From fd2d8590100d0469759e5cfb412a0a032e61705f Mon Sep 17 00:00:00 2001 From: gfuse Date: Fri, 8 Oct 2021 08:58:40 +0200 Subject: [PATCH] debugging --- GPU_version/vio/CMakeLists.txt | 1 + GPU_version/vio/depth_filter_log.txt | 135 + GPU_version/vio/frame_handler_log.txt | 2293 +++++++++++++++++ .../vio/include/vio/bundle_adjustment.h | 2 +- GPU_version/vio/include/vio/frame.h | 2 +- .../vio/include/vio/global_optimizer.h | 11 +- GPU_version/vio/launch/Px30.launch | 2 +- GPU_version/vio/src/frame_handler_mono.cpp | 4 +- GPU_version/vio/src/global_optimizer.cpp | 48 +- 9 files changed, 2475 insertions(+), 23 deletions(-) create mode 100755 GPU_version/vio/depth_filter_log.txt create mode 100755 GPU_version/vio/frame_handler_log.txt diff --git a/GPU_version/vio/CMakeLists.txt b/GPU_version/vio/CMakeLists.txt index f8000d9..6b528ed 100755 --- a/GPU_version/vio/CMakeLists.txt +++ b/GPU_version/vio/CMakeLists.txt @@ -68,6 +68,7 @@ LIST(APPEND LINK_LIBS ${G2O_SOLVER_PCG} ${G2O_TYPES_SBA} ${G2O_TYPES_SLAM3D} + ${G2O_TYPES_ICP} cholmod cxsparse ) diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt new file mode 100755 index 0000000..85fac8b --- /dev/null +++ b/GPU_version/vio/depth_filter_log.txt @@ -0,0 +1,135 @@ +[08:29:34.448] New key frame +[08:29:34.448] BA loop run +[08:29:34.448] init error: -nan +[08:29:34.450] end error: nan +[08:29:35.070] New key frame +[08:29:35.070] BA loop run +[08:29:35.071] init error: -nan +[08:29:35.073] end error: nan +[08:29:35.178] New key frame +[08:29:35.178] BA loop run +[08:29:35.178] init error: -nan +[08:29:35.181] end error: nan +[08:29:35.307] New key frame +[08:29:35.307] BA loop run +[08:29:35.307] init error: -nan +[08:29:35.311] end error: nan +[08:29:35.575] New key frame +[08:29:35.575] BA loop run +[08:29:35.575] init error: -nan +[08:29:35.577] end error: nan +[08:29:35.688] New key frame +[08:29:35.688] BA loop run +[08:29:35.689] init error: -nan +[08:29:35.691] end error: nan +[08:29:36.088] New key frame +[08:29:36.088] BA loop run +[08:29:36.088] init error: -nan +[08:29:36.090] end error: nan +[08:29:36.302] New key frame +[08:29:36.302] BA loop run +[08:29:36.303] init error: -nan +[08:29:36.305] end error: nan +[08:29:36.531] New key frame +[08:29:36.531] BA loop run +[08:29:36.531] init error: -nan +[08:29:36.534] end error: nan +[08:29:37.070] New key frame +[08:29:37.070] BA loop run +[08:29:37.070] init error: -nan +[08:29:37.073] end error: nan +[08:29:38.421] New key frame +[08:29:38.421] BA loop run +[08:29:38.422] init error: -nan +[08:29:38.423] end error: nan +[08:29:38.532] New key frame +[08:29:38.532] BA loop run +[08:29:38.532] init error: -nan +[08:29:38.533] end error: nan +[08:29:38.745] New key frame +[08:29:38.745] BA loop run +[08:29:38.746] init error: -nan +[08:29:38.747] end error: nan +[08:29:39.045] New key frame +[08:29:39.045] BA loop run +[08:29:39.046] init error: -nan +[08:29:39.047] end error: nan +[08:29:39.259] New key frame +[08:29:39.259] BA loop run +[08:29:39.259] init error: -nan +[08:29:39.261] end error: nan +[08:29:39.498] New key frame +[08:29:39.498] BA loop run +[08:29:39.498] init error: -nan +[08:29:39.501] end error: nan +[08:29:39.619] New key frame +[08:29:39.619] BA loop run +[08:29:39.620] init error: -nan +[08:29:39.623] end error: nan +[08:30:06.987] New key frame +[08:30:06.988] BA loop run +[08:30:06.988] init error: -nan +[08:30:06.989] end error: nan +[08:30:07.098] New key frame +[08:30:07.098] BA loop run +[08:30:07.099] init error: -nan +[08:30:07.100] end error: nan +[08:30:07.237] New key frame +[08:30:07.237] BA loop run +[08:30:07.237] init error: -nan +[08:30:07.239] end error: nan +[08:30:07.357] New key frame +[08:30:07.357] BA loop run +[08:30:07.357] init error: -nan +[08:30:07.359] end error: nan +[08:30:25.067] New key frame +[08:30:25.067] BA loop run +[08:30:25.068] init error: -nan +[08:30:25.068] end error: nan +[08:30:25.169] New key frame +[08:30:25.169] BA loop run +[08:30:25.169] init error: -nan +[08:30:25.170] end error: nan +[08:30:25.993] New key frame +[08:30:25.993] BA loop run +[08:30:25.993] init error: -nan +[08:30:25.994] end error: nan +[08:30:26.116] New key frame +[08:30:26.116] BA loop run +[08:30:26.117] init error: -nan +[08:30:26.117] end error: nan +[08:30:26.451] New key frame +[08:30:26.451] BA loop run +[08:30:26.451] init error: -nan +[08:30:26.452] end error: nan +[08:30:27.334] New key frame +[08:30:27.334] BA loop run +[08:30:27.335] init error: -nan +[08:30:27.335] end error: nan +[08:30:27.584] New key frame +[08:30:27.584] BA loop run +[08:30:27.584] init error: -nan +[08:30:27.585] end error: nan +[08:30:27.719] New key frame +[08:30:27.719] BA loop run +[08:30:27.719] init error: -nan +[08:30:27.720] end error: nan +[08:30:27.987] New key frame +[08:30:27.987] BA loop run +[08:30:27.987] init error: -nan +[08:30:27.987] end error: nan +[08:30:28.565] New key frame +[08:30:28.565] BA loop run +[08:30:28.565] init error: -nan +[08:30:28.566] end error: nan +[08:30:28.682] New key frame +[08:30:28.682] BA loop run +[08:30:28.683] init error: -nan +[08:30:28.683] end error: nan +[08:30:28.807] New key frame +[08:30:28.807] BA loop run +[08:30:28.808] init error: -nan +[08:30:28.808] end error: nan +[08:30:28.912] New key frame +[08:30:28.913] BA loop run +[08:30:28.91 \ No newline at end of file diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt new file mode 100755 index 0000000..20c4229 --- /dev/null +++ b/GPU_version/vio/frame_handler_log.txt @@ -0,0 +1,2293 @@ +[08:29:31.214] Init: frame zero: 0.000000, 0.000000 0.000000 +[08:29:31.214] Init: Selected first frame. +[08:29:31.214] frame process finished the id is: 0 the obs is:0 +[08:29:31.233] Init: px average disparity is:0.028000 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:31.233] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:31.233] frame process finished the id is: 1 the obs is:0 +[08:29:31.325] Init: px average disparity is:0.028622 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:31.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:31.325] frame process finished the id is: 2 the obs is:0 +[08:29:31.427] Init: px average disparity is:0.030451 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:31.427] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:31.427] frame process finished the id is: 3 the obs is:0 +[08:29:31.526] Init: px average disparity is:0.032691 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:31.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:31.526] frame process finished the id is: 4 the obs is:0 +[08:29:31.628] Init: px average disparity is:0.024697 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:31.628] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:31.628] frame process finished the id is: 5 the obs is:0 +[08:29:31.725] Init: px average disparity is:0.038583 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:31.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:31.725] frame process finished the id is: 6 the obs is:0 +[08:29:31.826] Init: px average disparity is:0.028484 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:31.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:31.826] frame process finished the id is: 7 the obs is:0 +[08:29:31.923] Init: px average disparity is:0.035371 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:31.923] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:31.923] frame process finished the id is: 8 the obs is:0 +[08:29:32.024] Init: px average disparity is:0.033589 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:32.024] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:32.024] frame process finished the id is: 9 the obs is:0 +[08:29:32.123] Init: px average disparity is:0.034850 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:32.123] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:32.123] frame process finished the id is: 10 the obs is:0 +[08:29:32.225] Init: px average disparity is:0.040350 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:32.225] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:32.225] frame process finished the id is: 11 the obs is:0 +[08:29:32.326] Init: px average disparity is:0.032975 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:32.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:32.326] frame process finished the id is: 12 the obs is:0 +[08:29:32.427] Init: px average disparity is:0.031391 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:32.427] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:32.427] frame process finished the id is: 13 the obs is:0 +[08:29:32.523] Init: px average disparity is:0.039691 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:32.524] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:32.524] frame process finished the id is: 14 the obs is:0 +[08:29:32.581] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[08:29:32.635] Init: px average disparity is:0.042275 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:32.635] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:32.635] frame process finished the id is: 15 the obs is:0 +[08:29:32.723] Init: px average disparity is:0.031575 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:32.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:32.723] frame process finished the id is: 16 the obs is:0 +[08:29:32.809] Odometry x=0.000000, y=0.019168, theta=0.000000 +[08:29:32.830] Init: px average disparity is:0.146645 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:32.830] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:32.830] frame process finished the id is: 17 the obs is:0 +[08:29:32.928] Init: px average disparity is:6.448189 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:32.928] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:32.928] frame process finished the id is: 18 the obs is:0 +[08:29:33.032] Init: px average disparity is:4.621130 ,While minimum is: 10.000000 KLT tracked : 910 +[08:29:33.033] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:33.033] frame process finished the id is: 19 the obs is:0 +[08:29:33.072] Odometry x=0.000014, y=0.050954, theta=0.000760 +[08:29:33.136] Init: px average disparity is:4.932254 ,While minimum is: 10.000000 KLT tracked : 909 +[08:29:33.136] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:33.136] frame process finished the id is: 20 the obs is:0 +[08:29:33.234] Init: px average disparity is:9.764128 ,While minimum is: 10.000000 KLT tracked : 908 +[08:29:33.235] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:33.235] frame process finished the id is: 21 the obs is:0 +[08:29:33.348] Odometry x=0.000005, y=0.081708, theta=-0.001480 +[08:29:33.435] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:12.609737 ,While minimum is: 10.000000 KLT tracked: 908 +[08:29:33.435] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:33.435] frame process finished the id is: 22 the obs is:0 +[08:29:33.531] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:15.638974 ,While minimum is: 10.000000 KLT tracked: 900 +[08:29:33.531] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:33.531] frame process finished the id is: 23 the obs is:0 +[08:29:33.556] Odometry x=0.000011, y=0.111056, theta=0.003502 +[08:29:33.626] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:19.774255 ,While minimum is: 10.000000 KLT tracked: 900 +[08:29:33.626] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:33.626] frame process finished the id is: 24 the obs is:0 +[08:29:33.724] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:29.046910 ,While minimum is: 10.000000 KLT tracked: 900 +[08:29:33.724] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:33.724] frame process finished the id is: 25 the obs is:0 +[08:29:33.823] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:27.210892 ,While minimum is: 10.000000 KLT tracked: 900 +[08:29:33.823] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:33.823] frame process finished the id is: 26 the obs is:0 +[08:29:33.861] Odometry x=-0.000215, y=0.139928, theta=0.015714 +[08:29:33.923] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:28.408077 ,While minimum is: 10.000000 KLT tracked: 899 +[08:29:33.923] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:33.923] frame process finished the id is: 27 the obs is:0 +[08:29:34.025] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:33.824593 ,While minimum is: 10.000000 KLT tracked: 899 +[08:29:34.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:34.025] frame process finished the id is: 28 the obs is:0 +[08:29:34.088] Odometry x=-0.000783, y=0.169006, theta=0.020907 +[08:29:34.128] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:40.868326 ,While minimum is: 10.000000 KLT tracked: 896 +[08:29:34.128] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:34.128] frame process finished the id is: 29 the obs is:0 +[08:29:34.235] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:45.785459 ,While minimum is: 10.000000 KLT tracked: 892 +[08:29:34.235] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[08:29:34.235] frame process finished the id is: 30 the obs is:0 +[08:29:34.324] Odometry x=-0.001359, y=0.197995, theta=0.020114 +[08:29:34.343] Init finished: Homography RANSAC (inlier) is:47 ,While 40 inliers minimum required. px average disparity is:45.251712 ,While minimum is: 10.000000 KLT tracked: 839 +[08:29:34.343] Init: distance between the first and current frame is x:-0.003039 ,z=0.235987,angle between two frames: 0.019840 +[08:29:34.343] Init: Selected Second frame. The number of features: 39 depth mean:7.026517 min:-0.234122 +[08:29:34.343] frame process finished the id is: 31 the obs is:39 +[08:29:34.447] After Reprojection Map nMatches:26 ,distance between ekf and vo x:-0.000413 ,z=0.000586,angle between two frames:0.000000 +[08:29:34.447] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.020875 error end=0.020875 +[08:29:34.447] After pose optimization, distance between ekf and vo x:-0.000413 ,z=0.000586,angle between two frames:0.000000 +[08:29:34.447] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 +[08:29:34.448] need key frame pitch dis: 0.026619 translation dif:0.242588 +[08:29:34.448] Choose frame as a key frame Scene Depth mean:5.797482 ,depth min:-0.240582 +[08:29:34.448] frame process finished the id is: 32 the obs is:15 +[08:29:34.573] After Reprojection Map nMatches:24 ,distance between ekf and vo x:-0.000684 ,z=0.000943,angle between two frames:0.000000 +[08:29:34.573] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.064936 error end=0.064936 +[08:29:34.573] After pose optimization, distance between ekf and vo x:-0.000684 ,z=0.000943,angle between two frames:0.000000 +[08:29:34.573] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17 +[08:29:34.573] need key frame pitch dis: 0.007059 translation dif:0.008190 +[08:29:34.573] frame process finished the id is: 33 the obs is:17 +[08:29:34.583] Odometry x=-0.003485, y=0.244165, theta=0.026899 +[08:29:34.738] After Reprojection Map nMatches:25 ,distance between ekf and vo x:-0.000374 ,z=0.000747,angle between two frames:0.000001 +[08:29:34.738] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.007540 error end=0.007540 +[08:29:34.738] After pose optimization, distance between ekf and vo x:-0.000374 ,z=0.000747,angle between two frames:0.000001 +[08:29:34.738] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13 +[08:29:34.738] need key frame pitch dis: 0.010089 translation dif:0.018365 +[08:29:34.738] frame process finished the id is: 34 the obs is:13 +[08:29:34.810] Odometry x=-0.003624, y=0.260928, theta=0.036708 +[08:29:34.858] After Reprojection Map nMatches:29 ,distance between ekf and vo x:-0.001419 ,z=0.001823,angle between two frames:0.000001 +[08:29:34.858] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =26 error init =0.007412 error end=0.007412 +[08:29:34.858] After pose optimization, distance between ekf and vo x:-0.001419 ,z=0.001823,angle between two frames:0.000001 +[08:29:34.858] Update EKF and 3D points the number of feature in the new frame: 26 and number of obs: 26 +[08:29:34.858] need key frame pitch dis: 0.015928 translation dif:0.040449 +[08:29:34.858] frame process finished the id is: 35 the obs is:26 +[08:29:34.960] After Reprojection Map nMatches:29 ,distance between ekf and vo x:-0.000312 ,z=0.000409,angle between two frames:0.000000 +[08:29:34.960] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.010015 error end=0.010015 +[08:29:34.960] After pose optimization, distance between ekf and vo x:-0.000312 ,z=0.000409,angle between two frames:0.000000 +[08:29:34.960] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 +[08:29:34.960] need key frame pitch dis: 0.015879 translation dif:0.043909 +[08:29:34.960] frame process finished the id is: 36 the obs is:25 +[08:29:35.044] Odometry x=-0.004342, y=0.279877, theta=0.035719 +[08:29:35.070] After Reprojection Map nMatches:40 ,distance between ekf and vo x:-0.000240 ,z=0.000365,angle between two frames:0.000001 +[08:29:35.070] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.008288 error end=0.008288 +[08:29:35.070] After pose optimization, distance between ekf and vo x:-0.000240 ,z=0.000365,angle between two frames:0.000001 +[08:29:35.070] Update EKF and 3D points the number of feature in the new frame: 36 and number of obs: 36 +[08:29:35.070] need key frame pitch dis: 0.032549 translation dif:0.057849 +[08:29:35.070] Choose frame as a key frame Scene Depth mean:5.874282 ,depth min:-0.290984 +[08:29:35.070] frame process finished the id is: 37 the obs is:36 +[08:29:35.177] After Reprojection Map nMatches:45 ,distance between ekf and vo x:-0.000189 ,z=0.000235,angle between two frames:0.000000 +[08:29:35.177] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =39 error init =0.005579 error end=0.005579 +[08:29:35.177] After pose optimization, distance between ekf and vo x:-0.000189 ,z=0.000235,angle between two frames:0.000000 +[08:29:35.177] Update EKF and 3D points the number of feature in the new frame: 39 and number of obs: 39 +[08:29:35.178] need key frame pitch dis: 0.033406 translation dif:0.061250 +[08:29:35.178] Choose frame as a key frame Scene Depth mean:5.441706 ,depth min:-0.294334 +[08:29:35.178] frame process finished the id is: 38 the obs is:39 +[08:29:35.298] Odometry x=-0.004662, y=0.297216, theta=0.053246 +[08:29:35.306] After Reprojection Map nMatches:35 ,distance between ekf and vo x:-0.000276 ,z=0.000144,angle between two frames:0.000184 +[08:29:35.306] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27 error init =0.004267 error end=0.004267 +[08:29:35.306] After pose optimization, distance between ekf and vo x:-0.000276 ,z=0.000144,angle between two frames:0.000184 +[08:29:35.306] Update EKF and 3D points the number of feature in the new frame: 27 and number of obs: 27 +[08:29:35.307] need key frame pitch dis: 0.033397 translation dif:0.100195 +[08:29:35.307] Choose frame as a key frame Scene Depth mean:4.042692 ,depth min:-0.332772 +[08:29:35.307] frame process finished the id is: 39 the obs is:27 +[08:29:35.469] After Reprojection Map nMatches:39 ,distance between ekf and vo x:-0.000258 ,z=-0.000994,angle between two frames:0.002129 +[08:29:35.469] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =23 error init =0.052137 error end=0.052137 +[08:29:35.469] After pose optimization, distance between ekf and vo x:-0.000258 ,z=-0.000994,angle between two frames:0.002129 +[08:29:35.469] Update EKF and 3D points the number of feature in the new frame: 23 and number of obs: 23 +[08:29:35.470] need key frame pitch dis: 0.001852 translation dif:0.045634 +[08:29:35.470] frame process finished the id is: 40 the obs is:23 +[08:29:35.553] Odometry x=-0.010579, y=0.342464, theta=0.055098 +[08:29:35.575] After Reprojection Map nMatches:29 ,distance between ekf and vo x:-0.000324 ,z=0.000506,angle between two frames:0.000001 +[08:29:35.575] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.005346 error end=0.005346 +[08:29:35.575] After pose optimization, distance between ekf and vo x:-0.000324 ,z=0.000506,angle between two frames:0.000001 +[08:29:35.575] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 +[08:29:35.575] need key frame pitch dis: 0.015787 translation dif:0.062620 +[08:29:35.575] Choose frame as a key frame Scene Depth mean:0.725801 ,depth min:-0.351860 +[08:29:35.575] frame process finished the id is: 41 the obs is:22 +[08:29:35.688] After Reprojection Map nMatches:22 ,distance between ekf and vo x:-0.000616 ,z=0.001241,angle between two frames:0.000016 +[08:29:35.688] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.007650 error end=0.007650 +[08:29:35.688] After pose optimization, distance between ekf and vo x:-0.000616 ,z=0.001241,angle between two frames:0.000016 +[08:29:35.688] Update EKF and 3D points the number of feature in the new frame: 20 and number of obs: 20 +[08:29:35.688] need key frame pitch dis: 0.068851 translation dif:0.359811 +[08:29:35.688] Choose frame as a key frame Scene Depth mean:0.530838 ,depth min:-0.355325 +[08:29:35.688] frame process finished the id is: 42 the obs is:20 +[08:29:35.841] After Reprojection Map nMatches:25 ,distance between ekf and vo x:-0.000393 ,z=0.000759,angle between two frames:0.000054 +[08:29:35.841] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.013719 error end=0.013719 +[08:29:35.841] After pose optimization, distance between ekf and vo x:-0.000393 ,z=0.000759,angle between two frames:0.000054 +[08:29:35.841] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13 +[08:29:35.842] need key frame pitch dis: 0.000705 translation dif:0.004296 +[08:29:35.842] frame process finished the id is: 43 the obs is:13 +[08:29:35.890] Odometry x=-0.011346, y=0.360384, theta=0.068882 +[08:29:35.975] After Reprojection Map nMatches:21 ,distance between ekf and vo x:-0.000057 ,z=0.000070,angle between two frames:0.000033 +[08:29:35.975] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.005683 error end=0.005683 +[08:29:35.975] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000070,angle between two frames:0.000033 +[08:29:35.975] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18 +[08:29:35.975] need key frame pitch dis: 0.000703 translation dif:0.040151 +[08:29:35.975] frame process finished the id is: 44 the obs is:18 +[08:29:36.056] Odometry x=-0.013570, y=0.400758, theta=0.087229 +[08:29:36.087] After Reprojection Map nMatches:29 ,distance between ekf and vo x:-0.000076 ,z=0.000129,angle between two frames:0.000011 +[08:29:36.088] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20 error init =0.112050 error end=0.112050 +[08:29:36.088] After pose optimization, distance between ekf and vo x:-0.000076 ,z=0.000129,angle between two frames:0.000011 +[08:29:36.088] Update EKF and 3D points the number of feature in the new frame: 20 and number of obs: 20 +[08:29:36.088] need key frame pitch dis: 0.018595 translation dif:0.085033 +[08:29:36.088] Choose frame as a key frame Scene Depth mean:0.625289 ,depth min:-0.074637 +[08:29:36.088] frame process finished the id is: 45 the obs is:20 +[08:29:36.198] After Reprojection Map nMatches:36 ,distance between ekf and vo x:0.000616 ,z=0.000964,angle between two frames:0.000371 +[08:29:36.198] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =13 error init =0.239796 error end=0.100250 +[08:29:36.198] After pose optimization, distance between ekf and vo x:-0.496741 ,z=-0.189810,angle between two frames:0.148602 +[08:29:36.198] frame process finished the id is: 45 the obs is:20 +[08:29:36.302] After Reprojection Map nMatches:33 ,distance between ekf and vo x:-0.000044 ,z=0.000084,angle between two frames:0.000005 +[08:29:36.302] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 error init =0.000562 error end=0.000559 +[08:29:36.302] After pose optimization, distance between ekf and vo x:-0.010294 ,z=0.015083,angle between two frames:0.000322 +[08:29:36.302] Update EKF and 3D points the number of feature in the new frame: 33 and number of obs: 33 +[08:29:36.302] need key frame pitch dis: 0.029412 translation dif:0.092352 +[08:29:36.302] Choose frame as a key frame Scene Depth mean:0.337917 ,depth min:-0.081742 +[08:29:36.302] frame process finished the id is: 47 the obs is:33 +[08:29:36.305] Odometry x=-0.017277, y=0.448242, theta=0.097589 +[08:29:36.415] After Reprojection Map nMatches:38 ,distance between ekf and vo x:-0.000087 ,z=0.000118,angle between two frames:0.000003 +[08:29:36.416] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.014141 error end=0.012263 +[08:29:36.416] After pose optimization, distance between ekf and vo x:0.009911 ,z=-0.310669,angle between two frames:0.115094 +[08:29:36.416] frame process finished the id is: 47 the obs is:33 +[08:29:36.530] After Reprojection Map nMatches:39 ,distance between ekf and vo x:-0.000083 ,z=0.000075,angle between two frames:0.000016 +[08:29:36.530] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 error init =0.000307 error end=0.000305 +[08:29:36.530] After pose optimization, distance between ekf and vo x:-0.000420 ,z=-0.009073,angle between two frames:0.003530 +[08:29:36.530] Update EKF and 3D points the number of feature in the new frame: 38 and number of obs: 38 +[08:29:36.530] need key frame pitch dis: 0.028810 translation dif:0.101879 +[08:29:36.531] Choose frame as a key frame Scene Depth mean:0.701679 ,depth min:-0.090134 +[08:29:36.531] frame process finished the id is: 49 the obs is:38 +[08:29:36.547] Odometry x=-0.022955, y=0.457285, theta=0.096987 +[08:29:36.658] After Reprojection Map nMatches:57 ,distance between ekf and vo x:-0.000175 ,z=0.000655,angle between two frames:0.000073 +[08:29:36.658] n deleted obs = 22 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 error init =0.038293 error end=0.035543 +[08:29:36.658] After pose optimization, distance between ekf and vo x:-0.069757 ,z=-0.013974,angle between two frames:0.004854 +[08:29:36.658] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35 +[08:29:36.659] need key frame pitch dis: 0.006445 translation dif:0.030472 +[08:29:36.659] frame process finished the id is: 50 the obs is:35 +[08:29:36.773] After Reprojection Map nMatches:62 ,distance between ekf and vo x:-0.000072 ,z=0.000137,angle between two frames:0.000000 +[08:29:36.773] n deleted obs = 11 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =51 error init =0.006431 error end=0.006304 +[08:29:36.774] After pose optimization, distance between ekf and vo x:-0.036138 ,z=0.010075,angle between two frames:0.000966 +[08:29:36.774] Update EKF and 3D points the number of feature in the new frame: 51 and number of obs: 51 +[08:29:36.774] need key frame pitch dis: 0.006993 translation dif:0.033823 +[08:29:36.774] frame process finished the id is: 51 the obs is:51 +[08:29:36.824] Odometry x=-0.037501, y=0.475353, theta=0.104582 +[08:29:36.900] After Reprojection Map nMatches:65 ,distance between ekf and vo x:-0.000084 ,z=0.000180,angle between two frames:0.000027 +[08:29:36.900] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =53 error init =0.006677 error end=0.006603 +[08:29:36.900] After pose optimization, distance between ekf and vo x:-0.011453 ,z=-0.007158,angle between two frames:0.004315 +[08:29:36.900] Update EKF and 3D points the number of feature in the new frame: 53 and number of obs: 53 +[08:29:36.901] need key frame pitch dis: 0.008945 translation dif:0.044585 +[08:29:36.901] frame process finished the id is: 52 the obs is:53 +[08:29:37.051] Odometry x=-0.044724, y=0.483377, theta=0.106533 +[08:29:37.069] After Reprojection Map nMatches:51 ,distance between ekf and vo x:0.001232 ,z=0.000106,angle between two frames:0.003322 +[08:29:37.069] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =46 error init =0.001681 error end=0.001681 +[08:29:37.069] After pose optimization, distance between ekf and vo x:0.001232 ,z=0.000106,angle between two frames:0.003322 +[08:29:37.069] Update EKF and 3D points the number of feature in the new frame: 46 and number of obs: 46 +[08:29:37.070] need key frame pitch dis: 0.019570 translation dif:0.073769 +[08:29:37.070] Choose frame as a key frame Scene Depth mean:0.427105 ,depth min:-0.137796 +[08:29:37.070] frame process finished the id is: 53 the obs is:46 +[08:29:37.233] After Reprojection Map nMatches:63 ,distance between ekf and vo x:0.000698 ,z=0.000106,angle between two frames:0.001821 +[08:29:37.233] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =60 error init =0.014923 error end=0.014300 +[08:29:37.233] After pose optimization, distance between ekf and vo x:0.031425 ,z=-0.191607,angle between two frames:0.097627 +[08:29:37.233] Update EKF and 3D points the number of feature in the new frame: 60 and number of obs: 60 +[08:29:37.234] need key frame pitch dis: 0.009925 translation dif:0.025966 +[08:29:37.234] frame process finished the id is: 54 the obs is:60 +[08:29:37.311] Odometry x=-0.038040, y=0.463835, theta=0.087663 +[08:29:37.426] After Reprojection Map nMatches:65 ,distance between ekf and vo x:0.000624 ,z=-0.000008,angle between two frames:0.001991 +[08:29:37.426] n deleted obs = 20 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 error init =0.037020 error end=0.035736 +[08:29:37.426] After pose optimization, distance between ekf and vo x:0.021232 ,z=-0.460012,angle between two frames:0.061060 +[08:29:37.426] frame process finished the id is: 54 the obs is:60 +[08:29:37.564] Odometry x=-0.039239, y=0.476853, theta=0.081381 +[08:29:37.601] After Reprojection Map nMatches:79 ,distance between ekf and vo x:-0.092407 ,z=-0.108902,angle between two frames:0.090169 +[08:29:37.601] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =67 error init =0.004268 error end=0.004195 +[08:29:37.601] After pose optimization, distance between ekf and vo x:-0.121843 ,z=-0.028825,angle between two frames:0.087929 +[08:29:37.601] Update EKF and 3D points the number of feature in the new frame: 67 and number of obs: 67 +[08:29:37.602] need key frame pitch dis: 0.032967 translation dif:0.032415 +[08:29:37.602] frame process finished the id is: 56 the obs is:67 +[08:29:37.732] After Reprojection Map nMatches:72 ,distance between ekf and vo x:-0.096365 ,z=-0.091436,angle between two frames:0.090588 +[08:29:37.733] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =65 error init =0.025088 error end=0.012137 +[08:29:37.733] After pose optimization, distance between ekf and vo x:-0.089575 ,z=-0.581892,angle between two frames:0.251117 +[08:29:37.733] frame process finished the id is: 56 the obs is:67 +[08:29:37.867] After Reprojection Map nMatches:69 ,distance between ekf and vo x:-0.087053 ,z=-0.119073,angle between two frames:0.079851 +[08:29:37.867] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =53 error init =0.046534 error end=0.040323 +[08:29:37.867] After pose optimization, distance between ekf and vo x:-0.202367 ,z=-0.096714,angle between two frames:0.114226 +[08:29:37.867] frame process finished the id is: 56 the obs is:67 +[08:29:37.867] Odometry x=-0.068948, y=0.484441, theta=0.073375 +[08:29:38.001] After Reprojection Map nMatches:63 ,distance between ekf and vo x:-0.087158 ,z=-0.117882,angle between two frames:0.081569 +[08:29:38.001] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =51 error init =0.015439 error end=0.014697 +[08:29:38.001] After pose optimization, distance between ekf and vo x:-0.211986 ,z=0.163160,angle between two frames:0.084455 +[08:29:38.001] frame process finished the id is: 56 the obs is:67 +[08:29:38.041] Odometry x=-0.068940, y=0.500761, theta=0.081429 +[08:29:38.101] After Reprojection Map nMatches:66 ,distance between ekf and vo x:-0.000011 ,z=0.000008,angle between two frames:0.000000 +[08:29:38.101] n deleted obs = 4 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =62 error init =0.008616 error end=0.007475 +[08:29:38.101] After pose optimization, distance between ekf and vo x:-0.423914 ,z=0.743332,angle between two frames:0.073947 +[08:29:38.101] frame process finished the id is: 56 the obs is:67 +[08:29:38.204] After Reprojection Map nMatches:52 ,distance between ekf and vo x:-0.000011 ,z=0.000010,angle between two frames:0.000001 +[08:29:38.204] n deleted obs = 14 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 error init =0.067805 error end=0.067805 +[08:29:38.204] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000010,angle between two frames:0.000001 +[08:29:38.204] Update EKF and 3D points the number of feature in the new frame: 38 and number of obs: 38 +[08:29:38.204] need key frame pitch dis: 0.037124 translation dif:0.024010 +[08:29:38.204] frame process finished the id is: 61 the obs is:38 +[08:29:38.317] After Reprojection Map nMatches:49 ,distance between ekf and vo x:-0.000093 ,z=0.000153,angle between two frames:0.000005 +[08:29:38.318] n deleted obs = 17 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =32 error init =0.054364 error end=0.052566 +[08:29:38.318] After pose optimization, distance between ekf and vo x:-0.040437 ,z=0.075250,angle between two frames:0.000862 +[08:29:38.318] Update EKF and 3D points the number of feature in the new frame: 32 and number of obs: 32 +[08:29:38.318] need key frame pitch dis: 0.037693 translation dif:0.042697 +[08:29:38.318] frame process finished the id is: 62 the obs is:32 +[08:29:38.328] Odometry x=-0.080018, y=0.535517, theta=0.068649 +[08:29:38.421] After Reprojection Map nMatches:32 ,distance between ekf and vo x:0.000053 ,z=0.000052,angle between two frames:0.000137 +[08:29:38.421] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =24 error init =0.005631 error end=0.005507 +[08:29:38.421] After pose optimization, distance between ekf and vo x:-0.000524 ,z=-0.000764,angle between two frames:0.000671 +[08:29:38.421] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 +[08:29:38.421] need key frame pitch dis: 0.061666 translation dif:0.551913 +[08:29:38.421] Choose frame as a key frame Scene Depth mean:0.202422 ,depth min:-0.176253 +[08:29:38.421] frame process finished the id is: 63 the obs is:24 +[08:29:38.532] After Reprojection Map nMatches:22 ,distance between ekf and vo x:0.000065 ,z=0.000072,angle between two frames:0.000173 +[08:29:38.532] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =14 error init =0.019900 error end=0.019900 +[08:29:38.532] After pose optimization, distance between ekf and vo x:0.000065 ,z=0.000072,angle between two frames:0.000173 +[08:29:38.532] Update EKF and 3D points the number of feature in the new frame: 14 and number of obs: 14 +[08:29:38.532] need key frame pitch dis: 0.061329 translation dif:0.554675 +[08:29:38.532] Choose frame as a key frame Scene Depth mean:0.500236 ,depth min:0.011146 +[08:29:38.532] frame process finished the id is: 64 the obs is:14 +[08:29:38.538] Odometry x=-0.073483, y=0.549786, theta=0.061329 +[08:29:38.652] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.000013 ,z=0.000138,angle between two frames:0.000116 +[08:29:38.652] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.065830 error end=0.058943 +[08:29:38.652] After pose optimization, distance between ekf and vo x:-0.071773 ,z=-0.011553,angle between two frames:0.028735 +[08:29:38.652] frame process finished the id is: 64 the obs is:14 +[08:29:38.745] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.019011 ,z=-0.003933,angle between two frames:0.127942 +[08:29:38.745] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000002 error end=0.000002 +[08:29:38.745] After pose optimization, distance between ekf and vo x:0.019011 ,z=-0.003933,angle between two frames:0.127942 +[08:29:38.745] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:29:38.745] need key frame pitch dis: 0.056943 translation dif:0.566337 +[08:29:38.745] Choose frame as a key frame Scene Depth mean:0.239453 ,depth min:0.108986 +[08:29:38.745] frame process finished the id is: 66 the obs is:16 +[08:29:38.798] Odometry x=-0.069553, y=0.562049, theta=0.056943 +[08:29:38.844] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.090638 ,z=-0.089664,angle between two frames:0.333471 +[08:29:38.844] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000012 error end=0.000012 +[08:29:38.844] After pose optimization, distance between ekf and vo x:-0.090638 ,z=-0.089664,angle between two frames:0.333471 +[08:29:38.844] frame process finished the id is: 66 the obs is:16 +[08:29:38.943] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.031240 ,z=-0.013464,angle between two frames:0.228246 +[08:29:38.943] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000000 error end=0.000000 +[08:29:38.943] After pose optimization, distance between ekf and vo x:0.031240 ,z=-0.013464,angle between two frames:0.228246 +[08:29:38.943] frame process finished the id is: 66 the obs is:16 +[08:29:39.045] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.015051 ,z=0.011097,angle between two frames:0.115455 +[08:29:39.045] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000000 error end=0.000000 +[08:29:39.045] After pose optimization, distance between ekf and vo x:-0.015051 ,z=0.011096,angle between two frames:0.115454 +[08:29:39.045] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:29:39.045] need key frame pitch dis: 0.071994 translation dif:0.582908 +[08:29:39.045] Choose frame as a key frame Scene Depth mean:0.221448 ,depth min:0.092093 +[08:29:39.045] frame process finished the id is: 69 the obs is:16 +[08:29:39.063] Odometry x=-0.073860, y=0.578210, theta=0.071994 +[08:29:39.152] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.106658 ,z=-0.096306,angle between two frames:0.999738 +[08:29:39.152] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000013 error end=0.000013 +[08:29:39.152] After pose optimization, distance between ekf and vo x:0.106658 ,z=-0.096306,angle between two frames:0.999738 +[08:29:39.152] frame process finished the id is: 69 the obs is:16 +[08:29:39.258] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.014445 ,z=-0.003745,angle between two frames:0.092023 +[08:29:39.259] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000000 error end=0.000000 +[08:29:39.259] After pose optimization, distance between ekf and vo x:0.014445 ,z=-0.003745,angle between two frames:0.092023 +[08:29:39.259] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:29:39.259] need key frame pitch dis: 0.067050 translation dif:0.594727 +[08:29:39.259] Choose frame as a key frame Scene Depth mean:0.209693 ,depth min:0.079970 +[08:29:39.259] frame process finished the id is: 71 the obs is:16 +[08:29:39.293] Odometry x=-0.070147, y=0.590575, theta=0.067050 +[08:29:39.376] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.035513 ,z=-0.013525,angle between two frames:0.234779 +[08:29:39.376] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000067 error end=0.000067 +[08:29:39.376] After pose optimization, distance between ekf and vo x:0.035513 ,z=-0.013525,angle between two frames:0.234779 +[08:29:39.376] frame process finished the id is: 71 the obs is:16 +[08:29:39.497] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.002998 ,z=-0.000380,angle between two frames:0.018750 +[08:29:39.497] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000000 error end=0.000000 +[08:29:39.497] After pose optimization, distance between ekf and vo x:0.002998 ,z=-0.000380,angle between two frames:0.018750 +[08:29:39.497] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:29:39.498] need key frame pitch dis: 0.071771 translation dif:0.605217 +[08:29:39.498] Choose frame as a key frame Scene Depth mean:0.198898 ,depth min:0.069527 +[08:29:39.498] frame process finished the id is: 73 the obs is:16 +[08:29:39.544] Odometry x=-0.072169, y=0.600899, theta=0.071771 +[08:29:39.619] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.099359 ,z=-0.103466,angle between two frames:0.092232 +[08:29:39.619] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000000 error end=0.000000 +[08:29:39.619] After pose optimization, distance between ekf and vo x:-0.099359 ,z=-0.103465,angle between two frames:0.092232 +[08:29:39.619] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:29:39.619] need key frame pitch dis: 0.076453 translation dif:0.593114 +[08:29:39.619] Choose frame as a key frame Scene Depth mean:0.215684 ,depth min:0.086664 +[08:29:39.619] frame process finished the id is: 74 the obs is:16 +[08:29:39.751] After Reprojection Map nMatches:22 ,distance between ekf and vo x:-0.084759 ,z=-0.022755,angle between two frames:0.578500 +[08:29:39.751] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 error init =0.368749 error end=0.368749 +[08:29:39.751] After pose optimization, distance between ekf and vo x:-0.084759 ,z=-0.022755,angle between two frames:0.578500 +[08:29:39.751] frame process finished the id is: 74 the obs is:16 +[08:29:39.831] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:39.831] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:29:39.831] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:39.831] frame process finished the id is: 74 the obs is:16 +[08:29:39.874] Odometry x=-0.096945, y=0.585137, theta=0.076453 +[08:29:39.913] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:39.913] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:29:39.913] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:39.913] frame process finished the id is: 74 the obs is:16 +[08:29:39.994] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:39.994] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:29:39.994] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:39.994] frame process finished the id is: 74 the obs is:16 +[08:29:40.039] Odometry x=-0.098199, y=0.599257, theta=0.075942 +[08:29:40.076] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.076] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.076] frame process finished the id is: 74 the obs is:16 +[08:29:40.178] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.178] 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 +[08:29:40.178] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.178] frame process finished the id is: 74 the obs is:16 +[08:29:40.274] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.274] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.274] frame process finished the id is: 74 the obs is:16 +[08:29:40.345] Odometry x=-0.099385, y=0.617020, theta=0.087441 +[08:29:40.375] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.375] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.024959 error end=0.020291 +[08:29:40.375] After pose optimization, distance between ekf and vo x:-0.093102 ,z=-0.100314,angle between two frames:0.200599 +[08:29:40.375] frame process finished the id is: 74 the obs is:16 +[08:29:40.474] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.474] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000013 error end=0.000013 +[08:29:40.474] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.474] frame process finished the id is: 74 the obs is:16 +[08:29:40.545] Odometry x=-0.101217, y=0.635428, theta=0.080857 +[08:29:40.571] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.571] 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 +[08:29:40.571] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.571] frame process finished the id is: 74 the obs is:16 +[08:29:40.679] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.679] 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 +[08:29:40.679] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000004,angle between two frames:0.000005 +[08:29:40.679] frame process finished the id is: 74 the obs is:16 +[08:29:40.777] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.777] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000012 error end=0.000012 +[08:29:40.777] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000054,angle between two frames:0.000012 +[08:29:40.777] frame process finished the id is: 74 the obs is:16 +[08:29:40.796] Odometry x=-0.102741, y=0.654306, theta=0.074545 +[08:29:40.878] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.878] 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 +[08:29:40.878] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:29:40.878] frame process finished the id is: 74 the obs is:16 +[08:29:40.975] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:40.975] 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 +[08:29:40.975] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:29:40.975] frame process finished the id is: 74 the obs is:16 +[08:29:41.049] Odometry x=-0.104131, y=0.673272, theta=0.069591 +[08:29:41.074] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.074] 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 +[08:29:41.074] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000002,angle between two frames:0.000000 +[08:29:41.074] frame process finished the id is: 74 the obs is:16 +[08:29:41.178] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.178] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000178 error end=0.000178 +[08:29:41.178] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.178] frame process finished the id is: 74 the obs is:16 +[08:29:41.280] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.280] 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 +[08:29:41.280] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.280] frame process finished the id is: 74 the obs is:16 +[08:29:41.283] Odometry x=-0.105367, y=0.692373, theta=0.058077 +[08:29:41.379] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.379] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.002853 error end=0.002853 +[08:29:41.379] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.379] frame process finished the id is: 74 the obs is:16 +[08:29:41.478] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.478] 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 +[08:29:41.478] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:29:41.478] frame process finished the id is: 74 the obs is:16 +[08:29:41.535] Odometry x=-0.106771, y=0.710987, theta=0.055343 +[08:29:41.578] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.578] 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 +[08:29:41.578] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:29:41.578] frame process finished the id is: 74 the obs is:16 +[08:29:41.676] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.676] 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 +[08:29:41.676] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:29:41.676] frame process finished the id is: 74 the obs is:16 +[08:29:41.775] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.775] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.001611 error end=0.000576 +[08:29:41.775] After pose optimization, distance between ekf and vo x:-0.065472 ,z=-0.459007,angle between two frames:0.255379 +[08:29:41.775] frame process finished the id is: 74 the obs is:16 +[08:29:41.878] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.878] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000709 error end=0.000709 +[08:29:41.878] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.878] frame process finished the id is: 74 the obs is:16 +[08:29:41.981] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.981] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.002836 error end=0.002836 +[08:29:41.981] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:41.981] frame process finished the id is: 74 the obs is:16 +[08:29:42.074] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.074] 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 +[08:29:42.074] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.074] frame process finished the id is: 74 the obs is:16 +[08:29:42.176] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.176] 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 +[08:29:42.176] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.176] frame process finished the id is: 74 the obs is:16 +[08:29:42.278] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.278] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000022 error end=0.000022 +[08:29:42.278] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.278] frame process finished the id is: 74 the obs is:16 +[08:29:42.375] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.375] 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 +[08:29:42.375] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.375] frame process finished the id is: 74 the obs is:16 +[08:29:42.477] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.477] 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 +[08:29:42.477] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.477] frame process finished the id is: 74 the obs is:16 +[08:29:42.575] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.575] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000044 error end=0.000044 +[08:29:42.575] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.575] frame process finished the id is: 74 the obs is:16 +[08:29:42.678] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.678] 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 +[08:29:42.678] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.678] frame process finished the id is: 74 the obs is:16 +[08:29:42.777] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.777] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.006768 error end=0.006768 +[08:29:42.777] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.777] frame process finished the id is: 74 the obs is:16 +[08:29:42.877] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.877] 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 +[08:29:42.877] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.877] frame process finished the id is: 74 the obs is:16 +[08:29:42.976] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.976] 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 +[08:29:42.976] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:42.976] frame process finished the id is: 74 the obs is:16 +[08:29:43.077] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.077] 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 +[08:29:43.077] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.077] frame process finished the id is: 74 the obs is:16 +[08:29:43.177] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.177] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000022 error end=0.000022 +[08:29:43.177] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.177] frame process finished the id is: 74 the obs is:16 +[08:29:43.294] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.294] 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 +[08:29:43.294] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.294] frame process finished the id is: 74 the obs is:16 +[08:29:43.309] Odometry x=-0.106884, y=0.711010, theta=0.053912 +[08:29:43.377] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.377] 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 +[08:29:43.377] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.377] frame process finished the id is: 74 the obs is:16 +[08:29:43.478] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.478] 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 +[08:29:43.478] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000000 +[08:29:43.478] frame process finished the id is: 74 the obs is:16 +[08:29:43.565] Odometry x=-0.106863, y=0.711072, theta=0.045265 +[08:29:43.576] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.576] 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 +[08:29:43.576] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:29:43.576] frame process finished the id is: 74 the obs is:16 +[08:29:43.679] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.679] 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 +[08:29:43.679] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000003,angle between two frames:0.000000 +[08:29:43.679] frame process finished the id is: 74 the obs is:16 +[08:29:43.775] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.775] 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 +[08:29:43.775] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.775] frame process finished the id is: 74 the obs is:16 +[08:29:43.870] Odometry x=-0.106852, y=0.711088, theta=-0.001249 +[08:29:43.877] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.877] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.002661 error end=0.002661 +[08:29:43.877] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.877] frame process finished the id is: 74 the obs is:16 +[08:29:43.979] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.979] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.008453 error end=0.008453 +[08:29:43.979] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:43.979] frame process finished the id is: 74 the obs is:16 +[08:29:44.058] Odometry x=-0.106852, y=0.711088, theta=-0.001249 +[08:29:44.070] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.070] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.070] frame process finished the id is: 74 the obs is:16 +[08:29:44.175] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.175] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.175] frame process finished the id is: 74 the obs is:16 +[08:29:44.272] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.272] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.272] frame process finished the id is: 74 the obs is:16 +[08:29:44.302] Odometry x=-0.106852, y=0.711088, theta=-0.001249 +[08:29:44.377] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.377] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.377] frame process finished the id is: 74 the obs is:16 +[08:29:44.481] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.481] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.481] frame process finished the id is: 74 the obs is:16 +[08:29:44.583] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.583] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.583] frame process finished the id is: 74 the obs is:16 +[08:29:44.681] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.681] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.681] frame process finished the id is: 74 the obs is:16 +[08:29:44.783] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.783] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.783] frame process finished the id is: 74 the obs is:16 +[08:29:44.882] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.882] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.882] frame process finished the id is: 74 the obs is:16 +[08:29:44.986] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.986] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:44.986] frame process finished the id is: 74 the obs is:16 +[08:29:45.086] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.086] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.086] frame process finished the id is: 74 the obs is:16 +[08:29:45.182] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.182] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.182] frame process finished the id is: 74 the obs is:16 +[08:29:45.281] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.281] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.281] frame process finished the id is: 74 the obs is:16 +[08:29:45.382] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.382] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.382] frame process finished the id is: 74 the obs is:16 +[08:29:45.482] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.482] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.482] frame process finished the id is: 74 the obs is:16 +[08:29:45.551] Odometry x=-0.106848, y=0.710719, theta=-0.031164 +[08:29:45.584] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.584] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.584] frame process finished the id is: 74 the obs is:16 +[08:29:45.685] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.685] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.685] frame process finished the id is: 74 the obs is:16 +[08:29:45.784] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.784] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.784] frame process finished the id is: 74 the obs is:16 +[08:29:45.864] Odometry x=-0.106810, y=0.711634, theta=-0.030737 +[08:29:45.888] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.888] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.888] frame process finished the id is: 74 the obs is:16 +[08:29:45.983] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.983] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:45.983] frame process finished the id is: 74 the obs is:16 +[08:29:46.081] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.081] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.081] frame process finished the id is: 74 the obs is:16 +[08:29:46.084] Odometry x=-0.106551, y=0.720004, theta=-0.024955 +[08:29:46.185] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.185] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.185] frame process finished the id is: 74 the obs is:16 +[08:29:46.282] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.282] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.282] frame process finished the id is: 74 the obs is:16 +[08:29:46.308] Odometry x=-0.106273, y=0.733475, theta=-0.021517 +[08:29:46.388] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.388] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.388] frame process finished the id is: 74 the obs is:16 +[08:29:46.522] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.523] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.523] frame process finished the id is: 74 the obs is:16 +[08:29:46.547] Odometry x=-0.106389, y=0.746144, theta=-0.018965 +[08:29:46.620] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.620] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.620] frame process finished the id is: 74 the obs is:16 +[08:29:46.760] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.760] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.760] frame process finished the id is: 74 the obs is:16 +[08:29:46.839] Odometry x=-0.106019, y=0.759259, theta=-0.010664 +[08:29:46.855] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.855] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.855] frame process finished the id is: 74 the obs is:16 +[08:29:46.950] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.950] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:46.950] frame process finished the id is: 74 the obs is:16 +[08:29:47.052] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.052] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.052] frame process finished the id is: 74 the obs is:16 +[08:29:47.057] Odometry x=-0.105875, y=0.772928, theta=-0.010379 +[08:29:47.146] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.146] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.002014 error end=0.002014 +[08:29:47.146] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.146] frame process finished the id is: 74 the obs is:16 +[08:29:47.249] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.249] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.249] frame process finished the id is: 74 the obs is:16 +[08:29:47.343] Odometry x=-0.105824, y=0.786743, theta=-0.007766 +[08:29:47.351] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.351] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.351] frame process finished the id is: 74 the obs is:16 +[08:29:47.451] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.451] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.451] frame process finished the id is: 74 the obs is:16 +[08:29:47.546] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.546] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.546] frame process finished the id is: 74 the obs is:16 +[08:29:47.575] Odometry x=-0.105700, y=0.800367, theta=-0.012046 +[08:29:47.649] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.649] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.649] frame process finished the id is: 74 the obs is:16 +[08:29:47.748] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.748] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.748] frame process finished the id is: 74 the obs is:16 +[08:29:47.844] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.844] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.844] frame process finished the id is: 74 the obs is:16 +[08:29:47.877] Odometry x=-0.105949, y=0.814045, theta=-0.015675 +[08:29:47.951] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.951] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.077086 error end=0.077086 +[08:29:47.951] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:47.951] frame process finished the id is: 74 the obs is:16 +[08:29:48.039] Odometry x=-0.105718, y=0.827676, theta=-0.024219 +[08:29:48.054] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.054] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.054] frame process finished the id is: 74 the obs is:16 +[08:29:48.147] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.147] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.147] frame process finished the id is: 74 the obs is:16 +[08:29:48.249] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.249] 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 +[08:29:48.249] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.249] frame process finished the id is: 74 the obs is:16 +[08:29:48.295] Odometry x=-0.105393, y=0.841317, theta=-0.017529 +[08:29:48.351] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.351] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.351] frame process finished the id is: 74 the obs is:16 +[08:29:48.455] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.455] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.455] frame process finished the id is: 74 the obs is:16 +[08:29:48.547] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.547] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.547] frame process finished the id is: 74 the obs is:16 +[08:29:48.583] Odometry x=-0.104859, y=0.855330, theta=-0.002052 +[08:29:48.654] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.654] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.654] frame process finished the id is: 74 the obs is:16 +[08:29:48.749] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.749] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.749] frame process finished the id is: 74 the obs is:16 +[08:29:48.809] Odometry x=-0.104978, y=0.868794, theta=0.011545 +[08:29:48.849] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.849] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.849] frame process finished the id is: 74 the obs is:16 +[08:29:48.952] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.952] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:48.952] frame process finished the id is: 74 the obs is:16 +[08:29:49.051] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.051] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.110401 error end=0.110401 +[08:29:49.051] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.051] frame process finished the id is: 74 the obs is:16 +[08:29:49.060] Odometry x=-0.105069, y=0.882487, theta=0.005562 +[08:29:49.150] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.150] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.150] frame process finished the id is: 74 the obs is:16 +[08:29:49.251] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.251] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.251] frame process finished the id is: 74 the obs is:16 +[08:29:49.300] Odometry x=-0.105111, y=0.896110, theta=-0.003154 +[08:29:49.350] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.350] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.350] frame process finished the id is: 74 the obs is:16 +[08:29:49.456] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.456] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.456] frame process finished the id is: 74 the obs is:16 +[08:29:49.551] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.551] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.551] frame process finished the id is: 74 the obs is:16 +[08:29:49.555] Odometry x=-0.105394, y=0.909916, theta=-0.024373 +[08:29:49.651] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.652] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.652] frame process finished the id is: 74 the obs is:16 +[08:29:49.752] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.752] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000004 error end=0.000004 +[08:29:49.752] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.752] frame process finished the id is: 74 the obs is:16 +[08:29:49.844] Odometry x=-0.105043, y=0.923520, theta=-0.035702 +[08:29:49.851] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.851] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.851] frame process finished the id is: 74 the obs is:16 +[08:29:49.952] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.952] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:49.952] frame process finished the id is: 74 the obs is:16 +[08:29:50.051] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.051] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.051] frame process finished the id is: 74 the obs is:16 +[08:29:50.077] Odometry x=-0.104626, y=0.937090, theta=-0.035489 +[08:29:50.151] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.151] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.137733 error end=0.132579 +[08:29:50.151] After pose optimization, distance between ekf and vo x:-0.106597 ,z=1.185986,angle between two frames:0.300799 +[08:29:50.151] frame process finished the id is: 74 the obs is:16 +[08:29:50.253] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.253] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.253] frame process finished the id is: 74 the obs is:16 +[08:29:50.306] Odometry x=-0.104139, y=0.950708, theta=-0.038232 +[08:29:50.353] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.353] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.353] frame process finished the id is: 74 the obs is:16 +[08:29:50.450] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.450] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.450] frame process finished the id is: 74 the obs is:16 +[08:29:50.538] Odometry x=-0.103497, y=0.964576, theta=-0.035148 +[08:29:50.550] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.550] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.550] frame process finished the id is: 74 the obs is:16 +[08:29:50.654] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.654] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.654] frame process finished the id is: 74 the obs is:16 +[08:29:50.763] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.763] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.763] frame process finished the id is: 74 the obs is:16 +[08:29:50.805] Odometry x=-0.103189, y=0.978438, theta=-0.035284 +[08:29:50.848] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.848] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.848] frame process finished the id is: 74 the obs is:16 +[08:29:50.947] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.947] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:50.947] frame process finished the id is: 74 the obs is:16 +[08:29:51.052] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.052] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000319 error end=0.000319 +[08:29:51.052] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.052] frame process finished the id is: 74 the obs is:16 +[08:29:51.060] Odometry x=-0.102664, y=0.992484, theta=-0.041084 +[08:29:51.151] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.151] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.151] frame process finished the id is: 74 the obs is:16 +[08:29:51.254] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.254] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.254] frame process finished the id is: 74 the obs is:16 +[08:29:51.312] Odometry x=-0.102311, y=1.007223, theta=-0.042999 +[08:29:51.346] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.346] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000018 error end=0.000018 +[08:29:51.346] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.346] frame process finished the id is: 74 the obs is:16 +[08:29:51.454] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.454] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.454] frame process finished the id is: 74 the obs is:16 +[08:29:51.533] Odometry x=-0.101487, y=1.021046, theta=-0.046247 +[08:29:51.551] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.552] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000147 error end=0.000147 +[08:29:51.552] After pose optimization, distance between ekf and vo x:-0.000131 ,z=0.001101,angle between two frames:0.000042 +[08:29:51.552] frame process finished the id is: 74 the obs is:16 +[08:29:51.651] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.651] 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 +[08:29:51.651] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.651] frame process finished the id is: 74 the obs is:16 +[08:29:51.755] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.755] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.755] frame process finished the id is: 74 the obs is:16 +[08:29:51.856] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.856] 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 +[08:29:51.856] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:51.856] frame process finished the id is: 74 the obs is:16 +[08:29:51.898] Odometry x=-0.100405, y=1.035643, theta=-0.047586 +[08:29:52.006] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.007] 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 +[08:29:52.007] After pose optimization, distance between ekf and vo x:-0.000183 ,z=0.000347,angle between two frames:0.000113 +[08:29:52.007] frame process finished the id is: 74 the obs is:16 +[08:29:52.072] Odometry x=-0.099747, y=1.050123, theta=-0.040917 +[08:29:52.096] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.096] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000069 error end=0.000069 +[08:29:52.096] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.096] frame process finished the id is: 74 the obs is:16 +[08:29:52.183] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.183] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000305 error end=0.000305 +[08:29:52.183] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.184] frame process finished the id is: 74 the obs is:16 +[08:29:52.272] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.272] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000175 error end=0.000174 +[08:29:52.272] After pose optimization, distance between ekf and vo x:-0.002237 ,z=0.006365,angle between two frames:0.001659 +[08:29:52.272] frame process finished the id is: 74 the obs is:16 +[08:29:52.309] Odometry x=-0.099132, y=1.064893, theta=-0.031949 +[08:29:52.361] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.361] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.014028 error end=0.013926 +[08:29:52.361] After pose optimization, distance between ekf and vo x:0.477692 ,z=20.564479,angle between two frames:0.013984 +[08:29:52.361] frame process finished the id is: 74 the obs is:16 +[08:29:52.455] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.455] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000009 error end=0.000009 +[08:29:52.455] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.455] frame process finished the id is: 74 the obs is:16 +[08:29:52.546] Odometry x=-0.098678, y=1.079975, theta=-0.033748 +[08:29:52.550] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.550] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.056560 error end=0.056556 +[08:29:52.550] After pose optimization, distance between ekf and vo x:0.503539 ,z=5.318795,angle between two frames:0.030932 +[08:29:52.550] frame process finished the id is: 74 the obs is:16 +[08:29:52.656] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.656] 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 +[08:29:52.656] After pose optimization, distance between ekf and vo x:-0.000039 ,z=0.001870,angle between two frames:0.000047 +[08:29:52.656] frame process finished the id is: 74 the obs is:16 +[08:29:52.754] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.754] 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 +[08:29:52.754] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.754] frame process finished the id is: 74 the obs is:16 +[08:29:52.796] Odometry x=-0.098177, y=1.094623, theta=-0.034805 +[08:29:52.851] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.851] 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 +[08:29:52.851] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.851] frame process finished the id is: 74 the obs is:16 +[08:29:52.953] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.953] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:52.953] frame process finished the id is: 74 the obs is:16 +[08:29:53.055] Odometry x=-0.098310, y=1.108760, theta=-0.039484 +[08:29:53.058] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.058] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.058] frame process finished the id is: 74 the obs is:16 +[08:29:53.157] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.157] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.157] frame process finished the id is: 74 the obs is:16 +[08:29:53.254] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.255] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000056 error end=0.000056 +[08:29:53.255] After pose optimization, distance between ekf and vo x:-0.000048 ,z=0.001661,angle between two frames:0.000019 +[08:29:53.255] frame process finished the id is: 74 the obs is:16 +[08:29:53.309] Odometry x=-0.097723, y=1.123544, theta=-0.038421 +[08:29:53.351] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.351] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000038 error end=0.000038 +[08:29:53.351] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.351] frame process finished the id is: 74 the obs is:16 +[08:29:53.457] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.457] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.001150 error end=0.001150 +[08:29:53.457] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.457] frame process finished the id is: 74 the obs is:16 +[08:29:53.540] Odometry x=-0.097455, y=1.138166, theta=-0.041510 +[08:29:53.555] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.555] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.555] frame process finished the id is: 74 the obs is:16 +[08:29:53.649] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.649] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.649] frame process finished the id is: 74 the obs is:16 +[08:29:53.752] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.752] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.752] frame process finished the id is: 74 the obs is:16 +[08:29:53.851] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.851] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.851] frame process finished the id is: 74 the obs is:16 +[08:29:53.877] Odometry x=-0.096936, y=1.152909, theta=-0.026412 +[08:29:53.952] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.952] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:53.952] frame process finished the id is: 74 the obs is:16 +[08:29:54.053] Odometry x=-0.096549, y=1.167843, theta=-0.024151 +[08:29:54.063] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.063] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.063] frame process finished the id is: 74 the obs is:16 +[08:29:54.155] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.155] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.155] frame process finished the id is: 74 the obs is:16 +[08:29:54.255] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.255] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.255] frame process finished the id is: 74 the obs is:16 +[08:29:54.300] Odometry x=-0.096237, y=1.182773, theta=-0.015376 +[08:29:54.354] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.354] 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 +[08:29:54.354] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.354] frame process finished the id is: 74 the obs is:16 +[08:29:54.456] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.456] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.456] frame process finished the id is: 74 the obs is:16 +[08:29:54.553] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.553] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.553] frame process finished the id is: 74 the obs is:16 +[08:29:54.576] Odometry x=-0.098453, y=1.197057, theta=-0.005651 +[08:29:54.658] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.658] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.658] frame process finished the id is: 74 the obs is:16 +[08:29:54.755] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.755] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.755] frame process finished the id is: 74 the obs is:16 +[08:29:54.802] Odometry x=-0.098377, y=1.212059, theta=-0.004200 +[08:29:54.854] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.854] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.854] frame process finished the id is: 74 the obs is:16 +[08:29:54.963] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.963] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:54.963] frame process finished the id is: 74 the obs is:16 +[08:29:55.050] Odometry x=-0.098049, y=1.226967, theta=0.007616 +[08:29:55.058] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.058] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.058] frame process finished the id is: 74 the obs is:16 +[08:29:55.153] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.153] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.161911 error end=0.161911 +[08:29:55.153] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.153] frame process finished the id is: 74 the obs is:16 +[08:29:55.257] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.257] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.257] frame process finished the id is: 74 the obs is:16 +[08:29:55.311] Odometry x=-0.098267, y=1.241979, theta=0.014326 +[08:29:55.351] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.351] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.351] frame process finished the id is: 74 the obs is:16 +[08:29:55.451] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.451] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.451] frame process finished the id is: 74 the obs is:16 +[08:29:55.554] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.554] 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 +[08:29:55.555] After pose optimization, distance between ekf and vo x:-0.001686 ,z=-0.000889,angle between two frames:0.002247 +[08:29:55.555] frame process finished the id is: 74 the obs is:16 +[08:29:55.566] Odometry x=-0.098400, y=1.257154, theta=0.032093 +[08:29:55.664] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.664] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.664] frame process finished the id is: 74 the obs is:16 +[08:29:55.760] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.760] 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 +[08:29:55.760] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:29:55.760] frame process finished the id is: 74 the obs is:16 +[08:29:55.841] Odometry x=-0.099006, y=1.272399, theta=0.038493 +[08:29:55.862] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.862] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.862] frame process finished the id is: 74 the obs is:16 +[08:29:55.953] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.953] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:55.953] frame process finished the id is: 74 the obs is:16 +[08:29:56.041] Odometry x=-0.099784, y=1.287543, theta=0.032376 +[08:29:56.055] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.056] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.412849 error end=0.143394 +[08:29:56.056] After pose optimization, distance between ekf and vo x:-1.495567 ,z=2.515540,angle between two frames:0.321120 +[08:29:56.056] frame process finished the id is: 74 the obs is:16 +[08:29:56.152] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.152] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.152] frame process finished the id is: 74 the obs is:16 +[08:29:56.256] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.256] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.256] frame process finished the id is: 74 the obs is:16 +[08:29:56.291] Odometry x=-0.102200, y=1.302245, theta=0.037429 +[08:29:56.350] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.350] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.003183 error end=0.002804 +[08:29:56.350] After pose optimization, distance between ekf and vo x:-0.038092 ,z=-0.097381,angle between two frames:0.060653 +[08:29:56.350] frame process finished the id is: 74 the obs is:16 +[08:29:56.456] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.456] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.456] frame process finished the id is: 74 the obs is:16 +[08:29:56.555] Odometry x=-0.102805, y=1.317253, theta=0.044415 +[08:29:56.555] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.556] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000029 error end=0.000029 +[08:29:56.556] After pose optimization, distance between ekf and vo x:0.000025 ,z=-0.000364,angle between two frames:0.000071 +[08:29:56.556] frame process finished the id is: 74 the obs is:16 +[08:29:56.653] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.653] 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 +[08:29:56.653] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.653] frame process finished the id is: 74 the obs is:16 +[08:29:56.757] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.757] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000505 error end=0.000505 +[08:29:56.757] After pose optimization, distance between ekf and vo x:-0.005143 ,z=-0.058993,angle between two frames:0.000452 +[08:29:56.757] frame process finished the id is: 74 the obs is:16 +[08:29:56.783] Odometry x=-0.105261, y=1.332521, theta=0.027320 +[08:29:56.858] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.858] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.858] frame process finished the id is: 74 the obs is:16 +[08:29:56.959] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.959] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:56.959] frame process finished the id is: 74 the obs is:16 +[08:29:57.029] Odometry x=-0.105613, y=1.347341, theta=0.027049 +[08:29:57.054] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.054] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.054] frame process finished the id is: 74 the obs is:16 +[08:29:57.159] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.159] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.159] frame process finished the id is: 74 the obs is:16 +[08:29:57.263] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.263] 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 +[08:29:57.263] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:29:57.263] frame process finished the id is: 74 the obs is:16 +[08:29:57.328] Odometry x=-0.107964, y=1.363530, theta=0.045343 +[08:29:57.352] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.352] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.352] frame process finished the id is: 74 the obs is:16 +[08:29:57.458] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.458] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.458] frame process finished the id is: 74 the obs is:16 +[08:29:57.550] Odometry x=-0.108692, y=1.378487, theta=0.046543 +[08:29:57.551] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.551] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000035 error end=0.000035 +[08:29:57.551] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.551] frame process finished the id is: 74 the obs is:16 +[08:29:57.655] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.655] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.655] frame process finished the id is: 74 the obs is:16 +[08:29:57.758] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.758] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.758] frame process finished the id is: 74 the obs is:16 +[08:29:57.856] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.856] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.856] frame process finished the id is: 74 the obs is:16 +[08:29:57.860] Odometry x=-0.108869, y=1.393052, theta=0.050028 +[08:29:57.956] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.956] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:57.956] frame process finished the id is: 74 the obs is:16 +[08:29:58.052] Odometry x=-0.109698, y=1.411037, theta=0.051344 +[08:29:58.053] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.053] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.053] frame process finished the id is: 74 the obs is:16 +[08:29:58.154] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.154] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.154] frame process finished the id is: 74 the obs is:16 +[08:29:58.255] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.255] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.255] frame process finished the id is: 74 the obs is:16 +[08:29:58.293] Odometry x=-0.110494, y=1.426021, theta=0.058798 +[08:29:58.355] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.355] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.204582 error end=0.135086 +[08:29:58.355] After pose optimization, distance between ekf and vo x:-0.512024 ,z=-1.068083,angle between two frames:0.153031 +[08:29:58.355] frame process finished the id is: 74 the obs is:16 +[08:29:58.455] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.455] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.455] frame process finished the id is: 74 the obs is:16 +[08:29:58.553] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.553] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.553] frame process finished the id is: 74 the obs is:16 +[08:29:58.571] Odometry x=-0.111401, y=1.441027, theta=0.059329 +[08:29:58.657] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.657] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.657] frame process finished the id is: 74 the obs is:16 +[08:29:58.754] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.754] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.754] frame process finished the id is: 74 the obs is:16 +[08:29:58.804] Odometry x=-0.112297, y=1.456088, theta=0.058839 +[08:29:58.848] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.848] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.848] frame process finished the id is: 74 the obs is:16 +[08:29:58.954] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.954] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:58.954] frame process finished the id is: 74 the obs is:16 +[08:29:59.037] Odometry x=-0.113202, y=1.471093, theta=0.060055 +[08:29:59.046] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.046] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.046] frame process finished the id is: 74 the obs is:16 +[08:29:59.148] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.148] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.148] frame process finished the id is: 74 the obs is:16 +[08:29:59.255] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.255] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.255] frame process finished the id is: 74 the obs is:16 +[08:29:59.361] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.361] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.361] frame process finished the id is: 74 the obs is:16 +[08:29:59.458] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.458] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.458] frame process finished the id is: 74 the obs is:16 +[08:29:59.563] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.563] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.563] frame process finished the id is: 74 the obs is:16 +[08:29:59.661] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.661] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.661] frame process finished the id is: 74 the obs is:16 +[08:29:59.761] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.761] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.761] frame process finished the id is: 74 the obs is:16 +[08:29:59.859] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.859] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.859] frame process finished the id is: 74 the obs is:16 +[08:29:59.960] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.960] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:29:59.961] frame process finished the id is: 74 the obs is:16 +[08:30:00.064] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.064] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.064] frame process finished the id is: 74 the obs is:16 +[08:30:00.162] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.162] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.162] frame process finished the id is: 74 the obs is:16 +[08:30:00.259] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.259] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.259] frame process finished the id is: 74 the obs is:16 +[08:30:00.303] Odometry x=-0.115129, y=1.470565, theta=0.067337 +[08:30:00.357] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.358] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.358] frame process finished the id is: 74 the obs is:16 +[08:30:00.468] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.468] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.468] frame process finished the id is: 74 the obs is:16 +[08:30:00.563] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.563] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.563] frame process finished the id is: 74 the obs is:16 +[08:30:00.577] Odometry x=-0.116124, y=1.474044, theta=0.069230 +[08:30:00.662] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.662] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.275917 error end=0.209820 +[08:30:00.662] After pose optimization, distance between ekf and vo x:0.118530 ,z=-1.859332,angle between two frames:0.067299 +[08:30:00.662] frame process finished the id is: 74 the obs is:16 +[08:30:00.758] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.758] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.034485 error end=0.034485 +[08:30:00.758] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.758] frame process finished the id is: 74 the obs is:16 +[08:30:00.817] Odometry x=-0.116699, y=1.482166, theta=0.069903 +[08:30:00.856] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.856] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.856] frame process finished the id is: 74 the obs is:16 +[08:30:00.958] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.958] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:00.958] frame process finished the id is: 74 the obs is:16 +[08:30:01.044] Odometry x=-0.117461, y=1.492725, theta=0.074533 +[08:30:01.058] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.058] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.058] frame process finished the id is: 74 the obs is:16 +[08:30:01.160] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.160] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.160] frame process finished the id is: 74 the obs is:16 +[08:30:01.249] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.249] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.249] frame process finished the id is: 74 the obs is:16 +[08:30:01.282] Odometry x=-0.118353, y=1.503717, theta=0.082632 +[08:30:01.361] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.361] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.361] frame process finished the id is: 74 the obs is:16 +[08:30:01.457] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.457] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.457] frame process finished the id is: 74 the obs is:16 +[08:30:01.546] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.546] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.011468 error end=0.011468 +[08:30:01.546] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.546] frame process finished the id is: 74 the obs is:16 +[08:30:01.551] Odometry x=-0.119493, y=1.514910, theta=0.081466 +[08:30:01.654] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.654] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.654] frame process finished the id is: 74 the obs is:16 +[08:30:01.756] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.756] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.756] frame process finished the id is: 74 the obs is:16 +[08:30:01.853] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.853] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.853] frame process finished the id is: 74 the obs is:16 +[08:30:01.873] Odometry x=-0.120366, y=1.525812, theta=0.076609 +[08:30:01.948] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.948] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:01.948] frame process finished the id is: 74 the obs is:16 +[08:30:02.055] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.055] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.055] frame process finished the id is: 74 the obs is:16 +[08:30:02.056] Odometry x=-0.121824, y=1.534887, theta=0.085337 +[08:30:02.159] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.159] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.159] frame process finished the id is: 74 the obs is:16 +[08:30:02.246] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.246] 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 +[08:30:02.246] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:30:02.246] frame process finished the id is: 74 the obs is:16 +[08:30:02.306] Odometry x=-0.122726, y=1.545677, theta=0.079064 +[08:30:02.356] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.356] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.356] frame process finished the id is: 74 the obs is:16 +[08:30:02.455] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.455] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.455] frame process finished the id is: 74 the obs is:16 +[08:30:02.547] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.547] 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 +[08:30:02.547] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.547] frame process finished the id is: 74 the obs is:16 +[08:30:02.571] Odometry x=-0.123565, y=1.557047, theta=0.082344 +[08:30:02.651] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.651] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.651] frame process finished the id is: 74 the obs is:16 +[08:30:02.751] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.751] 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 +[08:30:02.752] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:30:02.752] frame process finished the id is: 74 the obs is:16 +[08:30:02.812] Odometry x=-0.125465, y=1.569017, theta=0.084177 +[08:30:02.853] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.853] 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 +[08:30:02.853] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:30:02.853] frame process finished the id is: 74 the obs is:16 +[08:30:02.956] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.956] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:02.956] frame process finished the id is: 74 the obs is:16 +[08:30:03.053] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.053] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.053] frame process finished the id is: 74 the obs is:16 +[08:30:03.067] Odometry x=-0.126367, y=1.579804, theta=0.079240 +[08:30:03.150] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.151] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.001453 error end=0.001445 +[08:30:03.151] After pose optimization, distance between ekf and vo x:-0.007461 ,z=-0.019168,angle between two frames:0.002149 +[08:30:03.151] frame process finished the id is: 74 the obs is:16 +[08:30:03.257] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.257] 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 +[08:30:03.257] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000004,angle between two frames:0.000000 +[08:30:03.257] frame process finished the id is: 74 the obs is:16 +[08:30:03.286] Odometry x=-0.127276, y=1.590587, theta=0.088762 +[08:30:03.355] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.355] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.355] frame process finished the id is: 74 the obs is:16 +[08:30:03.464] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.464] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.436390 error end=0.368783 +[08:30:03.464] After pose optimization, distance between ekf and vo x:-0.007662 ,z=-1.181819,angle between two frames:0.067569 +[08:30:03.464] frame process finished the id is: 74 the obs is:16 +[08:30:03.549] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.549] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.549] frame process finished the id is: 74 the obs is:16 +[08:30:03.558] Odometry x=-0.128303, y=1.601346, theta=0.103629 +[08:30:03.654] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.654] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.654] frame process finished the id is: 74 the obs is:16 +[08:30:03.757] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.757] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.757] frame process finished the id is: 74 the obs is:16 +[08:30:03.829] Odometry x=-0.132353, y=1.614489, theta=0.115463 +[08:30:03.859] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.859] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.859] frame process finished the id is: 74 the obs is:16 +[08:30:03.967] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.967] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:03.967] frame process finished the id is: 74 the obs is:16 +[08:30:04.057] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.057] 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 +[08:30:04.057] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000029,angle between two frames:0.000006 +[08:30:04.057] frame process finished the id is: 74 the obs is:16 +[08:30:04.059] Odometry x=-0.133613, y=1.625244, theta=0.119984 +[08:30:04.149] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.149] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.149] frame process finished the id is: 74 the obs is:16 +[08:30:04.253] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.253] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.119076 error end=0.110673 +[08:30:04.253] After pose optimization, distance between ekf and vo x:-0.073018 ,z=-0.295102,angle between two frames:0.034687 +[08:30:04.253] frame process finished the id is: 74 the obs is:16 +[08:30:04.315] Odometry x=-0.134967, y=1.636012, theta=0.136493 +[08:30:04.355] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.355] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.355] frame process finished the id is: 74 the obs is:16 +[08:30:04.459] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.459] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.459] frame process finished the id is: 74 the obs is:16 +[08:30:04.533] Odometry x=-0.136465, y=1.646929, theta=0.130392 +[08:30:04.548] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.548] 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 +[08:30:04.548] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.548] frame process finished the id is: 74 the obs is:16 +[08:30:04.648] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.648] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000032 error end=0.000032 +[08:30:04.648] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.648] frame process finished the id is: 74 the obs is:16 +[08:30:04.753] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.753] 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 +[08:30:04.753] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.753] frame process finished the id is: 74 the obs is:16 +[08:30:04.803] Odometry x=-0.137846, y=1.657564, theta=0.142468 +[08:30:04.850] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.850] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.850] frame process finished the id is: 74 the obs is:16 +[08:30:04.954] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:04.954] 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 +[08:30:04.955] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:30:04.955] frame process finished the id is: 74 the obs is:16 +[08:30:05.033] Odometry x=-0.139424, y=1.668462, theta=0.140350 +[08:30:05.049] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.049] 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 +[08:30:05.049] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000000 +[08:30:05.049] frame process finished the id is: 74 the obs is:16 +[08:30:05.151] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.151] 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 +[08:30:05.151] After pose optimization, distance between ekf and vo x:-0.000021 ,z=-0.000036,angle between two frames:0.000005 +[08:30:05.151] frame process finished the id is: 74 the obs is:16 +[08:30:05.255] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.255] 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 +[08:30:05.255] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000 +[08:30:05.255] frame process finished the id is: 74 the obs is:16 +[08:30:05.291] Odometry x=-0.140915, y=1.679331, theta=0.125746 +[08:30:05.359] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.359] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000877 error end=0.000877 +[08:30:05.359] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.359] frame process finished the id is: 74 the obs is:16 +[08:30:05.451] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.451] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.451] frame process finished the id is: 74 the obs is:16 +[08:30:05.554] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.554] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.554] frame process finished the id is: 74 the obs is:16 +[08:30:05.663] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.663] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000911 error end=0.000911 +[08:30:05.663] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.663] frame process finished the id is: 74 the obs is:16 +[08:30:05.763] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.763] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.116652 error end=0.116652 +[08:30:05.763] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.763] frame process finished the id is: 74 the obs is:16 +[08:30:05.867] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.867] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.116652 error end=0.116652 +[08:30:05.868] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.868] frame process finished the id is: 74 the obs is:16 +[08:30:05.970] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.970] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.116652 error end=0.116652 +[08:30:05.970] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:05.970] frame process finished the id is: 74 the obs is:16 +[08:30:06.076] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.076] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.003645 error end=0.003645 +[08:30:06.076] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.076] frame process finished the id is: 74 the obs is:16 +[08:30:06.177] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.177] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.058326 error end=0.058326 +[08:30:06.177] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.177] frame process finished the id is: 74 the obs is:16 +[08:30:06.278] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.279] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.029163 error end=0.029163 +[08:30:06.279] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.279] frame process finished the id is: 74 the obs is:16 +[08:30:06.381] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.381] 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 +[08:30:06.381] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.381] frame process finished the id is: 74 the obs is:16 +[08:30:06.482] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.482] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.007291 error end=0.007291 +[08:30:06.482] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.482] frame process finished the id is: 74 the obs is:16 +[08:30:06.569] Odometry x=-0.140923, y=1.679378, theta=0.112855 +[08:30:06.583] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.583] 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 +[08:30:06.583] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.583] frame process finished the id is: 74 the obs is:16 +[08:30:06.683] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.683] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.001823 error end=0.001823 +[08:30:06.683] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.683] frame process finished the id is: 74 the obs is:16 +[08:30:06.785] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.785] 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 +[08:30:06.785] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:30:06.785] frame process finished the id is: 74 the obs is:16 +[08:30:06.811] Odometry x=-0.141110, y=1.679442, theta=0.111250 +[08:30:06.887] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.887] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.887] frame process finished the id is: 74 the obs is:16 +[08:30:06.987] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:06.987] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000000 error end=0.000000 +[08:30:06.987] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000004,angle between two frames:0.000000 +[08:30:06.987] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:06.987] need key frame pitch dis: 0.014653 translation dif:1.685558 +[08:30:06.987] Choose frame as a key frame Scene Depth mean:4.331642 ,depth min:1.384990 +[08:30:06.987] frame process finished the id is: 347 the obs is:16 +[08:30:07.065] Odometry x=-0.141476, y=1.679611, theta=0.014653 +[08:30:07.098] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.011959 ,z=0.017921,angle between two frames:0.000159 +[08:30:07.098] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000087 error end=0.000087 +[08:30:07.098] After pose optimization, distance between ekf and vo x:-0.011959 ,z=0.017921,angle between two frames:0.000159 +[08:30:07.098] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:07.098] need key frame pitch dis: 0.222297 translation dif:1.690249 +[08:30:07.098] Choose frame as a key frame Scene Depth mean:4.860854 ,depth min:1.486214 +[08:30:07.098] frame process finished the id is: 348 the obs is:16 +[08:30:07.236] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.001111 ,z=-0.013899,angle between two frames:0.000467 +[08:30:07.236] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.001234 error end=0.001234 +[08:30:07.237] After pose optimization, distance between ekf and vo x:-0.001111 ,z=-0.013899,angle between two frames:0.000467 +[08:30:07.237] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:07.237] need key frame pitch dis: 0.185257 translation dif:1.685577 +[08:30:07.237] Choose frame as a key frame Scene Depth mean:4.799399 ,depth min:1.479717 +[08:30:07.237] frame process finished the id is: 349 the obs is:16 +[08:30:07.313] Odometry x=-0.143895, y=1.679424, theta=-0.185257 +[08:30:07.356] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000284 ,z=-0.007234,angle between two frames:0.000192 +[08:30:07.356] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000074 error end=0.000074 +[08:30:07.356] After pose optimization, distance between ekf and vo x:0.000284 ,z=-0.007234,angle between two frames:0.000192 +[08:30:07.356] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:07.357] need key frame pitch dis: 0.420212 translation dif:1.683722 +[08:30:07.357] Choose frame as a key frame Scene Depth mean:5.110078 ,depth min:1.525572 +[08:30:07.357] frame process finished the id is: 350 the obs is:16 +[08:30:07.475] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.000309 ,z=-0.001196,angle between two frames:0.000001 +[08:30:07.475] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.011305 error end=0.010132 +[08:30:07.475] After pose optimization, distance between ekf and vo x:0.070627 ,z=0.265298,angle between two frames:0.010622 +[08:30:07.475] frame process finished the id is: 350 the obs is:16 +[08:30:07.561] Odometry x=-0.143822, y=1.677568, theta=-0.420212 +[08:30:07.593] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.003305 ,z=-0.014115,angle between two frames:0.000063 +[08:30:07.594] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.155894 error end=0.144812 +[08:30:07.594] After pose optimization, distance between ekf and vo x:8.039580 ,z=26.007764,angle between two frames:0.357291 +[08:30:07.594] frame process finished the id is: 350 the obs is:16 +[08:30:07.683] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:07.683] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:30:07.683] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:07.683] frame process finished the id is: 350 the obs is:16 +[08:30:07.772] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:07.772] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:30:07.772] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:07.772] frame process finished the id is: 350 the obs is:16 +[08:30:07.862] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:07.862] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:30:07.862] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:07.862] frame process finished the id is: 350 the obs is:16 +[08:30:07.865] Odometry x=-0.143822, y=1.677568, theta=-0.420212 +[08:30:07.948] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:07.948] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:30:07.948] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:07.948] frame process finished the id is: 350 the obs is:16 +[08:30:08.047] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.047] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:30:08.047] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.047] frame process finished the id is: 350 the obs is:16 +[08:30:08.165] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.165] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.165] frame process finished the id is: 350 the obs is:16 +[08:30:08.271] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.272] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.272] frame process finished the id is: 350 the obs is:16 +[08:30:08.373] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.373] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.373] frame process finished the id is: 350 the obs is:16 +[08:30:08.476] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.476] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.476] frame process finished the id is: 350 the obs is:16 +[08:30:08.581] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.581] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.581] frame process finished the id is: 350 the obs is:16 +[08:30:08.684] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.684] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.684] frame process finished the id is: 350 the obs is:16 +[08:30:08.787] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.787] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.787] frame process finished the id is: 350 the obs is:16 +[08:30:08.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.893] frame process finished the id is: 350 the obs is:16 +[08:30:08.999] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.999] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:08.999] frame process finished the id is: 350 the obs is:16 +[08:30:09.102] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.102] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.102] frame process finished the id is: 350 the obs is:16 +[08:30:09.205] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.205] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.205] frame process finished the id is: 350 the obs is:16 +[08:30:09.304] Odometry x=-0.140973, y=1.678672, theta=-0.475887 +[08:30:09.308] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.308] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.308] frame process finished the id is: 350 the obs is:16 +[08:30:09.410] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.410] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.410] frame process finished the id is: 350 the obs is:16 +[08:30:09.513] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.513] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.513] frame process finished the id is: 350 the obs is:16 +[08:30:09.545] Odometry x=-0.140974, y=1.678673, theta=-0.475648 +[08:30:09.615] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.615] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.615] frame process finished the id is: 350 the obs is:16 +[08:30:09.719] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.719] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.719] frame process finished the id is: 350 the obs is:16 +[08:30:09.817] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.817] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.817] frame process finished the id is: 350 the obs is:16 +[08:30:09.880] Odometry x=-0.140977, y=1.678678, theta=-0.510645 +[08:30:09.921] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.921] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:09.921] frame process finished the id is: 350 the obs is:16 +[08:30:10.017] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.018] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.018] frame process finished the id is: 350 the obs is:16 +[08:30:10.057] Odometry x=-0.141025, y=1.678837, theta=-0.592323 +[08:30:10.116] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.116] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.116] frame process finished the id is: 350 the obs is:16 +[08:30:10.211] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.211] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.211] frame process finished the id is: 350 the obs is:16 +[08:30:10.306] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.306] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.306] frame process finished the id is: 350 the obs is:16 +[08:30:10.332] Odometry x=-0.141029, y=1.678911, theta=-0.676945 +[08:30:10.400] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.400] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.400] frame process finished the id is: 350 the obs is:16 +[08:30:10.495] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.495] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.495] frame process finished the id is: 350 the obs is:16 +[08:30:10.596] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.596] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.596] frame process finished the id is: 350 the obs is:16 +[08:30:10.701] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.701] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.701] frame process finished the id is: 350 the obs is:16 +[08:30:10.806] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.806] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.806] frame process finished the id is: 350 the obs is:16 +[08:30:10.912] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.912] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:10.912] frame process finished the id is: 350 the obs is:16 +[08:30:11.016] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.016] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.016] frame process finished the id is: 350 the obs is:16 +[08:30:11.119] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.119] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.119] frame process finished the id is: 350 the obs is:16 +[08:30:11.223] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.223] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.223] frame process finished the id is: 350 the obs is:16 +[08:30:11.329] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.329] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.329] frame process finished the id is: 350 the obs is:16 +[08:30:11.434] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.434] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.434] frame process finished the id is: 350 the obs is:16 +[08:30:11.537] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.537] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.537] frame process finished the id is: 350 the obs is:16 +[08:30:11.644] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.645] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.645] frame process finished the id is: 350 the obs is:16 +[08:30:11.749] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.749] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.749] frame process finished the id is: 350 the obs is:16 +[08:30:11.853] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.853] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.853] frame process finished the id is: 350 the obs is:16 +[08:30:11.855] Odometry x=-0.141040, y=1.678920, theta=-0.694872 +[08:30:11.961] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.961] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:11.961] frame process finished the id is: 350 the obs is:16 +[08:30:12.045] Odometry x=-0.141040, y=1.678954, theta=-0.727488 +[08:30:12.069] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.069] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.069] frame process finished the id is: 350 the obs is:16 +[08:30:12.167] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.167] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.167] frame process finished the id is: 350 the obs is:16 +[08:30:12.266] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.266] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.266] frame process finished the id is: 350 the obs is:16 +[08:30:12.291] Odometry x=-0.140981, y=1.678969, theta=-0.799861 +[08:30:12.366] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.366] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.366] frame process finished the id is: 350 the obs is:16 +[08:30:12.466] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.466] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.466] frame process finished the id is: 350 the obs is:16 +[08:30:12.557] Odometry x=-0.141038, y=1.678435, theta=-0.882476 +[08:30:12.568] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.568] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.568] frame process finished the id is: 350 the obs is:16 +[08:30:12.668] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.668] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.668] frame process finished the id is: 350 the obs is:16 +[08:30:12.772] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.772] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.772] frame process finished the id is: 350 the obs is:16 +[08:30:12.792] Odometry x=-0.140863, y=1.678463, theta=-0.969825 +[08:30:12.875] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.875] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.875] frame process finished the id is: 350 the obs is:16 +[08:30:12.980] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.980] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:12.980] frame process finished the id is: 350 the obs is:16 +[08:30:13.070] Odometry x=-0.140764, y=1.678505, theta=-1.048223 +[08:30:13.085] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.085] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.085] frame process finished the id is: 350 the obs is:16 +[08:30:13.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.190] frame process finished the id is: 350 the obs is:16 +[08:30:13.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.293] frame process finished the id is: 350 the obs is:16 +[08:30:13.308] Odometry x=-0.140781, y=1.678513, theta=-1.120093 +[08:30:13.399] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.399] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.399] frame process finished the id is: 350 the obs is:16 +[08:30:13.503] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.503] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.503] frame process finished the id is: 350 the obs is:16 +[08:30:13.608] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.608] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.608] frame process finished the id is: 350 the obs is:16 +[08:30:13.714] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.714] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.714] frame process finished the id is: 350 the obs is:16 +[08:30:13.820] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.820] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.820] frame process finished the id is: 350 the obs is:16 +[08:30:13.925] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.925] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:13.925] frame process finished the id is: 350 the obs is:16 +[08:30:14.032] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.032] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.032] frame process finished the id is: 350 the obs is:16 +[08:30:14.137] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.137] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.137] frame process finished the id is: 350 the obs is:16 +[08:30:14.241] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.241] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.241] frame process finished the id is: 350 the obs is:16 +[08:30:14.300] Odometry x=-0.140400, y=1.678737, theta=-1.128454 +[08:30:14.347] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.347] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.347] frame process finished the id is: 350 the obs is:16 +[08:30:14.453] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.453] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.453] frame process finished the id is: 350 the obs is:16 +[08:30:14.553] Odometry x=-0.135604, y=1.680997, theta=-1.126929 +[08:30:14.559] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.559] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.559] frame process finished the id is: 350 the obs is:16 +[08:30:14.668] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.668] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.668] frame process finished the id is: 350 the obs is:16 +[08:30:14.772] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.772] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.772] frame process finished the id is: 350 the obs is:16 +[08:30:14.782] Odometry x=-0.120046, y=1.688521, theta=-1.125345 +[08:30:14.865] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.865] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.865] frame process finished the id is: 350 the obs is:16 +[08:30:14.960] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.960] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:14.960] frame process finished the id is: 350 the obs is:16 +[08:30:15.053] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.053] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.053] frame process finished the id is: 350 the obs is:16 +[08:30:15.060] Odometry x=-0.102207, y=1.700421, theta=-1.111921 +[08:30:15.154] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.154] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.154] frame process finished the id is: 350 the obs is:16 +[08:30:15.260] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.260] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.260] frame process finished the id is: 350 the obs is:16 +[08:30:15.301] Odometry x=-0.085957, y=1.708235, theta=-1.102011 +[08:30:15.357] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.357] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.357] frame process finished the id is: 350 the obs is:16 +[08:30:15.450] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.450] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.450] frame process finished the id is: 350 the obs is:16 +[08:30:15.534] Odometry x=-0.070680, y=1.715923, theta=-1.107269 +[08:30:15.560] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.560] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.561] frame process finished the id is: 350 the obs is:16 +[08:30:15.669] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.669] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.669] frame process finished the id is: 350 the obs is:16 +[08:30:15.774] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.774] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.774] frame process finished the id is: 350 the obs is:16 +[08:30:15.878] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.878] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.878] frame process finished the id is: 350 the obs is:16 +[08:30:15.984] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.984] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:15.984] frame process finished the id is: 350 the obs is:16 +[08:30:16.084] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.084] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.084] frame process finished the id is: 350 the obs is:16 +[08:30:16.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.090] frame process finished the id is: 350 the obs is:16 +[08:30:16.175] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.175] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.176] frame process finished the id is: 350 the obs is:16 +[08:30:16.275] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.275] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.275] frame process finished the id is: 350 the obs is:16 +[08:30:16.492] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.492] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.492] frame process finished the id is: 350 the obs is:16 +[08:30:16.602] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.603] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.603] frame process finished the id is: 350 the obs is:16 +[08:30:16.608] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.609] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.609] frame process finished the id is: 350 the obs is:16 +[08:30:16.675] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.675] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.675] frame process finished the id is: 350 the obs is:16 +[08:30:16.887] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.888] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.888] frame process finished the id is: 350 the obs is:16 +[08:30:16.894] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.894] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.894] frame process finished the id is: 350 the obs is:16 +[08:30:16.977] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.977] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:16.977] frame process finished the id is: 350 the obs is:16 +[08:30:17.192] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.192] frame process finished the id is: 350 the obs is:16 +[08:30:17.198] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.198] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.198] frame process finished the id is: 350 the obs is:16 +[08:30:17.277] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.277] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.277] frame process finished the id is: 350 the obs is:16 +[08:30:17.303] Odometry x=-0.070675, y=1.715933, theta=-1.114481 +[08:30:17.377] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.377] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.377] frame process finished the id is: 350 the obs is:16 +[08:30:17.549] Odometry x=-0.067059, y=1.717448, theta=-1.113449 +[08:30:17.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.591] frame process finished the id is: 350 the obs is:16 +[08:30:17.708] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.708] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.002510 error end=0.002398 +[08:30:17.709] After pose optimization, distance between ekf and vo x:0.018424 ,z=0.031435,angle between two frames:0.026652 +[08:30:17.709] frame process finished the id is: 350 the obs is:16 +[08:30:17.822] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.822] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.822] frame process finished the id is: 350 the obs is:16 +[08:30:17.885] Odometry x=-0.060803, y=1.720336, theta=-1.110880 +[08:30:17.932] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.932] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:17.932] frame process finished the id is: 350 the obs is:16 +[08:30:18.037] Odometry x=-0.053745, y=1.723644, theta=-1.105879 +[08:30:18.042] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.042] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.042] frame process finished the id is: 350 the obs is:16 +[08:30:18.152] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.152] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.152] frame process finished the id is: 350 the obs is:16 +[08:30:18.269] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.269] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.269] frame process finished the id is: 350 the obs is:16 +[08:30:18.306] Odometry x=-0.046275, y=1.727388, theta=-1.101283 +[08:30:18.381] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.381] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.381] frame process finished the id is: 350 the obs is:16 +[08:30:18.494] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.494] 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 +[08:30:18.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.494] frame process finished the id is: 350 the obs is:16 +[08:30:18.500] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.500] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.500] frame process finished the id is: 350 the obs is:16 +[08:30:18.573] Odometry x=-0.038396, y=1.731026, theta=-1.097038 +[08:30:18.575] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.575] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.575] frame process finished the id is: 350 the obs is:16 +[08:30:18.676] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.676] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.676] frame process finished the id is: 350 the obs is:16 +[08:30:18.777] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.777] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.777] frame process finished the id is: 350 the obs is:16 +[08:30:18.819] Odometry x=-0.030292, y=1.735084, theta=-1.096252 +[08:30:18.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.991] frame process finished the id is: 350 the obs is:16 +[08:30:18.997] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.997] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:18.997] frame process finished the id is: 350 the obs is:16 +[08:30:19.067] Odometry x=-0.021756, y=1.739425, theta=-1.089444 +[08:30:19.198] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.198] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.198] frame process finished the id is: 350 the obs is:16 +[08:30:19.207] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.207] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.207] frame process finished the id is: 350 the obs is:16 +[08:30:19.270] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.270] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.270] frame process finished the id is: 350 the obs is:16 +[08:30:19.293] Odometry x=-0.012819, y=1.744093, theta=-1.093993 +[08:30:19.471] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.471] 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 +[08:30:19.471] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.471] frame process finished the id is: 350 the obs is:16 +[08:30:19.544] Odometry x=-0.003847, y=1.748740, theta=-1.090716 +[08:30:19.578] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.578] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.578] frame process finished the id is: 350 the obs is:16 +[08:30:19.584] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.584] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.584] frame process finished the id is: 350 the obs is:16 +[08:30:19.775] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.775] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.775] frame process finished the id is: 350 the obs is:16 +[08:30:19.781] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.781] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.781] frame process finished the id is: 350 the obs is:16 +[08:30:19.877] Odometry x=0.005018, y=1.753365, theta=-1.083982 +[08:30:19.988] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.988] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:19.988] frame process finished the id is: 350 the obs is:16 +[08:30:20.083] Odometry x=0.013876, y=1.758089, theta=-1.076645 +[08:30:20.097] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.097] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000008 error end=0.000008 +[08:30:20.097] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.097] frame process finished the id is: 350 the obs is:16 +[08:30:20.204] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.204] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000805 error end=0.000789 +[08:30:20.204] After pose optimization, distance between ekf and vo x:0.005696 ,z=0.013314,angle between two frames:0.009380 +[08:30:20.204] frame process finished the id is: 350 the obs is:16 +[08:30:20.210] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.210] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.210] frame process finished the id is: 350 the obs is:16 +[08:30:20.300] Odometry x=0.022865, y=1.762903, theta=-1.074317 +[08:30:20.394] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.394] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000007 error end=0.000007 +[08:30:20.394] After pose optimization, distance between ekf and vo x:0.000508 ,z=0.000693,angle between two frames:0.000516 +[08:30:20.394] frame process finished the id is: 350 the obs is:16 +[08:30:20.400] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.400] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.400] frame process finished the id is: 350 the obs is:16 +[08:30:20.476] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.476] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.476] frame process finished the id is: 350 the obs is:16 +[08:30:20.570] Odometry x=0.031646, y=1.767670, theta=-1.068581 +[08:30:20.691] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.691] 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 +[08:30:20.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.691] frame process finished the id is: 350 the obs is:16 +[08:30:20.697] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.697] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.697] frame process finished the id is: 350 the obs is:16 +[08:30:20.814] Odometry x=0.040506, y=1.772368, theta=-1.065902 +[08:30:20.887] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.887] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.887] frame process finished the id is: 350 the obs is:16 +[08:30:20.995] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.995] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:20.995] frame process finished the id is: 350 the obs is:16 +[08:30:21.001] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.001] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.001] frame process finished the id is: 350 the obs is:16 +[08:30:21.078] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.078] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.078] frame process finished the id is: 350 the obs is:16 +[08:30:21.177] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.177] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.177] frame process finished the id is: 350 the obs is:16 +[08:30:21.278] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.278] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.278] frame process finished the id is: 350 the obs is:16 +[08:30:21.376] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.376] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.376] frame process finished the id is: 350 the obs is:16 +[08:30:21.476] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.476] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.476] frame process finished the id is: 350 the obs is:16 +[08:30:21.577] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.577] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.577] frame process finished the id is: 350 the obs is:16 +[08:30:21.675] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.675] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.675] frame process finished the id is: 350 the obs is:16 +[08:30:21.777] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.777] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.777] frame process finished the id is: 350 the obs is:16 +[08:30:21.880] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.880] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.880] frame process finished the id is: 350 the obs is:16 +[08:30:21.976] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.976] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:21.976] frame process finished the id is: 350 the obs is:16 +[08:30:22.077] Odometry x=0.040576, y=1.772292, theta=-1.069994 +[08:30:22.079] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.079] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.079] frame process finished the id is: 350 the obs is:16 +[08:30:22.175] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.175] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.175] frame process finished the id is: 350 the obs is:16 +[08:30:22.281] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.281] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.281] frame process finished the id is: 350 the obs is:16 +[08:30:22.313] Odometry x=0.040597, y=1.772258, theta=-1.124104 +[08:30:22.481] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.481] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.481] frame process finished the id is: 350 the obs is:16 +[08:30:22.538] Odometry x=0.040600, y=1.772156, theta=-1.225721 +[08:30:22.570] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.570] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.570] frame process finished the id is: 350 the obs is:16 +[08:30:22.658] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.658] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000423 error end=0.000423 +[08:30:22.658] After pose optimization, distance between ekf and vo x:0.000149 ,z=0.001425,angle between two frames:0.000565 +[08:30:22.658] frame process finished the id is: 350 the obs is:16 +[08:30:22.750] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.750] 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 +[08:30:22.750] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000065,angle between two frames:0.000028 +[08:30:22.750] frame process finished the id is: 350 the obs is:16 +[08:30:22.813] Odometry x=0.040600, y=1.772156, theta=-1.225721 +[08:30:22.852] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.852] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.852] frame process finished the id is: 350 the obs is:16 +[08:30:22.953] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.953] 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 +[08:30:22.953] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:22.953] frame process finished the id is: 350 the obs is:16 +[08:30:23.052] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.052] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000032 error end=0.000032 +[08:30:23.052] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000029,angle between two frames:0.000000 +[08:30:23.052] frame process finished the id is: 350 the obs is:16 +[08:30:23.059] Odometry x=0.040600, y=1.772156, theta=-1.225721 +[08:30:23.154] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.154] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000018 error end=0.000018 +[08:30:23.154] After pose optimization, distance between ekf and vo x:0.000033 ,z=0.000186,angle between two frames:0.000231 +[08:30:23.154] frame process finished the id is: 350 the obs is:16 +[08:30:23.170] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.171] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.171] frame process finished the id is: 350 the obs is:16 +[08:30:23.274] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.274] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.274] frame process finished the id is: 350 the obs is:16 +[08:30:23.379] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.379] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.379] frame process finished the id is: 350 the obs is:16 +[08:30:23.477] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.477] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.477] frame process finished the id is: 350 the obs is:16 +[08:30:23.575] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.575] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.575] frame process finished the id is: 350 the obs is:16 +[08:30:23.675] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.675] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.675] frame process finished the id is: 350 the obs is:16 +[08:30:23.774] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.775] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.775] frame process finished the id is: 350 the obs is:16 +[08:30:23.879] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.879] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.879] frame process finished the id is: 350 the obs is:16 +[08:30:23.976] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.976] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:23.976] frame process finished the id is: 350 the obs is:16 +[08:30:24.041] Odometry x=0.044433, y=1.774734, theta=-1.239807 +[08:30:24.080] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.080] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.080] frame process finished the id is: 350 the obs is:16 +[08:30:24.178] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.178] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.178] frame process finished the id is: 350 the obs is:16 +[08:30:24.279] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.279] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.279] frame process finished the id is: 350 the obs is:16 +[08:30:24.301] Odometry x=0.044432, y=1.774732, theta=-1.284071 +[08:30:24.378] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.378] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.378] frame process finished the id is: 350 the obs is:16 +[08:30:24.545] Odometry x=0.044429, y=1.774726, theta=-1.356644 +[08:30:24.580] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.581] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.581] frame process finished the id is: 350 the obs is:16 +[08:30:24.675] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.675] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.675] frame process finished the id is: 350 the obs is:16 +[08:30:24.770] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.770] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.770] frame process finished the id is: 350 the obs is:16 +[08:30:24.800] Odometry x=0.044611, y=1.774489, theta=-1.478606 +[08:30:24.868] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.868] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.868] frame process finished the id is: 350 the obs is:16 +[08:30:24.969] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.969] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000023 error end=0.000023 +[08:30:24.969] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:24.969] frame process finished the id is: 350 the obs is:16 +[08:30:25.044] Odometry x=0.044611, y=1.774489, theta=-1.478606 +[08:30:25.067] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.067] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000000 error end=0.000000 +[08:30:25.067] After pose optimization, distance between ekf and vo x:0.000815 ,z=0.000039,angle between two frames:0.000521 +[08:30:25.067] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:25.067] need key frame pitch dis: 1.690944 translation dif:1.775060 +[08:30:25.067] Choose frame as a key frame Scene Depth mean:0.236499 ,depth min:0.201138 +[08:30:25.067] frame process finished the id is: 524 the obs is:16 +[08:30:25.169] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000008 ,z=0.000040,angle between two frames:0.000019 +[08:30:25.169] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000007 error end=0.000007 +[08:30:25.169] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000042,angle between two frames:0.000022 +[08:30:25.169] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:25.169] need key frame pitch dis: 1.694074 translation dif:1.775059 +[08:30:25.169] Choose frame as a key frame Scene Depth mean:-0.113347 ,depth min:-0.427938 +[08:30:25.169] frame process finished the id is: 525 the obs is:16 +[08:30:25.290] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.290] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =nan error end=nan +[08:30:25.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.290] frame process finished the id is: 525 the obs is:16 +[08:30:25.297] Odometry x=0.044635, y=1.774498, theta=-1.694074 +[08:30:25.382] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.382] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:30:25.382] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.382] frame process finished the id is: 525 the obs is:16 +[08:30:25.473] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.473] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:30:25.473] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.473] frame process finished the id is: 525 the obs is:16 +[08:30:25.564] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.564] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:30:25.564] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.564] frame process finished the id is: 525 the obs is:16 +[08:30:25.584] Odometry x=0.044635, y=1.774498, theta=-1.694074 +[08:30:25.659] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.659] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:30:25.659] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.659] frame process finished the id is: 525 the obs is:16 +[08:30:25.775] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.775] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:30:25.775] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.775] frame process finished the id is: 525 the obs is:16 +[08:30:25.882] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.882] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.009813 error end=0.009813 +[08:30:25.882] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.882] frame process finished the id is: 525 the obs is:16 +[08:30:25.993] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.993] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000156 error end=0.000156 +[08:30:25.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:25.993] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:25.993] need key frame pitch dis: 1.686608 translation dif:1.775012 +[08:30:25.993] Choose frame as a key frame Scene Depth mean:0.000136 ,depth min:0.000128 +[08:30:25.993] frame process finished the id is: 533 the obs is:16 +[08:30:26.116] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000001 +[08:30:26.116] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000541 error end=0.000541 +[08:30:26.116] After pose optimization, distance between ekf and vo x:0.000033 ,z=0.000063,angle between two frames:0.000022 +[08:30:26.116] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:26.116] need key frame pitch dis: 1.686605 translation dif:1.775028 +[08:30:26.116] Choose frame as a key frame Scene Depth mean:-0.976464 ,depth min:-1.953065 +[08:30:26.116] frame process finished the id is: 534 the obs is:16 +[08:30:26.291] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000001 +[08:30:26.291] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000017 error end=0.000017 +[08:30:26.291] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000003,angle between two frames:0.000000 +[08:30:26.291] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:26.291] need key frame pitch dis: 0.000004 translation dif:0.000005 +[08:30:26.291] frame process finished the id is: 535 the obs is:16 +[08:30:26.451] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000003 ,z=0.000019,angle between two frames:0.000011 +[08:30:26.451] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000021 error end=0.000021 +[08:30:26.451] After pose optimization, distance between ekf and vo x:0.000004 ,z=0.000021,angle between two frames:0.000010 +[08:30:26.451] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:26.451] need key frame pitch dis: 1.686603 translation dif:1.775018 +[08:30:26.451] Choose frame as a key frame Scene Depth mean:-0.977625 ,depth min:-1.955380 +[08:30:26.451] frame process finished the id is: 536 the obs is:16 +[08:30:26.645] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000002,angle between two frames:0.000001 +[08:30:26.646] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.001329 error end=0.001329 +[08:30:26.646] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000002,angle between two frames:0.000001 +[08:30:26.646] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:26.646] need key frame pitch dis: 0.000004 translation dif:0.000002 +[08:30:26.646] frame process finished the id is: 537 the obs is:16 +[08:30:26.819] Odometry x=0.044654, y=1.774452, theta=-1.686604 +[08:30:26.835] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000001 ,z=0.000006,angle between two frames:0.000004 +[08:30:26.835] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.340133 error end=0.340133 +[08:30:26.835] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000006,angle between two frames:0.000004 +[08:30:26.835] frame process finished the id is: 537 the obs is:16 +[08:30:26.954] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000001 +[08:30:26.955] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.170135 error end=0.167202 +[08:30:26.955] After pose optimization, distance between ekf and vo x:0.011401 ,z=0.019868,angle between two frames:0.008013 +[08:30:26.955] frame process finished the id is: 537 the obs is:16 +[08:30:27.039] Odometry x=0.044654, y=1.774452, theta=-1.701453 +[08:30:27.074] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000 +[08:30:27.074] n deleted obs = 16 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.450879 error end=0.441449 +[08:30:27.074] After pose optimization, distance between ekf and vo x:0.028196 ,z=0.052269,angle between two frames:0.019344 +[08:30:27.074] frame process finished the id is: 537 the obs is:16 +[08:30:27.211] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.000001 ,z=-0.000005,angle between two frames:0.000004 +[08:30:27.211] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.006311 error end=0.006306 +[08:30:27.211] After pose optimization, distance between ekf and vo x:0.000454 ,z=0.000829,angle between two frames:0.000316 +[08:30:27.211] frame process finished the id is: 537 the obs is:16 +[08:30:27.293] Odometry x=0.044589, y=1.774439, theta=-1.763624 +[08:30:27.334] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000000 +[08:30:27.334] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000000 error end=0.000000 +[08:30:27.334] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000000 +[08:30:27.334] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:27.334] need key frame pitch dis: 1.966426 translation dif:1.774999 +[08:30:27.334] Choose frame as a key frame Scene Depth mean:-0.673728 ,depth min:-1.347528 +[08:30:27.334] frame process finished the id is: 542 the obs is:16 +[08:30:27.461] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:27.461] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.000140 error end=0.000140 +[08:30:27.461] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:27.461] frame process finished the id is: 542 the obs is:16 +[08:30:27.557] Odometry x=0.044589, y=1.774439, theta=-1.966426 +[08:30:27.584] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:27.584] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000018 error end=0.000018 +[08:30:27.584] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:27.584] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:27.584] need key frame pitch dis: 2.168154 translation dif:1.774999 +[08:30:27.584] Choose frame as a key frame Scene Depth mean:0.000038 ,depth min:0.000000 +[08:30:27.584] frame process finished the id is: 544 the obs is:16 +[08:30:27.719] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:30:27.719] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000226 error end=0.000226 +[08:30:27.719] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:30:27.719] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:27.719] need key frame pitch dis: 2.172928 translation dif:1.774999 +[08:30:27.719] Choose frame as a key frame Scene Depth mean:0.000098 ,depth min:0.000076 +[08:30:27.719] frame process finished the id is: 545 the obs is:16 +[08:30:27.854] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:30:27.854] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.001859 error end=0.000404 +[08:30:27.854] After pose optimization, distance between ekf and vo x:-5.219089 ,z=18.559693,angle between two frames:5.273470 +[08:30:27.854] frame process finished the id is: 545 the obs is:16 +[08:30:27.857] Odometry x=0.044589, y=1.774439, theta=-2.172928 +[08:30:27.987] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:30:27.987] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000122 error end=0.000122 +[08:30:27.987] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:30:27.987] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:27.987] need key frame pitch dis: 2.370482 translation dif:1.774999 +[08:30:27.987] Choose frame as a key frame Scene Depth mean:0.000039 ,depth min:0.000001 +[08:30:27.987] frame process finished the id is: 547 the obs is:16 +[08:30:28.045] Odometry x=0.044589, y=1.774439, theta=-2.370482 +[08:30:28.079] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000 +[08:30:28.079] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.645841 error end=0.046038 +[08:30:28.079] After pose optimization, distance between ekf and vo x:-0.953529 ,z=3.937040,angle between two frames:4.085628 +[08:30:28.079] frame process finished the id is: 547 the obs is:16 +[08:30:28.161] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:28.161] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =nan error end=nan +[08:30:28.161] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:28.161] frame process finished the id is: 547 the obs is:16 +[08:30:28.265] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:28.265] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000042 error end=0.000033 +[08:30:28.265] After pose optimization, distance between ekf and vo x:-0.155681 ,z=0.127048,angle between two frames:0.187414 +[08:30:28.265] frame process finished the id is: 547 the obs is:16 +[08:30:28.364] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:28.365] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.005383 error end=0.001825 +[08:30:28.365] After pose optimization, distance between ekf and vo x:-0.703037 ,z=0.802607,angle between two frames:1.709785 +[08:30:28.365] frame process finished the id is: 547 the obs is:16 +[08:30:28.464] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:28.464] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 error init =0.344529 error end=0.144660 +[08:30:28.464] After pose optimization, distance between ekf and vo x:-54.682015 ,z=76.466626,angle between two frames:3.615790 +[08:30:28.464] frame process finished the id is: 547 the obs is:16 +[08:30:28.565] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[08:30:28.565] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000000 error end=0.000000 +[08:30:28.565] After pose optimization, distance between ekf and vo x:-0.000087 ,z=0.000099,angle between two frames:0.000083 +[08:30:28.565] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:28.565] need key frame pitch dis: 2.380080 translation dif:1.774208 +[08:30:28.565] Choose frame as a key frame Scene Depth mean:0.002118 ,depth min:0.001846 +[08:30:28.565] frame process finished the id is: 553 the obs is:16 +[08:30:28.682] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.000004 ,z=-0.000003,angle between two frames:0.000003 +[08:30:28.682] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000673 error end=0.000661 +[08:30:28.682] After pose optimization, distance between ekf and vo x:-0.008398 ,z=0.009468,angle between two frames:0.007855 +[08:30:28.682] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:28.682] need key frame pitch dis: 2.379671 translation dif:1.776454 +[08:30:28.682] Choose frame as a key frame Scene Depth mean:0.002361 ,depth min:0.002089 +[08:30:28.682] frame process finished the id is: 554 the obs is:16 +[08:30:28.807] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.000021 ,z=-0.000020,angle between two frames:0.000016 +[08:30:28.807] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000001 error end=0.000001 +[08:30:28.807] After pose optimization, distance between ekf and vo x:-0.000028 ,z=-0.000012,angle between two frames:0.000000 +[08:30:28.807] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:28.807] need key frame pitch dis: 2.380052 translation dif:1.774735 +[08:30:28.807] Choose frame as a key frame Scene Depth mean:0.005154 ,depth min:0.004284 +[08:30:28.807] frame process finished the id is: 555 the obs is:16 +[08:30:28.912] After Reprojection Map nMatches:16 ,distance between ekf and vo x:-0.000042 ,z=-0.000039,angle between two frames:0.000032 +[08:30:28.912] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 error init =0.000000 error end=0.000000 +[08:30:28.912] After pose optimization, distance between ekf and vo x:-0.000042 ,z=-0.000039,angle between two frames:0.000025 +[08:30:28.912] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 +[08:30:28.912] need key frame pitch dis: 2.380073 translation dif:1.774309 +[08:30:28.912] Choose frame as a key frame Scene Depth mean:0.011774 ,depth min:0.009777 +[08:30:28.913] frame process finished the id is: 556 the obs is:16 +[08:30:29.027] After Reprojection Map nMatches:16 ,distance between ekf and vo x:0.000013 ,z=0.000011,angle between two frames:0.000010 +[08:30:30.567] Odometry x=0.043894, y=1.773766, theta=-2.380073 +[08:30:30.824] Odometry x=0.043883, y=1.773723, theta=-2.381406 +[08:30:31.040] Odometry x=0.043882, y=1.773717, theta=-2.391545 +[08:30:31.303] Odometry x=0.043866, y=1.773554, theta=-2.414943 +[08:30:31.560] Odometry x=0.043871, y=1.773554, theta=-2.446459 +[08:30:32.821] Odometry x=0.043860, y=1.773546, theta=-2.460248 +[08:30:33.087] Odometry x=0.044120, y=1.773202, theta=-2.459300 +[08:30:33.317] Odometry x=0.050774, y=1.765362, theta=-2.455838 +[08:30:33.579] Odometry x=0.056876, y=1.757894, theta=-2.452783 +[08:30:33.851] Odometry x=0.063193, y=1.749843, theta=-2.454660 +[08:30:34.025] Odometry x=0.069571, y=1.742285, theta=-2.453717 +[08:30:34.308] Odometry x=0.075672, y=1.734798, theta=-2.455057 +[08:30:34.540] Odometry x=0.081727, y=1.727299, theta=-2.455301 +[08:30:34.809] Odometry x=0.088064, y=1.719574, theta=-2.452286 +[08:30:35.228] Odometry x=0.095288, y=1.711295, theta=-2.446280 +[08:30:35.449] Odometry x=0.101677, y=1.703655, theta=-2.442926 +[08:30:35.584] Odometry x=0.107583, y=1.697055, theta=-2.445147 +[08:30:36.031] Odometry x=0.113279, y=1.690189, theta=-2.446107 +[08:30:36.165] Odometry x=0.119186, y=1.682735, theta=-2.444032 +[08:30:36.304] Odometry x=0.125452, y=1.675277, theta=-2.443309 +[08:30:36.549] Odometry x=0.131696, y=1.667679, theta=-2.439255 +[08:30:36.807] Odometry x=0.138113, y=1.660073, theta=-2.433516 +[08:30:37.065] Odometry x=0.144957, y=1.652158, theta=-2.430282 +[08:30:37.290] Odometry x=0.151910, y=1.643676, theta=-2.420318 +[08:30:37.578] Odometry x=0.159387, y=1.635130, theta=-2.418486 +[08:30:37.870] Odometry x=0.167463, y=1.626047, theta=-2.420623 +[08:30:38.066] Odometry x=0.176140, y=1.616179, theta=-2.422185 +[08:30:38.304] Odometry x=0.184446, y=1.606412, theta=-2.420948 +[08:30:38.578] Odometry x=0.192876, y=1.596790, theta=-2.425044 +[08:30:38.804] Odometry x=0.201374, y=1.586961, theta=-2.419877 +[08:30:39.051] Odometry x=0.210245, y=1.577303, theta=-2.422694 +[08:30:39.313] Odometry x=0.218809, y=1.567366, theta=-2.429333 +[08:30:39.556] Odometry x=0.227289, y=1.557281, theta=-2.435051 +[08:30:39.841] Odometry x=0.227289, y=1.557281, theta=-2.435051 +[08:30:40.052] Odometry x=0.237959, y=1.533116, theta=-2.433999 +[08:30:40.320] Odometry x=0.246729, y=1.522808, theta=-2.432496 +[08:30:40.550] Odometry x=0.252233, y=1.511500, theta=-2.429739 +[08:30:40.791] Odometry x=0.260922, y=1.501246, theta=-2.430579 +[08:30:41.061] Odometry x=0.269350, y=1.491240, theta=-2.437787 +[08:30:41.300] Odometry x=0.278266, y=1.480771, theta=-2.437086 +[08:30:41.578] Odometry x=0.287311, y=1.470363, theta=-2.439151 +[08:30:41.900] Odometry x=0.296742, y=1.459663, theta=-2.446078 +[08:30:42.048] Odometry x=0.305700, y=1.449323, theta=-2.449860 +[08:30:42.314] Odometry x=0.314517, y=1.438653, theta=-2.445923 +[08:30:42.538] Odometry x=0.323114, y=1.427818, theta=-2.440297 +[08:30:42.809] Odometry x=0.332025, y=1.417375, theta=-2.434500 +[08:30:43.042] Odometry x=0.340839, y=1.406964, theta=-2.432598 +[08:30:43.289] Odometry x=0.349821, y=1.396405, theta=-2.428733 +[08:30:43.562] Odometry x=0.358865, y=1.385944, theta=-2.429501 +[08:30:43.849] Odometry x=0.367875, y=1.375520, theta=-2.423650 +[08:30:44.055] Odometry x=0.376824, y=1.363409, theta=-2.422989 +[08:30:44.285] Odometry x=0.386606, y=1.352324, theta=-2.417569 +[08:30:44.548] Odometry x=0.396226, y=1.341509, theta=-2.413335 +[08:30:44.808] Odometry x=0.406490, y=1.331469, theta=-2.405559 +[08:30:45.052] Odometry x=0.415867, y=1.320964, theta=-2.406863 +[08:30:45.309] Odometry x=0.425270, y=1.310313, theta=-2.408981 +[08:30:45.565] Odometry x=0.434521, y=1.299752, theta=-2.413530 +[08:30:45.852] Odometry x=0.443906, y=1.288976, theta=-2.417792 +[08:30:46.050] Odometry x=0.454632, y=1.278453, theta=-2.418204 +[08:30:46.296] Odometry x=0.464054, y=1.267854, theta=-2.416138 +[08:30:46.597] Odometry x=0.473386, y=1.257268, theta=-2.423201 +[08:30:46.794] Odometry x=0.482652, y=1.246803, theta=-2.403849 +[08:30:47.067] Odometry x=0.492072, y=1.236679, theta=-2.408210 +[08:30:47.310] Odometry x=0.501445, y=1.226268, theta=-2.409974 +[08:30:47.555] Odometry x=0.511041, y=1.215267, theta=-2.400824 +[08:30:47.866] Odometry x=0.520534, y=1.204934, theta=-2.395851 +[08:30:48.050] Odometry x=0.529965, y=1.194633, theta=-2.403991 +[08:30:48.309] Odometry x=0.539454, y=1.184186, theta=-2.401356 +[08:30:48.569] Odometry x=0.549088, y=1.173772, theta=-2.399591 +[08:30:48.817] Odometry x=0.558573, y=1.163508, theta=-2.394163 +[08:30:49.040] Odometry x=0.568078, y=1.153223, theta=-2.401226 +[08:30:49.299] Odometry x=0.577489, y=1.142853, theta=-2.398515 +[08:30:49.580] Odometry x=0.587013, y=1.132459, theta=-2.400313 +[08:30:49.844] Odometry x=0.596484, y=1.122082, theta=-2.400825 +[08:30:50.077] Odometry x=0.605791, y=1.111222, theta=-2.398531 +[08:30:50.305] Odometry x=0.615415, y=1.100808, theta=-2.396909 +[08:30:50.560] Odometry x=0.625430, y=1.090394, theta=-2.401324 +[08:30:50.816] Odometry x=0.634940, y=1.080070, theta=-2.399243 +[08:30:51.071] Odometry x=0.644381, y=1.069985, theta=-2.398459 +[08:30:51.296] Odometry x=0.653904, y=1.059672, theta=-2.390286 +[08:30:51.549] Odometry x=0.663539, y=1.049365, theta=-2.388387 +[08:30:51.886] Odometry x=0.673234, y=1.038827, theta=-2.388905 +[08:30:52.041] Odometry x=0.682856, y=1.028614, theta=-2.379795 +[08:30:52.313] Odometry x=0.692547, y=1.018453, theta=-2.377398 +[08:30:52.557] Odometry x=0.702332, y=1.008299, theta=-2.373906 +[08:30:52.785] Odometry x=0.712264, y=0.997726, theta=-2.367094 +[08:30:53.055] Odometry x=0.711880, y=0.998970, theta=-2.370427 +[08:30:53.289] Odometry x=0.720877, y=0.985313, theta=-2.380234 +[08:30:53.522] Odometry x=0.730574, y=0.975033, theta=-2.379551 +[08:30:53.846] Odometry x=0.740328, y=0.964602, theta=-2.388632 +[08:30:54.068] Odometry x=0.751236, y=0.953809, theta=-2.393711 +[08:30:54.312] Odometry x=0.762361, y=0.943752, theta=-2.392411 +[08:30:54.555] Odometry x=0.772057, y=0.933835, theta=-2.374209 +[08:30:54.789] Odometry x=0.782093, y=0.923305, theta=-2.366029 +[08:30:55.048] Odometry x=0.792022, y=0.912943, theta=-2.355402 +[08:30:55.298] Odometry x=0.802055, y=0.902860, theta=-2.348276 +[08:30:55.549] Odometry x=0.812001, y=0.892953, theta=-2.364938 +[08:30:55.849] Odometry x=0.823680, y=0.883011, theta=-2.356360 +[08:30:56.062] Odometry x=0.833851, y=0.872745, theta=-2.364570 +[08:30:56.302] Odometry x=0.843507, y=0.862715, theta=-2.378770 +[08:30:56.566] Odometry x=0.853253, y=0.8 \ No newline at end of file diff --git a/GPU_version/vio/include/vio/bundle_adjustment.h b/GPU_version/vio/include/vio/bundle_adjustment.h index b7ccf0a..8c4d33b 100644 --- a/GPU_version/vio/include/vio/bundle_adjustment.h +++ b/GPU_version/vio/include/vio/bundle_adjustment.h @@ -15,7 +15,7 @@ namespace g2o { namespace vio { - typedef g2o::EdgeProjectXYZ2UV g2oEdgeSE3; + typedef EdgeProjectP2MC g2oEdgeSE3; typedef g2o::VertexSE2Expmap g2oFrameSE2; typedef g2o::VertexSBAPointXYZ g2oPoint; diff --git a/GPU_version/vio/include/vio/frame.h b/GPU_version/vio/include/vio/frame.h index 7b456d0..bd98e98 100644 --- a/GPU_version/vio/include/vio/frame.h +++ b/GPU_version/vio/include/vio/frame.h @@ -50,7 +50,7 @@ namespace vio { Features fts_; //!< List of features in the image. vector> key_pts_; //!< Five features and associated 3D points which are used to detect if two frames have overlapping field of view. bool is_keyframe_; //!< Was this frames selected as keyframe? - g2o::VertexSE3Expmap* v_kf_=nullptr; //!< Temporary pointer to the g2o node object of the keyframe. + g2o::VertexCam* v_kf_=nullptr; //!< Temporary pointer to the g2o node object of the keyframe. int last_published_ts_; //!< Timestamp of last publishing. Frame(vk::AbstractCamera* cam, const cv::Mat& img, double timestamp); diff --git a/GPU_version/vio/include/vio/global_optimizer.h b/GPU_version/vio/include/vio/global_optimizer.h index eb1e3a8..f267ed4 100644 --- a/GPU_version/vio/include/vio/global_optimizer.h +++ b/GPU_version/vio/include/vio/global_optimizer.h @@ -31,10 +31,9 @@ #include #include #include -#include -#include #include #include +#include #include #include @@ -79,13 +78,13 @@ protected: #endif /// Temporary container to hold the g2o edge with reference to frame and point. struct EdgeContainerSE3{ - g2o::EdgeProjectXYZ2UV* edge; + EdgeProjectP2MC* edge; std::shared_ptr frame; std::shared_ptr feature; }; /// Create a g2o vertice from a keyframe object. - g2o::VertexSE3Expmap* createG2oFrameSE3( + g2o::VertexCam* createG2oFrameSE3( FramePtr kf, size_t id, bool fixed); @@ -95,8 +94,8 @@ protected: size_t id, bool fixed); /// Creates a g2o edge between a g2o keyframe and mappoint vertice with the provided measurement. - g2o::EdgeProjectXYZ2UV* createG2oEdgeSE3( - g2o::VertexSE3Expmap* v_kf, + g2o::EdgeProjectP2MC* createG2oEdgeSE3( + g2o::VertexCam* v_kf, g2o::VertexSBAPointXYZ* v_mp, const Vector2d& f_up, bool robust_kernel, 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/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index 85c6b01..9149d95 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -132,7 +132,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() fprintf(log_,"[%s] Init: Selected Second frame. \t The number of features: %d depth mean:%f min:%f\n", vio::time_in_HH_MM_SS_MMM().c_str(),new_frame_->fts_.size(),depth_mean,depth_min); #endif - ba_glob_->new_key_frame(); + //ba_glob_->new_key_frame(); ROS_INFO("VIO initialized :)"); ROS_INFO("Running ..."); return RESULT_IS_KEYFRAME; @@ -239,7 +239,7 @@ bool FrameHandlerMono::needNewKf() 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()) > 0.1 || fabs((closest_kfs.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm())>0.1)return true; + if(fabs(closest_kfs.pitch()-new_frame_->T_f_w_.pitch()) > 0.05 || fabs((closest_kfs.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm())>0.05)return true; return false; } void FrameHandlerMono::UpdateIMU(double* value,const ros::Time& time){ diff --git a/GPU_version/vio/src/global_optimizer.cpp b/GPU_version/vio/src/global_optimizer.cpp index 69ea6c1..d6a999c 100644 --- a/GPU_version/vio/src/global_optimizer.cpp +++ b/GPU_version/vio/src/global_optimizer.cpp @@ -24,6 +24,7 @@ #include #include #include +#include #if VIO_DEBUG #include #include @@ -103,7 +104,7 @@ namespace vio { it_kf != map_.keyframes_.end(); ++it_kf) { // New Keyframe Vertex - g2o::VertexSE3Expmap* v_kf = createG2oFrameSE3(*it_kf, v_id++, false); + g2o::VertexCam* v_kf = createG2oFrameSE3(*it_kf, v_id++, false); (*it_kf)->v_kf_ = v_kf; optimizer.addVertex(v_kf); for(auto&& it_ftr:(*it_kf)->fts_) @@ -111,6 +112,7 @@ namespace vio { if(it_ftr->point==NULL)continue; // for each keyframe add edges to all observed mapoints std::shared_ptr mp = it_ftr->point; + if(mp->pos_.hasNaN())continue; g2o::VertexSBAPointXYZ* v_mp = mp->v_pt_; if(v_mp == NULL) { @@ -127,7 +129,8 @@ namespace vio { incorrect_edges.push_back(pair>(*it_kf, it_ftr)); else { - g2o::EdgeProjectXYZ2UV* e = createG2oEdgeSE3(v_kf, v_mp, vk::project2d(it_ftr->f), + g2o::Edge_XYZ_VSC e1; + g2o::EdgeProjectP2MC* e = createG2oEdgeSE3(v_kf, v_mp, vk::project2d(it_ftr->f), true, Config::poseOptimThresh()/(*it_kf)->cam_->errorMultiplier2()*Config::lobaRobustHuberWidth()); EdgeContainerSE3 edge; @@ -143,6 +146,17 @@ namespace vio { // Optimization optimizer.initializeOptimization(); optimizer.computeActiveErrors(); + + g2o::StructureOnlySolver<3> structure_only_ba; + g2o::OptimizableGraph::VertexContainer points; + for (g2o::OptimizableGraph::VertexIDMap::const_iterator it = optimizer.vertices().begin(); it != optimizer.vertices().end(); ++it) { + g2o::OptimizableGraph::Vertex* v = static_cast(it->second); + if (v->dimension() == 3) + points.push_back(v); + } + + structure_only_ba.calc(points, 10); +/* #if VIO_DEBUG fprintf(log_,"[%s] init error: %f \n", vio::time_in_HH_MM_SS_MMM().c_str(),optimizer.activeChi2()); @@ -151,7 +165,7 @@ namespace vio { #if VIO_DEBUG fprintf(log_,"[%s] end error: %f \n", vio::time_in_HH_MM_SS_MMM().c_str(),optimizer.activeChi2()); -#endif +#endif*/ // Update Keyframe and MapPoint Positions for(list::iterator it_kf = map_.keyframes_.begin(); it_kf != map_.keyframes_.end();++it_kf) @@ -161,9 +175,12 @@ namespace vio { (*it_kf)->v_kf_ = NULL; for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr) { - if((*it_ftr)->point == NULL) - continue; std::shared_ptr mp = (*it_ftr)->point; + if(mp == NULL) + continue; + if(mp->v_pt_ == NULL) + continue; // mp was updated before + mp->pos_ = mp->v_pt_->estimate(); mp->v_pt_ = NULL; } } @@ -184,13 +201,20 @@ namespace vio { } } - g2o::VertexSE3Expmap* + g2o::VertexCam* BA_Glob::createG2oFrameSE3(FramePtr frame, size_t id, bool fixed) { - g2o::VertexSE3Expmap* v= new g2o::VertexSE3Expmap(); + if(frame->id_==0 || frame->id_==1){ + g2o::VertexCam* v= new g2o::VertexCam(); + v->setId(id); + v->setToOrigin(); + v->setFixed(true); + v->setEstimate(g2o::SE3Quat(frame->se3().unit_quaternion(), frame->se3().translation())); + } + g2o::VertexCam* v= new g2o::VertexCam(); v->setId(id); v->setFixed(false); - v->setEstimate(g2o::SE3Quat(frame->T_f_w_.se3().unit_quaternion(), frame->T_f_w_.se3().translation())); + v->setEstimate(g2o::SE3Quat(frame->se3().unit_quaternion(), frame->se3().translation())); return v; } @@ -201,25 +225,25 @@ namespace vio { { g2o::VertexSBAPointXYZ* v =new g2o::VertexSBAPointXYZ(); v->setId(id); - v->setFixed(fixed); + //v->setFixed(fixed); v->setMarginalized(true); v->setEstimate(pos); return v; } - g2o::EdgeProjectXYZ2UV* BA_Glob::createG2oEdgeSE3( g2o::VertexSE3Expmap* v_frame, + g2o::EdgeProjectP2MC* BA_Glob::createG2oEdgeSE3( g2o::VertexCam* v_frame, g2o::VertexSBAPointXYZ* v_point, const Vector2d& f_up, bool robust_kernel, double huber_width, double weight) { - g2o::EdgeProjectXYZ2UV* e= new g2o::EdgeProjectXYZ2UV; + g2o::EdgeProjectP2MC* e= new g2o::EdgeProjectP2MC; e->setVertex(0, dynamic_cast(v_point)); e->setVertex(1, dynamic_cast(v_frame)); e->setMeasurement(f_up); - e->information() = weight*Eigen::Matrix2d::Identity(); + e->information() = Eigen::Matrix2d::Identity(); g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber; rk->setDelta(huber_width); e->setRobustKernel(rk);