23.957] Init: px average disparity is:5.710924 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:23.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:23.957] frame process finished the id is: 38 the obs is:0 +[19:47:24.005] Odometry x=-0.000158, y=0.061261, theta=0.006967 +[19:47:24.058] Init: px average disparity is:4.135368 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:24.058] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:24.058] frame process finished the id is: 39 the obs is:0 +[19:47:24.105] Odometry x=-0.000199, y=0.067676, theta=0.013926 +[19:47:24.157] Init: px average disparity is:6.062933 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:24.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:24.157] frame process finished the id is: 40 the obs is:0 +[19:47:24.203] Odometry x=-0.000286, y=0.074097, theta=0.016239 +[19:47:24.257] Init: px average disparity is:7.138935 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:24.257] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:24.257] frame process finished the id is: 41 the obs is:0 +[19:47:24.300] Odometry x=-0.000390, y=0.080513, theta=0.014435 +[19:47:24.357] Init: px average disparity is:8.812187 ,While minimum is: 10.000000 KLT tracked : 121 +[19:47:24.357] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:24.357] frame process finished the id is: 42 the obs is:0 +[19:47:24.403] Odometry x=-0.000481, y=0.086932, theta=0.013807 +[19:47:24.505] Odometry x=-0.000567, y=0.093345, theta=0.020496 +[19:47:24.520] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required. px average disparity is:12.162465 ,While minimum is: 10.000000 KLT tracked: 121 +[19:47:24.521] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:24.521] frame process finished the id is: 43 the obs is:0 +[19:47:24.605] Odometry x=-0.000695, y=0.099765, theta=0.023010 +[19:47:24.623] Init: Homography RANSAC (inlier) is:25 ,While 30 inliers minimum required. px average disparity is:15.187007 ,While minimum is: 10.000000 KLT tracked: 121 +[19:47:24.623] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:24.623] frame process finished the id is: 44 the obs is:0 +[19:47:24.704] Odometry x=-0.000849, y=0.106177, theta=0.025867 +[19:47:24.731] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required. px average disparity is:13.293063 ,While minimum is: 10.000000 KLT tracked: 121 +[19:47:24.731] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:24.731] frame process finished the id is: 45 the obs is:0 +[19:47:24.804] Odometry x=-0.001013, y=0.112597, theta=0.026347 +[19:47:24.835] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required. px average disparity is:13.182359 ,While minimum is: 10.000000 KLT tracked: 121 +[19:47:24.835] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:47:24.835] frame process finished the id is: 46 the obs is:0 +[19:47:24.901] Odometry x=-0.001180, y=0.119015, theta=0.024200 +[19:47:24.922] Init finished: Homography RANSAC (inlier) is:30 ,While 30 inliers minimum required. px average disparity is:11.649852 ,While minimum is: 10.000000 KLT tracked: 121 +[19:47:24.922] Init: distance between the first and current frame is x:-0.001180 ,z=0.119015,angle between two frames: 0.024200 +[19:47:24.922] Init: Selected Second frame. The number of features: 30 depth mean:0.069648 min:-0.434851 +[19:47:24.922] frame process finished the id is: 47 the obs is:30 +[19:47:25.003] Odometry x=-0.001333, y=0.125433, theta=0.022084 +[19:47:25.027] After Reprojection Map nPoint:30 ,nCell:12 ,nMatches:9 ,distance between ekf and vo x:-0.000060 ,z=0.000052,angle between two frames:0.000014 +[19:47:25.028] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 error init =0.000021 error end=0.000021 +[19:47:25.028] After pose optimization, distance between ekf and vo x:-0.000099 ,z=0.000055,angle between two frames:0.000066 +[19:47:25.028] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30 +[19:47:25.028] need key frame pitch dis: 0.022036 translation dif:0.128119 +[19:47:25.028] Choose frame as a key frame Scene Depth mean:-1.513531 ,depth min:-29.836003 +[19:47:25.028] frame process finished the id is: 48 the obs is:30 +[19:47:25.106] Odometry x=-0.001519, y=0.132811, theta=0.021634 +[19:47:25.136] After Reprojection Map nPoint:60 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:0.000241 ,z=0.000060,angle between two frames:0.000013 +[19:47:25.137] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =54 error init =0.000037 error end=0.000037 +[19:47:25.137] After pose optimization, distance between ekf and vo x:0.000623 ,z=-0.000017,angle between two frames:0.000121 +[19:47:25.137] Update EKF and 3D points the number of feature in the new frame: 54 and number of obs: 54 +[19:47:25.138] need key frame pitch dis: 0.021127 translation dif:0.133626 +[19:47:25.138] Choose frame as a key frame Scene Depth mean:-1.361262 ,depth min:-29.842420 +[19:47:25.138] frame process finished the id is: 49 the obs is:54 +[19:47:25.213] Odometry x=-0.000992, y=0.133623, theta=0.021127 +[19:47:25.232] After Reprojection Map nPoint:138 ,nCell:14 ,nMatches:13 ,distance between ekf and vo x:-0.000221 ,z=0.000090,angle between two frames:0.000034 +[19:47:25.233] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =103 error init =0.000243 error end=0.000243 +[19:47:25.233] After pose optimization, distance between ekf and vo x:-0.000221 ,z=0.000090,angle between two frames:0.000034 +[19:47:25.233] Update EKF and 3D points the number of feature in the new frame: 103 and number of obs: 103 +[19:47:25.234] need key frame pitch dis: 0.021104 translation dif:0.137169 +[19:47:25.234] Choose frame as a key frame Scene Depth mean:-1.754386 ,depth min:-29.830169 +[19:47:25.234] frame process finished the id is: 50 the obs is:103 +[19:47:25.306] Odometry x=-0.001197, y=0.141863, theta=0.023953 +[19:47:25.330] After Reprojection Map nPoint:290 ,nCell:21 ,nMatches:11 ,distance between ekf and vo x:-0.000021 ,z=0.000049,angle between two frames:0.000003 +[19:47:25.339] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =287 error init =0.000248 error end=0.000227 +[19:47:25.339] After pose optimization, distance between ekf and vo x:0.004735 ,z=-0.000683,angle between two frames:0.001840 +[19:47:25.339] Update EKF and 3D points the number of feature in the new frame: 287 and number of obs: 287 +[19:47:25.344] need key frame pitch dis: 0.001537 translation dif:0.009386 +[19:47:25.344] frame process finished the id is: 51 the obs is:287 +[19:47:25.404] Odometry x=0.002893, y=0.142167, theta=0.022664 +[19:47:25.448] After Reprojection Map nPoint:474 ,nCell:51 ,nMatches:15 ,distance between ekf and vo x:0.000201 ,z=-0.000053,angle between two frames:0.000005 +[19:47:25.462] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =446 error init =0.000822 error end=0.000231 +[19:47:25.462] After pose optimization, distance between ekf and vo x:0.010370 ,z=-0.006746,angle between two frames:0.001538 +[19:47:25.462] Update EKF and 3D points the number of feature in the new frame: 446 and number of obs: 446 +[19:47:25.470] need key frame pitch dis: 0.002901 translation dif:0.013044 +[19:47:25.470] frame process finished the id is: 52 the obs is:446 +[19:47:25.502] Odometry x=0.011833, y=0.137326, theta=0.024005 +[19:47:25.575] After Reprojection Map nPoint:633 ,nCell:65 ,nMatches:18 ,distance between ekf and vo x:0.000068 ,z=0.000232,angle between two frames:0.000006 +[19:47:25.576] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =542 error init =0.000308 error end=0.000308 +[19:47:25.576] After pose optimization, distance between ekf and vo x:0.000068 ,z=0.000232,angle between two frames:0.000006 +[19:47:25.576] Update EKF and 3D points the number of feature in the new frame: 542 and number of obs: 542 +[19:47:25.585] need key frame pitch dis: 0.003626 translation dif:0.013152 +[19:47:25.585] frame process finished the id is: 53 the obs is:542 +[19:47:25.599] Odometry x=0.011872, y=0.138518, theta=0.024730 +[19:47:25.693] After Reprojection Map nPoint:729 ,nCell:48 ,nMatches:15 ,distance between ekf and vo x:0.000402 ,z=-0.000134,angle between two frames:0.000008 +[19:47:25.703] Odometry x=0.011701, y=0.145800, theta=0.031025 +[19:47:25.709] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =700 error init =0.000152 error end=0.000140 +[19:47:25.709] After pose optimization, distance between ekf and vo x:0.001094 ,z=-0.007272,angle between two frames:0.006372 +[19:47:25.709] Update EKF and 3D points the number of feature in the new frame: 700 and number of obs: 700 +[19:47:25.721] need key frame pitch dis: 0.009974 translation dif:0.013777 +[19:47:25.721] frame process finished the id is: 54 the obs is:700 +[19:47:25.805] Odometry x=0.011739, y=0.150271, theta=0.040122 +[19:47:25.817] After Reprojection Map nPoint:887 ,nCell:81 ,nMatches:14 ,distance between ekf and vo x:0.000087 ,z=-0.000006,angle between two frames:0.000003 +[19:47:25.825] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =854 error init =0.001147 error end=0.000974 +[19:47:25.825] After pose optimization, distance between ekf and vo x:0.005158 ,z=-0.019688,angle between two frames:0.002764 +[19:47:25.825] Update EKF and 3D points the number of feature in the new frame: 854 and number of obs: 854 +[19:47:25.839] need key frame pitch dis: 0.010400 translation dif:0.018435 +[19:47:25.839] frame process finished the id is: 55 the obs is:854 +[19:47:25.908] Odometry x=0.012923, y=0.150028, theta=0.041959 +[19:47:25.942] After Reprojection Map nPoint:1041 ,nCell:25 ,nMatches:14 ,distance between ekf and vo x:0.000125 ,z=0.000320,angle between two frames:0.000032 +[19:47:25.966] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =950 error init =0.000925 error end=0.000832 +[19:47:25.966] After pose optimization, distance between ekf and vo x:0.030696 ,z=-0.056899,angle between two frames:0.001634 +[19:47:25.966] Update EKF and 3D points the number of feature in the new frame: 950 and number of obs: 950 +[19:47:25.982] need key frame pitch dis: 0.018754 translation dif:0.054350 +[19:47:25.982] frame process finished the id is: 56 the obs is:950 +[19:47:26.005] Odometry x=0.039628, y=0.101299, theta=0.039858 +[19:47:26.091] After Reprojection Map nPoint:1137 ,nCell:71 ,nMatches:16 ,distance between ekf and vo x:0.000228 ,z=0.000352,angle between two frames:0.000006 +[19:47:26.095] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1121 error init =0.000175 error end=0.000175 +[19:47:26.095] After pose optimization, distance between ekf and vo x:0.000419 ,z=0.000455,angle between two frames:0.000043 +[19:47:26.095] Update EKF and 3D points the number of feature in the new frame: 1121 and number of obs: 1121 +[19:47:26.108] Odometry x=0.039953, y=0.102681, theta=0.040031 +[19:47:26.114] need key frame pitch dis: 0.018904 translation dif:0.051321 +[19:47:26.114] frame process finished the id is: 57 the obs is:1121 +[19:47:26.205] Odometry x=0.039662, y=0.109963, theta=0.040463 +[19:47:26.217] After Reprojection Map nPoint:1308 ,nCell:20 ,nMatches:16 ,distance between ekf and vo x:0.000936 ,z=-0.000101,angle between two frames:0.000147 +[19:47:26.256] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1217 error init =0.001203 error end=0.000381 +[19:47:26.256] After pose optimization, distance between ekf and vo x:-0.013497 ,z=0.018693,angle between two frames:0.000032 +[19:47:26.256] Update EKF and 3D points the number of feature in the new frame: 1217 and number of obs: 1217 +[19:47:26.277] need key frame pitch dis: 0.019584 translation dif:0.031861 +[19:47:26.277] frame process finished the id is: 58 the obs is:1217 +[19:47:26.308] Odometry x=0.028160, y=0.120768, theta=0.040711 +[19:47:26.368] After Reprojection Map nPoint:1404 ,nCell:48 ,nMatches:18 ,distance between ekf and vo x:0.000259 ,z=-0.000306,angle between two frames:0.000001 +[19:47:26.401] Odometry x=0.027863, y=0.128044, theta=0.039982 +[19:47:26.412] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1366 error init =0.000094 error end=0.000088 +[19:47:26.412] After pose optimization, distance between ekf and vo x:0.006059 ,z=0.001980,angle between two frames:0.001677 +[19:47:26.412] Update EKF and 3D points the number of feature in the new frame: 1366 and number of obs: 1366 +[19:47:26.435] need key frame pitch dis: 0.020554 translation dif:0.033794 +[19:47:26.435] frame process finished the id is: 59 the obs is:1366 +[19:47:26.503] Odometry x=0.028981, y=0.134595, theta=0.043635 +[19:47:26.544] After Reprojection Map nPoint:1553 ,nCell:52 ,nMatches:21 ,distance between ekf and vo x:0.001140 ,z=-0.000375,angle between two frames:0.000138 +[19:47:26.577] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1018 error init =0.000070 error end=0.000064 +[19:47:26.577] After pose optimization, distance between ekf and vo x:-0.002606 ,z=-0.007716,angle between two frames:0.000741 +[19:47:26.577] Update EKF and 3D points the number of feature in the new frame: 1018 and number of obs: 1018 +[19:47:26.594] need key frame pitch dis: 0.021842 translation dif:0.029133 +[19:47:26.594] frame process finished the id is: 60 the obs is:1018 +[19:47:26.601] Odometry x=0.026677, y=0.128733, theta=0.042946 +[19:47:26.683] After Reprojection Map nPoint:1205 ,nCell:28 ,nMatches:20 ,distance between ekf and vo x:-0.000351 ,z=0.001035,angle between two frames:0.000080 +[19:47:26.703] Odometry x=0.026373, y=0.136006, theta=0.048306 +[19:47:26.721] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1196 error init =0.001157 error end=0.000555 +[19:47:26.721] After pose optimization, distance between ekf and vo x:0.002683 ,z=0.000746,angle between two frames:0.005586 +[19:47:26.721] Update EKF and 3D points the number of feature in the new frame: 1196 and number of obs: 1196 +[19:47:26.741] need key frame pitch dis: 0.027336 translation dif:0.029330 +[19:47:26.741] frame process finished the id is: 61 the obs is:1196 +[19:47:26.805] Odometry x=0.026667, y=0.142274, theta=0.048723 +[19:47:26.835] After Reprojection Map nPoint:1383 ,nCell:62 ,nMatches:19 ,distance between ekf and vo x:0.000550 ,z=-0.000366,angle between two frames:0.000050 +[19:47:26.839] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1222 error init =0.000447 error end=0.000447 +[19:47:26.839] After pose optimization, distance between ekf and vo x:-0.000619 ,z=-0.002457,angle between two frames:0.001464 +[19:47:26.839] Update EKF and 3D points the number of feature in the new frame: 1222 and number of obs: 1222 +[19:47:26.861] need key frame pitch dis: 0.028416 translation dif:0.027564 +[19:47:26.861] frame process finished the id is: 62 the obs is:1222 +[19:47:26.902] Odometry x=0.026088, y=0.140990, theta=0.049521 +[19:47:26.950] After Reprojection Map nPoint:1409 ,nCell:49 ,nMatches:18 ,distance between ekf and vo x:-0.000071 ,z=0.000186,angle between two frames:0.000012 +[19:47:26.994] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1365 error init =0.000084 error end=0.000082 +[19:47:26.994] After pose optimization, distance between ekf and vo x:0.000769 ,z=-0.001716,angle between two frames:0.000118 +[19:47:26.994] Update EKF and 3D points the number of feature in the new frame: 1365 and number of obs: 1365 +[19:47:27.005] Odometry x=0.026701, y=0.140495, theta=0.050428 +[19:47:27.018] need key frame pitch dis: 0.029323 translation dif:0.028109 +[19:47:27.018] frame process finished the id is: 63 the obs is:1365 +[19:47:27.102] Odometry x=0.026327, y=0.147772, theta=0.041954 +[19:47:27.117] After Reprojection Map nPoint:1552 ,nCell:69 ,nMatches:17 ,distance between ekf and vo x:-0.000231 ,z=0.000402,angle between two frames:0.000046 +[19:47:27.160] n deleted obs = 24 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1312 error init =0.000841 error end=0.000535 +[19:47:27.160] After pose optimization, distance between ekf and vo x:-0.022261 ,z=0.011456,angle between two frames:0.009010 +[19:47:27.160] Update EKF and 3D points the number of feature in the new frame: 1312 and number of obs: 1312 +[19:47:27.183] need key frame pitch dis: 0.020533 translation dif:0.017353 +[19:47:27.183] frame process finished the id is: 64 the obs is:1312 +[19:47:27.204] Odometry x=0.007283, y=0.152296, theta=0.041638 +[19:47:27.273] After Reprojection Map nPoint:1499 ,nCell:39 ,nMatches:15 ,distance between ekf and vo x:-0.000062 ,z=0.000118,angle between two frames:0.000001 +[19:47:27.278] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1443 error init =0.000187 error end=0.000186 +[19:47:27.278] After pose optimization, distance between ekf and vo x:0.000039 ,z=0.000053,angle between two frames:0.000005 +[19:47:27.278] Update EKF and 3D points the number of feature in the new frame: 1443 and number of obs: 1443 +[19:47:27.303] need key frame pitch dis: 0.018448 translation dif:0.018259 +[19:47:27.303] frame process finished the id is: 65 the obs is:1443 +[19:47:27.306] Odometry x=0.007275, y=0.153331, theta=0.039553 +[19:47:27.394] After Reprojection Map nPoint:1630 ,nCell:101 ,nMatches:15 ,distance between ekf and vo x:-0.000231 ,z=0.000294,angle between two frames:0.000105 +[19:47:27.399] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1530 error init =0.000060 error end=0.000059 +[19:47:27.399] After pose optimization, distance between ekf and vo x:0.000320 ,z=-0.000082,angle between two frames:0.000047 +[19:47:27.399] Update EKF and 3D points the number of feature in the new frame: 1530 and number of obs: 1530 +[19:47:27.404] Odometry x=0.007514, y=0.154250, theta=0.039708 +[19:47:27.425] need key frame pitch dis: 0.018604 translation dif:0.019185 +[19:47:27.425] frame process finished the id is: 66 the obs is:1530 +[19:47:27.506] Odometry x=0.007218, y=0.161532, theta=0.037600 +[19:47:27.514] After Reprojection Map nPoint:1717 ,nCell:49 ,nMatches:16 ,distance between ekf and vo x:-0.000054 ,z=0.000287,angle between two frames:0.000051 +[19:47:27.568] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1705 error init =0.000175 error end=0.000059 +[19:47:27.568] After pose optimization, distance between ekf and vo x:0.009013 ,z=-0.013645,angle between two frames:0.000682 +[19:47:27.568] Update EKF and 3D points the number of feature in the new frame: 1705 and number of obs: 1705 +[19:47:27.596] need key frame pitch dis: 0.017797 translation dif:0.021049 +[19:47:27.596] frame process finished the id is: 67 the obs is:1705 +[19:47:27.604] Odometry x=0.015012, y=0.150576, theta=0.038901 +[19:47:27.699] After Reprojection Map nPoint:1892 ,nCell:179 ,nMatches:15 ,distance between ekf and vo x:0.001180 ,z=0.000646,angle between two frames:0.000254 +[19:47:27.701] Odometry x=0.014726, y=0.157856, theta=0.039281 +[19:47:27.726] n deleted obs = 40 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1511 error init =0.001000 error end=0.000883 +[19:47:27.726] After pose optimization, distance between ekf and vo x:-0.004348 ,z=-0.004483,angle between two frames:0.012015 +[19:47:27.726] Update EKF and 3D points the number of feature in the new frame: 1511 and number of obs: 1511 +[19:47:27.752] need key frame pitch dis: 0.008725 translation dif:0.016807 +[19:47:27.752] frame process finished the id is: 68 the obs is:1511 +[19:47:27.803] Odometry x=0.011166, y=0.148535, theta=0.029830 +[19:47:27.852] After Reprojection Map nPoint:1698 ,nCell:68 ,nMatches:15 ,distance between ekf and vo x:-0.000706 ,z=0.000810,angle between two frames:0.000002 +[19:47:27.900] Odometry x=0.010941, y=0.155816, theta=0.027401 +[19:47:27.905] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1653 error init =0.000005 error end=0.000005 +[19:47:27.905] After pose optimization, distance between ekf and vo x:-0.004340 ,z=0.001592,angle between two frames:0.000620 +[19:47:27.905] Update EKF and 3D points the number of feature in the new frame: 1653 and number of obs: 1653 +[19:47:27.933] need key frame pitch dis: 0.007588 translation dif:0.019876 +[19:47:27.933] frame process finished the id is: 69 the obs is:1653 +[19:47:28.002] Odometry x=0.009796, y=0.162282, theta=0.032094 +[19:47:28.024] After Reprojection Map nPoint:1840 ,nCell:94 ,nMatches:16 ,distance between ekf and vo x:-0.000243 ,z=0.000406,angle between two frames:0.000056 +[19:47:28.082] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1822 error init =0.001641 error end=0.000634 +[19:47:28.082] After pose optimization, distance between ekf and vo x:0.009259 ,z=-0.016251,angle between two frames:0.000206 +[19:47:28.082] Update EKF and 3D points the number of feature in the new frame: 1822 and number of obs: 1822 +[19:47:28.105] Odometry x=0.017828, y=0.148991, theta=0.031817 +[19:47:28.113] need key frame pitch dis: 0.010713 translation dif:0.022413 +[19:47:28.113] frame process finished the id is: 70 the obs is:1822 +[19:47:28.207] Odometry x=0.017597, y=0.156264, theta=0.031840 +[19:47:28.212] After Reprojection Map nPoint:2009 ,nCell:73 ,nMatches:14 ,distance between ekf and vo x:-0.000425 ,z=0.001505,angle between two frames:0.000206 +[19:47:28.215] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1983 error init =0.000013 error end=0.000013 +[19:47:28.215] After pose optimization, distance between ekf and vo x:-0.000425 ,z=0.001505,angle between two frames:0.000206 +[19:47:28.215] Update EKF and 3D points the number of feature in the new frame: 1983 and number of obs: 1983 +[19:47:28.248] need key frame pitch dis: 0.010867 translation dif:0.025882 +[19:47:28.248] frame process finished the id is: 71 the obs is:1983 +[19:47:28.304] Odometry x=0.017307, y=0.162713, theta=0.028173 +[19:47:28.351] After Reprojection Map nPoint:2170 ,nCell:62 ,nMatches:18 ,distance between ekf and vo x:-0.000275 ,z=0.000923,angle between two frames:0.000203 +[19:47:28.402] Odometry x=0.017114, y=0.169283, theta=0.034474 +[19:47:28.415] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2008 error init =0.000063 error end=0.000052 +[19:47:28.415] After pose optimization, distance between ekf and vo x:0.009270 ,z=-0.002496,angle between two frames:0.001000 +[19:47:28.415] Update EKF and 3D points the number of feature in the new frame: 2008 and number of obs: 2008 +[19:47:28.449] need key frame pitch dis: 0.009449 translation dif:0.037781 +[19:47:28.449] frame process finished the id is: 72 the obs is:2008 +[19:47:28.500] Odometry x=0.019312, y=0.174384, theta=0.028858 +[19:47:28.550] After Reprojection Map nPoint:2195 ,nCell:16 ,nMatches:14 ,distance between ekf and vo x:0.000395 ,z=0.000560,angle between two frames:0.000186 +[19:47:28.552] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1961 error init =0.000293 error end=0.000293 +[19:47:28.552] After pose optimization, distance between ekf and vo x:0.000395 ,z=0.000560,angle between two frames:0.000186 +[19:47:28.552] Update EKF and 3D points the number of feature in the new frame: 1961 and number of obs: 1961 +[19:47:28.586] need key frame pitch dis: 0.008875 translation dif:0.043812 +[19:47:28.586] frame process finished the id is: 73 the obs is:1961 +[19:47:28.602] Odometry x=0.019635, y=0.175699, theta=0.029979 +[19:47:28.690] After Reprojection Map nPoint:2148 ,nCell:219 ,nMatches:15 ,distance between ekf and vo x:-0.014935 ,z=0.001387,angle between two frames:0.036438 +[19:47:28.693] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1468 error init =0.000205 error end=0.000205 +[19:47:28.693] After pose optimization, distance between ekf and vo x:-0.014935 ,z=0.001387,angle between two frames:0.036438 +[19:47:28.693] frame process finished the id is: 73 the obs is:1961 +[19:47:28.704] Odometry x=0.019390, y=0.182979, theta=0.015785 +[19:47:28.784] After Reprojection Map nPoint:2148 ,nCell:31 ,nMatches:11 ,distance between ekf and vo x:-0.000065 ,z=0.000244,angle between two frames:0.000205 +[19:47:28.807] Odometry x=0.019292, y=0.189768, theta=0.011494 +[19:47:28.808] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2064 error init =0.000027 error end=0.000026 +[19:47:28.808] After pose optimization, distance between ekf and vo x:0.012181 ,z=-0.029143,angle between two frames:0.000563 +[19:47:28.808] Update EKF and 3D points the number of feature in the new frame: 2064 and number of obs: 2064 +[19:47:28.844] need key frame pitch dis: 0.006915 translation dif:0.041544 +[19:47:28.844] frame process finished the id is: 75 the obs is:2064 +[19:47:28.905] Odometry x=0.022230, y=0.188408, theta=0.014261 +[19:47:28.936] After Reprojection Map nPoint:2251 ,nCell:75 ,nMatches:14 ,distance between ekf and vo x:-0.001684 ,z=0.000198,angle between two frames:0.004249 +[19:47:28.963] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2152 error init =0.000177 error end=0.000133 +[19:47:28.963] After pose optimization, distance between ekf and vo x:0.036428 ,z=-0.052090,angle between two frames:0.005082 +[19:47:28.963] Update EKF and 3D points the number of feature in the new frame: 2152 and number of obs: 2152 +[19:47:29.000] need key frame pitch dis: 0.011608 translation dif:0.055565 +[19:47:29.000] frame process finished the id is: 76 the obs is:2152 +[19:47:29.003] Odometry x=0.053950, y=0.143866, theta=0.009496 +[19:47:29.094] After Reprojection Map nPoint:2339 ,nCell:42 ,nMatches:17 ,distance between ekf and vo x:-0.005265 ,z=-0.000687,angle between two frames:0.011850 +[19:47:29.102] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =810 error init =0.000634 error end=0.000632 +[19:47:29.102] After pose optimization, distance between ekf and vo x:-0.011553 ,z=-0.038107,angle between two frames:0.015483 +[19:47:29.102] Update EKF and 3D points the number of feature in the new frame: 810 and number of obs: 810 +[19:47:29.107] Odometry x=0.043963, y=0.111928, theta=-0.003046 +[19:47:29.115] need key frame pitch dis: 0.024150 translation dif:0.051744 +[19:47:29.115] frame process finished the id is: 77 the obs is:810 +[19:47:29.200] After Reprojection Map nPoint:997 ,nCell:42 ,nMatches:19 ,distance between ekf and vo x:-0.000082 ,z=-0.000150,angle between two frames:0.000022 +[19:47:29.203] n deleted obs = 145 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =585 error init =0.001748 error end=0.001713 +[19:47:29.203] After pose optimization, distance between ekf and vo x:0.023054 ,z=-0.019923,angle between two frames:0.003005 +[19:47:29.203] Update EKF and 3D points the number of feature in the new frame: 585 and number of obs: 585 +[19:47:29.204] Odometry x=0.063886, y=0.095704, theta=0.001260 +[19:47:29.213] need key frame pitch dis: 0.019867 translation dif:0.075147 +[19:47:29.213] frame process finished the id is: 78 the obs is:585 +[19:47:29.302] After Reprojection Map nPoint:772 ,nCell:62 ,nMatches:16 ,distance between ekf and vo x:-0.000036 ,z=0.000029,angle between two frames:0.000001 +[19:47:29.303] Odometry x=0.063886, y=0.102993, theta=0.008833 +[19:47:29.303] n deleted obs = 35 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =655 error init =0.000648 error end=0.000648 +[19:47:29.303] After pose optimization, distance between ekf and vo x:-0.000036 ,z=0.000029,angle between two frames:0.000001 +[19:47:29.303] Update EKF and 3D points the number of feature in the new frame: 655 and number of obs: 655 +[19:47:29.314] need key frame pitch dis: 0.017674 translation dif:0.072641 +[19:47:29.314] frame process finished the id is: 79 the obs is:655 +[19:47:29.406] After Reprojection Map nPoint:842 ,nCell:80 ,nMatches:17 ,distance between ekf and vo x:0.000143 ,z=-0.000039,angle between two frames:0.000022 +[19:47:29.407] Odometry x=0.063804, y=0.109101, theta=0.026695 +[19:47:29.408] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =557 error init =0.000254 error end=0.000254 +[19:47:29.408] After pose optimization, distance between ekf and vo x:0.000649 ,z=-0.000849,angle between two frames:0.000011 +[19:47:29.408] Update EKF and 3D points the number of feature in the new frame: 557 and number of obs: 557 +[19:47:29.417] need key frame pitch dis: 0.011370 translation dif:0.071138 +[19:47:29.418] frame process finished the id is: 80 the obs is:557 +[19:47:29.502] After Reprojection Map nPoint:744 ,nCell:15 ,nMatches:15 ,distance between ekf and vo x:-0.000061 ,z=0.000130,angle between two frames:0.000005 +[19:47:29.506] Odometry x=0.063822, y=0.114382, theta=0.022835 +[19:47:29.515] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =651 error init =0.000339 error end=0.000301 +[19:47:29.515] After pose optimization, distance between ekf and vo x:-0.060566 ,z=-0.010278,angle between two frames:0.009291 +[19:47:29.515] Update EKF and 3D points the number of feature in the new frame: 651 and number of obs: 651 +[19:47:29.526] need key frame pitch dis: 0.014640 translation dif:0.037107 +[19:47:29.526] frame process finished the id is: 81 the obs is:651 +[19:47:29.607] Odometry x=0.048248, y=0.116842, theta=0.026368 +[19:47:29.610] After Reprojection Map nPoint:838 ,nCell:32 ,nMatches:17 ,distance between ekf and vo x:-0.000030 ,z=0.000067,angle between two frames:0.000002 +[19:47:29.630] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =632 error init =0.000325 error end=0.000313 +[19:47:29.630] After pose optimization, distance between ekf and vo x:-0.004924 ,z=0.005319,angle between two frames:0.001246 +[19:47:29.630] Update EKF and 3D points the number of feature in the new frame: 632 and number of obs: 632 +[19:47:29.641] need key frame pitch dis: 0.004330 translation dif:0.046691 +[19:47:29.641] frame process finished the id is: 82 the obs is:632 +[19:47:29.702] Odometry x=0.046767, y=0.125616, theta=0.029615 +[19:47:29.726] After Reprojection Map nPoint:819 ,nCell:42 ,nMatches:18 ,distance between ekf and vo x:-0.000034 ,z=0.000065,angle between two frames:0.000003 +[19:47:29.730] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =682 error init =0.000215 error end=0.000215 +[19:47:29.730] After pose optimization, distance between ekf and vo x:0.000386 ,z=-0.001090,angle between two frames:0.000047 +[19:47:29.730] Update EKF and 3D points the number of feature in the new frame: 682 and number of obs: 682 +[19:47:29.742] need key frame pitch dis: 0.007808 translation dif:0.048752 +[19:47:29.742] frame process finished the id is: 83 the obs is:682 +[19:47:29.804] Odometry x=0.047077, y=0.125495, theta=0.028935 +[19:47:29.831] After Reprojection Map nPoint:869 ,nCell:29 ,nMatches:20 ,distance between ekf and vo x:-0.000591 ,z=-0.000523,angle between two frames:0.000094 +[19:47:29.834] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =778 error init =0.000686 error end=0.000686 +[19:47:29.834] After pose optimization, distance between ekf and vo x:-0.000317 ,z=-0.001612,angle between two frames:0.000196 +[19:47:29.834] Update EKF and 3D points the number of feature in the new frame: 778 and number of obs: 778 +[19:47:29.847] need key frame pitch dis: 0.008234 translation dif:0.048524 +[19:47:29.847] frame process finished the id is: 84 the obs is:778 +[19:47:29.907] Odometry x=0.046776, y=0.125092, theta=0.029360 +[19:47:29.946] After Reprojection Map nPoint:965 ,nCell:16 ,nMatches:15 ,distance between ekf and vo x:-0.000272 ,z=-0.001002,angle between two frames:0.000087 +[19:47:29.974] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =877 error init =0.001186 error end=0.001037 +[19:47:29.974] After pose optimization, distance between ekf and vo x:-0.044545 ,z=0.095869,angle between two frames:0.011113 +[19:47:29.974] Update EKF and 3D points the number of feature in the new frame: 877 and number of obs: 877 +[19:47:29.989] need key frame pitch dis: 0.002237 translation dif:0.075869 +[19:47:29.989] frame process finished the id is: 85 the obs is:877 +[19:47:30.006] Odometry x=0.008254, y=0.208926, theta=0.018890 +[19:47:30.089] After Reprojection Map nPoint:1064 ,nCell:48 ,nMatches:13 ,distance between ekf and vo x:-0.000300 ,z=-0.000934,angle between two frames:0.000079 +[19:47:30.090] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1003 error init =0.000312 error end=0.000312 +[19:47:30.090] After pose optimization, distance between ekf and vo x:-0.000300 ,z=-0.000934,angle between two frames:0.000079 +[19:47:30.090] Update EKF and 3D points the number of feature in the new frame: 1003 and number of obs: 1003 +[19:47:30.103] Odometry x=0.007975, y=0.209109, theta=0.018841 +[19:47:30.107] need key frame pitch dis: 0.002264 translation dif:0.072530 +[19:47:30.107] frame process finished the id is: 86 the obs is:1003 +[19:47:30.195] After Reprojection Map nPoint:1190 ,nCell:70 ,nMatches:18 ,distance between ekf and vo x:-0.000195 ,z=-0.000319,angle between two frames:0.000037 +[19:47:30.197] n deleted obs = 86 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =955 error init =0.001457 error end=0.001441 +[19:47:30.197] After pose optimization, distance between ekf and vo x:0.016040 ,z=0.018010,angle between two frames:0.008343 +[19:47:30.197] Update EKF and 3D points the number of feature in the new frame: 955 and number of obs: 955 +[19:47:30.206] Odometry x=0.021814, y=0.225664, theta=0.026694 +[19:47:30.214] need key frame pitch dis: 0.005590 translation dif:0.091447 +[19:47:30.214] frame process finished the id is: 87 the obs is:955 +[19:47:30.298] After Reprojection Map nPoint:1142 ,nCell:46 ,nMatches:15 ,distance between ekf and vo x:-0.000068 ,z=0.000159,angle between two frames:0.000003 +[19:47:30.303] Odometry x=0.021623, y=0.232947, theta=0.028528 +[19:47:30.328] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =967 error init =0.001316 error end=0.000163 +[19:47:30.328] After pose optimization, distance between ekf and vo x:-0.012132 ,z=-0.103598,angle between two frames:0.022185 +[19:47:30.328] frame process finished the id is: 87 the obs is:955 +[19:47:30.407] Odometry x=0.021426, y=0.239746, theta=0.029203 +[19:47:30.429] After Reprojection Map nPoint:1142 ,nCell:523 ,nMatches:14 ,distance between ekf and vo x:-0.000036 ,z=0.000145,angle between two frames:0.000003 +[19:47:30.431] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1091 error init =0.000020 error end=0.000020 +[19:47:30.431] After pose optimization, distance between ekf and vo x:-0.000036 ,z=0.000145,angle between two frames:0.000003 +[19:47:30.431] Update EKF and 3D points the number of feature in the new frame: 1091 and number of obs: 1091 +[19:47:30.450] need key frame pitch dis: 0.008331 translation dif:0.105994 +[19:47:30.451] Choose frame as a key frame Scene Depth mean:-0.132847 ,depth min:-29.921499 +[19:47:30.451] frame process finished the id is: 89 the obs is:1091 +[19:47:30.505] Odometry x=0.021370, y=0.240724, theta=0.029436 +[19:47:30.551] After Reprojection Map nPoint:2369 ,nCell:170 ,nMatches:14 ,distance between ekf and vo x:-0.000083 ,z=0.000303,angle between two frames:0.000024 +[19:47:30.557] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1824 error init =0.000483 error end=0.000315 +[19:47:30.557] After pose optimization, distance between ekf and vo x:-0.041094 ,z=0.010738,angle between two frames:0.039265 +[19:47:30.557] frame process finished the id is: 89 the obs is:1091 +[19:47:30.607] Odometry x=0.021151, y=0.248004, theta=0.020719 +[19:47:30.651] After Reprojection Map nPoint:2369 ,nCell:63 ,nMatches:15 ,distance between ekf and vo x:-0.000072 ,z=0.000295,angle between two frames:0.000032 +[19:47:30.667] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1789 error init =0.000215 error end=0.000194 +[19:47:30.667] After pose optimization, distance between ekf and vo x:-0.048720 ,z=-0.089546,angle between two frames:0.010931 +[19:47:30.667] Update EKF and 3D points the number of feature in the new frame: 1789 and number of obs: 1789 +[19:47:30.704] Odometry x=-0.021182, y=0.171128, theta=0.030057 +[19:47:30.802] Odometry x=-0.021398, y=0.178407, theta=0.031118 +[19:47:30.903] Odometry x=-0.021621, y=0.185201, theta=0.032231 +[19:47:30.918] need key frame pitch dis: 0.008953 translation dif:0.039401 +[19:47:30.918] frame process finished the id is: 91 the obs is:1789 +[19:47:31.006] Odometry x=-0.021824, y=0.191778, theta=0.027968 +[19:47:31.015] After Reprojection Map nPoint:3067 ,nCell:24 ,nMatches:17 ,distance between ekf and vo x:-0.000082 ,z=0.000314,angle between two frames:0.000037 +[19:47:31.027] n deleted obs = 120 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2902 error init =0.000961 error end=0.000522 +[19:47:31.028] After pose optimization, distance between ekf and vo x:0.034313 ,z=-0.026800,angle between two frames:0.001767 +[19:47:31.028] Update EKF and 3D points the number of feature in the new frame: 2902 and number of obs: 2902 +[19:47:31.104] Odometry x=0.008212, y=0.163539, theta=0.034140 +[19:47:31.205] Odometry x=0.007963, y=0.170816, theta=0.030827 +[19:47:31.303] Odometry x=0.007738, y=0.177607, theta=0.041552 +[19:47:31.403] Odometry x=0.007459, y=0.184180, theta=0.046274 +[19:47:31.422] need key frame pitch dis: 0.013035 translation dif:0.028008 +[19:47:31.422] frame process finished the id is: 92 the obs is:2902 +[19:47:31.503] Odometry x=0.007146, y=0.190658, theta=0.049523 +[19:47:31.527] After Reprojection Map nPoint:4180 ,nCell:76 ,nMatches:15 ,distance between ekf and vo x:-0.000658 ,z=0.000504,angle between two frames:0.000454 +[19:47:31.539] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3513 error init =0.000474 error end=0.000465 +[19:47:31.539] After pose optimization, distance between ekf and vo x:-0.038284 ,z=0.104880,angle between two frames:0.002623 +[19:47:31.539] Update EKF and 3D points the number of feature in the new frame: 3513 and number of obs: 3513 +[19:47:31.605] Odometry x=-0.025980, y=0.277239, theta=0.045084 +[19:47:31.702] Odometry x=-0.026310, y=0.284501, theta=0.043680 +[19:47:31.804] Odometry x=-0.026611, y=0.291292, theta=0.051112 +[19:47:31.902] Odometry x=-0.026933, y=0.297852, theta=0.046795 +[19:47:32.004] Odometry x=-0.027234, y=0.304333, theta=0.048528 +[19:47:32.028] need key frame pitch dis: 0.023979 translation dif:0.142249 +[19:47:32.030] Choose frame as a key frame Scene Depth mean:-0.370284 ,depth min:-29.927581 +[19:47:32.031] frame process finished the id is: 93 the obs is:3513 +[19:47:32.105] Odometry x=-0.027541, y=0.310778, theta=0.043151 +[19:47:32.202] Odometry x=-0.027812, y=0.317205, theta=0.041583 +[19:47:32.202] After Reprojection Map nPoint:8304 ,nCell:787 ,nMatches:18 ,distance between ekf and vo x:-0.000493 ,z=0.000679,angle between two frames:0.000151 +[19:47:32.214] n deleted obs = 234 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7467 error init =0.000575 error end=0.000575 +[19:47:32.214] After pose optimization, distance between ekf and vo x:-0.000493 ,z=0.000679,angle between two frames:0.000151 +[19:47:32.214] Update EKF and 3D points the number of feature in the new frame: 7467 and number of obs: 7467 +[19:47:32.303] Odometry x=-0.028114, y=0.321354, theta=0.041434 +[19:47:32.405] Odometry x=-0.028376, y=0.327768, theta=0.035904 +[19:47:32.506] Odometry x=-0.028610, y=0.334182, theta=0.043017 +[19:47:32.603] Odometry x=-0.028883, y=0.340591, theta=0.042556 +[19:47:32.706] Odometry x=-0.029162, y=0.347006, theta=0.048671 +[19:47:32.803] Odometry x=-0.029476, y=0.353418, theta=0.049856 +[19:47:32.905] Odometry x=-0.029803, y=0.359831, theta=0.053442 +[19:47:33.002] Odometry x=-0.030145, y=0.366242, theta=0.057430 +[19:47:33.107] Odometry x=-0.030516, y=0.372650, theta=0.050838 +[19:47:33.204] Odometry x=-0.030837, y=0.379061, theta=0.053355 +[19:47:33.301] Odometry x=-0.031180, y=0.385471, theta=0.047481 +[19:47:33.399] Odometry x=-0.031480, y=0.391881, theta=0.050538 +[19:47:33.501] Odometry x=-0.031803, y=0.398292, theta=0.050525 +[19:47:33.608] Odometry x=-0.032129, y=0.404703, theta=0.051078 +[19:47:33.705] Odometry x=-0.032456, y=0.411113, theta=0.054333 +[19:47:33.806] Odometry x=-0.032807, y=0.417526, theta=0.050568 +[19:47:33.904] Odometry x=-0.033129, y=0.423939, theta=0.048218 +[19:47:34.003] Odometry x=-0.033448, y=0.430354, theta=0.047269 +[19:47:34.102] Odometry x=-0.033748, y=0.436767, theta=0.041536 +[19:47:34.200] Odometry x=-0.034018, y=0.443181, theta=0.045379 +[19:47:34.303] Odometry x=-0.034307, y=0.449595, theta=0.045661 +[19:47:34.406] Odometry x=-0.034598, y=0.456007, theta=0.048776 +[19:47:34.504] Odometry x=-0.034908, y=0.462418, theta=0.049085 +[19:47:34.606] Odometry x=-0.035220, y=0.468829, theta=0.049813 +[19:47:34.703] Odometry x=-0.035536, y=0.475240, theta=0.055173 +[19:47:34.799] Odometry x=-0.035896, y=0.481646, theta=0.056806 +[19:47:34.901] Odometry x=-0.036258, y=0.488055, theta=0.063240 +[19:47:35.002] Odometry x=-0.036662, y=0.494462, theta=0.060254 +[19:47:35.104] Odometry x=-0.037046, y=0.500866, theta=0.066194 +[19:47:35.203] Odometry x=-0.037469, y=0.507273, theta=0.064532 +[19:47:35.305] Odometry x=-0.037885, y=0.513679, theta=0.064966 +[19:47:35.402] Odometry x=-0.038301, y=0.520085, theta=0.065708 +[19:47:35.505] Odometry x=-0.038720, y=0.526491, theta=0.062827 +[19:47:35.601] Odometry x=-0.039123, y=0.532897, theta=0.063419 +[19:47:35.708] Odometry x=-0.039532, y=0.539303, theta=0.060334 +[19:47:35.801] Odometry x=-0.039918, y=0.545709, theta=0.060855 +[19:47:35.901] Odometry x=-0.040316, y=0.552124, theta=0.059277 +[19:47:36.008] Odometry x=-0.040697, y=0.558532, theta=0.058367 +[19:47:36.101] Odometry x=-0.041073, y=0.564942, theta=0.055262 +[19:47:36.209] Odometry x=-0.041427, y=0.571352, theta=0.055142 +[19:47:36.316] Odometry x=-0.041779, y=0.577762, theta=0.053964 +[19:47:36.402] Odometry x=-0.042125, y=0.584172, theta=0.055101 +[19:47:36.515] Odometry x=-0.042478, y=0.590583, theta=0.055877 +[19:47:36.608] Odometry x=-0.042836, y=0.596993, theta=0.057976 +[19:47:36.706] Odometry x=-0.043208, y=0.603401, theta=0.058386 +[19:47:36.786] need key frame pitch dis: 0.017178 translation dif:0.085707 +[19:47:36.786] frame process finished the id is: 94 the obs is:7467 +[19:47:36.804] Odometry x=-0.043582, y=0.609809, theta=0.059926 +[19:47:36.903] Odometry x=-0.043967, y=0.616214, theta=0.064572 +[19:47:36.968] After Reprojection Map nPoint:12258 ,nCell:608 ,nMatches:13 ,distance between ekf and vo x:-0.000192 ,z=0.000295,angle between two frames:0.000069 +[19:47:36.985] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11242 error init =0.000089 error end=0.000089 +[19:47:36.985] After pose optimization, distance between ekf and vo x:-0.000192 ,z=0.000295,angle between two frames:0.000069 +[19:47:36.985] Update EKF and 3D points the number of feature in the new frame: 11242 and number of obs: 11242 +[19:47:37.001] Odometry x=-0.043850, y=0.611712, theta=0.060863 +[19:47:37.104] Odometry x=-0.044287, y=0.618976, theta=0.066420 +[19:47:37.203] Odometry x=-0.044737, y=0.625757, theta=0.065931 +[19:47:37.306] Odometry x=-0.045175, y=0.632319, theta=0.069329 +[19:47:37.405] Odometry x=-0.045624, y=0.638789, theta=0.070007 +[19:47:37.504] Odometry x=-0.046072, y=0.645219, theta=0.067579 +[19:47:37.606] Odometry x=-0.046504, y=0.651638, theta=0.066613 +[19:47:37.703] Odometry x=-0.046932, y=0.658046, theta=0.067370 +[19:47:37.803] Odometry x=-0.047364, y=0.664454, theta=0.065526 +[19:47:37.903] Odometry x=-0.047782, y=0.670860, theta=0.062505 +[19:47:38.002] Odometry x=-0.048183, y=0.677268, theta=0.061173 +[19:47:38.103] Odometry x=-0.048573, y=0.683676, theta=0.060648 +[19:47:38.205] Odometry x=-0.048961, y=0.690085, theta=0.061681 +[19:47:38.303] Odometry x=-0.049356, y=0.696492, theta=0.065268 +[19:47:38.403] Odometry x=-0.049774, y=0.702897, theta=0.067668 +[19:47:38.506] Odometry x=-0.050208, y=0.709303, theta=0.073050 +[19:47:38.604] Odometry x=-0.050675, y=0.715706, theta=0.077042 +[19:47:38.701] Odometry x=-0.051169, y=0.722106, theta=0.080575 +[19:47:38.803] Odometry x=-0.051685, y=0.728505, theta=0.081051 +[19:47:38.906] Odometry x=-0.052203, y=0.734902, theta=0.079113 +[19:47:39.004] Odometry x=-0.052708, y=0.741302, theta=0.081059 +[19:47:39.104] Odometry x=-0.053228, y=0.747701, theta=0.079540 +[19:47:39.203] Odometry x=-0.053738, y=0.754100, theta=0.079223 +[19:47:39.301] Odometry x=-0.054247, y=0.760498, theta=0.077555 +[19:47:39.404] Odometry x=-0.054743, y=0.766899, theta=0.077762 +[19:47:39.507] Odometry x=-0.055243, y=0.773300, theta=0.076514 +[19:47:39.602] Odometry x=-0.055734, y=0.779702, theta=0.075599 +[19:47:39.698] Odometry x=-0.056218, y=0.786102, theta=0.075366 +[19:47:39.804] Odometry x=-0.056702, y=0.792505, theta=0.073722 +[19:47:39.901] Odometry x=-0.057174, y=0.798905, theta=0.073287 +[19:47:40.003] Odometry x=-0.057643, y=0.805307, theta=0.072526 +[19:47:40.105] Odometry x=-0.058107, y=0.811708, theta=0.073357 +[19:47:40.202] Odometry x=-0.058577, y=0.818105, theta=0.074975 +[19:47:40.304] Odometry x=-0.059058, y=0.824506, theta=0.073279 +[19:47:40.406] Odometry x=-0.059527, y=0.830906, theta=0.077656 +[19:47:40.504] Odometry x=-0.060025, y=0.837306, theta=0.080721 +[19:47:40.605] Odometry x=-0.060541, y=0.843703, theta=0.083421 +[19:47:40.706] Odometry x=-0.061075, y=0.850100, theta=0.085925 +[19:47:40.799] Odometry x=-0.061625, y=0.856495, theta=0.085082 +[19:47:40.901] Odometry x=-0.062169, y=0.862892, theta=0.086068 +[19:47:41.003] Odometry x=-0.062720, y=0.869287, theta=0.084738 +[19:47:41.104] Odometry x=-0.063263, y=0.875685, theta=0.084218 +[19:47:41.201] Odometry x=-0.063803, y=0.882082, theta=0.083281 +[19:47:41.303] Odometry x=-0.064335, y=0.888481, theta=0.083732 +[19:47:41.400] Odometry x=-0.064873, y=0.894876, theta=0.084784 +[19:47:41.502] Odometry x=-0.065416, y=0.901275, theta=0.083708 +[19:47:41.605] Odometry x=-0.065952, y=0.907674, theta=0.083086 +[19:47:41.704] Odometry x=-0.066483, y=0.914070, theta=0.081100 +[19:47:41.800] Odometry x=-0.067003, y=0.920469, theta=0.081869 +[19:47:41.899] Odometry x=-0.067526, y=0.926867, theta=0.084612 +[19:47:42.002] Odometry x=-0.068070, y=0.933264, theta=0.086859 +[19:47:42.105] Odometry x=-0.068626, y=0.939660, theta=0.088412 +[19:47:42.202] Odometry x=-0.069193, y=0.946053, theta=0.091527 +[19:47:42.302] Odometry x=-0.069777, y=0.952442, theta=0.091705 +[19:47:42.412] Odometry x=-0.070365, y=0.958834, theta=0.094710 +[19:47:42.502] Odometry x=-0.070972, y=0.965224, theta=0.097390 +[19:47:42.606] Odometry x=-0.071595, y=0.971614, theta=0.102556 +[19:47:42.706] Odometry x=-0.072251, y=0.977999, theta=0.104788 +[19:47:42.804] Odometry x=-0.072923, y=0.984383, theta=0.107422 +[19:47:42.901] Odometry x=-0.073608, y=0.990766, theta=0.110559 +[19:47:43.000] Odometry x=-0.074318, y=0.997146, theta=0.109921 +[19:47:43.102] Odometry x=-0.075021, y=1.003528, theta=0.108530 +[19:47:43.205] Odometry x=-0.075718, y=1.009908, theta=0.107122 +[19:47:43.304] Odometry x=-0.076404, y=1.016294, theta=0.105662 +[19:47:43.407] Odometry x=-0.077081, y=1.022679, theta=0.102174 +[19:47:43.504] Odometry x=-0.077734, y=1.029067, theta=0.099857 +[19:47:43.602] Odometry x=-0.078372, y=1.035455, theta=0.099536 +[19:47:43.705] Odometry x=-0.079011, y=1.041841, theta=0.100237 +[19:47:43.804] Odometry x=-0.079652, y=1.048228, theta=0.100198 +[19:47:43.902] Odometry x=-0.080292, y=1.054613, theta=0.097028 +[19:47:44.001] Odometry x=-0.080912, y=1.061003, theta=0.098371 +[19:47:44.103] Odometry x=-0.081542, y=1.067389, theta=0.100250 +[19:47:44.205] Odometry x=-0.082183, y=1.073778, theta=0.102032 +[19:47:44.259] need key frame pitch dis: 0.015779 translation dif:0.334950 +[19:47:44.265] Choose frame as a key frame Scene Depth mean:-0.424079 ,depth min:-30.221449 +[19:47:44.267] frame process finished the id is: 95 the obs is:11242 +[19:47:44.307] Odometry x=-0.082836, y=1.080164, theta=0.101084 +[19:47:44.405] Odometry x=-0.083483, y=1.086553, theta=0.103604 +[19:47:44.500] Odometry x=-0.084146, y=1.092938, theta=0.106221 +[19:47:44.603] Odometry x=-0.084825, y=1.099323, theta=0.105367 +[19:47:44.620] After Reprojection Map nPoint:16033 ,nCell:1836 ,nMatches:22 ,distance between ekf and vo x:-0.000326 ,z=0.000267,angle between two frames:0.000200 +[19:47:44.644] n deleted obs = 44 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12594 error init =0.000142 error end=0.000142 +[19:47:44.644] After pose optimization, distance between ekf and vo x:-0.000326 ,z=0.000267,angle between two frames:0.000200 +[19:47:44.644] Update EKF and 3D points the number of feature in the new frame: 12594 and number of obs: 12594 +[19:47:44.703] Odometry x=-0.083459, y=1.083676, theta=0.102216 +[19:47:44.806] Odometry x=-0.084194, y=1.090916, theta=0.108047 +[19:47:44.905] Odometry x=-0.084928, y=1.097671, theta=0.110597 +[19:47:45.002] Odometry x=-0.085652, y=1.104209, theta=0.108211 +[19:47:45.110] Odometry x=-0.086347, y=1.110657, theta=0.105630 +[19:47:45.200] Odometry x=-0.087027, y=1.117068, theta=0.105955 +[19:47:45.304] Odometry x=-0.087705, y=1.123462, theta=0.103918 +[19:47:45.403] Odometry x=-0.088370, y=1.129851, theta=0.101486 +[19:47:45.506] Odometry x=-0.089019, y=1.136238, theta=0.100912 +[19:47:45.604] Odometry x=-0.089667, y=1.142628, theta=0.105384 +[19:47:45.705] Odometry x=-0.090343, y=1.149008, theta=0.107010 +[19:47:45.802] Odometry x=-0.091027, y=1.155391, theta=0.107896 +[19:47:45.904] Odometry x=-0.091719, y=1.161771, theta=0.110915 +[19:48:08.872] need key frame pitch dis: 0.057132 translation dif:0.808483 +[19:48:08.879] Choose frame as a key frame Scene Depth mean:-0.588729 ,depth min:-30.550849 +[19:48:08.881] frame process finished the id is: 96 the obs is:12594 +[19:48:09.202] After Reprojection Map nPoint:29979 ,nCell:88 ,nMatches:20 ,distance between ekf and vo x:-0.002448 ,z=0.000912,angle between two frames:0.001921 +[19:48:09.246] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27701 error init =0.000008 error end=0.000008 +[19:48:09.247] After pose optimization, distance between ekf and vo x:-0.002448 ,z=0.000912,angle between two frames:0.001921 +[19:48:09.247] Update EKF and 3D points the number of feature in the new frame: 27701 and number of obs: 27701 +[19:49:01.035] need key frame pitch dis: 0.070584 translation dif:0.894341 +[19:49:01.047] Choose frame as a key frame Scene Depth mean:-0.830682 ,depth min:-30.578197 +[19:49:01.049] frame process finished the id is: 97 the obs is:27701 diff --git a/GPU_version/vio/include/vio/ukf.h b/GPU_version/vio/include/vio/ukf.h index e27c3f3..bc906cd 100644 --- a/GPU_version/vio/include/vio/ukf.h +++ b/GPU_version/vio/include/vio/ukf.h @@ -23,14 +23,14 @@ public: virtual ~Base(){ }; void predict(double dx,double dy,double dpitch,double time){ - double dt=time-t_cmd; - if(t_cmd==0.0){ + double dt=0.1; + /*if(t_cmd==0.0){ t_cmd=time; return; - } + }*/ t_cmd=time; state_h_(2)=state_(2)+dt*dpitch; - state_h_(1)=state_(1)+dt*2.0*(dy*cos(state_(2))-dx*sin(state_(2))); + state_h_(1)=state_(1)+dt*/*2.0**/(dy*cos(state_(2))-dx*sin(state_(2))); state_h_(0)=state_(0)+dt*(dx*cos(state_(2))+dy*sin(state_(2))); state_h_(3)=dpitch; Eigen::Matrix R; @@ -40,28 +40,28 @@ public: 0,0,0,vio::Config::Cmd_Cov(); Eigen::Matrix G; G<<1.0,0,dt*(-dx*sin(state_(2))+dy*cos(state_(2))),0.0, - 0,1.0,dt*2.0*(-dy*sin(state_(2))-dx*cos(state_(2))),0.0, + 0,1.0,dt*/*2.0**/(-dy*sin(state_(2))-dx*cos(state_(2))),0.0, 0,0,1.0,dt, 0,0,0,1.0; cov_h_=G*cov_*G.transpose()+R; } void correct(double ddx, double ddy, double dpitch, double time){ - double dt=time-t_imu; - if(t_imu==0.0){ + double dt=0.005; + /*if(t_imu==0.0){ t_imu=time; return; - } + }*/ t_imu=time; Eigen::Matrix H; Eigen::Matrix Q; Eigen::Matrix E; Eigen::Matrix k; E(0)=state_(0)+pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2)))-state_h_(0); - E(1)=state_(1)+2.0*pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)))-state_h_(1); + E(1)=state_(1)+/*2.0**/pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)))-state_h_(1); E(2)=state_(2)+dt*state_(3)-state_h_(2); E(3)=dpitch-state_h_(3); H<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))),0.0, - 0,1.0,-2.0*pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0.0, + 0,1.0,-/*2.0**/pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0.0, 0,0,1.0,dt, 0,0,0,1.0; Q< R; @@ -82,7 +82,7 @@ public: 0,0,0,vio::Config::GYO_Noise(); Eigen::Matrix G; G<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))),0, - 0,1.0,2.0*pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0, + 0,1.0,/*2.0**/pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0, 0,0,1.0,dt, 0,0,0,1.0; cov_h_=G*cov_*G.transpose()+R; @@ -122,8 +122,8 @@ public: delete filter_; }; void UpdateIMU(double x/*in imu frame*/,double y/*in imu frame*/,double theta/*in imu frame*/,const ros::Time& time) { - if(abs(x)<1.0)x=pow(x,3);//picked up from your code - if(abs(y)<1.0)y=pow(y,3);//picked up from your code + /* if(abs(x)<1.0)x=pow(x,3);//picked up from your code + if(abs(y)<1.0)y=pow(y,3);//picked up from your code*/ ++imu_syn_count_; if(imu_syn_[imu_syn_count_ % 7]){ imu_syn_[imu_syn_count_ % 7]=false; 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 534bda8..0fc867f 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -12,5 +12,5 @@ svo: init_min_inliers: 30 ACC_noise: 0.5 #acc white noise in continuous in EKF GYO_noise: 0.5 #gyro white noise in continuous in EKF - svo_ekf: 0.05 #Svo noise that will be devided by number of Reprojected points after opmization in EKF - Cmd_Cov: 1.0 #control vector noise in EKF + svo_ekf: 0.1 #Svo noise that will be devided by number of Reprojected points after opmization in EKF + Cmd_Cov: 0.1 #control vector noise in EKF diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index a151e94..8f242ef 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -276,12 +276,17 @@ bool FrameHandlerMono::needNewKf() SE2_5 closest_kfs(0,0,0); for(auto&& it:overlap_kfs_) { + if(it.first->id_==last_frame_->id_)continue; if(it.second>com_obs){ com_obs=it.second; closest_kfs=SE2_5(it.first->T_f_w_.se2()); } } - if(fabs(closest_kfs.pitch()-new_frame_->T_f_w_.pitch()) > 0.43 || fabs((closest_kfs.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm())>0.15)return true; +#if VIO_DEBUG + fprintf(log_,"[%s] need key frame pitch dis: %f translation dif:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(), + fabs(closest_kfs.pitch()-new_frame_->T_f_w_.pitch()),(closest_kfs.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()); +#endif + if(fabs(closest_kfs.pitch()-new_frame_->T_f_w_.pitch()) > 0.2 || fabs((closest_kfs.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm())>0.1)return true; return false; } void FrameHandlerMono::UpdateIMU(double* value,const ros::Time& time){ diff --git a/GPU_version/vio/src/point.cpp b/GPU_version/vio/src/point.cpp index 5578d95..536b1c5 100644 --- a/GPU_version/vio/src/point.cpp +++ b/GPU_version/vio/src/point.cpp @@ -184,16 +184,11 @@ void Point::optimize(const size_t n_iter) break; } -/* for(auto it=obs_.begin(); it!=obs_.end(); ++it) { + for(auto it=obs_.begin(); it!=obs_.end(); ++it) { Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d((*it)->frame->se3() * (*it)->point->pos_)); - //e /= (1 << (*it)->level); -// std::cerr<<"error - point.h : "< 1.0) //{ - // we don't need to delete a reference in the point since it was not created yet + if (e.norm() > 1.0) (*it)->point->n_failed_reproj_++; -// } else -// it++; - }*/ + } } diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp index c2a9b9a..3dac67c 100644 --- a/GPU_version/vio/src/reprojector.cpp +++ b/GPU_version/vio/src/reprojector.cpp @@ -81,18 +81,10 @@ namespace vio { std::vector keypoints_cur; list>::iterator it_cur=keypoints.begin(); cv::Mat cur_des=cv::Mat(keypoints.size(),64,CV_8UC1); -// std::cerr<<"84"<(1, keypoints.size()); cv::Mat maskdown = cv::Mat_(1, keypoints.size()); -// std::cerr<<"88"<px.x(), (*it_cur)->px.y(), 7.f, (*it_cur)->score)); @@ -100,18 +92,13 @@ namespace vio { if ((*it_cur)->px.y() < frame->img().rows/2) { maskup.at(0, i) = 1; maskdown.at(0, i) = 0; - //memcpy(maskup.data + (i * 64), one, sizeof(uint8_t) * 64); - //memcpy(maskdown.data + (i * 64), zero, sizeof(uint8_t) * 64); } else{ maskup.at(0, i) = 0; maskdown.at(0, i) = 1; - //memcpy(maskup.data + (i * 64), zero, sizeof(uint8_t) * 64); - //memcpy(maskdown.data + (i * 64), one, sizeof(uint8_t) * 64); } ++it_cur; } -// std::cerr<<"114"< > close_kfs; map_.getCloseKeyframes(frame, close_kfs); if (!last_frame->fts_.empty())