7988 lines
507 KiB
Plaintext
Executable File
7988 lines
507 KiB
Plaintext
Executable File
[13:20:59.349] Init: frame zero: 0.000000, 0.000000 0.000000
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[13:20:59.349] Init: Selected first frame.
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[13:20:59.349] frame process finished the id is: 0 the obs is:0
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[13:20:59.449] Init: px average disparity is:0.189962 ,While minimum is: 20.000000 KLT tracked : 139
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[13:20:59.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:20:59.449] frame process finished the id is: 1 the obs is:0
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[13:20:59.543] Init: px average disparity is:0.221589 ,While minimum is: 20.000000 KLT tracked : 139
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[13:20:59.543] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:20:59.543] frame process finished the id is: 2 the obs is:0
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[13:20:59.655] Init: px average disparity is:0.237053 ,While minimum is: 20.000000 KLT tracked : 139
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[13:20:59.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:20:59.655] frame process finished the id is: 3 the obs is:0
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[13:20:59.767] Init: px average disparity is:0.258011 ,While minimum is: 20.000000 KLT tracked : 139
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[13:20:59.767] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:20:59.767] frame process finished the id is: 4 the obs is:0
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[13:20:59.845] Init: px average disparity is:0.232369 ,While minimum is: 20.000000 KLT tracked : 139
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[13:20:59.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:20:59.846] frame process finished the id is: 5 the obs is:0
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[13:20:59.944] Init: px average disparity is:0.224914 ,While minimum is: 20.000000 KLT tracked : 139
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[13:20:59.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:20:59.944] frame process finished the id is: 6 the obs is:0
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[13:21:00.048] Init: px average disparity is:0.232635 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:00.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:00.048] frame process finished the id is: 7 the obs is:0
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[13:21:00.150] Init: px average disparity is:0.233555 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:00.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:00.151] frame process finished the id is: 8 the obs is:0
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[13:21:00.250] Init: px average disparity is:0.257153 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:00.250] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:00.250] frame process finished the id is: 9 the obs is:0
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[13:21:00.350] Init: px average disparity is:0.228337 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:00.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:00.351] frame process finished the id is: 10 the obs is:0
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[13:21:00.454] Init: px average disparity is:0.233024 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:00.454] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:00.454] frame process finished the id is: 11 the obs is:0
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[13:21:00.553] Init: px average disparity is:0.242245 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:00.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:00.553] frame process finished the id is: 12 the obs is:0
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[13:21:00.654] Init: px average disparity is:0.233020 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:00.654] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:00.654] frame process finished the id is: 13 the obs is:0
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[13:21:00.758] Init: px average disparity is:0.240662 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:00.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:00.758] frame process finished the id is: 14 the obs is:0
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[13:21:00.851] Init: px average disparity is:0.224340 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:00.851] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:00.851] frame process finished the id is: 15 the obs is:0
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[13:21:00.953] Init: px average disparity is:0.241857 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:00.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:00.953] frame process finished the id is: 16 the obs is:0
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[13:21:01.052] Init: px average disparity is:0.256807 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:01.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:01.052] frame process finished the id is: 17 the obs is:0
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[13:21:01.152] Init: px average disparity is:0.235927 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:01.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:01.152] frame process finished the id is: 18 the obs is:0
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[13:21:01.245] Init: px average disparity is:0.227601 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:01.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:01.245] frame process finished the id is: 19 the obs is:0
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[13:21:01.345] Init: px average disparity is:0.230878 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:01.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:01.345] frame process finished the id is: 20 the obs is:0
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[13:21:01.438] Init: px average disparity is:0.253910 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:01.439] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:01.439] frame process finished the id is: 21 the obs is:0
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[13:21:01.541] Init: px average disparity is:0.259517 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:01.541] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:01.541] frame process finished the id is: 22 the obs is:0
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[13:21:01.638] Init: px average disparity is:0.231142 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:01.638] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:01.638] frame process finished the id is: 23 the obs is:0
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[13:21:01.738] Init: px average disparity is:0.226831 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:01.738] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:01.738] frame process finished the id is: 24 the obs is:0
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[13:21:01.838] Init: px average disparity is:0.256167 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:01.838] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:01.838] frame process finished the id is: 25 the obs is:0
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[13:21:01.951] Init: px average disparity is:0.239972 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:01.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:01.951] frame process finished the id is: 26 the obs is:0
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[13:21:02.052] Init: px average disparity is:0.212816 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:02.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:02.052] frame process finished the id is: 27 the obs is:0
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[13:21:02.152] Init: px average disparity is:0.256941 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:02.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:02.152] frame process finished the id is: 28 the obs is:0
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[13:21:02.251] Init: px average disparity is:0.222791 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:02.252] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:02.252] frame process finished the id is: 29 the obs is:0
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[13:21:02.288] Odometry x=0.000000, y=0.000000, theta=-0.000000
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[13:21:02.350] Init: px average disparity is:0.231257 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:02.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:02.351] frame process finished the id is: 30 the obs is:0
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[13:21:02.386] Odometry x=0.000000, y=0.000000, theta=-0.000000
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[13:21:02.452] Init: px average disparity is:0.207515 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:02.452] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:02.452] frame process finished the id is: 31 the obs is:0
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[13:21:02.487] Odometry x=0.000083, y=0.006159, theta=-0.001621
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[13:21:02.555] Init: px average disparity is:1.697673 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:02.555] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:02.555] frame process finished the id is: 32 the obs is:0
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[13:21:02.588] Odometry x=0.000132, y=0.013403, theta=-0.001226
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[13:21:02.651] Init: px average disparity is:5.928957 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:02.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:02.651] frame process finished the id is: 33 the obs is:0
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[13:21:02.687] Odometry x=0.000365, y=0.018822, theta=-0.004564
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[13:21:02.752] Init: px average disparity is:7.649401 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:02.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:02.752] frame process finished the id is: 34 the obs is:0
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[13:21:02.790] Odometry x=0.000391, y=0.026550, theta=0.002036
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[13:21:02.852] Init: px average disparity is:4.957758 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:02.852] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:02.852] frame process finished the id is: 35 the obs is:0
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[13:21:02.887] Odometry x=0.003159, y=0.033023, theta=0.003053
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[13:21:02.953] Init: px average disparity is:5.326358 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:02.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:02.953] frame process finished the id is: 36 the obs is:0
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[13:21:02.991] Odometry x=0.003676, y=0.039038, theta=-0.000895
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[13:21:03.053] Init: px average disparity is:4.310565 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:03.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:03.053] frame process finished the id is: 37 the obs is:0
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[13:21:03.090] Odometry x=0.003688, y=0.043677, theta=-0.005531
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[13:21:03.152] Init: px average disparity is:5.726417 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:03.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:03.152] frame process finished the id is: 38 the obs is:0
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[13:21:03.187] Odometry x=0.003869, y=0.050951, theta=0.005198
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[13:21:03.254] Init: px average disparity is:4.489862 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:03.254] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:03.254] frame process finished the id is: 39 the obs is:0
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[13:21:03.290] Odometry x=0.003911, y=0.055074, theta=-0.021473
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[13:21:03.354] Init: px average disparity is:6.363761 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:03.354] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:03.354] frame process finished the id is: 40 the obs is:0
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[13:21:03.388] Odometry x=0.004000, y=0.061002, theta=-0.011064
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[13:21:03.453] Init: px average disparity is:7.776067 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:03.453] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:03.453] frame process finished the id is: 41 the obs is:0
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[13:21:03.491] Odometry x=0.004824, y=0.066321, theta=0.001161
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[13:21:03.557] Init: px average disparity is:9.271014 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:03.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:03.557] frame process finished the id is: 42 the obs is:0
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[13:21:03.591] Odometry x=0.004991, y=0.071770, theta=-0.005717
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[13:21:03.651] Init: px average disparity is:12.593284 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:03.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:03.651] frame process finished the id is: 43 the obs is:0
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[13:21:03.690] Odometry x=0.005061, y=0.075249, theta=-0.026422
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[13:21:03.753] Init: px average disparity is:15.329894 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:03.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:03.753] frame process finished the id is: 44 the obs is:0
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[13:21:03.791] Odometry x=0.005446, y=0.081704, theta=-0.019041
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[13:21:03.854] Init: px average disparity is:13.584003 ,While minimum is: 20.000000 KLT tracked : 139
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[13:21:03.854] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:03.854] frame process finished the id is: 45 the obs is:0
|
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[13:21:03.890] Odometry x=0.001925, y=0.085694, theta=-0.019067
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|
[13:21:03.953] Init: px average disparity is:12.864030 ,While minimum is: 20.000000 KLT tracked : 139
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|
[13:21:03.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:03.953] frame process finished the id is: 46 the obs is:0
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|
[13:21:03.991] Odometry x=0.002158, y=0.091913, theta=-0.014238
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[13:21:04.057] Init: px average disparity is:11.320433 ,While minimum is: 20.000000 KLT tracked : 139
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|
[13:21:04.058] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
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[13:21:04.058] frame process finished the id is: 47 the obs is:0
|
|
[13:21:04.089] Odometry x=0.002194, y=0.097354, theta=-0.009734
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|
[13:21:04.154] Init: px average disparity is:12.805611 ,While minimum is: 20.000000 KLT tracked : 139
|
|
[13:21:04.154] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:04.154] frame process finished the id is: 48 the obs is:0
|
|
[13:21:04.192] Odometry x=0.002686, y=0.103764, theta=-0.006431
|
|
[13:21:04.252] Init: px average disparity is:12.948341 ,While minimum is: 20.000000 KLT tracked : 138
|
|
[13:21:04.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:04.253] frame process finished the id is: 49 the obs is:0
|
|
[13:21:04.292] Odometry x=0.002816, y=0.112834, theta=-0.012598
|
|
[13:21:04.352] Init: px average disparity is:19.077856 ,While minimum is: 20.000000 KLT tracked : 138
|
|
[13:21:04.352] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:04.352] frame process finished the id is: 50 the obs is:0
|
|
[13:21:04.401] Odometry x=0.002920, y=0.124184, theta=-0.007629
|
|
[13:21:04.453] Init: px average disparity is:13.806053 ,While minimum is: 20.000000 KLT tracked : 138
|
|
[13:21:04.453] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:04.453] frame process finished the id is: 51 the obs is:0
|
|
[13:21:04.488] Odometry x=0.005017, y=0.130624, theta=-0.015461
|
|
[13:21:04.552] Init: px average disparity is:13.604544 ,While minimum is: 20.000000 KLT tracked : 138
|
|
[13:21:04.552] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:04.552] frame process finished the id is: 52 the obs is:0
|
|
[13:21:04.591] Odometry x=0.005577, y=0.151493, theta=-0.015079
|
|
[13:21:04.654] Init: px average disparity is:8.973338 ,While minimum is: 20.000000 KLT tracked : 138
|
|
[13:21:04.654] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:04.654] frame process finished the id is: 53 the obs is:0
|
|
[13:21:04.690] Odometry x=0.007783, y=0.156634, theta=-0.017495
|
|
[13:21:04.751] Init: px average disparity is:9.563895 ,While minimum is: 20.000000 KLT tracked : 138
|
|
[13:21:04.751] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:04.752] frame process finished the id is: 54 the obs is:0
|
|
[13:21:04.786] Odometry x=0.007864, y=0.162526, theta=-0.017118
|
|
[13:21:04.852] Init: px average disparity is:9.434415 ,While minimum is: 20.000000 KLT tracked : 137
|
|
[13:21:04.852] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:04.852] frame process finished the id is: 55 the obs is:0
|
|
[13:21:04.889] Odometry x=0.009318, y=0.167619, theta=-0.019604
|
|
[13:21:04.952] Init: px average disparity is:10.380474 ,While minimum is: 20.000000 KLT tracked : 137
|
|
[13:21:04.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:04.952] frame process finished the id is: 56 the obs is:0
|
|
[13:21:04.992] Odometry x=0.009479, y=0.173024, theta=-0.024642
|
|
[13:21:05.055] Init: px average disparity is:11.195747 ,While minimum is: 20.000000 KLT tracked : 137
|
|
[13:21:05.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:05.055] frame process finished the id is: 57 the obs is:0
|
|
[13:21:05.094] Odometry x=0.010257, y=0.178505, theta=-0.023305
|
|
[13:21:05.152] Init: px average disparity is:9.168726 ,While minimum is: 20.000000 KLT tracked : 137
|
|
[13:21:05.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:05.152] frame process finished the id is: 58 the obs is:0
|
|
[13:21:05.194] Odometry x=0.010297, y=0.184015, theta=-0.000969
|
|
[13:21:05.252] Init: px average disparity is:11.423539 ,While minimum is: 20.000000 KLT tracked : 137
|
|
[13:21:05.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:05.253] frame process finished the id is: 59 the obs is:0
|
|
[13:21:05.293] Odometry x=0.010630, y=0.189501, theta=-0.010177
|
|
[13:21:05.352] Init: px average disparity is:13.842928 ,While minimum is: 20.000000 KLT tracked : 137
|
|
[13:21:05.352] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:05.352] frame process finished the id is: 60 the obs is:0
|
|
[13:21:05.392] Odometry x=0.010779, y=0.197997, theta=-0.011120
|
|
[13:21:05.452] Init: px average disparity is:14.900536 ,While minimum is: 20.000000 KLT tracked : 137
|
|
[13:21:05.452] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:05.452] frame process finished the id is: 61 the obs is:0
|
|
[13:21:05.494] Odometry x=0.011767, y=0.203269, theta=-0.013050
|
|
[13:21:05.553] Init: px average disparity is:15.811902 ,While minimum is: 20.000000 KLT tracked : 137
|
|
[13:21:05.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:05.554] frame process finished the id is: 62 the obs is:0
|
|
[13:21:05.587] Odometry x=0.011806, y=0.209434, theta=-0.007901
|
|
[13:21:05.653] Init: px average disparity is:16.280421 ,While minimum is: 20.000000 KLT tracked : 137
|
|
[13:21:05.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:05.653] frame process finished the id is: 63 the obs is:0
|
|
[13:21:05.690] Odometry x=0.011891, y=0.214714, theta=-0.013155
|
|
[13:21:05.754] Init: px average disparity is:16.779989 ,While minimum is: 20.000000 KLT tracked : 137
|
|
[13:21:05.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:05.754] frame process finished the id is: 64 the obs is:0
|
|
[13:21:05.788] Odometry x=0.011939, y=0.221610, theta=-0.006310
|
|
[13:21:05.854] Init: px average disparity is:19.134293 ,While minimum is: 20.000000 KLT tracked : 137
|
|
[13:21:05.854] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
|
|
[13:21:05.854] frame process finished the id is: 65 the obs is:0
|
|
[13:21:05.893] Odometry x=0.011968, y=0.227149, theta=-0.011129
|
|
[13:21:05.990] Odometry x=0.010236, y=0.233381, theta=-0.005374
|
|
[13:21:06.007] cur: x=-0.466419, y=-0.476442, z=0.745289 ref: x=-0.403867 y=-0.484616 z=0.775911
|
|
[13:21:06.007] cur: x=0.147190, y=-0.532144, z=0.833762 ref: x=0.156084 y=-0.476225 z=0.865360
|
|
[13:21:06.007] cur: x=0.064522, y=-0.509227, z=0.858210 ref: x=0.039918 y=-0.471158 z=0.881145
|
|
[13:21:06.007] cur: x=0.068497, y=-0.509223, z=0.857904 ref: x=0.042762 y=-0.471147 z=0.881017
|
|
[13:21:06.007] cur: x=0.081535, y=-0.520356, z=0.850048 ref: x=0.096787 y=-0.464643 z=0.880193
|
|
[13:21:06.007] cur: x=0.075181, y=-0.513342, z=0.854884 ref: x=0.091179 y=-0.456459 z=0.885060
|
|
[13:21:06.007] cur: x=-0.014099, y=-0.438449, z=0.898645 ref: x=0.008683 y=-0.402739 z=0.915274
|
|
[13:21:06.007] cur: x=-0.050501, y=-0.403500, z=0.913585 ref: x=-0.022836 y=-0.373277 z=0.927439
|
|
[13:21:06.007] cur: x=-0.053243, y=-0.401332, z=0.914384 ref: x=-0.025706 y=-0.371162 z=0.928212
|
|
[13:21:06.007] cur: x=-0.056928, y=-0.398299, z=0.915487 ref: x=-0.028577 y=-0.369045 z=0.928972
|
|
[13:21:06.007] cur: x=-0.076402, y=-0.380436, z=0.921646 ref: x=-0.045820 y=-0.354195 z=0.934048
|
|
[13:21:06.007] cur: x=-0.048134, y=-0.341461, z=0.938663 ref: x=-0.022916 y=-0.313819 z=0.949206
|
|
[13:21:06.007] cur: x=-0.111832, y=-0.345688, z=0.931661 ref: x=-0.083259 y=-0.320054 z=0.943734
|
|
[13:21:06.007] cur: x=-0.244186, y=-0.245493, z=0.938140 ref: x=-0.212743 y=-0.237814 z=0.947726
|
|
[13:21:06.007] cur: x=-0.241265, y=-0.245491, z=0.938896 ref: x=-0.209888 y=-0.237838 z=0.948357
|
|
[13:21:06.007] cur: x=-0.238449, y=-0.243350, z=0.940171 ref: x=-0.207049 y=-0.235711 z=0.949511
|
|
[13:21:06.007] cur: x=-0.229973, y=-0.234674, z=0.944479 ref: x=-0.198538 y=-0.227168 z=0.953403
|
|
[13:21:06.007] cur: x=-0.226999, y=-0.234602, z=0.945216 ref: x=-0.195677 y=-0.227188 z=0.953990
|
|
[13:21:06.007] cur: x=-0.229923, y=-0.236817, z=0.943956 ref: x=-0.198522 y=-0.229321 z=0.952891
|
|
[13:21:06.007] cur: x=-0.235644, y=-0.241194, z=0.941434 ref: x=-0.204208 y=-0.233582 z=0.950652
|
|
[13:21:06.007] cur: x=-0.229842, y=-0.238947, z=0.943439 ref: x=-0.198506 y=-0.231473 z=0.952374
|
|
[13:21:06.007] cur: x=-0.224074, y=-0.232359, z=0.946467 ref: x=-0.192830 y=-0.225054 z=0.955074
|
|
[13:21:06.007] cur: x=-0.215632, y=-0.227211, z=0.949673 ref: x=-0.181415 y=-0.218663 z=0.958788
|
|
[13:21:06.007] cur: x=-0.338281, y=-0.203740, z=0.918725 ref: x=-0.289722 y=-0.213448 z=0.933006
|
|
[13:21:06.007] cur: x=-0.187562, y=-0.212238, z=0.959049 ref: x=-0.152794 y=-0.203705 z=0.967036
|
|
[13:21:06.007] cur: x=-0.187654, y=-0.210157, z=0.959489 ref: x=-0.152805 y=-0.201543 z=0.967487
|
|
[13:21:06.007] cur: x=-0.394710, y=-0.138186, z=0.908355 ref: x=-0.346836 y=-0.135421 z=0.928098
|
|
[13:21:06.007] cur: x=-0.208859, y=-0.062893, z=0.975921 ref: x=-0.176268 y=-0.064590 z=0.982221
|
|
[13:21:06.007] cur: x=-0.205987, y=-0.062907, z=0.976531 ref: x=-0.173389 y=-0.064594 z=0.982733
|
|
[13:21:06.007] cur: x=-0.203118, y=-0.062917, z=0.977131 ref: x=-0.170510 y=-0.064599 z=0.983236
|
|
[13:21:06.007] cur: x=-0.208843, y=-0.060691, z=0.976064 ref: x=-0.176271 y=-0.062410 z=0.982361
|
|
[13:21:06.007] cur: x=-0.205973, y=-0.060703, z=0.976673 ref: x=-0.173393 y=-0.062415 z=0.982873
|
|
[13:21:06.007] cur: x=-0.414127, y=0.009487, z=0.910170 ref: x=-0.358532 y=-0.053273 z=0.931996
|
|
[13:21:06.007] cur: x=-0.411025, y=0.007947, z=0.911590 ref: x=-0.355725 y=-0.053282 z=0.933071
|
|
[13:21:06.007] cur: x=-0.194553, y=-0.056354, z=0.979272 ref: x=-0.161879 y=-0.058071 z=0.985101
|
|
[13:21:06.007] cur: x=-0.194591, y=-0.054141, z=0.979389 ref: x=-0.161882 y=-0.055891 z=0.985226
|
|
[13:21:06.007] cur: x=-0.426643, y=0.042973, z=0.903398 ref: x=-0.369771 y=-0.044588 z=0.928053
|
|
[13:21:06.007] cur: x=-0.424188, y=0.041598, z=0.904618 ref: x=-0.366970 y=-0.044596 z=0.929163
|
|
[13:21:06.007] cur: x=-0.418078, y=0.033844, z=0.907780 ref: x=-0.361364 y=-0.044612 z=0.931357
|
|
[13:21:06.007] cur: x=-0.102048, y=-0.059323, z=0.993009 ref: x=-0.072326 y=-0.047237 z=0.996262
|
|
[13:21:06.007] cur: x=-0.102354, y=-0.053189, z=0.993325 ref: x=-0.072327 y=-0.045053 z=0.996363
|
|
[13:21:06.007] cur: x=-0.203726, y=-0.036658, z=0.978341 ref: x=-0.170544 y=-0.038433 z=0.984600
|
|
[13:21:06.007] cur: x=-0.411707, y=0.036789, z=0.910573 ref: x=-0.355762 y=-0.040299 z=0.933707
|
|
[13:21:06.007] cur: x=-0.203788, y=-0.034476, z=0.978408 ref: x=-0.170546 y=-0.036252 z=0.984683
|
|
[13:21:06.007] cur: x=-0.206709, y=-0.032287, z=0.977870 ref: x=-0.173427 y=-0.034068 z=0.984257
|
|
[13:21:06.007] cur: x=-0.425681, y=0.011983, z=0.904794 ref: x=-0.375420 y=-0.018631 z=0.926667
|
|
[13:21:06.007] cur: x=-0.418423, y=0.018191, z=0.908070 ref: x=-0.367026 y=-0.014315 z=0.930100
|
|
[13:21:06.007] cur: x=-0.435665, y=0.138178, z=0.889440 ref: x=-0.378227 y=0.005152 z=0.925699
|
|
[13:21:06.007] cur: x=-0.415685, y=0.006210, z=0.909487 ref: x=-0.367032 y=0.002992 z=0.930203
|
|
[13:21:06.007] cur: x=-0.431876, y=0.073998, z=0.898892 ref: x=-0.378226 y=0.007314 z=0.925685
|
|
[13:21:06.007] cur: x=-0.305918, y=0.012434, z=0.951977 ref: x=-0.262329 y=0.018235 z=0.964806
|
|
[13:21:06.007] cur: x=-0.436407, y=0.144030, z=0.888147 ref: x=-0.383670 y=0.065634 z=0.921135
|
|
[13:21:06.007] cur: x=-0.366876, y=0.056393, z=0.928559 ref: x=-0.316237 y=0.061567 z=0.946680
|
|
[13:21:06.007] cur: x=-0.353328, y=0.122272, z=0.927474 ref: x=-0.369687 y=0.067856 z=0.926675
|
|
[13:21:06.007] cur: x=-0.357155, y=0.165104, z=0.919337 ref: x=-0.372445 y=0.076482 z=0.924897
|
|
[13:21:06.007] cur: x=-0.208121, y=0.074190, z=0.975285 ref: x=-0.170492 y=0.074987 z=0.982502
|
|
[13:21:06.007] cur: x=-0.205278, y=0.074178, z=0.975889 ref: x=-0.167613 y=0.074992 z=0.982997
|
|
[13:21:06.007] cur: x=-0.208272, y=0.076675, z=0.975061 ref: x=-0.170488 y=0.077166 z=0.982334
|
|
[13:21:06.007] cur: x=-0.205423, y=0.076649, z=0.975667 ref: x=-0.167609 y=0.077171 z=0.982829
|
|
[13:21:06.007] cur: x=-0.288229, y=0.080796, z=0.954147 ref: x=-0.259356 y=0.079114 z=0.962536
|
|
[13:21:06.007] cur: x=-0.285384, y=0.080599, z=0.955018 ref: x=-0.256503 y=0.079123 z=0.963300
|
|
[13:21:06.007] cur: x=-0.575582, y=-0.042539, z=0.816637 ref: x=-0.520196 y=0.088264 z=0.849474
|
|
[13:21:06.007] cur: x=-0.522890, y=-0.031622, z=0.851813 ref: x=-0.490642 y=0.092823 z=0.866403
|
|
[13:21:06.007] cur: x=-0.356062, y=0.088661, z=0.930247 ref: x=-0.377719 y=0.123887 z=0.917595
|
|
[13:21:06.007] cur: x=-0.367346, y=0.079160, z=0.926710 ref: x=-0.372153 y=0.121780 z=0.920148
|
|
[13:21:06.007] cur: x=-0.082310, y=0.164882, z=0.982873 ref: x=-0.051982 y=0.149244 z=0.987433
|
|
[13:21:06.007] cur: x=-0.099838, y=0.168475, z=0.980637 ref: x=-0.069325 y=0.153571 z=0.985703
|
|
[13:21:06.007] cur: x=-0.088008, y=0.172411, z=0.981086 ref: x=-0.057755 y=0.157936 z=0.985759
|
|
[13:21:06.007] cur: x=-0.105403, y=0.194502, z=0.975223 ref: x=-0.075058 y=0.179628 z=0.980867
|
|
[13:21:06.007] cur: x=-0.102487, y=0.194671, z=0.975500 ref: x=-0.072170 y=0.179634 z=0.981083
|
|
[13:21:06.007] cur: x=-0.081929, y=0.192322, z=0.977906 ref: x=-0.051947 y=0.177496 z=0.982750
|
|
[13:21:06.007] cur: x=-0.096496, y=0.192356, z=0.976569 ref: x=-0.066396 y=0.177474 z=0.981883
|
|
[13:21:06.007] cur: x=-0.047746, y=0.198756, z=0.978885 ref: x=-0.023031 y=0.184036 z=0.982650
|
|
[13:21:06.007] cur: x=-0.026426, y=0.205102, z=0.978384 ref: x=-0.002791 y=0.190552 z=0.981673
|
|
[13:21:06.007] cur: x=-0.017798, y=0.200640, z=0.979503 ref: x=0.005883 y=0.186213 z=0.982492
|
|
[13:21:06.007] cur: x=-0.105292, y=0.207998, z=0.972446 ref: x=-0.075031 y=0.192641 z=0.978397
|
|
[13:21:06.007] cur: x=-0.023524, y=0.207232, z=0.978009 ref: x=0.000100 y=0.192721 z=0.981254
|
|
[13:21:06.007] cur: x=-0.588966, y=0.269835, z=0.761779 ref: x=-0.514089 y=0.261491 z=0.816906
|
|
[13:21:06.007] cur: x=0.153621, y=0.290359, z=0.944506 ref: x=0.158330 y=0.272080 z=0.949160
|
|
[13:21:06.007] cur: x=0.156534, y=0.290540, z=0.943972 ref: x=0.161195 y=0.272059 z=0.948683
|
|
[13:21:06.007] cur: x=0.056889, y=0.357477, z=0.932188 ref: x=0.074811 y=0.328112 z=0.941672
|
|
[13:21:06.007] cur: x=0.059844, y=0.357595, z=0.931957 ref: x=0.077682 y=0.328100 z=0.941444
|
|
[13:21:06.007] cur: x=0.059285, y=0.359296, z=0.931339 ref: x=0.077673 y=0.330228 z=0.940700
|
|
[13:21:06.007] cur: x=-0.279474, y=0.359953, z=0.890128 ref: x=-0.256887 y=0.343274 z=0.903423
|
|
[13:21:06.007] cur: x=0.104762, y=0.409007, z=0.906498 ref: x=0.160034 y=0.395045 z=0.904615
|
|
[13:21:06.007] cur: x=0.075193, y=-0.515334, z=0.853684 ref: x=0.091161 y=-0.458519 z=0.883996
|
|
[13:21:06.007] cur: x=0.075367, y=-0.521908, z=0.849666 ref: x=0.091091 y=-0.466745 z=0.879688
|
|
[13:21:06.007] cur: x=0.075075, y=-0.519062, z=0.851433 ref: x=0.091127 y=-0.462635 z=0.881853
|
|
[13:21:06.007] cur: x=-0.028420, y=-0.431941, z=0.901454 ref: x=-0.005626 y=-0.396448 z=0.918040
|
|
[13:21:06.007] cur: x=-0.016959, y=-0.440546, z=0.897570 ref: x=0.005821 y=-0.404835 z=0.914371
|
|
[13:21:06.007] cur: x=-0.016956, y=-0.436303, z=0.899640 ref: x=0.005823 y=-0.400644 z=0.916215
|
|
[13:21:06.007] cur: x=-0.057100, y=-0.404697, z=0.912666 ref: x=-0.028565 y=-0.375378 z=0.926432
|
|
[13:21:06.007] cur: x=-0.062395, y=-0.400602, z=0.914125 ref: x=-0.034306 y=-0.371145 z=0.927941
|
|
[13:21:06.007] cur: x=-0.544186, y=-0.300186, z=0.783422 ref: x=-0.484343 y=-0.279612 z=0.828993
|
|
[13:21:06.007] cur: x=-0.250260, y=-0.245622, z=0.936504 ref: x=-0.218452 y=-0.237766 z=0.946439
|
|
[13:21:06.007] cur: x=-0.244186, y=-0.245493, z=0.938140 ref: x=-0.212743 y=-0.237814 z=0.947726
|
|
[13:21:06.007] cur: x=-0.238517, y=-0.241216, z=0.940704 ref: x=-0.207066 y=-0.233560 z=0.950039
|
|
[13:21:06.007] cur: x=-0.201721, y=-0.216626, z=0.955187 ref: x=-0.167136 y=-0.207954 z=0.963753
|
|
[13:21:06.007] cur: x=-0.402219, y=-0.096106, z=0.910485 ref: x=-0.282264 y=0.026912 z=0.958959
|
|
[13:21:06.007] cur: x=-0.205278, y=0.074178, z=0.975889 ref: x=-0.167613 y=0.074992 z=0.982997
|
|
[13:21:06.007] cur: x=-0.413582, y=-0.050812, z=0.909048 ref: x=-0.471585 y=0.103697 z=0.875702
|
|
[13:21:06.007] cur: x=-0.645734, y=0.221534, z=0.730719 ref: x=-0.570122 y=0.220076 z=0.791535
|
|
[13:21:06.007] cur: x=-0.625817, y=0.254240, z=0.737370 ref: x=-0.548490 y=0.249926 z=0.797932
|
|
[13:21:06.007] cur: x=-0.099594, y=0.285171, z=0.953288 ref: x=-0.069077 y=0.266075 z=0.961474
|
|
[13:21:06.007] cur: x=0.156626, y=0.284199, z=0.945885 ref: x=0.161240 y=0.265625 z=0.950497
|
|
[13:21:06.007] cur: x=-0.610034, y=0.260052, z=0.748486 ref: x=-0.532699 y=0.254627 z=0.807092
|
|
[13:21:06.007] cur: x=0.072344, y=0.292768, z=0.953443 ref: x=0.086521 y=0.274611 z=0.957655
|
|
[13:21:06.007] cur: x=0.156558, y=0.288441, z=0.944612 ref: x=0.161210 y=0.269915 z=0.949293
|
|
[13:21:06.007] cur: x=-0.123673, y=0.321370, z=0.938843 ref: x=-0.091965 y=0.300301 z=0.949401
|
|
[13:21:06.007] cur: x=-0.743072, y=0.320464, z=0.587492 ref: x=-0.566466 y=0.315027 z=0.761495
|
|
[13:21:06.007] cur: x=-0.717914, y=0.302680, z=0.626885 ref: x=-0.571748 y=0.310689 z=0.759326
|
|
[13:21:06.007] cur: x=0.056334, y=0.359196, z=0.931560 ref: x=0.074802 y=0.330240 z=0.940928
|
|
[13:21:06.007] cur: x=0.057214, y=0.355446, z=0.932944 ref: x=0.074820 y=0.325983 z=0.942410
|
|
[13:21:06.007] cur: x=-0.274427, y=0.362194, z=0.890789 ref: x=-0.251209 y=0.345473 z=0.904181
|
|
[13:21:06.007] cur: x=-0.291224, y=0.384011, z=0.876198 ref: x=-0.267739 y=0.366186 z=0.891192
|
|
[13:21:06.007] cur: x=-0.275595, y=0.394324, z=0.876673 ref: x=-0.383200 y=0.400471 z=0.832335
|
|
[13:21:06.007] cur: x=0.117368, y=-0.525216, z=0.842836 ref: x=0.130735 y=-0.470439 z=0.872694
|
|
[13:21:06.007] cur: x=-0.324752, y=-0.241754, z=0.914380 ref: x=-0.281023 y=-0.232853 z=0.931024
|
|
[13:21:06.007] cur: x=-0.313059, y=-0.242435, z=0.918270 ref: x=-0.269694 y=-0.232978 z=0.934337
|
|
[13:21:06.007] cur: x=-0.301622, y=-0.242909, z=0.921965 ref: x=-0.258345 y=-0.233097 z=0.937509
|
|
[13:21:06.007] cur: x=-0.213062, y=-0.216515, z=0.952747 ref: x=-0.178614 y=-0.207890 z=0.961706
|
|
[13:21:06.007] cur: x=-0.301341, y=-0.251438, z=0.919768 ref: x=-0.258255 y=-0.241678 z=0.935359
|
|
[13:21:06.007] cur: x=-0.407317, y=-0.157563, z=0.899593 ref: x=-0.360677 y=-0.154673 z=0.919776
|
|
[13:21:06.007] cur: x=-0.212691, y=-0.083922, z=0.973509 ref: x=-0.179102 y=-0.086370 z=0.980032
|
|
[13:21:06.007] cur: x=-0.223230, y=-0.075774, z=0.971816 ref: x=-0.190623 y=-0.077633 z=0.978589
|
|
[13:21:06.007] cur: x=-0.399499, y=-0.103178, z=0.910909 ref: x=-0.282273 y=0.018219 z=0.959161
|
|
[13:21:06.007] cur: x=-0.527515, y=-0.013401, z=0.849440 ref: x=-0.493234 y=0.103470 z=0.863721
|
|
[13:21:06.007] cur: x=-0.217262, y=0.088395, z=0.972103 ref: x=-0.179098 y=0.088039 z=0.979884
|
|
[13:21:06.007] cur: x=-0.533625, y=-0.026091, z=0.845319 ref: x=-0.504080 y=0.094823 z=0.858436
|
|
[13:21:06.007] cur: x=-0.348377, y=0.007365, z=0.937326 ref: x=-0.394516 y=0.112984 z=0.911916
|
|
[13:21:06.007] cur: x=-0.333106, y=0.005802, z=0.942871 ref: x=-0.383383 y=0.113074 z=0.916642
|
|
[13:21:06.007] cur: x=-0.053504, y=0.189892, z=0.980346 ref: x=-0.028820 y=0.175349 z=0.984084
|
|
[13:21:06.007] cur: x=0.151002, y=0.270971, z=0.950670 ref: x=0.155592 y=0.252776 z=0.954932
|
|
[13:21:06.007] cur: x=-0.648972, y=0.295058, z=0.701268 ref: x=-0.642545 y=0.282517 z=0.712264
|
|
[13:21:06.007] cur: x=-0.212603, y=0.257800, z=0.942517 ref: x=-0.178381 y=0.244024 z=0.953222
|
|
[13:21:06.007] cur: x=-0.212703, y=0.266599, z=0.940044 ref: x=-0.178319 y=0.252622 z=0.950991
|
|
[13:21:06.007] cur: x=0.025240, y=0.391129, z=0.919990 ref: x=0.119921 y=0.422593 z=0.898351
|
|
[13:21:06.007] Init finished: Homography RANSAC (inlier) is:36 ,While 25 inliers minimum required. px average disparity is:21.598964 ,While minimum is: 20.000000 KLT tracked: 137
|
|
[13:21:06.007] Init: distance between the first and current frame is x:0.011444 ,z=0.239281,angle between two frames: 0.000647
|
|
[13:21:06.007] Init: Selected Second frame. The number of features: 27 depth mean:0.192025 min:-2.177072
|
|
[13:21:06.007] frame process finished the id is: 66 the obs is:27
|
|
[13:21:06.088] Odometry x=0.011444, y=0.239281, theta=0.000647
|
|
[13:21:06.111] 67-1/352 :
|
|
befor : 136.000000 34.000000 after : 127.599037 35.219696 FALSE 72.063835
|
|
befor : 138.000000 32.000000 after : 134.668930 35.172451 TRUE 21.160472
|
|
[13:21:06.112] 67-2/352 :
|
|
befor : 296.000000 48.000000 after : 297.311127 51.846600 FALSE 16.515382
|
|
befor : 296.000000 55.000000 after : 295.668304 53.868523 TRUE 1.390263
|
|
[13:21:06.112] 67-3/352 :
|
|
befor : 301.000000 48.000000 after : 302.425995 44.484127 TRUE 14.394824
|
|
[13:21:06.112] 67-4/352 :
|
|
befor : 196.000000 140.000000 after : 201.700577 146.100769 FALSE 69.715959
|
|
[13:21:06.112] 67-5/352 :
|
|
befor : 233.000000 133.000000 after : 223.677429 143.794876 FALSE 203.439676
|
|
[13:21:06.112] 67-6/352 :
|
|
befor : 169.000000 217.000000 after : 169.285156 224.791336 FALSE 60.786232
|
|
[13:21:06.112] 67-7/352 :
|
|
befor : 200.000000 252.000000 after : 201.848236 250.732742 FALSE 5.021919
|
|
[13:21:06.112] 67-8/352 :
|
|
befor : 192.000000 276.000000 after : 192.334869 276.213470 TRUE 0.157707
|
|
[13:21:06.112] 67-9/352 :
|
|
befor : 215.000000 305.000000 after : 212.624908 301.187469 TRUE 20.176449
|
|
[13:21:06.112] 67-10/352 :
|
|
befor : 240.000000 373.000000 after : 249.047577 363.143555 TRUE 179.008162
|
|
[13:21:06.112] 67-11/352 :
|
|
befor : 274.000000 392.000000 after : 274.000000 392.000000 FALSE 0.000000
|
|
befor : 272.000000 390.000000 after : 277.649261 398.054993 TRUE 96.797062
|
|
[13:21:06.112] 67-12/352 :
|
|
befor : 84.000000 444.000000 after : 92.135948 452.146881 TRUE 132.565325
|
|
[13:21:06.112] 67-13/352 :
|
|
befor : 148.000000 424.000000 after : 148.095688 424.956787 FALSE 0.924598
|
|
[13:21:06.112] 67-14/352 :
|
|
befor : 150.000000 424.000000 after : 139.050415 436.273834 TRUE 270.540417
|
|
[13:21:06.112] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:9 ,distance between ekf and vo x:-0.000322 ,z=0.000130,angle between two frames:0.000170
|
|
[13:21:06.112] n deleted obs = 2 n obs with reprojection error less than 0.5 px =7 error init =0.280045 error end=0.280045
|
|
[13:21:06.112] After pose optimization, distance between ekf and vo x:-0.000322 ,z=0.000130,angle between two frames:0.000170
|
|
[13:21:06.112] frame process finished the id is: 66 the obs is:27
|
|
[13:21:06.190] Odometry x=0.011511, y=0.244700, theta=-0.016601
|
|
[13:21:06.208] 68-1/352 :
|
|
befor : 132.000000 54.000000 after : 122.557121 68.599274 FALSE 302.306751
|
|
[13:21:06.208] 68-2/352 :
|
|
befor : 297.000000 55.000000 after : 297.632172 53.574333 FALSE 2.432167
|
|
[13:21:06.208] 68-3/352 :
|
|
befor : 311.000000 38.000000 after : 311.000000 38.000000 FALSE 0.000000
|
|
[13:21:06.208] 68-4/352 :
|
|
befor : 304.000000 80.000000 after : 313.045441 72.830124 FALSE 133.227120
|
|
[13:21:06.208] 68-5/352 :
|
|
befor : 270.000000 91.000000 after : 269.826569 89.314880 FALSE 2.869707
|
|
[13:21:06.208] 68-6/352 :
|
|
befor : 231.000000 131.000000 after : 232.215302 135.112885 TRUE 18.392777
|
|
[13:21:06.208] 68-7/352 :
|
|
befor : 241.000000 139.000000 after : 232.594528 151.026779 FALSE 215.295374
|
|
[13:21:06.208] 68-8/352 :
|
|
befor : 248.000000 213.000000 after : 248.221405 213.036102 TRUE 0.050324
|
|
[13:21:06.208] 68-9/352 :
|
|
befor : 284.000000 330.000000 after : 283.230927 330.097839 TRUE 0.601047
|
|
[13:21:06.208] 68-10/352 :
|
|
befor : 280.000000 380.000000 after : 273.070343 372.440918 FALSE 105.159867
|
|
befor : 284.000000 376.000000 after : 292.344360 397.475464 FALSE 530.823898
|
|
[13:21:06.208] 68-11/352 :
|
|
befor : 276.000000 392.000000 after : 276.660126 391.793610 TRUE 0.478363
|
|
[13:21:06.208] 68-12/352 :
|
|
befor : 337.000000 410.000000 after : 338.989380 408.987274 TRUE 4.983246
|
|
[13:21:06.208] 68-13/352 :
|
|
befor : 68.000000 420.000000 after : 63.524357 429.411224 TRUE 108.602526
|
|
[13:21:06.208] 68-14/352 :
|
|
befor : 146.000000 422.000000 after : 142.147995 426.021332 FALSE 31.009052
|
|
befor : 148.000000 424.000000 after : 141.428543 424.507202 FALSE 43.441300
|
|
[13:21:06.208] 68-15/352 :
|
|
befor : 381.000000 470.000000 after : 387.722839 464.475922 FALSE 75.712011
|
|
[13:21:06.208] After Reprojection Map nPoint:20 ,nCell:17 ,nMatches:6 ,distance between ekf and vo x:-0.000134 ,z=0.000050,angle between two frames:0.000081
|
|
[13:21:06.208] n deleted obs = 2 n obs with reprojection error less than 0.5 px =4 error init =0.332937 error end=0.324302
|
|
[13:21:06.208] After pose optimization, distance between ekf and vo x:0.033232 ,z=0.059599,angle between two frames:0.034366
|
|
[13:21:06.208] frame process finished the id is: 66 the obs is:27
|
|
[13:21:06.287] Odometry x=0.011785, y=0.250144, theta=-0.002016
|
|
[13:21:06.307] 69-1/352 :
|
|
befor : 146.000000 17.000000 after : 144.421539 17.478188 TRUE 2.720202
|
|
[13:21:06.307] 69-2/352 :
|
|
befor : 299.000000 55.000000 after : 297.565002 56.245140 TRUE 3.609592
|
|
[13:21:06.307] 69-3/352 :
|
|
befor : 304.000000 48.000000 after : 304.850616 45.614872 TRUE 6.412384
|
|
[13:21:06.307] 69-4/352 :
|
|
befor : 310.000000 73.000000 after : 310.713837 72.817345 TRUE 0.542926
|
|
[13:21:06.307] 69-5/352 :
|
|
befor : 239.000000 137.000000 after : 230.859482 148.555420 FALSE 199.795766
|
|
befor : 231.000000 130.000000 after : 232.644226 131.135452 TRUE 3.992731
|
|
[13:21:06.307] 69-6/352 :
|
|
befor : 174.000000 220.000000 after : 173.863174 220.148102 TRUE 0.040655
|
|
[13:21:06.307] 69-7/352 :
|
|
befor : 243.000000 225.000000 after : 243.000000 225.000000 FALSE 0.000000
|
|
befor : 249.000000 228.000000 after : 242.425385 232.089951 FALSE 59.953264
|
|
[13:21:06.307] 69-8/352 :
|
|
befor : 289.000000 333.000000 after : 288.839813 332.636627 TRUE 0.157700
|
|
[13:21:06.307] 69-9/352 :
|
|
befor : 288.000000 376.000000 after : 286.259155 378.430298 TRUE 8.936888
|
|
[13:21:06.307] 69-10/352 :
|
|
befor : 280.000000 392.000000 after : 278.148407 392.698273 TRUE 3.915981
|
|
[13:21:06.307] 69-11/352 :
|
|
befor : 78.000000 448.000000 after : 76.044342 448.436127 FALSE 4.014805
|
|
[13:21:06.307] 69-12/352 :
|
|
befor : 152.000000 430.000000 after : 149.650177 431.136505 FALSE 6.813312
|
|
[13:21:06.307] 69-13/352 :
|
|
befor : 362.000000 434.000000 after : 381.377319 424.619019 FALSE 463.483318
|
|
[13:21:06.307] 69-14/352 :
|
|
befor : 78.000000 450.000000 after : 63.082142 469.442078 FALSE 600.536874
|
|
[13:21:06.307] After Reprojection Map nPoint:18 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:-0.000207 ,z=0.000091,angle between two frames:0.000117
|
|
[13:21:06.307] n deleted obs = 0 n obs with reprojection error less than 0.5 px =9 error init =0.159274 error end=0.159033
|
|
[13:21:06.307] After pose optimization, distance between ekf and vo x:0.009013 ,z=-0.002040,angle between two frames:0.005062
|
|
[13:21:06.307] frame process finished the id is: 66 the obs is:27
|
|
[13:21:06.390] Odometry x=0.012482, y=0.255743, theta=-0.015141
|
|
[13:21:06.409] 70-1/352 :
|
|
befor : 146.000000 25.000000 after : 146.518066 24.384489 TRUE 0.647247
|
|
[13:21:06.409] 70-2/352 :
|
|
befor : 309.000000 45.000000 after : 309.077728 45.100636 TRUE 0.016169
|
|
[13:21:06.409] 70-3/352 :
|
|
befor : 298.000000 60.000000 after : 297.971405 59.123295 TRUE 0.769430
|
|
[13:21:06.409] 70-4/352 :
|
|
befor : 306.000000 81.000000 after : 318.066101 74.683357 FALSE 185.490771
|
|
[13:21:06.409] 70-5/352 :
|
|
befor : 248.000000 142.000000 after : 237.967865 157.724197 FALSE 347.894116
|
|
befor : 252.000000 148.000000 after : 252.246140 151.788849 FALSE 14.415960
|
|
[13:21:06.409] 70-6/352 :
|
|
befor : 240.000000 208.000000 after : 247.134537 206.233078 TRUE 54.023628
|
|
[13:21:06.409] 70-7/352 :
|
|
befor : 176.000000 220.000000 after : 175.863052 220.062317 TRUE 0.022638
|
|
[13:21:06.409] 70-8/352 :
|
|
befor : 291.000000 333.000000 after : 291.000000 333.000000 FALSE 0.000000
|
|
befor : 290.000000 333.000000 after : 289.249329 333.077240 TRUE 0.569474
|
|
[13:21:06.409] 70-9/352 :
|
|
befor : 314.000000 340.000000 after : 319.178406 335.583923 FALSE 46.317619
|
|
[13:21:06.409] 70-10/352 :
|
|
befor : 92.000000 370.000000 after : 86.309906 369.615173 FALSE 32.525261
|
|
[13:21:06.409] 70-11/352 :
|
|
befor : 292.000000 376.000000 after : 291.931213 382.641052 TRUE 44.108307
|
|
[13:21:06.409] 70-12/352 :
|
|
befor : 379.000000 379.000000 after : 392.613739 367.354401 TRUE 320.953875
|
|
[13:21:06.409] 70-13/352 :
|
|
befor : 41.000000 403.000000 after : 42.471519 403.881744 TRUE 2.942843
|
|
[13:21:06.409] 70-14/352 :
|
|
befor : 100.000000 404.000000 after : 98.514305 403.432709 TRUE 2.529109
|
|
[13:21:06.409] 70-15/352 :
|
|
befor : 286.000000 399.000000 after : 285.774902 398.906494 FALSE 0.059412
|
|
[13:21:06.409] 70-16/352 :
|
|
befor : 68.000000 428.000000 after : 66.332405 431.603485 FALSE 15.765978
|
|
[13:21:06.409] 70-17/352 :
|
|
befor : 200.000000 423.000000 after : 206.311569 429.457794 FALSE 81.539012
|
|
[13:21:06.409] After Reprojection Map nPoint:20 ,nCell:19 ,nMatches:10 ,distance between ekf and vo x:-0.000212 ,z=0.000057,angle between two frames:0.000133
|
|
[13:21:06.410] n deleted obs = 3 n obs with reprojection error less than 0.5 px =7 error init =0.364382 error end=0.364382
|
|
[13:21:06.410] After pose optimization, distance between ekf and vo x:-0.000212 ,z=0.000057,angle between two frames:0.000133
|
|
[13:21:06.410] frame process finished the id is: 66 the obs is:27
|
|
[13:21:06.492] Odometry x=0.013017, y=0.261291, theta=-0.001768
|
|
[13:21:06.507] 71-1/352 :
|
|
befor : 312.000000 47.000000 after : 311.914368 46.966263 TRUE 0.008471
|
|
[13:21:06.507] 71-2/352 :
|
|
befor : 289.000000 79.000000 after : 288.037384 77.579811 FALSE 2.943566
|
|
[13:21:06.507] 71-3/352 :
|
|
befor : 200.000000 92.000000 after : 200.796951 96.353897 FALSE 19.591551
|
|
[13:21:06.507] 71-4/352 :
|
|
befor : 250.000000 143.000000 after : 239.571365 158.375381 FALSE 345.158776
|
|
[13:21:06.507] 71-5/352 :
|
|
befor : 256.000000 152.000000 after : 248.518997 163.086990 FALSE 178.886758
|
|
[13:21:06.507] 71-6/352 :
|
|
befor : 182.000000 224.000000 after : 188.422333 218.456894 FALSE 71.972383
|
|
[13:21:06.507] 71-7/352 :
|
|
befor : 252.000000 228.000000 after : 252.000000 228.000000 FALSE 0.000000
|
|
befor : 259.000000 218.000000 after : 259.139862 218.022659 TRUE 0.020075
|
|
[13:21:06.507] 71-8/352 :
|
|
befor : 254.000000 240.000000 after : 250.536392 242.527100 TRUE 18.382811
|
|
[13:21:06.507] 71-9/352 :
|
|
befor : 133.000000 301.000000 after : 130.571777 303.790527 FALSE 13.683308
|
|
[13:21:06.507] 71-10/352 :
|
|
befor : 300.000000 325.000000 after : 300.420959 324.517517 TRUE 0.409997
|
|
[13:21:06.507] 71-11/352 :
|
|
befor : 297.000000 333.000000 after : 296.108307 333.089478 TRUE 0.803123
|
|
[13:21:06.507] 71-12/352 :
|
|
befor : 356.000000 379.000000 after : 351.085358 385.444824 TRUE 65.689468
|
|
[13:21:06.507] 71-13/352 :
|
|
befor : 353.000000 415.000000 after : 353.312042 411.805298 TRUE 10.303492
|
|
[13:21:06.507] 71-14/352 :
|
|
befor : 70.000000 432.000000 after : 65.232780 438.833069 FALSE 69.417212
|
|
[13:21:06.507] 71-15/352 :
|
|
befor : 154.000000 434.000000 after : 151.090393 435.798920 FALSE 11.701925
|
|
[13:21:06.507] 71-16/352 :
|
|
befor : 360.000000 425.000000 after : 362.973083 425.774170 TRUE 9.438565
|
|
[13:21:06.507] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:8 ,distance between ekf and vo x:-0.000250 ,z=0.000064,angle between two frames:0.000144
|
|
[13:21:06.507] n deleted obs = 1 n obs with reprojection error less than 0.5 px =7 error init =0.246808 error end=0.246501
|
|
[13:21:06.507] After pose optimization, distance between ekf and vo x:0.033684 ,z=0.000171,angle between two frames:0.019647
|
|
[13:21:06.507] frame process finished the id is: 66 the obs is:27
|
|
[13:21:06.590] Odometry x=0.013152, y=0.267650, theta=-0.026872
|
|
[13:21:06.623] 72-1/352 :
|
|
befor : 149.000000 26.000000 after : 142.890640 24.739882 FALSE 38.912175
|
|
[13:21:06.623] 72-2/352 :
|
|
befor : 320.000000 36.000000 after : 320.000000 36.000000 FALSE 0.000000
|
|
befor : 318.000000 36.000000 after : 317.492950 34.926933 TRUE 1.408571
|
|
[13:21:06.623] 72-3/352 :
|
|
befor : 297.000000 67.000000 after : 297.096985 66.625343 TRUE 0.149774
|
|
[13:21:06.623] 72-4/352 :
|
|
befor : 208.000000 140.000000 after : 207.837799 139.912949 TRUE 0.033887
|
|
[13:21:06.623] 72-5/352 :
|
|
befor : 236.000000 132.000000 after : 242.140549 136.155304 TRUE 54.972889
|
|
[13:21:06.623] 72-6/352 :
|
|
befor : 180.000000 176.000000 after : 183.014633 170.791672 TRUE 36.214696
|
|
[13:21:06.623] 72-7/352 :
|
|
befor : 254.000000 240.000000 after : 250.918457 239.077545 TRUE 10.346830
|
|
[13:21:06.623] 72-8/352 :
|
|
befor : 132.000000 296.000000 after : 137.942902 298.787354 TRUE 43.087419
|
|
[13:21:06.623] 72-9/352 :
|
|
befor : 301.000000 325.000000 after : 300.677612 327.585358 FALSE 6.788008
|
|
[13:21:06.623] 72-10/352 :
|
|
befor : 294.000000 334.000000 after : 294.470032 334.167450 TRUE 0.248969
|
|
[13:21:06.623] 72-11/352 :
|
|
befor : 302.000000 336.000000 after : 304.065826 335.687012 TRUE 4.365600
|
|
[13:21:06.623] 72-12/352 :
|
|
befor : 301.000000 371.000000 after : 304.889771 370.877686 FALSE 15.145275
|
|
[13:21:06.623] 72-13/352 :
|
|
befor : 384.000000 376.000000 after : 390.966461 374.072754 FALSE 52.245859
|
|
[13:21:06.623] 72-14/352 :
|
|
befor : 288.000000 396.000000 after : 285.117065 396.285522 TRUE 8.392835
|
|
[13:21:06.623] 72-15/352 :
|
|
befor : 352.000000 415.000000 after : 353.210388 412.901337 TRUE 5.869427
|
|
[13:21:06.623] After Reprojection Map nPoint:20 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000394 ,z=0.000215,angle between two frames:0.000416
|
|
[13:21:06.623] n deleted obs = 1 n obs with reprojection error less than 0.5 px =10 error init =0.253549 error end=0.250163
|
|
[13:21:06.623] After pose optimization, distance between ekf and vo x:0.021426 ,z=-0.011078,angle between two frames:0.005653
|
|
[13:21:06.623] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11
|
|
[13:21:06.623] frame process finished the id is: 72 the obs is:11
|
|
[13:21:06.692] Odometry x=0.033288, y=0.257594, theta=-0.021491
|
|
[13:21:06.711] 73-1/352 :
|
|
befor : 318.000000 32.000000 after : 318.732391 30.903698 TRUE 1.738275
|
|
[13:21:06.711] 73-2/352 :
|
|
befor : 294.000000 104.000000 after : 293.849457 105.793846 TRUE 3.240547
|
|
[13:21:06.711] 73-3/352 :
|
|
befor : 243.000000 131.000000 after : 245.077988 134.244400 TRUE 14.844164
|
|
[13:21:06.711] 73-4/352 :
|
|
befor : 208.000000 150.000000 after : 207.925308 149.911728 TRUE 0.013371
|
|
[13:21:06.711] 73-5/352 :
|
|
befor : 256.000000 240.000000 after : 257.739563 239.692963 TRUE 3.120351
|
|
[13:21:06.711] 73-6/352 :
|
|
befor : 140.000000 294.000000 after : 140.906754 294.698547 FALSE 1.310170
|
|
[13:21:06.711] 73-7/352 :
|
|
befor : 232.000000 306.000000 after : 234.404022 303.025177 FALSE 14.628895
|
|
[13:21:06.711] 73-8/352 :
|
|
befor : 303.000000 321.000000 after : 304.208496 321.500061 TRUE 1.710524
|
|
[13:21:06.711] 73-9/352 :
|
|
befor : 299.000000 331.000000 after : 299.690460 331.184906 TRUE 0.510926
|
|
[13:21:06.711] 73-10/352 :
|
|
befor : 50.000000 374.000000 after : 47.711334 373.893921 TRUE 5.249244
|
|
[13:21:06.711] 73-11/352 :
|
|
befor : 304.000000 364.000000 after : 304.891937 364.216370 TRUE 0.842368
|
|
[13:21:06.711] 73-12/352 :
|
|
befor : 36.000000 402.000000 after : 36.000000 402.000000 FALSE 0.000000
|
|
[13:21:06.711] 73-13/352 :
|
|
befor : 356.000000 408.000000 after : 355.798370 407.417725 TRUE 0.379699
|
|
[13:21:06.711] 73-14/352 :
|
|
befor : 215.000000 429.000000 after : 225.905823 427.091980 FALSE 122.577510
|
|
[13:21:06.711] 73-15/352 :
|
|
befor : 374.000000 436.000000 after : 374.402435 436.531799 TRUE 0.444765
|
|
[13:21:06.711] After Reprojection Map nPoint:20 ,nCell:15 ,nMatches:11 ,distance between ekf and vo x:0.001120 ,z=0.000672,angle between two frames:0.001009
|
|
[13:21:06.711] n deleted obs = 3 n obs with reprojection error less than 0.5 px =8 error init =0.350256 error end=0.349625
|
|
[13:21:06.712] After pose optimization, distance between ekf and vo x:0.011761 ,z=-0.017131,angle between two frames:0.000043
|
|
[13:21:06.712] frame process finished the id is: 72 the obs is:11
|
|
[13:21:06.792] Odometry x=0.033360, y=0.264085, theta=-0.031941
|
|
[13:21:06.807] 74-1/352 :
|
|
befor : 146.000000 31.000000 after : 146.000000 31.000000 FALSE 0.000000
|
|
[13:21:06.807] 74-2/352 :
|
|
befor : 321.000000 31.000000 after : 320.028076 31.517004 TRUE 1.211929
|
|
[13:21:06.808] 74-3/352 :
|
|
befor : 207.000000 144.000000 after : 206.989441 143.903122 TRUE 0.009497
|
|
[13:21:06.808] 74-4/352 :
|
|
befor : 252.000000 140.000000 after : 256.087524 140.313736 TRUE 16.806286
|
|
[13:21:06.808] 74-5/352 :
|
|
befor : 138.000000 294.000000 after : 138.935608 296.957977 TRUE 9.624992
|
|
[13:21:06.808] 74-6/352 :
|
|
befor : 228.000000 284.000000 after : 225.783813 287.673706 FALSE 18.407599
|
|
[13:21:06.808] 74-7/352 :
|
|
befor : 303.000000 328.000000 after : 305.557251 328.241638 TRUE 6.597922
|
|
[13:21:06.808] 74-8/352 :
|
|
befor : 297.000000 334.000000 after : 292.845215 332.226074 TRUE 20.409052
|
|
[13:21:06.808] 74-9/352 :
|
|
befor : 254.000000 372.000000 after : 254.990829 371.545532 TRUE 1.188284
|
|
[13:21:06.808] 74-10/352 :
|
|
befor : 292.000000 399.000000 after : 299.055359 399.390411 TRUE 49.930510
|
|
[13:21:06.808] 74-11/352 :
|
|
befor : 352.000000 412.000000 after : 353.210297 411.438202 TRUE 1.780435
|
|
[13:21:06.808] After Reprojection Map nPoint:17 ,nCell:11 ,nMatches:9 ,distance between ekf and vo x:0.000208 ,z=0.000460,angle between two frames:0.000284
|
|
[13:21:06.808] n deleted obs = 0 n obs with reprojection error less than 0.5 px =9 error init =0.262935 error end=0.262935
|
|
[13:21:06.808] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000460,angle between two frames:0.000284
|
|
[13:21:06.808] frame process finished the id is: 72 the obs is:11
|
|
[13:21:06.889] Odometry x=0.033488, y=0.270621, theta=-0.034400
|
|
[13:21:06.908] 75-1/352 :
|
|
befor : 314.000000 34.000000 after : 313.212250 33.693844 TRUE 0.714282
|
|
[13:21:06.908] 75-2/352 :
|
|
befor : 238.000000 129.000000 after : 238.473862 129.156952 TRUE 0.249179
|
|
[13:21:06.908] 75-3/352 :
|
|
befor : 240.000000 129.000000 after : 238.622635 140.665298 FALSE 137.976323
|
|
[13:21:06.908] 75-4/352 :
|
|
befor : 180.000000 218.000000 after : 183.749863 214.035080 TRUE 29.782061
|
|
[13:21:06.908] 75-5/352 :
|
|
befor : 250.000000 222.000000 after : 250.000000 222.000000 FALSE 0.000000
|
|
befor : 249.000000 222.000000 after : 248.935715 221.845993 FALSE 0.027851
|
|
[13:21:06.908] 75-6/352 :
|
|
befor : 136.000000 292.000000 after : 136.151917 293.378601 FALSE 1.923620
|
|
[13:21:06.908] 75-7/352 :
|
|
befor : 292.000000 328.000000 after : 292.463501 328.180298 TRUE 0.247340
|
|
[13:21:06.908] 75-8/352 :
|
|
befor : 302.000000 328.000000 after : 302.749451 327.956543 TRUE 0.563565
|
|
[13:21:06.908] 75-9/352 :
|
|
befor : 38.000000 370.000000 after : 36.800999 370.329803 TRUE 1.546374
|
|
[13:21:06.909] 75-10/352 :
|
|
befor : 384.000000 370.000000 after : 384.317261 370.841675 TRUE 0.809071
|
|
[13:21:06.909] 75-11/352 :
|
|
befor : 24.000000 400.000000 after : 26.379463 397.908295 FALSE 10.037076
|
|
[13:21:06.909] 75-12/352 :
|
|
befor : 282.000000 390.000000 after : 281.817108 389.641907 TRUE 0.161680
|
|
[13:21:06.909] 75-13/352 :
|
|
befor : 44.000000 428.000000 after : 37.660576 435.220856 TRUE 92.329056
|
|
[13:21:06.909] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:9 ,distance between ekf and vo x:0.000396 ,z=0.000692,angle between two frames:0.000476
|
|
[13:21:06.909] n deleted obs = 2 n obs with reprojection error less than 0.5 px =7 error init =0.459947 error end=0.458524
|
|
[13:21:06.909] After pose optimization, distance between ekf and vo x:0.002579 ,z=-0.005195,angle between two frames:0.017088
|
|
[13:21:06.909] frame process finished the id is: 72 the obs is:11
|
|
[13:21:06.986] Odometry x=0.033587, y=0.275860, theta=-0.030164
|
|
[13:21:07.023] 76-1/352 :
|
|
befor : 143.000000 13.000000 after : 143.000000 13.000000 FALSE 0.000000
|
|
[13:21:07.023] 76-2/352 :
|
|
befor : 296.000000 51.000000 after : 292.182983 53.345852 FALSE 20.072637
|
|
[13:21:07.023] 76-3/352 :
|
|
befor : 310.000000 33.000000 after : 308.655731 33.516239 TRUE 2.073561
|
|
[13:21:07.023] 76-4/352 :
|
|
befor : 274.000000 78.000000 after : 275.103424 76.660675 FALSE 3.011336
|
|
[13:21:07.023] 76-5/352 :
|
|
befor : 208.000000 124.000000 after : 213.281464 134.467194 TRUE 137.456000
|
|
[13:21:07.023] 76-6/352 :
|
|
befor : 224.000000 124.000000 after : 224.418991 124.113998 TRUE 0.188549
|
|
[13:21:07.023] 76-7/352 :
|
|
befor : 243.000000 133.000000 after : 243.482254 133.210846 TRUE 0.277025
|
|
[13:21:07.023] 76-8/352 :
|
|
befor : 200.000000 180.000000 after : 204.082611 174.095032 FALSE 51.536363
|
|
[13:21:07.023] 76-9/352 :
|
|
befor : 196.000000 272.000000 after : 187.271622 283.719635 FALSE 213.534432
|
|
[13:21:07.023] 76-10/352 :
|
|
befor : 240.000000 280.000000 after : 239.466431 280.675659 TRUE 0.741212
|
|
[13:21:07.023] 76-11/352 :
|
|
befor : 292.000000 318.000000 after : 298.762573 326.979156 FALSE 126.357648
|
|
[13:21:07.023] 76-12/352 :
|
|
befor : 298.000000 340.000000 after : 298.366974 339.789612 TRUE 0.178933
|
|
[13:21:07.023] 76-13/352 :
|
|
befor : 312.000000 334.000000 after : 312.872375 333.765686 TRUE 0.815942
|
|
[13:21:07.023] 76-14/352 :
|
|
befor : 288.000000 372.000000 after : 286.763245 375.661407 FALSE 14.935469
|
|
[13:21:07.023] 76-15/352 :
|
|
befor : 118.000000 394.000000 after : 116.947304 395.405151 TRUE 3.082620
|
|
[13:21:07.023] 76-16/352 :
|
|
befor : 32.000000 420.000000 after : 29.239992 425.527161 TRUE 38.167148
|
|
[13:21:07.023] 76-17/352 :
|
|
befor : 196.000000 427.000000 after : 203.481277 420.805481 FALSE 94.341579
|
|
[13:21:07.023] After Reprojection Map nPoint:20 ,nCell:17 ,nMatches:9 ,distance between ekf and vo x:-0.000082 ,z=0.002044,angle between two frames:0.000410
|
|
[13:21:07.023] n deleted obs = 2 n obs with reprojection error less than 0.5 px =7 error init =0.414287 error end=0.414287
|
|
[13:21:07.023] After pose optimization, distance between ekf and vo x:-0.000082 ,z=0.002044,angle between two frames:0.000410
|
|
[13:21:07.023] frame process finished the id is: 72 the obs is:11
|
|
[13:21:07.090] Odometry x=0.031821, y=0.287518, theta=-0.021003
|
|
[13:21:07.123] 77-1/352 :
|
|
befor : 316.000000 26.000000 after : 316.000000 26.000000 FALSE 0.000000
|
|
[13:21:07.123] 77-2/352 :
|
|
befor : 310.000000 30.000000 after : 309.312897 30.715551 TRUE 0.984125
|
|
[13:21:07.123] 77-3/352 :
|
|
befor : 274.000000 82.000000 after : 276.358521 81.222984 FALSE 6.166372
|
|
[13:21:07.123] 77-4/352 :
|
|
befor : 236.000000 130.000000 after : 240.478424 130.471649 TRUE 20.278735
|
|
[13:21:07.123] 77-5/352 :
|
|
befor : 255.000000 142.000000 after : 243.504547 142.418747 FALSE 132.320786
|
|
[13:21:07.123] 77-6/352 :
|
|
befor : 199.000000 155.000000 after : 198.811813 154.922699 TRUE 0.041390
|
|
[13:21:07.123] 77-7/352 :
|
|
befor : 248.000000 208.000000 after : 244.129562 214.346512 FALSE 55.258500
|
|
[13:21:07.123] 77-8/352 :
|
|
befor : 247.000000 222.000000 after : 245.338943 225.998856 FALSE 18.749955
|
|
[13:21:07.123] 77-9/352 :
|
|
befor : 204.000000 248.000000 after : 208.026230 249.058807 FALSE 17.331600
|
|
[13:21:07.123] 77-10/352 :
|
|
befor : 132.000000 292.000000 after : 132.773438 293.305420 TRUE 2.302327
|
|
[13:21:07.123] 77-11/352 :
|
|
befor : 290.000000 327.000000 after : 290.446869 327.252808 TRUE 0.263604
|
|
[13:21:07.123] 77-12/352 :
|
|
befor : 298.000000 330.000000 after : 298.148499 330.609161 TRUE 0.393129
|
|
[13:21:07.123] 77-13/352 :
|
|
befor : 382.000000 368.000000 after : 382.076416 368.426514 TRUE 0.187753
|
|
[13:21:07.123] 77-14/352 :
|
|
befor : 348.000000 408.000000 after : 347.749207 405.927917 TRUE 4.356423
|
|
[13:21:07.123] 77-15/352 :
|
|
befor : 368.000000 438.000000 after : 368.190857 437.415771 TRUE 0.377749
|
|
[13:21:07.123] 77-16/352 :
|
|
befor : 604.000000 448.000000 after : 604.237732 448.018341 TRUE 0.056853
|
|
[13:21:07.123] After Reprojection Map nPoint:18 ,nCell:16 ,nMatches:10 ,distance between ekf and vo x:0.001436 ,z=0.001783,angle between two frames:0.001252
|
|
[13:21:07.124] n deleted obs = 1 n obs with reprojection error less than 0.5 px =9 error init =0.397594 error end=0.397594
|
|
[13:21:07.124] After pose optimization, distance between ekf and vo x:0.001436 ,z=0.001783,angle between two frames:0.001252
|
|
[13:21:07.124] frame process finished the id is: 72 the obs is:11
|
|
[13:21:07.187] Odometry x=0.031970, y=0.292762, theta=-0.032943
|
|
[13:21:07.220] 78-1/352 :
|
|
befor : 304.000000 24.000000 after : 300.959381 38.635483 FALSE 223.442720
|
|
[13:21:07.220] 78-2/352 :
|
|
befor : 297.000000 44.000000 after : 296.675720 43.416790 TRUE 0.445291
|
|
[13:21:07.220] 78-3/352 :
|
|
befor : 268.000000 84.000000 after : 264.358582 82.495888 TRUE 15.522282
|
|
[13:21:07.220] 78-4/352 :
|
|
befor : 309.000000 60.000000 after : 311.188416 58.150837 TRUE 8.208567
|
|
[13:21:07.220] 78-5/352 :
|
|
befor : 242.000000 131.000000 after : 242.316452 131.214172 TRUE 0.146012
|
|
[13:21:07.220] 78-6/352 :
|
|
befor : 243.000000 219.000000 after : 243.000000 219.000000 FALSE 0.000000
|
|
befor : 246.000000 221.000000 after : 244.474335 239.189514 FALSE 333.186080
|
|
befor : 242.000000 219.000000 after : 239.555893 223.938004 FALSE 30.357538
|
|
[13:21:07.220] 78-7/352 :
|
|
befor : 196.000000 272.000000 after : 211.072556 259.409088 FALSE 385.712992
|
|
[13:21:07.220] 78-8/352 :
|
|
befor : 218.000000 276.000000 after : 217.794464 277.878204 TRUE 3.569897
|
|
[13:21:07.220] 78-9/352 :
|
|
befor : 240.000000 272.000000 after : 240.773117 282.420074 TRUE 109.175662
|
|
[13:21:07.220] 78-10/352 :
|
|
befor : 219.000000 301.000000 after : 231.011810 294.989990 FALSE 180.403804
|
|
[13:21:07.220] 78-11/352 :
|
|
befor : 286.000000 327.000000 after : 285.359070 326.968903 TRUE 0.411759
|
|
[13:21:07.220] 78-12/352 :
|
|
befor : 310.000000 332.000000 after : 312.704071 332.687347 TRUE 7.784447
|
|
[13:21:07.220] 78-13/352 :
|
|
befor : 242.000000 366.000000 after : 244.185822 365.527710 TRUE 5.000874
|
|
[13:21:07.220] 78-14/352 :
|
|
befor : 376.000000 368.000000 after : 376.452637 367.654602 TRUE 0.324180
|
|
[13:21:07.220] 78-15/352 :
|
|
befor : 114.000000 394.000000 after : 121.801704 402.310852 FALSE 129.936853
|
|
[13:21:07.220] 78-16/352 :
|
|
befor : 281.000000 393.000000 after : 288.175720 392.145020 TRUE 52.221952
|
|
[13:21:07.220] 78-17/352 :
|
|
befor : 300.000000 392.000000 after : 295.177765 392.543060 TRUE 23.548866
|
|
[13:21:07.220] After Reprojection Map nPoint:22 ,nCell:19 ,nMatches:12 ,distance between ekf and vo x:0.001390 ,z=0.002651,angle between two frames:0.001695
|
|
[13:21:07.220] n deleted obs = 0 n obs with reprojection error less than 0.5 px =12 error init =0.288078 error end=0.283730
|
|
[13:21:07.220] After pose optimization, distance between ekf and vo x:0.038560 ,z=-0.009489,angle between two frames:0.015572
|
|
[13:21:07.220] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
|
|
[13:21:07.220] frame process finished the id is: 78 the obs is:12
|
|
[13:21:07.290] Odometry x=0.068431, y=0.284096, theta=-0.017893
|
|
[13:21:07.316] 79-1/352 :
|
|
befor : 136.000000 26.000000 after : 140.325226 20.181044 FALSE 52.567832
|
|
[13:21:07.316] 79-2/352 :
|
|
befor : 298.000000 48.000000 after : 298.040863 47.964134 TRUE 0.002956
|
|
[13:21:07.316] 79-3/352 :
|
|
befor : 308.000000 68.000000 after : 308.598419 68.424263 TRUE 0.538105
|
|
[13:21:07.316] 79-4/352 :
|
|
befor : 284.000000 99.000000 after : 292.068481 107.596069 FALSE 138.992801
|
|
[13:21:07.316] 79-5/352 :
|
|
befor : 242.000000 139.000000 after : 242.475494 139.154709 TRUE 0.250030
|
|
[13:21:07.316] 79-6/352 :
|
|
befor : 244.000000 208.000000 after : 243.292679 209.858505 FALSE 3.954345
|
|
[13:21:07.316] 79-7/352 :
|
|
befor : 170.000000 216.000000 after : 171.779068 215.917572 TRUE 3.171877
|
|
[13:21:07.316] 79-8/352 :
|
|
befor : 243.000000 225.000000 after : 243.000000 225.000000 FALSE 0.000000
|
|
befor : 247.000000 230.000000 after : 244.215775 229.037048 FALSE 8.679187
|
|
befor : 242.000000 225.000000 after : 241.425720 225.045395 FALSE 0.331858
|
|
[13:21:07.316] 79-9/352 :
|
|
befor : 292.000000 324.000000 after : 292.578278 323.933411 TRUE 0.338839
|
|
[13:21:07.316] 79-10/352 :
|
|
befor : 288.000000 348.000000 after : 288.008392 348.842773 FALSE 0.710337
|
|
befor : 289.000000 334.000000 after : 288.616608 334.002869 TRUE 0.146998
|
|
[13:21:07.316] 79-11/352 :
|
|
befor : 314.000000 336.000000 after : 314.242523 336.278534 TRUE 0.136399
|
|
[13:21:07.316] 79-12/352 :
|
|
befor : 245.000000 376.000000 after : 239.233459 371.553864 FALSE 53.021119
|
|
[13:21:07.316] 79-13/352 :
|
|
befor : 348.000000 378.000000 after : 334.180420 392.067322 FALSE 388.870336
|
|
[13:21:07.316] 79-14/352 :
|
|
befor : 366.000000 444.000000 after : 365.362274 444.593719 TRUE 0.759197
|
|
[13:21:07.316] 79-15/352 :
|
|
befor : 380.000000 462.000000 after : 396.463165 451.946442 FALSE 372.109847
|
|
[13:21:07.316] After Reprojection Map nPoint:21 ,nCell:18 ,nMatches:8 ,distance between ekf and vo x:-0.001551 ,z=0.000933,angle between two frames:0.002208
|
|
[13:21:07.316] n deleted obs = 0 n obs with reprojection error less than 0.5 px =8 error init =0.235526 error end=0.235526
|
|
[13:21:07.316] After pose optimization, distance between ekf and vo x:-0.001551 ,z=0.000933,angle between two frames:0.002208
|
|
[13:21:07.316] frame process finished the id is: 78 the obs is:12
|
|
[13:21:07.393] Odometry x=0.068492, y=0.290728, theta=-0.021436
|
|
[13:21:07.427] 80-1/352 :
|
|
befor : 296.000000 45.000000 after : 297.018433 43.476768 TRUE 3.357439
|
|
[13:21:07.427] 80-2/352 :
|
|
befor : 310.000000 59.000000 after : 310.857330 58.070107 TRUE 1.599717
|
|
[13:21:07.427] 80-3/352 :
|
|
befor : 251.000000 138.000000 after : 251.197205 138.237640 TRUE 0.095363
|
|
[13:21:07.427] 80-4/352 :
|
|
befor : 172.000000 168.000000 after : 173.040878 175.289642 TRUE 54.222313
|
|
[13:21:07.427] 80-5/352 :
|
|
befor : 244.000000 204.000000 after : 244.479004 206.176834 TRUE 4.968051
|
|
[13:21:07.427] 80-6/352 :
|
|
befor : 242.000000 219.000000 after : 246.861313 213.129517 FALSE 58.094938
|
|
[13:21:07.427] 80-7/352 :
|
|
befor : 126.000000 288.000000 after : 121.355247 287.961182 TRUE 21.575233
|
|
[13:21:07.427] 80-8/352 :
|
|
befor : 230.000000 278.000000 after : 228.954819 278.485260 TRUE 1.327881
|
|
[13:21:07.427] 80-9/352 :
|
|
befor : 292.000000 328.000000 after : 296.678772 325.851166 TRUE 26.508396
|
|
[13:21:07.427] 80-10/352 :
|
|
befor : 312.000000 331.000000 after : 312.218597 331.240997 TRUE 0.105865
|
|
[13:21:07.427] 80-11/352 :
|
|
befor : 36.000000 368.000000 after : 36.489948 367.736084 TRUE 0.309701
|
|
[13:21:07.427] 80-12/352 :
|
|
befor : 80.000000 362.000000 after : 80.220795 362.188477 TRUE 0.084274
|
|
[13:21:07.427] 80-13/352 :
|
|
befor : 280.000000 372.000000 after : 288.928467 372.394135 FALSE 79.872861
|
|
[13:21:07.427] 80-14/352 :
|
|
befor : 346.000000 374.000000 after : 342.531677 378.723999 TRUE 34.345429
|
|
[13:21:07.427] 80-15/352 :
|
|
befor : 376.000000 368.000000 after : 377.804077 370.764954 TRUE 10.899663
|
|
[13:21:07.427] 80-16/352 :
|
|
befor : 300.000000 392.000000 after : 282.918701 404.164886 FALSE 439.755233
|
|
[13:21:07.427] 80-17/352 :
|
|
befor : 172.000000 420.000000 after : 171.999023 419.864563 TRUE 0.018344
|
|
[13:21:07.427] After Reprojection Map nPoint:23 ,nCell:17 ,nMatches:14 ,distance between ekf and vo x:0.000902 ,z=0.002071,angle between two frames:0.000789
|
|
[13:21:07.427] n deleted obs = 4 n obs with reprojection error less than 0.5 px =10 error init =0.377249 error end=0.365243
|
|
[13:21:07.427] After pose optimization, distance between ekf and vo x:0.038881 ,z=-0.073715,angle between two frames:0.009278
|
|
[13:21:07.427] Update EKF and 3D points the number of feature in the new frame: 14 and number of obs: 14
|
|
[13:21:07.427] frame process finished the id is: 80 the obs is:14
|
|
[13:21:07.490] Odometry x=0.095646, y=0.251447, theta=-0.009370
|
|
[13:21:07.514] 81-1/352 :
|
|
befor : 299.000000 49.000000 after : 298.383423 48.497116 TRUE 0.633060
|
|
[13:21:07.514] 81-2/352 :
|
|
befor : 309.000000 35.000000 after : 309.199615 33.706913 FALSE 1.711920
|
|
befor : 310.000000 33.000000 after : 309.400360 30.525717 TRUE 6.481645
|
|
[13:21:07.514] 81-3/352 :
|
|
befor : 192.000000 84.000000 after : 199.077057 79.572304 TRUE 69.689228
|
|
[13:21:07.514] 81-4/352 :
|
|
befor : 198.000000 141.000000 after : 197.825134 140.923721 TRUE 0.036396
|
|
[13:21:07.514] 81-5/352 :
|
|
befor : 176.000000 172.000000 after : 174.049026 175.673065 TRUE 17.297705
|
|
[13:21:07.514] 81-6/352 :
|
|
befor : 248.000000 228.000000 after : 242.394806 250.101257 FALSE 519.883776
|
|
befor : 245.000000 219.000000 after : 247.420746 215.721344 TRUE 16.609596
|
|
[13:21:07.514] 81-7/352 :
|
|
befor : 130.000000 294.000000 after : 127.433006 296.795685 TRUE 14.405310
|
|
[13:21:07.514] 81-8/352 :
|
|
befor : 246.000000 282.000000 after : 242.768875 285.572479 TRUE 23.202776
|
|
[13:21:07.514] 81-9/352 :
|
|
befor : 194.000000 326.000000 after : 194.739410 326.243225 TRUE 0.605886
|
|
[13:21:07.514] 81-10/352 :
|
|
befor : 220.000000 308.000000 after : 219.809784 309.020325 TRUE 1.077245
|
|
[13:21:07.514] 81-11/352 :
|
|
befor : 294.000000 322.000000 after : 293.763489 320.806549 TRUE 1.480263
|
|
[13:21:07.514] 81-12/352 :
|
|
befor : 295.000000 335.000000 after : 295.847015 335.193878 TRUE 0.755024
|
|
[13:21:07.514] 81-13/352 :
|
|
befor : 24.000000 368.000000 after : 24.533104 372.276184 TRUE 18.569950
|
|
[13:21:07.514] 81-14/352 :
|
|
befor : 294.000000 370.000000 after : 291.910095 360.865784 FALSE 87.801610
|
|
[13:21:07.514] 81-15/352 :
|
|
befor : 112.000000 402.000000 after : 111.420685 399.494232 FALSE 6.614478
|
|
[13:21:07.514] 81-16/352 :
|
|
befor : 222.000000 425.000000 after : 222.384247 424.936127 TRUE 0.151725
|
|
[13:21:07.514] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:14 ,distance between ekf and vo x:0.000056 ,z=0.000330,angle between two frames:0.000268
|
|
[13:21:07.514] n deleted obs = 2 n obs with reprojection error less than 0.5 px =12 error init =0.289421 error end=0.287851
|
|
[13:21:07.514] After pose optimization, distance between ekf and vo x:0.014876 ,z=-0.010535,angle between two frames:0.005818
|
|
[13:21:07.514] Update EKF and 3D points the number of feature in the new frame: 14 and number of obs: 14
|
|
[13:21:07.514] frame process finished the id is: 81 the obs is:14
|
|
[13:21:07.588] Odometry x=0.106204, y=0.249712, theta=-0.014570
|
|
[13:21:07.608] 82-1/352 :
|
|
befor : 304.000000 28.000000 after : 307.577576 24.841593 FALSE 22.774584
|
|
befor : 306.000000 29.000000 after : 306.178497 29.290249 TRUE 0.116106
|
|
[13:21:07.608] 82-2/352 :
|
|
befor : 294.000000 45.000000 after : 294.705261 44.527580 TRUE 0.720574
|
|
[13:21:07.608] 82-3/352 :
|
|
befor : 268.000000 82.000000 after : 270.693237 75.429916 FALSE 50.419526
|
|
[13:21:07.608] 82-4/352 :
|
|
befor : 292.000000 82.000000 after : 297.532440 91.203468 FALSE 115.311724
|
|
befor : 292.000000 82.000000 after : 301.664520 74.970963 FALSE 142.810320
|
|
[13:21:07.608] 82-5/352 :
|
|
befor : 196.000000 130.000000 after : 195.644165 129.937820 TRUE 0.130485
|
|
[13:21:07.608] 82-6/352 :
|
|
befor : 240.000000 132.000000 after : 227.539734 149.414108 FALSE 458.509399
|
|
[13:21:07.608] 82-7/352 :
|
|
befor : 246.000000 206.000000 after : 237.097229 214.421402 FALSE 150.179343
|
|
befor : 248.000000 208.000000 after : 248.812469 208.385788 TRUE 0.808939
|
|
[13:21:07.608] 82-8/352 :
|
|
befor : 244.000000 223.000000 after : 241.536011 228.063126 TRUE 31.706484
|
|
[13:21:07.608] 82-9/352 :
|
|
befor : 124.000000 290.000000 after : 123.158501 289.714966 TRUE 0.789366
|
|
[13:21:07.608] 82-10/352 :
|
|
befor : 290.000000 318.000000 after : 290.899139 317.944977 TRUE 0.811479
|
|
[13:21:07.608] 82-11/352 :
|
|
befor : 291.000000 330.000000 after : 291.742279 330.184479 TRUE 0.585011
|
|
[13:21:07.608] 82-12/352 :
|
|
befor : 378.000000 372.000000 after : 376.415558 372.113098 TRUE 2.523248
|
|
[13:21:07.608] 82-13/352 :
|
|
befor : 36.000000 398.000000 after : 36.263226 398.569580 TRUE 0.393709
|
|
[13:21:07.608] 82-14/352 :
|
|
befor : 300.000000 396.000000 after : 301.201019 398.563110 TRUE 8.011982
|
|
[13:21:07.608] 82-15/352 :
|
|
befor : 168.000000 424.000000 after : 168.367310 423.853149 TRUE 0.156481
|
|
[13:21:07.608] After Reprojection Map nPoint:25 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000151 ,z=0.000143,angle between two frames:0.000092
|
|
[13:21:07.608] n deleted obs = 2 n obs with reprojection error less than 0.5 px =10 error init =0.344657 error end=0.344657
|
|
[13:21:07.609] After pose optimization, distance between ekf and vo x:-0.000151 ,z=0.000143,angle between two frames:0.000092
|
|
[13:21:07.609] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
|
|
[13:21:07.609] frame process finished the id is: 82 the obs is:12
|
|
[13:21:07.687] Odometry x=0.106691, y=0.255907, theta=-0.007571
|
|
[13:21:07.711] 83-1/352 :
|
|
befor : 304.000000 38.000000 after : 296.752747 37.288082 FALSE 53.029509
|
|
befor : 304.000000 36.000000 after : 299.896118 43.610172 TRUE 74.756568
|
|
[13:21:07.711] 83-2/352 :
|
|
befor : 274.000000 82.000000 after : 277.317017 80.268364 TRUE 14.001163
|
|
[13:21:07.711] 83-3/352 :
|
|
befor : 306.000000 74.000000 after : 305.796082 74.509079 TRUE 0.300744
|
|
[13:21:07.711] 83-4/352 :
|
|
befor : 220.000000 128.000000 after : 220.402924 128.169128 TRUE 0.190952
|
|
[13:21:07.711] 83-5/352 :
|
|
befor : 251.000000 217.000000 after : 251.904984 217.365387 TRUE 0.952503
|
|
[13:21:07.711] 83-6/352 :
|
|
befor : 244.000000 280.000000 after : 242.515808 283.559784 FALSE 14.874887
|
|
[13:21:07.711] 83-7/352 :
|
|
befor : 128.000000 300.000000 after : 126.155106 298.653992 FALSE 5.215374
|
|
[13:21:07.711] 83-8/352 :
|
|
befor : 221.000000 310.000000 after : 220.917480 311.008698 TRUE 1.024280
|
|
[13:21:07.711] 83-9/352 :
|
|
befor : 295.000000 326.000000 after : 295.582642 325.943451 TRUE 0.342669
|
|
[13:21:07.711] 83-10/352 :
|
|
befor : 295.000000 337.000000 after : 295.899597 337.187469 TRUE 0.844420
|
|
[13:21:07.711] 83-11/352 :
|
|
befor : 316.000000 339.000000 after : 315.927551 338.932343 FALSE 0.009826
|
|
[13:21:07.711] 83-12/352 :
|
|
befor : 246.000000 374.000000 after : 255.295181 365.007690 TRUE 167.262026
|
|
[13:21:07.711] 83-13/352 :
|
|
befor : 382.000000 378.000000 after : 382.461090 378.809082 TRUE 0.867218
|
|
[13:21:07.711] 83-14/352 :
|
|
befor : 308.000000 400.000000 after : 284.353851 433.818054 FALSE 1702.801137
|
|
befor : 304.000000 400.000000 after : 298.189697 407.903015 FALSE 96.217266
|
|
[13:21:07.711] 83-15/352 :
|
|
befor : 348.000000 418.000000 after : 367.956238 396.667145 FALSE 853.342139
|
|
[13:21:07.711] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:10 ,distance between ekf and vo x:0.000094 ,z=0.000206,angle between two frames:0.000126
|
|
[13:21:07.711] n deleted obs = 0 n obs with reprojection error less than 0.5 px =10 error init =0.226889 error end=0.226889
|
|
[13:21:07.711] After pose optimization, distance between ekf and vo x:0.000094 ,z=0.000206,angle between two frames:0.000126
|
|
[13:21:07.711] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
|
|
[13:21:07.711] frame process finished the id is: 83 the obs is:10
|
|
[13:21:07.788] Odometry x=0.106834, y=0.256390, theta=-0.007536
|
|
[13:21:07.810] 84-1/352 :
|
|
befor : 134.000000 22.000000 after : 133.483704 23.180378 TRUE 1.659854
|
|
[13:21:07.810] 84-2/352 :
|
|
befor : 311.000000 25.000000 after : 310.013306 23.398283 TRUE 3.539063
|
|
[13:21:07.810] 84-3/352 :
|
|
befor : 299.000000 42.000000 after : 300.750153 38.166355 FALSE 17.759867
|
|
befor : 299.000000 41.000000 after : 301.254211 38.203503 FALSE 12.901867
|
|
[13:21:07.810] 84-4/352 :
|
|
befor : 196.000000 82.000000 after : 192.216995 82.368279 FALSE 14.446754
|
|
[13:21:07.810] 84-5/352 :
|
|
befor : 281.000000 66.000000 after : 283.673096 63.580189 FALSE 13.000927
|
|
[13:21:07.810] 84-6/352 :
|
|
befor : 301.000000 71.000000 after : 316.778839 59.143597 TRUE 389.546064
|
|
[13:21:07.810] 84-7/352 :
|
|
befor : 244.000000 132.000000 after : 244.357346 132.155746 TRUE 0.151953
|
|
[13:21:07.810] 84-8/352 :
|
|
befor : 250.000000 209.000000 after : 251.756897 209.769104 TRUE 3.678208
|
|
[13:21:07.810] 84-9/352 :
|
|
befor : 247.000000 223.000000 after : 230.089233 239.545090 FALSE 559.714021
|
|
befor : 248.000000 220.000000 after : 248.000000 220.000000 FALSE 0.000000
|
|
befor : 246.000000 224.000000 after : 241.469009 226.631348 FALSE 27.453866
|
|
[13:21:07.810] 84-10/352 :
|
|
befor : 126.000000 290.000000 after : 125.406685 291.070618 TRUE 1.498245
|
|
[13:21:07.810] 84-11/352 :
|
|
befor : 293.000000 329.000000 after : 293.696533 329.236572 TRUE 0.541125
|
|
[13:21:07.810] 84-12/352 :
|
|
befor : 304.000000 328.000000 after : 304.287903 327.901184 TRUE 0.092653
|
|
[13:21:07.810] 84-13/352 :
|
|
befor : 292.000000 364.000000 after : 291.318909 369.521149 TRUE 30.946968
|
|
[13:21:07.810] 84-14/352 :
|
|
befor : 380.000000 368.000000 after : 382.575562 371.056854 TRUE 15.977875
|
|
[13:21:07.810] 84-15/352 :
|
|
befor : 344.000000 412.000000 after : 363.107086 392.377045 FALSE 750.141118
|
|
[13:21:07.810] After Reprojection Map nPoint:23 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:0.000637 ,z=0.000945,angle between two frames:0.000692
|
|
[13:21:07.811] n deleted obs = 0 n obs with reprojection error less than 0.5 px =10 error init =0.274511 error end=0.273150
|
|
[13:21:07.811] After pose optimization, distance between ekf and vo x:0.022023 ,z=0.001716,angle between two frames:0.012556
|
|
[13:21:07.811] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
|
|
[13:21:07.811] frame process finished the id is: 84 the obs is:10
|
|
[13:21:07.890] Odometry x=0.127646, y=0.258369, theta=0.004530
|
|
[13:21:07.928] 85-1/352 :
|
|
befor : 316.000000 28.000000 after : 316.000000 28.000000 FALSE 0.000000
|
|
[13:21:07.928] 85-2/352 :
|
|
befor : 310.000000 32.000000 after : 313.870148 28.646837 TRUE 26.221744
|
|
[13:21:07.928] 85-3/352 :
|
|
befor : 278.000000 80.000000 after : 277.312408 80.679703 TRUE 0.934778
|
|
[13:21:07.928] 85-4/352 :
|
|
befor : 312.000000 68.000000 after : 311.988190 67.970993 TRUE 0.000981
|
|
[13:21:07.928] 85-5/352 :
|
|
befor : 288.000000 99.000000 after : 261.525879 133.686462 TRUE 1904.029762
|
|
[13:21:07.928] 85-6/352 :
|
|
befor : 250.000000 138.000000 after : 250.386703 138.200455 TRUE 0.189722
|
|
[13:21:07.928] 85-7/352 :
|
|
befor : 254.000000 226.000000 after : 263.073273 216.546921 FALSE 171.684984
|
|
[13:21:07.928] 85-8/352 :
|
|
befor : 128.000000 292.000000 after : 128.345749 292.032806 TRUE 0.120619
|
|
[13:21:07.928] 85-9/352 :
|
|
befor : 196.000000 280.000000 after : 188.682236 301.418396 FALSE 512.297361
|
|
[13:21:07.928] 85-10/352 :
|
|
befor : 300.000000 321.000000 after : 297.106812 324.933502 FALSE 23.842979
|
|
[13:21:07.928] 85-11/352 :
|
|
befor : 301.000000 330.000000 after : 301.979187 330.075500 TRUE 0.964508
|
|
[13:21:07.928] 85-12/352 :
|
|
befor : 184.000000 438.000000 after : 184.910751 438.810822 FALSE 1.486900
|
|
[13:21:07.928] After Reprojection Map nPoint:20 ,nCell:12 ,nMatches:7 ,distance between ekf and vo x:-0.000141 ,z=0.000165,angle between two frames:0.000063
|
|
[13:21:07.928] n deleted obs = 0 n obs with reprojection error less than 0.5 px =7 error init =0.246301 error end=0.243707
|
|
[13:21:07.928] After pose optimization, distance between ekf and vo x:-0.039549 ,z=-0.000598,angle between two frames:0.026632
|
|
[13:21:07.928] frame process finished the id is: 84 the obs is:10
|
|
[13:21:07.992] Odometry x=0.129347, y=0.265371, theta=-0.011899
|
|
[13:21:08.007] 86-1/352 :
|
|
befor : 318.000000 18.000000 after : 318.042358 18.317379 TRUE 0.102524
|
|
[13:21:08.007] 86-2/352 :
|
|
befor : 305.000000 36.000000 after : 307.053375 33.687271 FALSE 9.565065
|
|
[13:21:08.007] 86-3/352 :
|
|
befor : 301.000000 75.000000 after : 300.959534 74.962708 TRUE 0.003028
|
|
[13:21:08.007] 86-4/352 :
|
|
befor : 249.000000 131.000000 after : 249.377701 131.158447 TRUE 0.167763
|
|
[13:21:08.007] 86-5/352 :
|
|
befor : 250.000000 219.000000 after : 261.157227 205.873489 FALSE 296.788986
|
|
befor : 249.000000 219.000000 after : 249.000000 219.000000 FALSE 0.000000
|
|
[13:21:08.007] 86-6/352 :
|
|
befor : 204.000000 276.000000 after : 204.437988 275.914917 TRUE 0.199073
|
|
[13:21:08.007] 86-7/352 :
|
|
befor : 295.000000 329.000000 after : 295.482330 329.310272 TRUE 0.328911
|
|
[13:21:08.007] 86-8/352 :
|
|
befor : 316.000000 328.000000 after : 299.433533 348.254883 FALSE 684.708116
|
|
befor : 316.000000 328.000000 after : 316.108063 328.039612 FALSE 0.013247
|
|
[13:21:08.007] 86-9/352 :
|
|
befor : 320.000000 335.000000 after : 318.183197 335.687042 TRUE 3.772800
|
|
[13:21:08.007] 86-10/352 :
|
|
befor : 388.000000 372.000000 after : 388.328796 372.462189 TRUE 0.321725
|
|
[13:21:08.007] 86-11/352 :
|
|
befor : 352.000000 408.000000 after : 353.225311 410.834686 TRUE 9.536834
|
|
[13:21:08.007] 86-12/352 :
|
|
befor : 88.000000 436.000000 after : 87.877983 443.063812 TRUE 49.912332
|
|
[13:21:08.007] 86-13/352 :
|
|
befor : 180.000000 438.000000 after : 183.922653 435.241699 FALSE 22.995431
|
|
[13:21:08.007] After Reprojection Map nPoint:17 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000291 ,z=0.000274,angle between two frames:0.000174
|
|
[13:21:08.007] n deleted obs = 2 n obs with reprojection error less than 0.5 px =7 error init =0.366816 error end=0.366816
|
|
[13:21:08.007] After pose optimization, distance between ekf and vo x:-0.000291 ,z=0.000274,angle between two frames:0.000174
|
|
[13:21:08.007] frame process finished the id is: 84 the obs is:10
|
|
[13:21:08.091] Odometry x=0.129755, y=0.273012, theta=-0.019439
|
|
[13:21:08.107] 87-1/352 :
|
|
befor : 322.000000 21.000000 after : 322.413483 20.117323 TRUE 0.950087
|
|
[13:21:08.107] 87-2/352 :
|
|
befor : 309.000000 39.000000 after : 311.278870 36.314606 FALSE 12.404589
|
|
befor : 306.000000 40.000000 after : 309.310150 38.620346 TRUE 12.860539
|
|
[13:21:08.107] 87-3/352 :
|
|
befor : 248.000000 131.000000 after : 248.460678 131.153244 TRUE 0.235708
|
|
[13:21:08.107] 87-4/352 :
|
|
befor : 184.000000 168.000000 after : 184.418686 167.885986 TRUE 0.188297
|
|
[13:21:08.107] 87-5/352 :
|
|
befor : 253.000000 221.000000 after : 253.000000 221.000000 FALSE 0.000000
|
|
[13:21:08.107] 87-6/352 :
|
|
befor : 136.000000 292.000000 after : 135.492859 295.189178 TRUE 10.428051
|
|
[13:21:08.107] 87-7/352 :
|
|
befor : 256.000000 276.000000 after : 245.001617 296.768250 FALSE 552.284607
|
|
[13:21:08.107] 87-8/352 :
|
|
befor : 230.000000 303.000000 after : 233.849731 299.231934 FALSE 29.018757
|
|
befor : 230.000000 303.000000 after : 227.322083 307.869720 TRUE 30.885419
|
|
[13:21:08.107] 87-9/352 :
|
|
befor : 299.000000 329.000000 after : 300.556976 328.952515 TRUE 2.426430
|
|
[13:21:08.107] 87-10/352 :
|
|
befor : 308.000000 328.000000 after : 308.372345 329.293274 TRUE 1.811198
|
|
[13:21:08.107] 87-11/352 :
|
|
befor : 305.000000 330.000000 after : 305.790314 330.195435 TRUE 0.662790
|
|
[13:21:08.107] 87-12/352 :
|
|
befor : 18.000000 364.000000 after : 6.747279 378.048187 FALSE 323.975291
|
|
[13:21:08.107] 87-13/352 :
|
|
befor : 362.000000 375.000000 after : 361.306519 375.005798 TRUE 0.480950
|
|
[13:21:08.107] 87-14/352 :
|
|
befor : 346.000000 416.000000 after : 333.880127 434.815918 TRUE 500.930092
|
|
[13:21:08.107] 87-15/352 :
|
|
befor : 360.000000 412.000000 after : 357.343536 411.679840 TRUE 7.159301
|
|
[13:21:08.107] 87-16/352 :
|
|
befor : 179.000000 436.000000 after : 157.204758 464.566437 FALSE 1291.073897
|
|
[13:21:08.107] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000240 ,z=0.000250,angle between two frames:0.000139
|
|
[13:21:08.107] n deleted obs = 2 n obs with reprojection error less than 0.5 px =10 error init =0.343666 error end=0.342966
|
|
[13:21:08.107] After pose optimization, distance between ekf and vo x:0.010455 ,z=-0.030569,angle between two frames:0.007623
|
|
[13:21:08.107] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
|
|
[13:21:08.107] frame process finished the id is: 87 the obs is:12
|
|
[13:21:08.189] Odometry x=0.138443, y=0.256918, theta=-0.017018
|
|
[13:21:08.209] 88-1/352 :
|
|
befor : 316.000000 24.000000 after : 316.248047 24.138453 TRUE 0.080696
|
|
[13:21:08.209] 88-2/352 :
|
|
befor : 308.000000 36.000000 after : 309.608459 36.750790 TRUE 3.150827
|
|
[13:21:08.209] 88-3/352 :
|
|
befor : 250.000000 131.000000 after : 251.670670 131.821564 TRUE 3.466104
|
|
[13:21:08.209] 88-4/352 :
|
|
befor : 184.000000 216.000000 after : 190.363312 210.437332 FALSE 71.435010
|
|
[13:21:08.209] 88-5/352 :
|
|
befor : 140.000000 298.000000 after : 140.527924 297.806213 TRUE 0.316257
|
|
[13:21:08.209] 88-6/352 :
|
|
befor : 308.000000 322.000000 after : 308.495575 321.831116 TRUE 0.274116
|
|
[13:21:08.209] 88-7/352 :
|
|
befor : 312.000000 330.000000 after : 327.617676 318.930328 TRUE 366.449427
|
|
[13:21:08.209] 88-8/352 :
|
|
befor : 92.000000 372.000000 after : 92.272278 372.193451 TRUE 0.111558
|
|
[13:21:08.209] 88-9/352 :
|
|
befor : 396.000000 368.000000 after : 398.366852 371.140778 TRUE 15.466471
|
|
[13:21:08.209] 88-10/352 :
|
|
befor : 320.000000 396.000000 after : 292.359222 435.325836 FALSE 2310.533977
|
|
befor : 320.000000 396.000000 after : 324.647217 400.234406 TRUE 39.526814
|
|
[13:21:08.209] 88-11/352 :
|
|
befor : 364.000000 416.000000 after : 375.876709 407.751007 FALSE 209.102100
|
|
[13:21:08.209] 88-12/352 :
|
|
befor : 227.000000 428.000000 after : 228.030792 430.183533 TRUE 5.830348
|
|
[13:21:08.209] After Reprojection Map nPoint:21 ,nCell:13 ,nMatches:10 ,distance between ekf and vo x:-0.000214 ,z=0.000236,angle between two frames:0.000123
|
|
[13:21:08.209] n deleted obs = 5 n obs with reprojection error less than 0.5 px =5 error init =0.442607 error end=0.423515
|
|
[13:21:08.209] After pose optimization, distance between ekf and vo x:-0.035006 ,z=0.066477,angle between two frames:0.004190
|
|
[13:21:08.209] frame process finished the id is: 87 the obs is:12
|
|
[13:21:08.293] Odometry x=0.138713, y=0.265124, theta=-0.025183
|
|
[13:21:08.318] 89-1/352 :
|
|
befor : 149.000000 10.000000 after : 149.780533 8.499031 TRUE 2.862139
|
|
[13:21:08.318] 89-2/352 :
|
|
befor : 322.000000 23.000000 after : 325.963074 17.022884 TRUE 51.431865
|
|
[13:21:08.318] 89-3/352 :
|
|
befor : 306.000000 46.000000 after : 306.058838 44.824863 TRUE 1.384408
|
|
[13:21:08.318] 89-4/352 :
|
|
befor : 220.000000 124.000000 after : 220.323334 123.993820 TRUE 0.104583
|
|
[13:21:08.318] 89-5/352 :
|
|
befor : 242.000000 121.000000 after : 245.944809 122.043312 FALSE 16.650018
|
|
[13:21:08.318] 89-6/352 :
|
|
befor : 261.000000 211.000000 after : 255.632843 210.300781 TRUE 29.295281
|
|
[13:21:08.318] 89-7/352 :
|
|
befor : 260.000000 272.000000 after : 256.669647 283.835052 FALSE 151.159717
|
|
befor : 260.000000 272.000000 after : 256.536072 277.610168 TRUE 43.472789
|
|
[13:21:08.318] 89-8/352 :
|
|
befor : 310.000000 318.000000 after : 308.549774 315.595337 TRUE 7.885560
|
|
[13:21:08.318] 89-9/352 :
|
|
befor : 333.000000 329.000000 after : 332.000946 330.873199 TRUE 4.506985
|
|
[13:21:08.318] 89-10/352 :
|
|
befor : 316.000000 340.000000 after : 319.603333 337.063232 TRUE 21.608609
|
|
[13:21:08.318] 89-11/352 :
|
|
befor : 262.000000 372.000000 after : 263.785034 372.425537 TRUE 3.367429
|
|
[13:21:08.318] 89-12/352 :
|
|
befor : 400.000000 364.000000 after : 404.082031 367.573120 TRUE 29.430166
|
|
[13:21:08.318] 89-13/352 :
|
|
befor : 108.000000 398.000000 after : 109.907715 400.373047 TRUE 9.270727
|
|
[13:21:08.318] 89-14/352 :
|
|
befor : 170.000000 430.000000 after : 169.880493 431.287994 FALSE 1.673211
|
|
[13:21:08.318] 89-15/352 :
|
|
befor : 182.000000 445.000000 after : 181.855255 445.130829 TRUE 0.038067
|
|
[13:21:08.318] After Reprojection Map nPoint:22 ,nCell:16 ,nMatches:13 ,distance between ekf and vo x:-0.000474 ,z=0.000703,angle between two frames:0.000338
|
|
[13:21:08.318] n deleted obs = 3 n obs with reprojection error less than 0.5 px =10 error init =0.364675 error end=0.364675
|
|
[13:21:08.318] After pose optimization, distance between ekf and vo x:-0.000474 ,z=0.000703,angle between two frames:0.000338
|
|
[13:21:08.318] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13
|
|
[13:21:08.318] frame process finished the id is: 89 the obs is:13
|
|
[13:21:08.390] Odometry x=0.135379, y=0.270809, theta=-0.048835
|
|
[13:21:08.411] 90-1/352 :
|
|
befor : 322.000000 18.000000 after : 322.205536 21.157284 TRUE 10.010686
|
|
[13:21:08.411] 90-2/352 :
|
|
befor : 306.000000 47.000000 after : 308.503906 42.701321 FALSE 24.748191
|
|
befor : 306.000000 47.000000 after : 305.798370 46.841068 TRUE 0.065914
|
|
[13:21:08.411] 90-3/352 :
|
|
befor : 204.000000 80.000000 after : 205.662109 77.626907 FALSE 8.394176
|
|
[13:21:08.411] 90-4/352 :
|
|
befor : 260.000000 140.000000 after : 263.118408 140.899445 TRUE 10.533470
|
|
[13:21:08.411] 90-5/352 :
|
|
befor : 260.000000 208.000000 after : 260.276367 207.906128 TRUE 0.085191
|
|
[13:21:08.411] 90-6/352 :
|
|
befor : 264.000000 224.000000 after : 258.148895 225.137283 FALSE 35.528840
|
|
[13:21:08.411] 90-7/352 :
|
|
befor : 218.000000 248.000000 after : 218.260208 248.083481 TRUE 0.074677
|
|
[13:21:08.411] 90-8/352 :
|
|
befor : 142.000000 294.000000 after : 142.510544 294.076294 TRUE 0.266476
|
|
[13:21:08.411] 90-9/352 :
|
|
befor : 311.000000 319.000000 after : 311.760071 320.099640 TRUE 1.786916
|
|
[13:21:08.411] 90-10/352 :
|
|
befor : 306.000000 330.000000 after : 306.000000 330.000000 FALSE 0.000000
|
|
befor : 307.000000 330.000000 after : 306.585358 330.109985 TRUE 0.184025
|
|
[13:21:08.411] 90-11/352 :
|
|
befor : 332.000000 333.000000 after : 325.445618 328.733765 FALSE 61.160692
|
|
[13:21:08.411] 90-12/352 :
|
|
befor : 400.000000 368.000000 after : 389.438812 382.929688 TRUE 334.434255
|
|
[13:21:08.411] 90-13/352 :
|
|
befor : 176.000000 448.000000 after : 189.752319 432.129730 FALSE 440.991750
|
|
befor : 176.000000 442.000000 after : 178.055649 445.176361 FALSE 14.314962
|
|
[13:21:08.411] After Reprojection Map nPoint:19 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:0.000460 ,z=0.000279,angle between two frames:0.000267
|
|
[13:21:08.411] n deleted obs = 0 n obs with reprojection error less than 0.5 px =9 error init =0.237314 error end=0.237314
|
|
[13:21:08.411] After pose optimization, distance between ekf and vo x:0.000460 ,z=0.000279,angle between two frames:0.000267
|
|
[13:21:08.411] frame process finished the id is: 89 the obs is:13
|
|
[13:21:08.489] Odometry x=0.135751, y=0.280978, theta=-0.039606
|
|
[13:21:08.514] 91-1/352 :
|
|
befor : 321.000000 21.000000 after : 321.289734 20.776896 TRUE 0.133721
|
|
[13:21:08.514] 91-2/352 :
|
|
befor : 314.000000 66.000000 after : 312.855225 67.753708 TRUE 4.386002
|
|
[13:21:08.514] 91-3/352 :
|
|
befor : 172.000000 224.000000 after : 172.301880 223.917328 TRUE 0.097966
|
|
[13:21:08.514] 91-4/352 :
|
|
befor : 184.000000 214.000000 after : 182.106812 213.474411 TRUE 3.860406
|
|
[13:21:08.514] 91-5/352 :
|
|
befor : 258.000000 221.000000 after : 255.620178 225.347397 FALSE 24.563411
|
|
befor : 261.000000 224.000000 after : 270.080841 213.416351 FALSE 194.475294
|
|
befor : 256.000000 219.000000 after : 256.000000 219.000000 FALSE 0.000000
|
|
[13:21:08.514] 91-6/352 :
|
|
befor : 218.000000 246.000000 after : 222.505157 240.480194 TRUE 50.764701
|
|
[13:21:08.514] 91-7/352 :
|
|
befor : 208.000000 272.000000 after : 208.170929 272.513428 TRUE 0.292825
|
|
[13:21:08.514] 91-8/352 :
|
|
befor : 303.000000 317.000000 after : 300.148834 320.966888 FALSE 23.865350
|
|
befor : 309.000000 319.000000 after : 309.455658 319.221161 TRUE 0.256536
|
|
[13:21:08.514] 91-9/352 :
|
|
befor : 330.000000 332.000000 after : 321.397339 328.007965 FALSE 89.942121
|
|
[13:21:08.514] 91-10/352 :
|
|
befor : 36.000000 372.000000 after : 36.389866 372.142365 TRUE 0.172263
|
|
[13:21:08.514] 91-11/352 :
|
|
befor : 367.000000 376.000000 after : 365.123138 377.534454 TRUE 5.877160
|
|
[13:21:08.514] 91-12/352 :
|
|
befor : 102.000000 400.000000 after : 100.765144 403.002014 TRUE 10.536957
|
|
[13:21:08.514] 91-13/352 :
|
|
befor : 299.000000 398.000000 after : 294.945496 395.822479 TRUE 21.180603
|
|
[13:21:08.514] 91-14/352 :
|
|
befor : 64.000000 430.000000 after : 60.647343 429.365692 FALSE 11.642658
|
|
[13:21:08.514] 91-15/352 :
|
|
befor : 170.000000 442.000000 after : 170.537018 445.723419 FALSE 14.152239
|
|
[13:21:08.514] 91-16/352 :
|
|
befor : 352.000000 420.000000 after : 348.288940 425.241882 TRUE 41.249293
|
|
[13:21:08.514] After Reprojection Map nPoint:23 ,nCell:19 ,nMatches:12 ,distance between ekf and vo x:0.001210 ,z=0.000990,angle between two frames:0.000924
|
|
[13:21:08.514] n deleted obs = 3 n obs with reprojection error less than 0.5 px =9 error init =0.385877 error end=0.369597
|
|
[13:21:08.514] After pose optimization, distance between ekf and vo x:-0.016549 ,z=-0.056922,angle between two frames:0.007202
|
|
[13:21:08.514] frame process finished the id is: 89 the obs is:13
|
|
[13:21:08.594] Odometry x=0.134737, y=0.286228, theta=-0.046242
|
|
[13:21:08.611] 92-1/352 :
|
|
befor : 321.000000 53.000000 after : 323.324371 53.925697 TRUE 6.259618
|
|
[13:21:08.611] 92-2/352 :
|
|
befor : 280.000000 79.000000 after : 281.710510 73.201920 FALSE 36.543582
|
|
[13:21:08.611] 92-3/352 :
|
|
befor : 256.000000 140.000000 after : 256.295898 139.892868 TRUE 0.099033
|
|
[13:21:08.611] 92-4/352 :
|
|
befor : 180.000000 222.000000 after : 176.089737 228.184387 TRUE 53.536802
|
|
[13:21:08.611] 92-5/352 :
|
|
befor : 256.000000 219.000000 after : 256.105835 229.376205 FALSE 107.676840
|
|
befor : 260.000000 222.000000 after : 257.187347 223.056030 FALSE 9.026215
|
|
[13:21:08.611] 92-6/352 :
|
|
befor : 196.000000 272.000000 after : 196.545105 272.151093 TRUE 0.319968
|
|
[13:21:08.611] 92-7/352 :
|
|
befor : 233.000000 277.000000 after : 232.905746 284.660767 FALSE 58.696229
|
|
[13:21:08.611] 92-8/352 :
|
|
befor : 254.000000 276.000000 after : 254.526398 276.145111 TRUE 0.298152
|
|
[13:21:08.611] 92-9/352 :
|
|
befor : 302.000000 330.000000 after : 304.552643 331.791840 TRUE 9.726675
|
|
[13:21:08.611] 92-10/352 :
|
|
befor : 16.000000 368.000000 after : 22.152370 363.747375 FALSE 55.936477
|
|
[13:21:08.611] 92-11/352 :
|
|
befor : 396.000000 368.000000 after : 397.862427 368.600372 TRUE 3.829080
|
|
[13:21:08.611] 92-12/352 :
|
|
befor : 289.000000 392.000000 after : 289.000000 392.000000 FALSE 0.000000
|
|
[13:21:08.611] 92-13/352 :
|
|
befor : 320.000000 396.000000 after : 309.877106 412.634491 TRUE 379.179278
|
|
[13:21:08.611] 92-14/352 :
|
|
befor : 156.000000 432.000000 after : 145.959747 444.398193 TRUE 254.521873
|
|
[13:21:08.611] After Reprojection Map nPoint:24 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000083 ,z=0.000056,angle between two frames:0.000098
|
|
[13:21:08.611] n deleted obs = 3 n obs with reprojection error less than 0.5 px =6 error init =0.383697 error end=0.383697
|
|
[13:21:08.611] After pose optimization, distance between ekf and vo x:-0.000083 ,z=0.000056,angle between two frames:0.000098
|
|
[13:21:08.611] frame process finished the id is: 89 the obs is:13
|
|
[13:21:08.692] Odometry x=0.135007, y=0.292876, theta=-0.034437
|
|
[13:21:08.716] 93-1/352 :
|
|
befor : 310.000000 30.000000 after : 313.552948 24.258631 FALSE 45.586760
|
|
befor : 310.000000 30.000000 after : 309.960724 29.448025 TRUE 0.306219
|
|
[13:21:08.716] 93-2/352 :
|
|
befor : 276.000000 76.000000 after : 280.148407 70.218948 FALSE 50.629839
|
|
[13:21:08.716] 93-3/352 :
|
|
befor : 232.000000 120.000000 after : 222.427444 137.843704 FALSE 410.031600
|
|
[13:21:08.716] 93-4/352 :
|
|
befor : 251.000000 131.000000 after : 231.352585 157.146942 FALSE 1069.683506
|
|
befor : 260.000000 138.000000 after : 260.365448 138.178909 TRUE 0.165561
|
|
[13:21:08.716] 93-5/352 :
|
|
befor : 256.000000 208.000000 after : 258.065521 205.399460 TRUE 11.029187
|
|
[13:21:08.716] 93-6/352 :
|
|
befor : 259.000000 211.000000 after : 259.000000 211.000000 FALSE 0.000000
|
|
befor : 257.000000 222.000000 after : 248.660019 233.941666 FALSE 212.158663
|
|
[13:21:08.716] 93-7/352 :
|
|
befor : 208.000000 276.000000 after : 208.465576 276.183624 TRUE 0.250479
|
|
[13:21:08.716] 93-8/352 :
|
|
befor : 299.000000 318.000000 after : 295.705536 321.534576 FALSE 23.346724
|
|
[13:21:08.716] 93-9/352 :
|
|
befor : 304.000000 320.000000 after : 305.532043 320.573456 TRUE 2.676009
|
|
[13:21:08.716] 93-10/352 :
|
|
befor : 396.000000 364.000000 after : 404.234772 362.057892 TRUE 71.583250
|
|
[13:21:08.716] 93-11/352 :
|
|
befor : 293.000000 399.000000 after : 293.746185 399.004272 TRUE 0.556811
|
|
[13:21:08.716] 93-12/352 :
|
|
befor : 358.000000 412.000000 after : 358.915161 411.896393 TRUE 0.848254
|
|
[13:21:08.716] 93-13/352 :
|
|
befor : 42.000000 422.000000 after : 38.211773 425.114655 FALSE 24.051737
|
|
[13:21:08.716] 93-14/352 :
|
|
befor : 156.000000 446.000000 after : 157.582947 448.988983 FALSE 11.439741
|
|
befor : 156.000000 444.000000 after : 155.332474 445.251953 TRUE 2.012978
|
|
[13:21:08.716] 93-15/352 :
|
|
befor : 212.000000 430.000000 after : 221.325012 423.237488 TRUE 132.687424
|
|
[13:21:08.716] After Reprojection Map nPoint:21 ,nCell:19 ,nMatches:10 ,distance between ekf and vo x:0.001189 ,z=0.000734,angle between two frames:0.000304
|
|
[13:21:08.716] n deleted obs = 3 n obs with reprojection error less than 0.5 px =7 error init =0.367030 error end=0.359204
|
|
[13:21:08.716] After pose optimization, distance between ekf and vo x:0.026779 ,z=-0.067765,angle between two frames:0.013351
|
|
[13:21:08.716] frame process finished the id is: 89 the obs is:13
|
|
[13:21:08.793] Odometry x=0.135122, y=0.298295, theta=-0.043200
|
|
[13:21:08.812] 94-1/352 :
|
|
befor : 316.000000 14.000000 after : 319.430023 13.132576 TRUE 12.517484
|
|
[13:21:08.812] 94-2/352 :
|
|
befor : 310.000000 61.000000 after : 310.240936 61.320400 TRUE 0.160707
|
|
[13:21:08.812] 94-3/352 :
|
|
befor : 212.000000 124.000000 after : 204.955170 121.454140 TRUE 56.111039
|
|
[13:21:08.812] 94-4/352 :
|
|
befor : 256.000000 138.000000 after : 255.107727 141.305405 TRUE 11.721851
|
|
[13:21:08.812] 94-5/352 :
|
|
befor : 250.000000 219.000000 after : 248.425354 223.674210 FALSE 24.327745
|
|
befor : 249.000000 219.000000 after : 249.000000 219.000000 FALSE 0.000000
|
|
[13:21:08.812] 94-6/352 :
|
|
befor : 191.000000 266.000000 after : 204.799286 254.932495 TRUE 312.909955
|
|
[13:21:08.812] 94-7/352 :
|
|
befor : 206.000000 272.000000 after : 194.023697 295.179932 FALSE 680.741067
|
|
[13:21:08.812] 94-8/352 :
|
|
befor : 250.000000 274.000000 after : 250.462250 274.082642 TRUE 0.220504
|
|
[13:21:08.812] 94-9/352 :
|
|
befor : 297.000000 318.000000 after : 292.998230 319.334381 FALSE 17.794736
|
|
befor : 297.000000 329.000000 after : 296.460175 329.110321 TRUE 0.303582
|
|
[13:21:08.812] 94-10/352 :
|
|
befor : 296.000000 376.000000 after : 285.483490 382.879456 FALSE 157.923892
|
|
[13:21:08.812] 94-11/352 :
|
|
befor : 301.000000 365.000000 after : 299.412018 365.482788 TRUE 2.754772
|
|
[13:21:08.812] 94-12/352 :
|
|
befor : 222.000000 416.000000 after : 216.023117 414.941345 FALSE 36.843880
|
|
[13:21:08.812] 94-13/352 :
|
|
befor : 244.000000 411.000000 after : 245.512009 409.589996 FALSE 4.274281
|
|
[13:21:08.812] 94-14/352 :
|
|
befor : 312.000000 396.000000 after : 305.999939 407.536346 TRUE 169.088022
|
|
[13:21:08.812] 94-15/352 :
|
|
befor : 40.000000 426.000000 after : 32.754910 437.050903 FALSE 174.613800
|
|
[13:21:08.812] 94-16/352 :
|
|
befor : 142.000000 434.000000 after : 142.296478 434.197449 TRUE 0.126885
|
|
[13:21:08.812] 94-17/352 :
|
|
befor : 392.000000 466.000000 after : 392.590027 466.433380 FALSE 0.535950
|
|
[13:21:08.812] After Reprojection Map nPoint:22 ,nCell:19 ,nMatches:10 ,distance between ekf and vo x:-0.000121 ,z=0.000029,angle between two frames:0.000139
|
|
[13:21:08.812] n deleted obs = 2 n obs with reprojection error less than 0.5 px =8 error init =0.331828 error end=0.331828
|
|
[13:21:08.812] After pose optimization, distance between ekf and vo x:-0.000121 ,z=0.000029,angle between two frames:0.000139
|
|
[13:21:08.812] frame process finished the id is: 89 the obs is:13
|
|
[13:21:08.888] Odometry x=0.135252, y=0.303750, theta=-0.035781
|
|
[13:21:08.927] 95-1/352 :
|
|
befor : 300.000000 34.000000 after : 300.426636 32.518684 TRUE 2.376314
|
|
[13:21:08.928] 95-2/352 :
|
|
befor : 224.000000 116.000000 after : 225.562302 113.088120 FALSE 10.919834
|
|
[13:21:08.928] 95-3/352 :
|
|
befor : 204.000000 120.000000 after : 200.808945 119.807655 TRUE 10.219830
|
|
[13:21:08.928] 95-4/352 :
|
|
befor : 246.000000 128.000000 after : 224.323975 157.472763 FALSE 1338.493839
|
|
[13:21:08.928] 95-5/352 :
|
|
befor : 317.000000 202.000000 after : 316.962067 202.221298 TRUE 0.050412
|
|
[13:21:08.928] 95-6/352 :
|
|
befor : 246.000000 210.000000 after : 236.702316 199.018997 TRUE 207.029345
|
|
[13:21:08.928] 95-7/352 :
|
|
befor : 206.000000 244.000000 after : 206.520477 244.260468 TRUE 0.338740
|
|
[13:21:08.928] 95-8/352 :
|
|
befor : 244.000000 268.000000 after : 244.777756 268.538086 TRUE 0.894440
|
|
[13:21:08.928] 95-9/352 :
|
|
befor : 244.000000 272.000000 after : 239.944733 279.407135 FALSE 71.310842
|
|
[13:21:08.928] 95-10/352 :
|
|
befor : 224.000000 303.000000 after : 216.505371 294.478607 FALSE 128.783598
|
|
[13:21:08.928] 95-11/352 :
|
|
befor : 297.000000 317.000000 after : 299.100403 314.092560 TRUE 12.864900
|
|
[13:21:08.928] 95-12/352 :
|
|
befor : 300.000000 320.000000 after : 305.453186 323.577240 FALSE 42.533884
|
|
befor : 300.000000 326.000000 after : 316.835144 313.018097 TRUE 451.951882
|
|
[13:21:08.928] 95-13/352 :
|
|
befor : 292.000000 376.000000 after : 295.971649 369.405457 FALSE 59.262001
|
|
[13:21:08.928] 95-14/352 :
|
|
befor : 279.000000 390.000000 after : 279.000000 390.000000 FALSE 0.000000
|
|
[13:21:08.928] 95-15/352 :
|
|
befor : 308.000000 396.000000 after : 307.843231 397.565369 FALSE 2.474955
|
|
[13:21:08.928] 95-16/352 :
|
|
befor : 142.000000 442.000000 after : 146.516953 447.283295 TRUE 48.316063
|
|
[13:21:08.928] After Reprojection Map nPoint:20 ,nCell:17 ,nMatches:9 ,distance between ekf and vo x:0.001210 ,z=0.001064,angle between two frames:0.000644
|
|
[13:21:08.928] n deleted obs = 2 n obs with reprojection error less than 0.5 px =7 error init =0.335073 error end=0.328117
|
|
[13:21:08.928] After pose optimization, distance between ekf and vo x:0.034357 ,z=-0.028302,angle between two frames:0.013371
|
|
[13:21:08.928] frame process finished the id is: 89 the obs is:13
|
|
[13:21:08.990] Odometry x=0.135368, y=0.309516, theta=-0.019300
|
|
[13:21:09.016] 96-1/352 :
|
|
befor : 130.000000 24.000000 after : 129.101547 25.438410 TRUE 2.876240
|
|
[13:21:09.016] 96-2/352 :
|
|
befor : 315.000000 14.000000 after : 315.781433 12.030204 TRUE 4.490735
|
|
[13:21:09.016] 96-3/352 :
|
|
befor : 292.000000 40.000000 after : 292.510132 39.927818 TRUE 0.265445
|
|
[13:21:09.016] 96-4/352 :
|
|
befor : 198.000000 138.000000 after : 204.588104 145.868164 FALSE 105.311123
|
|
befor : 198.000000 138.000000 after : 197.839813 137.922379 TRUE 0.031685
|
|
[13:21:09.016] 96-5/352 :
|
|
befor : 255.000000 137.000000 after : 255.000000 137.000000 FALSE 0.000000
|
|
[13:21:09.016] 96-6/352 :
|
|
befor : 252.000000 208.000000 after : 262.025269 196.337555 FALSE 236.518635
|
|
[13:21:09.016] 96-7/352 :
|
|
befor : 255.000000 210.000000 after : 243.332260 205.965744 TRUE 152.411375
|
|
[13:21:09.016] 96-8/352 :
|
|
befor : 124.000000 292.000000 after : 124.437904 292.172424 TRUE 0.221490
|
|
[13:21:09.016] 96-9/352 :
|
|
befor : 200.000000 272.000000 after : 201.266983 271.042572 FALSE 2.521914
|
|
[13:21:09.016] 96-10/352 :
|
|
befor : 226.000000 275.000000 after : 226.002914 274.900177 TRUE 0.009973
|
|
[13:21:09.016] 96-11/352 :
|
|
befor : 250.000000 274.000000 after : 249.873245 277.452332 TRUE 11.934660
|
|
[13:21:09.016] 96-12/352 :
|
|
befor : 296.000000 328.000000 after : 291.147095 325.804810 TRUE 28.369551
|
|
[13:21:09.016] 96-13/352 :
|
|
befor : 301.000000 329.000000 after : 307.435455 337.594360 FALSE 115.278115
|
|
[13:21:09.016] 96-14/352 :
|
|
befor : 392.000000 364.000000 after : 391.072540 363.828583 TRUE 0.889565
|
|
[13:21:09.016] 96-15/352 :
|
|
befor : 290.000000 397.000000 after : 294.806183 397.400146 TRUE 23.259511
|
|
[13:21:09.016] 96-16/352 :
|
|
befor : 354.000000 408.000000 after : 354.214722 407.729309 TRUE 0.119379
|
|
[13:21:09.016] 96-17/352 :
|
|
befor : 34.000000 436.000000 after : 34.825535 435.343964 FALSE 1.111891
|
|
[13:21:09.016] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000976 ,z=0.001057,angle between two frames:0.000964
|
|
[13:21:09.016] n deleted obs = 1 n obs with reprojection error less than 0.5 px =11 error init =0.333137 error end=0.333137
|
|
[13:21:09.016] After pose optimization, distance between ekf and vo x:-0.000976 ,z=0.001057,angle between two frames:0.000964
|
|
[13:21:09.016] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
|
|
[13:21:09.016] frame process finished the id is: 96 the obs is:12
|
|
[13:21:09.093] Odometry x=0.134449, y=0.310848, theta=-0.020854
|
|
[13:21:09.120] 97-1/352 :
|
|
befor : 309.000000 20.000000 after : 309.477844 19.555962 TRUE 0.425505
|
|
[13:21:09.120] 97-2/352 :
|
|
befor : 302.000000 30.000000 after : 298.573761 31.826988 FALSE 15.077000
|
|
[13:21:09.120] 97-3/352 :
|
|
befor : 232.000000 118.000000 after : 232.537552 118.122589 TRUE 0.303990
|
|
[13:21:09.120] 97-4/352 :
|
|
befor : 208.000000 120.000000 after : 206.822449 122.497429 FALSE 7.623778
|
|
[13:21:09.120] 97-5/352 :
|
|
befor : 234.000000 120.000000 after : 235.753326 129.659912 FALSE 96.388055
|
|
[13:21:09.120] 97-6/352 :
|
|
befor : 256.000000 134.000000 after : 255.411301 134.231995 TRUE 0.400388
|
|
[13:21:09.120] 97-7/352 :
|
|
befor : 176.000000 160.000000 after : 173.252228 159.973740 TRUE 7.550942
|
|
[13:21:09.120] 97-8/352 :
|
|
befor : 247.000000 209.000000 after : 249.498093 207.025681 TRUE 10.138404
|
|
[13:21:09.120] 97-9/352 :
|
|
befor : 249.000000 223.000000 after : 249.010925 223.346100 TRUE 0.119904
|
|
[13:21:09.120] 97-10/352 :
|
|
befor : 124.000000 288.000000 after : 131.906189 280.916229 FALSE 112.687632
|
|
befor : 130.000000 288.000000 after : 133.758545 293.296143 TRUE 42.175786
|
|
[13:21:09.120] 97-11/352 :
|
|
befor : 236.000000 276.000000 after : 236.398865 276.083527 TRUE 0.166070
|
|
[13:21:09.120] 97-12/352 :
|
|
befor : 240.000000 276.000000 after : 241.549698 283.412720 FALSE 57.349977
|
|
[13:21:09.120] 97-13/352 :
|
|
befor : 249.000000 373.000000 after : 248.094299 372.968140 FALSE 0.821309
|
|
befor : 249.000000 373.000000 after : 249.000000 373.000000 FALSE 0.000000
|
|
[13:21:09.120] 97-14/352 :
|
|
befor : 358.000000 375.000000 after : 357.258850 374.996216 TRUE 0.549317
|
|
[13:21:09.120] 97-15/352 :
|
|
befor : 78.000000 396.000000 after : 82.077530 397.280487 TRUE 18.265897
|
|
[13:21:09.120] 97-16/352 :
|
|
befor : 280.000000 390.000000 after : 282.216370 387.993256 FALSE 8.939317
|
|
[13:21:09.120] 97-17/352 :
|
|
befor : 202.000000 432.000000 after : 201.924408 428.470551 TRUE 12.462728
|
|
[13:21:09.120] After Reprojection Map nPoint:22 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:-0.001372 ,z=0.000040,angle between two frames:0.001452
|
|
[13:21:09.120] n deleted obs = 3 n obs with reprojection error less than 0.5 px =8 error init =0.375990 error end=0.375990
|
|
[13:21:09.120] After pose optimization, distance between ekf and vo x:-0.001372 ,z=0.000040,angle between two frames:0.001452
|
|
[13:21:09.120] frame process finished the id is: 96 the obs is:12
|
|
[13:21:09.193] Odometry x=0.134497, y=0.321314, theta=-0.011445
|
|
[13:21:09.211] 98-1/352 :
|
|
befor : 293.000000 47.000000 after : 292.172333 48.142685 TRUE 1.990762
|
|
[13:21:09.211] 98-2/352 :
|
|
befor : 315.000000 50.000000 after : 313.876007 51.803741 FALSE 4.516843
|
|
befor : 315.000000 50.000000 after : 315.242401 49.903488 TRUE 0.068073
|
|
[13:21:09.211] 98-3/352 :
|
|
befor : 196.000000 72.000000 after : 201.203186 69.636589 TRUE 32.658856
|
|
[13:21:09.211] 98-4/352 :
|
|
befor : 199.000000 139.000000 after : 201.705383 138.980804 TRUE 7.319467
|
|
[13:21:09.211] 98-5/352 :
|
|
befor : 228.000000 120.000000 after : 228.564972 120.174538 FALSE 0.349657
|
|
[13:21:09.212] 98-6/352 :
|
|
befor : 254.000000 134.000000 after : 254.607697 134.171402 TRUE 0.398674
|
|
[13:21:09.212] 98-7/352 :
|
|
befor : 254.000000 220.000000 after : 241.307465 239.203125 FALSE 529.860465
|
|
[13:21:09.212] 98-8/352 :
|
|
befor : 210.000000 244.000000 after : 210.522141 244.201294 TRUE 0.313150
|
|
[13:21:09.212] 98-9/352 :
|
|
befor : 128.000000 292.000000 after : 128.323669 292.074829 TRUE 0.110361
|
|
[13:21:09.212] 98-10/352 :
|
|
befor : 316.000000 328.000000 after : 315.621521 327.988495 FALSE 0.143379
|
|
befor : 316.000000 328.000000 after : 314.490143 332.484833 TRUE 22.393394
|
|
[13:21:09.212] 98-11/352 :
|
|
befor : 322.000000 334.000000 after : 312.745819 326.211212 TRUE 146.305080
|
|
[13:21:09.212] 98-12/352 :
|
|
befor : 396.000000 360.000000 after : 394.328033 357.315674 TRUE 10.001079
|
|
[13:21:09.212] 98-13/352 :
|
|
befor : 290.000000 394.000000 after : 295.522247 394.399750 TRUE 30.655015
|
|
[13:21:09.212] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:11 ,distance between ekf and vo x:-0.000054 ,z=0.000151,angle between two frames:0.000028
|
|
[13:21:09.212] n deleted obs = 0 n obs with reprojection error less than 0.5 px =11 error init =0.228041 error end=0.228041
|
|
[13:21:09.212] After pose optimization, distance between ekf and vo x:-0.000054 ,z=0.000151,angle between two frames:0.000028
|
|
[13:21:09.212] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11
|
|
[13:21:09.212] frame process finished the id is: 98 the obs is:11
|
|
[13:21:09.290] Odometry x=0.134856, y=0.327488, theta=-0.007380
|
|
[13:21:09.319] 99-1/352 :
|
|
befor : 308.000000 16.000000 after : 308.397247 15.800109 TRUE 0.197762
|
|
[13:21:09.319] 99-2/352 :
|
|
befor : 299.000000 31.000000 after : 294.451294 35.167339 FALSE 38.057444
|
|
[13:21:09.319] 99-3/352 :
|
|
befor : 300.000000 30.000000 after : 301.721130 27.398619 FALSE 9.729474
|
|
[13:21:09.319] 99-4/352 :
|
|
befor : 244.000000 121.000000 after : 244.511673 121.114227 TRUE 0.274857
|
|
[13:21:09.319] 99-5/352 :
|
|
befor : 251.000000 206.000000 after : 247.758774 206.726486 FALSE 11.033329
|
|
befor : 251.000000 206.000000 after : 248.897308 209.504974 TRUE 16.706157
|
|
[13:21:09.319] 99-6/352 :
|
|
befor : 250.000000 268.000000 after : 246.887970 266.586456 TRUE 11.682837
|
|
[13:21:09.319] 99-7/352 :
|
|
befor : 238.000000 270.000000 after : 238.214813 269.980316 TRUE 0.046532
|
|
[13:21:09.319] 99-8/352 :
|
|
befor : 297.000000 323.000000 after : 270.606110 344.239380 TRUE 1147.748707
|
|
[13:21:09.319] 99-9/352 :
|
|
befor : 528.000000 340.000000 after : 528.006531 340.073151 TRUE 0.005394
|
|
[13:21:09.319] 99-10/352 :
|
|
befor : 296.000000 372.000000 after : 282.219635 362.682434 TRUE 276.715494
|
|
[13:21:09.319] 99-11/352 :
|
|
befor : 359.000000 415.000000 after : 350.278687 424.528717 FALSE 166.857757
|
|
[13:21:09.319] 99-12/352 :
|
|
befor : 128.000000 446.000000 after : 122.857063 443.647369 TRUE 31.984669
|
|
[13:21:09.319] After Reprojection Map nPoint:19 ,nCell:13 ,nMatches:9 ,distance between ekf and vo x:0.003612 ,z=0.000321,angle between two frames:0.003179
|
|
[13:21:09.319] n deleted obs = 1 n obs with reprojection error less than 0.5 px =8 error init =0.359368 error end=0.359368
|
|
[13:21:09.319] After pose optimization, distance between ekf and vo x:0.003612 ,z=0.000321,angle between two frames:0.003179
|
|
[13:21:09.319] frame process finished the id is: 98 the obs is:11
|
|
[13:21:09.392] Odometry x=0.129520, y=0.344836, theta=-0.004953
|
|
[13:21:09.413] 100-1/352 :
|
|
befor : 304.000000 24.000000 after : 305.771271 24.462862 TRUE 3.351641
|
|
[13:21:09.413] 100-2/352 :
|
|
befor : 204.000000 124.000000 after : 198.470337 133.383530 FALSE 118.627803
|
|
[13:21:09.413] 100-3/352 :
|
|
befor : 212.000000 120.000000 after : 210.381409 130.024536 FALSE 103.111163
|
|
[13:21:09.413] 100-4/352 :
|
|
befor : 252.000000 132.000000 after : 252.367416 131.824905 TRUE 0.165653
|
|
[13:21:09.413] 100-5/352 :
|
|
befor : 128.000000 288.000000 after : 128.051346 288.024902 TRUE 0.003257
|
|
[13:21:09.413] 100-6/352 :
|
|
befor : 325.000000 329.000000 after : 325.658661 329.240509 TRUE 0.491679
|
|
[13:21:09.413] 100-7/352 :
|
|
befor : 396.000000 360.000000 after : 392.906403 362.862732 TRUE 17.765579
|
|
[13:21:09.413] 100-8/352 :
|
|
befor : 358.000000 404.000000 after : 359.327362 409.223846 TRUE 29.050462
|
|
[13:21:09.413] 100-9/352 :
|
|
befor : 364.000000 415.000000 after : 379.050903 402.651611 FALSE 379.012394
|
|
befor : 360.000000 406.000000 after : 358.626343 405.293945 TRUE 2.385447
|
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[13:21:09.413] 100-10/352 :
|
|
befor : 116.000000 428.000000 after : 106.001442 425.252502 FALSE 107.519906
|
|
[13:21:09.413] 100-11/352 :
|
|
befor : 126.000000 448.000000 after : 126.997505 450.405396 FALSE 6.780944
|
|
[13:21:09.413] After Reprojection Map nPoint:17 ,nCell:12 ,nMatches:7 ,distance between ekf and vo x:0.000262 ,z=0.000148,angle between two frames:0.000272
|
|
[13:21:09.413] n deleted obs = 1 n obs with reprojection error less than 0.5 px =6 error init =0.275738 error end=0.221976
|
|
[13:21:09.413] After pose optimization, distance between ekf and vo x:0.063713 ,z=-0.319577,angle between two frames:0.045936
|
|
[13:21:09.413] frame process finished the id is: 98 the obs is:11
|
|
[13:21:09.491] Odometry x=0.129655, y=0.350325, theta=-0.011371
|
|
[13:21:09.514] 101-1/352 :
|
|
befor : 313.000000 15.000000 after : 315.199768 12.440599 FALSE 11.389511
|
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[13:21:09.514] 101-2/352 :
|
|
befor : 299.000000 35.000000 after : 297.525787 36.049294 FALSE 3.274320
|
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[13:21:09.514] 101-3/352 :
|
|
befor : 302.000000 31.000000 after : 302.666016 30.283966 TRUE 0.956281
|
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[13:21:09.514] 101-4/352 :
|
|
befor : 196.000000 68.000000 after : 196.650787 71.116028 TRUE 10.133154
|
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[13:21:09.514] 101-5/352 :
|
|
befor : 251.000000 124.000000 after : 251.380371 124.178406 TRUE 0.176511
|
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[13:21:09.514] 101-6/352 :
|
|
befor : 256.000000 202.000000 after : 256.513519 202.166702 TRUE 0.291492
|
|
[13:21:09.514] 101-7/352 :
|
|
befor : 253.000000 214.000000 after : 255.137100 214.220749 TRUE 4.615927
|
|
[13:21:09.514] 101-8/352 :
|
|
befor : 128.000000 288.000000 after : 128.598953 288.216675 FALSE 0.405693
|
|
[13:21:09.514] 101-9/352 :
|
|
befor : 230.000000 301.000000 after : 234.706558 296.758942 FALSE 40.138266
|
|
[13:21:09.514] 101-10/352 :
|
|
befor : 52.000000 388.000000 after : 43.766781 395.625366 TRUE 125.932107
|
|
[13:21:09.514] 101-11/352 :
|
|
befor : 300.000000 376.000000 after : 295.651245 368.528839 TRUE 74.729914
|
|
[13:21:09.514] 101-12/352 :
|
|
befor : 295.000000 398.000000 after : 294.939606 398.045624 FALSE 0.005729
|
|
[13:21:09.514] 101-13/352 :
|
|
befor : 118.000000 434.000000 after : 118.316833 433.884644 TRUE 0.113691
|
|
[13:21:09.514] 101-14/352 :
|
|
befor : 378.000000 438.000000 after : 378.956268 439.610168 TRUE 3.507092
|
|
[13:21:09.514] After Reprojection Map nPoint:19 ,nCell:14 ,nMatches:9 ,distance between ekf and vo x:0.001760 ,z=0.000799,angle between two frames:0.001852
|
|
[13:21:09.514] n deleted obs = 2 n obs with reprojection error less than 0.5 px =7 error init =0.316546 error end=0.316546
|
|
[13:21:09.514] After pose optimization, distance between ekf and vo x:0.001760 ,z=0.000799,angle between two frames:0.001852
|
|
[13:21:09.514] frame process finished the id is: 98 the obs is:11
|
|
[13:21:09.593] Odometry x=0.124778, y=0.363572, theta=-0.005902
|
|
[13:21:09.615] 102-1/352 :
|
|
befor : 304.000000 24.000000 after : 304.589661 23.882534 TRUE 0.361498
|
|
[13:21:09.615] 102-2/352 :
|
|
befor : 278.000000 68.000000 after : 278.223053 68.066299 TRUE 0.054148
|
|
[13:21:09.615] 102-3/352 :
|
|
befor : 216.000000 116.000000 after : 225.905533 131.524078 FALSE 339.116590
|
|
[13:21:09.615] 102-4/352 :
|
|
befor : 256.000000 128.000000 after : 238.755264 154.908264 FALSE 1021.435590
|
|
[13:21:09.615] 102-5/352 :
|
|
befor : 258.000000 204.000000 after : 258.595093 204.178696 TRUE 0.386068
|
|
[13:21:09.615] 102-6/352 :
|
|
befor : 235.000000 268.000000 after : 235.577255 267.494171 TRUE 0.589086
|
|
[13:21:09.615] 102-7/352 :
|
|
befor : 252.000000 268.000000 after : 252.096756 267.970490 TRUE 0.010233
|
|
[13:21:09.615] 102-8/352 :
|
|
befor : 234.000000 270.000000 after : 233.968063 270.851593 FALSE 0.726231
|
|
[13:21:09.615] 102-9/352 :
|
|
befor : 252.000000 272.000000 after : 240.991028 261.633575 TRUE 228.660226
|
|
[13:21:09.615] 102-10/352 :
|
|
befor : 311.000000 316.000000 after : 311.000000 316.000000 FALSE 0.000000
|
|
[13:21:09.615] 102-11/352 :
|
|
befor : 330.000000 328.000000 after : 329.330383 328.766022 TRUE 1.035176
|
|
[13:21:09.615] 102-12/352 :
|
|
befor : 404.000000 364.000000 after : 400.586029 360.723694 TRUE 22.389380
|
|
[13:21:09.615] 102-13/352 :
|
|
befor : 146.000000 406.000000 after : 154.199631 399.899658 FALSE 104.448114
|
|
befor : 146.000000 406.000000 after : 118.145172 436.490448 FALSE 1705.558855
|
|
[13:21:09.615] 102-14/352 :
|
|
befor : 299.000000 393.000000 after : 298.900421 393.137909 FALSE 0.028935
|
|
[13:21:09.615] 102-15/352 :
|
|
befor : 300.000000 390.000000 after : 295.943359 390.128021 TRUE 16.472723
|
|
[13:21:09.615] After Reprojection Map nPoint:22 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:0.002063 ,z=0.001467,angle between two frames:0.002379
|
|
[13:21:09.615] n deleted obs = 2 n obs with reprojection error less than 0.5 px =7 error init =0.439784 error end=0.439784
|
|
[13:21:09.615] After pose optimization, distance between ekf and vo x:0.002063 ,z=0.001467,angle between two frames:0.002379
|
|
[13:21:09.615] frame process finished the id is: 98 the obs is:11
|
|
[13:21:09.691] Odometry x=0.124758, y=0.368897, theta=-0.019911
|
|
[13:21:09.716] 103-1/352 :
|
|
befor : 318.000000 9.000000 after : 318.712006 8.529403 TRUE 0.728414
|
|
[13:21:09.716] 103-2/352 :
|
|
befor : 318.000000 46.000000 after : 322.381714 42.872540 FALSE 28.980425
|
|
befor : 318.000000 46.000000 after : 326.782166 39.582096 FALSE 118.315922
|
|
[13:21:09.716] 103-3/352 :
|
|
befor : 196.000000 68.000000 after : 196.379700 67.828842 TRUE 0.173467
|
|
[13:21:09.716] 103-4/352 :
|
|
befor : 262.000000 131.000000 after : 262.241028 131.182877 TRUE 0.091538
|
|
[13:21:09.716] 103-5/352 :
|
|
befor : 256.000000 208.000000 after : 256.608002 208.180008 TRUE 0.402069
|
|
[13:21:09.716] 103-6/352 :
|
|
befor : 212.000000 272.000000 after : 209.763412 275.988129 TRUE 20.907494
|
|
[13:21:09.716] 103-7/352 :
|
|
befor : 252.000000 276.000000 after : 252.234512 276.080383 TRUE 0.061458
|
|
[13:21:09.716] 103-8/352 :
|
|
befor : 309.000000 323.000000 after : 309.000000 323.000000 FALSE 0.000000
|
|
[13:21:09.716] 103-9/352 :
|
|
befor : 337.000000 384.000000 after : 321.508331 402.567780 FALSE 584.754236
|
|
[13:21:09.716] 103-10/352 :
|
|
befor : 368.000000 376.000000 after : 367.956482 369.591919 FALSE 41.065397
|
|
befor : 368.000000 376.000000 after : 365.442780 372.788361 TRUE 16.854004
|
|
[13:21:09.716] 103-11/352 :
|
|
befor : 402.000000 370.000000 after : 403.152161 369.716309 TRUE 1.407955
|
|
[13:21:09.716] 103-12/352 :
|
|
befor : 296.000000 398.000000 after : 293.351990 396.847717 TRUE 8.339714
|
|
[13:21:09.716] 103-13/352 :
|
|
befor : 110.000000 454.000000 after : 100.567039 448.727844 TRUE 116.776370
|
|
[13:21:09.716] After Reprojection Map nPoint:21 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:0.003189 ,z=0.001565,angle between two frames:0.003533
|
|
[13:21:09.716] n deleted obs = 1 n obs with reprojection error less than 0.5 px =9 error init =0.408863 error end=0.408863
|
|
[13:21:09.716] After pose optimization, distance between ekf and vo x:0.003189 ,z=0.001565,angle between two frames:0.003533
|
|
[13:21:09.716] frame process finished the id is: 98 the obs is:11
|
|
[13:21:09.794] Odometry x=0.125181, y=0.376975, theta=0.001582
|
|
[13:21:09.817] 104-1/352 :
|
|
befor : 323.000000 7.000000 after : 323.249451 6.810158 FALSE 0.098266
|
|
befor : 314.000000 16.000000 after : 314.488708 15.783469 TRUE 0.285722
|
|
[13:21:09.817] 104-2/352 :
|
|
befor : 286.000000 60.000000 after : 284.712708 59.345421 TRUE 2.085596
|
|
[13:21:09.817] 104-3/352 :
|
|
befor : 220.000000 116.000000 after : 219.037857 116.345299 FALSE 1.044950
|
|
[13:21:09.817] 104-4/352 :
|
|
befor : 250.000000 117.000000 after : 239.852341 130.486618 FALSE 284.863856
|
|
[13:21:09.817] 104-5/352 :
|
|
befor : 265.000000 128.000000 after : 265.314056 128.301132 TRUE 0.189312
|
|
[13:21:09.817] 104-6/352 :
|
|
befor : 261.000000 206.000000 after : 256.848541 209.134903 FALSE 27.062226
|
|
[13:21:09.817] 104-7/352 :
|
|
befor : 238.000000 269.000000 after : 237.105728 272.099731 FALSE 10.408057
|
|
[13:21:09.817] 104-8/352 :
|
|
befor : 252.000000 268.000000 after : 252.052750 267.806793 TRUE 0.040111
|
|
[13:21:09.817] 104-9/352 :
|
|
befor : 256.000000 272.000000 after : 247.282028 264.955566 TRUE 125.627077
|
|
[13:21:09.817] 104-10/352 :
|
|
befor : 334.000000 329.000000 after : 332.648102 329.516022 TRUE 2.093907
|
|
[13:21:09.817] 104-11/352 :
|
|
befor : 319.000000 338.000000 after : 319.000000 338.000000 FALSE 0.000000
|
|
[13:21:09.817] 104-12/352 :
|
|
befor : 408.000000 356.000000 after : 399.235687 366.259247 FALSE 182.065323
|
|
[13:21:09.817] 104-13/352 :
|
|
befor : 304.000000 372.000000 after : 316.010132 382.956390 TRUE 264.285757
|
|
[13:21:09.817] 104-14/352 :
|
|
befor : 410.000000 364.000000 after : 396.797180 350.788025 TRUE 348.870737
|
|
[13:21:09.817] 104-15/352 :
|
|
befor : 248.000000 410.000000 after : 248.348785 410.128113 TRUE 0.138064
|
|
[13:21:09.817] 104-16/352 :
|
|
befor : 303.000000 395.000000 after : 304.370911 394.426666 TRUE 2.208108
|
|
[13:21:09.817] 104-17/352 :
|
|
befor : 368.000000 408.000000 after : 380.005432 412.886627 FALSE 168.009526
|
|
[13:21:09.817] 104-18/352 :
|
|
befor : 111.000000 449.000000 after : 112.098824 448.558807 TRUE 1.402064
|
|
[13:21:09.817] After Reprojection Map nPoint:23 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:0.002471 ,z=0.001660,angle between two frames:0.002905
|
|
[13:21:09.817] n deleted obs = 4 n obs with reprojection error less than 0.5 px =7 error init =0.608826 error end=0.608826
|
|
[13:21:09.817] After pose optimization, distance between ekf and vo x:0.002471 ,z=0.001660,angle between two frames:0.002905
|
|
[13:21:09.817] frame process finished the id is: 98 the obs is:11
|
|
[13:21:09.891] Odometry x=0.121663, y=0.387395, theta=-0.022641
|
|
[13:21:09.919] 105-1/352 :
|
|
befor : 318.000000 16.000000 after : 317.553070 16.885805 FALSE 0.984397
|
|
befor : 324.000000 11.000000 after : 323.755829 9.628328 TRUE 1.941103
|
|
[13:21:09.919] 105-2/352 :
|
|
befor : 302.000000 42.000000 after : 302.698273 42.119503 TRUE 0.501866
|
|
[13:21:09.919] 105-3/352 :
|
|
befor : 286.000000 66.000000 after : 284.650208 65.337875 TRUE 2.260349
|
|
[13:21:09.919] 105-4/352 :
|
|
befor : 209.000000 134.000000 after : 208.853912 133.948425 TRUE 0.024002
|
|
[13:21:09.919] 105-5/352 :
|
|
befor : 260.000000 136.000000 after : 259.911560 135.975525 TRUE 0.008421
|
|
[13:21:09.919] 105-6/352 :
|
|
befor : 260.000000 215.000000 after : 260.000000 215.000000 FALSE 0.000000
|
|
befor : 261.000000 222.000000 after : 243.136856 249.872681 FALSE 1095.978238
|
|
[13:21:09.919] 105-7/352 :
|
|
befor : 200.000000 248.000000 after : 200.855194 242.775223 TRUE 28.029654
|
|
[13:21:09.919] 105-8/352 :
|
|
befor : 142.000000 296.000000 after : 139.934280 303.738678 TRUE 64.154334
|
|
[13:21:09.919] 105-9/352 :
|
|
befor : 200.000000 276.000000 after : 200.622421 276.341217 TRUE 0.503837
|
|
[13:21:09.919] 105-10/352 :
|
|
befor : 239.000000 279.000000 after : 239.024277 278.889679 TRUE 0.012760
|
|
[13:21:09.919] 105-11/352 :
|
|
befor : 316.000000 370.000000 after : 317.284027 373.587677 TRUE 14.520152
|
|
[13:21:09.919] 105-12/352 :
|
|
befor : 304.000000 400.000000 after : 299.078461 402.549957 TRUE 30.723831
|
|
[13:21:09.919] 105-13/352 :
|
|
befor : 370.000000 412.000000 after : 370.728577 411.635284 TRUE 0.663841
|
|
[13:21:09.919] 105-14/352 :
|
|
befor : 239.000000 432.000000 after : 217.299225 456.012695 FALSE 1047.533178
|
|
[13:21:09.919] After Reprojection Map nPoint:19 ,nCell:16 ,nMatches:12 ,distance between ekf and vo x:0.005461 ,z=0.002954,angle between two frames:0.006214
|
|
[13:21:09.919] n deleted obs = 3 n obs with reprojection error less than 0.5 px =9 error init =1.240224 error end=0.301847
|
|
[13:21:09.919] After pose optimization, distance between ekf and vo x:1.399252 ,z=-4.946812,angle between two frames:0.162753
|
|
[13:21:09.919] frame process finished the id is: 98 the obs is:11
|
|
[13:21:09.988] Odometry x=0.122126, y=0.392828, theta=-0.022700
|
|
[13:21:10.033] 106-1/352 :
|
|
befor : 320.000000 10.000000 after : 316.356689 11.637409 TRUE 15.954821
|
|
[13:21:10.033] 106-2/352 :
|
|
befor : 256.000000 118.000000 after : 239.612396 137.518768 FALSE 649.535873
|
|
[13:21:10.033] 106-3/352 :
|
|
befor : 209.000000 138.000000 after : 217.794235 138.473053 FALSE 77.562352
|
|
[13:21:10.033] 106-4/352 :
|
|
befor : 260.000000 120.000000 after : 260.461273 120.196274 TRUE 0.251296
|
|
[13:21:10.033] 106-5/352 :
|
|
befor : 264.000000 204.000000 after : 264.000000 204.000000 FALSE 0.000000
|
|
[13:21:10.033] 106-6/352 :
|
|
befor : 264.000000 211.000000 after : 263.671448 211.137024 TRUE 0.126722
|
|
[13:21:10.033] 106-7/352 :
|
|
befor : 337.000000 229.000000 after : 324.769836 240.227493 FALSE 275.633507
|
|
[13:21:10.033] 106-8/352 :
|
|
befor : 256.000000 268.000000 after : 255.964844 268.012390 TRUE 0.001389
|
|
[13:21:10.033] 106-9/352 :
|
|
befor : 140.000000 288.000000 after : 140.649887 287.729309 TRUE 0.495627
|
|
[13:21:10.033] 106-10/352 :
|
|
befor : 252.000000 272.000000 after : 260.627228 283.900299 TRUE 216.046177
|
|
[13:21:10.033] 106-11/352 :
|
|
befor : 316.000000 312.000000 after : 310.027496 317.727203 TRUE 68.471658
|
|
[13:21:10.033] 106-12/352 :
|
|
befor : 332.000000 320.000000 after : 329.427460 319.290100 TRUE 7.121921
|
|
[13:21:10.033] 106-13/352 :
|
|
befor : 322.000000 336.000000 after : 320.559662 337.766205 FALSE 5.194053
|
|
[13:21:10.033] 106-14/352 :
|
|
befor : 379.000000 366.000000 after : 379.415100 366.019836 TRUE 0.172702
|
|
[13:21:10.033] 106-15/352 :
|
|
befor : 414.000000 362.000000 after : 414.550232 362.159607 TRUE 0.328230
|
|
[13:21:10.033] 106-16/352 :
|
|
befor : 364.000000 422.000000 after : 346.619110 450.653839 TRUE 1123.137829
|
|
[13:21:10.033] 106-17/352 :
|
|
befor : 102.000000 452.000000 after : 93.677261 446.846680 TRUE 95.824689
|
|
[13:21:10.033] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:12 ,distance between ekf and vo x:0.007723 ,z=0.003669,angle between two frames:0.008580
|
|
[13:21:10.033] n deleted obs = 2 n obs with reprojection error less than 0.5 px =10 error init =2.768095 error end=0.332900
|
|
[13:21:10.033] After pose optimization, distance between ekf and vo x:12.675086 ,z=77.432763,angle between two frames:1.111705
|
|
[13:21:10.033] frame process finished the id is: 98 the obs is:11
|
|
[13:21:10.089] Odometry x=0.111752, y=0.401915, theta=-0.024939
|
|
[13:21:10.117] 107-1/352 :
|
|
befor : 322.000000 11.000000 after : 323.728577 9.263735 FALSE 6.002594
|
|
befor : 322.000000 11.000000 after : 321.223938 11.315277 FALSE 0.701672
|
|
befor : 323.000000 10.000000 after : 328.145233 0.789455 FALSE 111.307556
|
|
befor : 312.000000 22.000000 after : 312.373749 22.331764 TRUE 0.249756
|
|
[13:21:10.117] 107-2/352 :
|
|
befor : 282.000000 70.000000 after : 282.035675 69.964058 TRUE 0.002565
|
|
[13:21:10.117] 107-3/352 :
|
|
befor : 252.000000 123.000000 after : 252.360641 123.238670 TRUE 0.187026
|
|
[13:21:10.117] 107-4/352 :
|
|
befor : 260.000000 212.000000 after : 264.154877 212.173889 TRUE 17.293238
|
|
[13:21:10.117] 107-5/352 :
|
|
befor : 200.000000 268.000000 after : 199.404480 269.723511 FALSE 3.325133
|
|
[13:21:10.118] 107-6/352 :
|
|
befor : 140.000000 296.000000 after : 134.090088 293.500244 FALSE 41.175840
|
|
[13:21:10.118] 107-7/352 :
|
|
befor : 219.000000 273.000000 after : 216.012924 277.840149 FALSE 32.349663
|
|
[13:21:10.118] 107-8/352 :
|
|
befor : 250.000000 274.000000 after : 272.045654 258.028442 FALSE 741.101526
|
|
[13:21:10.118] 107-9/352 :
|
|
befor : 376.000000 372.000000 after : 365.420258 364.351532 TRUE 170.430013
|
|
[13:21:10.118] 107-10/352 :
|
|
befor : 304.000000 400.000000 after : 304.144592 400.167145 FALSE 0.048844
|
|
[13:21:10.118] 107-11/352 :
|
|
befor : 188.000000 440.000000 after : 191.138748 445.310089 TRUE 38.048786
|
|
[13:21:10.118] 107-12/352 :
|
|
befor : 236.000000 428.000000 after : 230.131958 436.181702 FALSE 101.374159
|
|
[13:21:10.118] 107-13/352 :
|
|
befor : 396.000000 448.000000 after : 397.489624 447.047607 TRUE 3.126031
|
|
[13:21:10.118] 107-14/352 :
|
|
befor : 86.000000 466.000000 after : 94.873428 467.576996 TRUE 81.224646
|
|
[13:21:10.118] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:8 ,distance between ekf and vo x:0.001898 ,z=0.001244,angle between two frames:0.002251
|
|
[13:21:10.118] n deleted obs = 3 n obs with reprojection error less than 0.5 px =5 error init =0.426007 error end=0.419369
|
|
[13:21:10.118] After pose optimization, distance between ekf and vo x:0.056252 ,z=-0.137866,angle between two frames:0.004847
|
|
[13:21:10.118] frame process finished the id is: 98 the obs is:11
|
|
[13:21:10.192] Odometry x=0.111813, y=0.407272, theta=-0.025533
|
|
[13:21:10.214] 108-1/352 :
|
|
befor : 311.000000 25.000000 after : 312.287415 23.242359 FALSE 4.746738
|
|
befor : 321.000000 10.000000 after : 324.677032 3.487187 FALSE 55.937305
|
|
[13:21:10.214] 108-2/352 :
|
|
befor : 299.000000 43.000000 after : 300.437347 40.603317 FALSE 7.810056
|
|
[13:21:10.214] 108-3/352 :
|
|
befor : 306.000000 32.000000 after : 306.387970 31.933868 FALSE 0.154894
|
|
[13:21:10.214] 108-4/352 :
|
|
befor : 220.000000 116.000000 after : 220.231735 115.363533 FALSE 0.458791
|
|
[13:21:10.214] 108-5/352 :
|
|
befor : 254.000000 119.000000 after : 244.167664 133.892609 FALSE 318.464632
|
|
befor : 252.000000 118.000000 after : 258.730835 132.411423 FALSE 252.993244
|
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[13:21:10.214] 108-6/352 :
|
|
befor : 260.000000 123.000000 after : 260.238373 123.223282 TRUE 0.106676
|
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[13:21:10.215] 108-7/352 :
|
|
befor : 262.000000 214.000000 after : 247.329544 229.996887 FALSE 471.122678
|
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[13:21:10.215] 108-8/352 :
|
|
befor : 202.000000 240.000000 after : 204.732803 237.804886 FALSE 12.286740
|
|
befor : 200.000000 240.000000 after : 200.385590 240.009964 TRUE 0.148779
|
|
[13:21:10.215] 108-9/352 :
|
|
befor : 260.000000 268.000000 after : 226.873734 238.309265 TRUE 1978.889268
|
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[13:21:10.215] 108-10/352 :
|
|
befor : 241.000000 270.000000 after : 240.566498 269.779541 TRUE 0.236526
|
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[13:21:10.215] 108-11/352 :
|
|
befor : 412.000000 366.000000 after : 413.377472 366.492249 TRUE 2.139738
|
|
[13:21:10.215] 108-12/352 :
|
|
befor : 376.000000 414.000000 after : 378.318176 414.265533 TRUE 5.444449
|
|
[13:21:10.215] 108-13/352 :
|
|
befor : 186.000000 438.000000 after : 186.862442 437.936127 TRUE 0.747886
|
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[13:21:10.215] 108-14/352 :
|
|
befor : 399.000000 447.000000 after : 418.254700 434.880280 FALSE 517.631085
|
|
[13:21:10.215] 108-15/352 :
|
|
befor : 90.000000 456.000000 after : 89.286354 458.276184 FALSE 5.690304
|
|
[13:21:10.215] After Reprojection Map nPoint:20 ,nCell:18 ,nMatches:7 ,distance between ekf and vo x:0.001791 ,z=0.001392,angle between two frames:0.002218
|
|
[13:21:10.215] n deleted obs = 2 n obs with reprojection error less than 0.5 px =5 error init =0.403808 error end=0.403808
|
|
[13:21:10.215] After pose optimization, distance between ekf and vo x:0.001791 ,z=0.001392,angle between two frames:0.002218
|
|
[13:21:10.215] frame process finished the id is: 98 the obs is:11
|
|
[13:21:10.290] Odometry x=0.109344, y=0.412844, theta=-0.035913
|
|
[13:21:10.319] 109-1/352 :
|
|
befor : 140.000000 6.000000 after : 146.709839 -3.854905 FALSE 142.141093
|
|
[13:21:10.319] 109-2/352 :
|
|
befor : 321.000000 9.000000 after : 323.520935 5.795842 FALSE 16.621741
|
|
befor : 321.000000 9.000000 after : 320.525726 8.833129 TRUE 0.252781
|
|
[13:21:10.320] 109-3/352 :
|
|
befor : 252.000000 118.000000 after : 241.327469 134.249252 FALSE 377.941122
|
|
[13:21:10.320] 109-4/352 :
|
|
befor : 259.000000 123.000000 after : 259.281219 123.225281 TRUE 0.129836
|
|
[13:21:10.320] 109-5/352 :
|
|
befor : 200.000000 236.000000 after : 199.342117 232.354141 TRUE 13.725096
|
|
[13:21:10.320] 109-6/352 :
|
|
befor : 260.000000 268.000000 after : 258.301086 272.119507 FALSE 19.856644
|
|
[13:21:10.320] 109-7/352 :
|
|
befor : 136.000000 288.000000 after : 136.629623 292.821747 TRUE 23.645668
|
|
[13:21:10.320] 109-8/352 :
|
|
befor : 239.000000 270.000000 after : 242.322952 272.203491 FALSE 15.897385
|
|
befor : 239.000000 270.000000 after : 239.000000 270.000000 FALSE 0.000000
|
|
[13:21:10.320] 109-9/352 :
|
|
befor : 256.000000 272.000000 after : 255.278473 275.186493 TRUE 10.674338
|
|
[13:21:10.320] 109-10/352 :
|
|
befor : 336.000000 328.000000 after : 333.813934 328.741364 TRUE 5.328503
|
|
[13:21:10.320] 109-11/352 :
|
|
befor : 48.000000 388.000000 after : 47.953751 389.201935 FALSE 1.446786
|
|
[13:21:10.320] 109-12/352 :
|
|
befor : 294.000000 389.000000 after : 309.052032 376.887451 FALSE 373.277521
|
|
[13:21:10.320] 109-13/352 :
|
|
befor : 157.000000 403.000000 after : 160.962830 412.248566 FALSE 101.239985
|
|
[13:21:10.320] 109-14/352 :
|
|
befor : 300.000000 396.000000 after : 300.219482 395.404510 TRUE 0.402780
|
|
[13:21:10.320] 109-15/352 :
|
|
befor : 370.000000 412.000000 after : 372.928345 412.113953 TRUE 8.588188
|
|
[13:21:10.320] 109-16/352 :
|
|
befor : 78.000000 452.000000 after : 78.795685 452.059418 TRUE 0.636645
|
|
[13:21:10.320] 109-17/352 :
|
|
befor : 370.000000 458.000000 after : 370.483521 458.535095 FALSE 0.520119
|
|
[13:21:10.320] After Reprojection Map nPoint:23 ,nCell:19 ,nMatches:9 ,distance between ekf and vo x:0.001383 ,z=0.000994,angle between two frames:0.001366
|
|
[13:21:10.320] n deleted obs = 2 n obs with reprojection error less than 0.5 px =7 error init =0.632126 error end=0.348342
|
|
[13:21:10.320] After pose optimization, distance between ekf and vo x:-0.021262 ,z=-0.206138,angle between two frames:0.098089
|
|
[13:21:10.320] frame process finished the id is: 98 the obs is:11
|
|
[13:21:10.392] Odometry x=0.109567, y=0.418122, theta=-0.030329
|
|
[13:21:10.421] 110-1/352 :
|
|
befor : 316.000000 14.000000 after : 316.463318 14.268623 FALSE 0.286822
|
|
[13:21:10.421] 110-2/352 :
|
|
befor : 326.000000 36.000000 after : 327.428711 36.163261 TRUE 2.067869
|
|
[13:21:10.421] 110-3/352 :
|
|
befor : 248.000000 116.000000 after : 247.772003 115.998085 TRUE 0.051986
|
|
[13:21:10.421] 110-4/352 :
|
|
befor : 257.000000 123.000000 after : 257.427063 123.192390 TRUE 0.219397
|
|
[13:21:10.421] 110-5/352 :
|
|
befor : 184.000000 156.000000 after : 181.452316 157.806412 TRUE 9.753816
|
|
[13:21:10.421] 110-6/352 :
|
|
befor : 300.000000 180.000000 after : 303.158844 180.005753 TRUE 9.978328
|
|
[13:21:10.421] 110-7/352 :
|
|
befor : 196.000000 240.000000 after : 189.783432 248.876709 FALSE 117.441680
|
|
[13:21:10.422] 110-8/352 :
|
|
befor : 238.000000 269.000000 after : 240.768539 272.772980 FALSE 21.900187
|
|
[13:21:10.422] 110-9/352 :
|
|
befor : 252.000000 268.000000 after : 254.118088 279.303802 TRUE 132.262247
|
|
[13:21:10.422] 110-10/352 :
|
|
befor : 313.000000 316.000000 after : 312.677704 314.302338 TRUE 2.985932
|
|
[13:21:10.422] 110-11/352 :
|
|
befor : 334.000000 329.000000 after : 336.131042 327.711273 TRUE 6.202159
|
|
[13:21:10.422] 110-12/352 :
|
|
befor : 318.000000 341.000000 after : 306.965149 332.274780 TRUE 197.897398
|
|
[13:21:10.422] 110-13/352 :
|
|
befor : 314.000000 364.000000 after : 301.002899 363.900055 TRUE 168.934619
|
|
[13:21:10.422] 110-14/352 :
|
|
befor : 374.000000 418.000000 after : 375.250885 416.627960 FALSE 3.447207
|
|
befor : 371.000000 413.000000 after : 363.412476 420.042999 FALSE 107.174365
|
|
[13:21:10.422] 110-15/352 :
|
|
befor : 174.000000 444.000000 after : 210.805984 413.287567 FALSE 2297.934027
|
|
befor : 174.000000 444.000000 after : 178.186783 446.094604 FALSE 21.916519
|
|
[13:21:10.422] 110-16/352 :
|
|
befor : 370.000000 448.000000 after : 360.441467 461.719055 TRUE 279.578023
|
|
[13:21:10.422] 110-17/352 :
|
|
befor : 410.000000 464.000000 after : 410.000000 464.000000 FALSE 0.000000
|
|
[13:21:10.422] After Reprojection Map nPoint:21 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:0.004375 ,z=0.002599,angle between two frames:0.004936
|
|
[13:21:10.422] n deleted obs = 0 n obs with reprojection error less than 0.5 px =11 error init =0.476688 error end=0.220825
|
|
[13:21:10.422] After pose optimization, distance between ekf and vo x:-0.177338 ,z=1.092003,angle between two frames:0.252817
|
|
[13:21:10.422] frame process finished the id is: 98 the obs is:11
|
|
[13:21:10.490] Odometry x=0.109624, y=0.426591, theta=-0.036583
|
|
[13:21:10.522] 111-1/352 :
|
|
befor : 304.000000 26.000000 after : 306.321289 21.232933 FALSE 28.113310
|
|
[13:21:10.522] 111-2/352 :
|
|
befor : 297.000000 39.000000 after : 296.884918 39.600666 TRUE 0.374044
|
|
[13:21:10.522] 111-3/352 :
|
|
befor : 324.000000 35.000000 after : 327.446960 34.813431 TRUE 11.916344
|
|
[13:21:10.522] 111-4/352 :
|
|
befor : 246.000000 118.000000 after : 258.388580 143.442932 TRUE 800.819718
|
|
[13:21:10.522] 111-5/352 :
|
|
befor : 204.000000 129.000000 after : 203.899246 128.950333 TRUE 0.012618
|
|
[13:21:10.522] 111-6/352 :
|
|
befor : 250.000000 121.000000 after : 236.698853 139.124847 FALSE 505.430617
|
|
[13:21:10.522] 111-7/352 :
|
|
befor : 257.000000 209.000000 after : 257.000000 209.000000 FALSE 0.000000
|
|
[13:21:10.522] 111-8/352 :
|
|
befor : 256.000000 268.000000 after : 220.899643 238.066925 TRUE 2128.024041
|
|
[13:21:10.522] 111-9/352 :
|
|
befor : 132.000000 288.000000 after : 132.126572 291.458374 TRUE 11.976371
|
|
[13:21:10.522] 111-10/352 :
|
|
befor : 236.000000 270.000000 after : 234.172318 273.678497 FALSE 16.871766
|
|
[13:21:10.522] 111-11/352 :
|
|
befor : 317.000000 341.000000 after : 330.564148 327.726715 TRUE 360.166202
|
|
[13:21:10.522] 111-12/352 :
|
|
befor : 36.000000 388.000000 after : 31.564556 386.304901 FALSE 22.546523
|
|
[13:21:10.522] 111-13/352 :
|
|
befor : 408.000000 364.000000 after : 397.829468 377.477325 TRUE 285.078027
|
|
[13:21:10.522] 111-14/352 :
|
|
befor : 266.000000 406.000000 after : 266.297913 408.395142 TRUE 5.825455
|
|
[13:21:10.522] 111-15/352 :
|
|
befor : 270.000000 413.000000 after : 270.606354 412.616302 TRUE 0.514889
|
|
[13:21:10.522] 111-16/352 :
|
|
befor : 300.000000 396.000000 after : 297.693024 398.861969 FALSE 13.513006
|
|
befor : 315.000000 391.000000 after : 314.983063 391.727417 TRUE 0.529422
|
|
[13:21:10.522] 111-17/352 :
|
|
befor : 223.000000 430.000000 after : 221.968857 432.281799 FALSE 6.269864
|
|
[13:21:10.522] 111-18/352 :
|
|
befor : 60.000000 458.000000 after : 60.783501 457.888824 TRUE 0.626233
|
|
[13:21:10.522] 111-19/352 :
|
|
befor : 408.000000 466.000000 after : 406.802612 467.393066 TRUE 3.374371
|
|
[13:21:10.522] After Reprojection Map nPoint:22 ,nCell:20 ,nMatches:13 ,distance between ekf and vo x:0.004882 ,z=0.001513,angle between two frames:0.004904
|
|
[13:21:10.522] n deleted obs = 3 n obs with reprojection error less than 0.5 px =10 error init =0.447777 error end=0.399013
|
|
[13:21:10.522] After pose optimization, distance between ekf and vo x:0.111430 ,z=0.528258,angle between two frames:0.006263
|
|
[13:21:10.522] frame process finished the id is: 98 the obs is:11
|
|
[13:21:10.589] Odometry x=0.109742, y=0.432449, theta=-0.035045
|
|
[13:21:10.607] 112-1/352 :
|
|
befor : 130.000000 12.000000 after : 125.810623 13.177367 TRUE 18.937072
|
|
[13:21:10.607] 112-2/352 :
|
|
befor : 317.000000 7.000000 after : 319.241272 1.377171 FALSE 36.639506
|
|
[13:21:10.607] 112-3/352 :
|
|
befor : 280.000000 56.000000 after : 280.588165 55.725029 TRUE 0.421547
|
|
[13:21:10.607] 112-4/352 :
|
|
befor : 322.000000 35.000000 after : 324.422760 31.496101 FALSE 18.147072
|
|
befor : 322.000000 35.000000 after : 325.524933 34.187183 TRUE 13.085823
|
|
[13:21:10.607] 112-5/352 :
|
|
befor : 200.000000 64.000000 after : 191.665024 58.902210 FALSE 95.459289
|
|
[13:21:10.607] 112-6/352 :
|
|
befor : 236.000000 116.000000 after : 236.532990 116.039574 FALSE 0.285644
|
|
befor : 236.000000 112.000000 after : 235.824905 111.716324 TRUE 0.111130
|
|
[13:21:10.607] 112-7/352 :
|
|
befor : 249.000000 119.000000 after : 249.433395 119.182922 TRUE 0.221292
|
|
[13:21:10.607] 112-8/352 :
|
|
befor : 252.000000 124.000000 after : 252.120834 123.918037 TRUE 0.021319
|
|
[13:21:10.607] 112-9/352 :
|
|
befor : 259.000000 205.000000 after : 265.217438 199.374680 TRUE 70.300762
|
|
[13:21:10.607] 112-10/352 :
|
|
befor : 233.000000 269.000000 after : 236.423721 272.452118 FALSE 23.638986
|
|
[13:21:10.607] 112-11/352 :
|
|
befor : 307.000000 318.000000 after : 307.164734 316.892487 TRUE 1.253723
|
|
[13:21:10.607] 112-12/352 :
|
|
befor : 404.000000 368.000000 after : 418.379913 379.005859 TRUE 327.910848
|
|
[13:21:10.607] 112-13/352 :
|
|
befor : 264.000000 406.000000 after : 263.064880 406.470459 FALSE 1.095780
|
|
[13:21:10.607] 112-14/352 :
|
|
befor : 50.000000 454.000000 after : 40.248714 456.532318 FALSE 101.500205
|
|
[13:21:10.607] After Reprojection Map nPoint:19 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:0.000104 ,z=0.000219,angle between two frames:0.000151
|
|
[13:21:10.607] n deleted obs = 1 n obs with reprojection error less than 0.5 px =8 error init =0.372025 error end=0.270747
|
|
[13:21:10.607] After pose optimization, distance between ekf and vo x:-0.029138 ,z=0.467021,angle between two frames:0.352902
|
|
[13:21:10.607] frame process finished the id is: 98 the obs is:11
|
|
[13:21:10.688] Odometry x=0.109457, y=0.438494, theta=-0.031800
|
|
[13:21:10.715] 113-1/352 :
|
|
befor : 308.000000 14.000000 after : 307.566193 14.719355 FALSE 0.705660
|
|
befor : 308.000000 14.000000 after : 309.516998 13.677961 TRUE 2.404993
|
|
[13:21:10.715] 113-2/352 :
|
|
befor : 318.000000 40.000000 after : 322.448578 39.571754 TRUE 19.973239
|
|
[13:21:10.715] 113-3/352 :
|
|
befor : 276.000000 67.000000 after : 279.030853 63.625557 FALSE 20.572937
|
|
[13:21:10.715] 113-4/352 :
|
|
befor : 100.000000 100.000000 after : 100.487984 100.135536 TRUE 0.256498
|
|
[13:21:10.715] 113-5/352 :
|
|
befor : 238.000000 113.000000 after : 221.666504 136.228699 FALSE 806.355539
|
|
[13:21:10.715] 113-6/352 :
|
|
befor : 252.000000 123.000000 after : 252.298187 123.151886 TRUE 0.111985
|
|
[13:21:10.715] 113-7/352 :
|
|
befor : 259.000000 205.000000 after : 241.633850 185.889450 TRUE 666.796281
|
|
[13:21:10.715] 113-8/352 :
|
|
befor : 252.000000 220.000000 after : 252.169601 219.958771 TRUE 0.030464
|
|
[13:21:10.715] 113-9/352 :
|
|
befor : 188.000000 260.000000 after : 181.299423 258.191162 TRUE 48.169624
|
|
[13:21:10.715] 113-10/352 :
|
|
befor : 240.000000 276.000000 after : 206.039429 310.702026 FALSE 2357.551036
|
|
[13:21:10.715] 113-11/352 :
|
|
befor : 369.000000 373.000000 after : 369.000000 373.000000 FALSE 0.000000
|
|
befor : 368.000000 372.000000 after : 367.204620 372.184387 TRUE 0.666627
|
|
[13:21:10.715] 113-12/352 :
|
|
befor : 404.000000 368.000000 after : 409.082855 369.729309 TRUE 28.825927
|
|
[13:21:10.715] 113-13/352 :
|
|
befor : 316.000000 396.000000 after : 323.670013 406.946564 TRUE 178.656363
|
|
[13:21:10.715] 113-14/352 :
|
|
befor : 350.000000 413.000000 after : 349.333191 412.254669 TRUE 1.000152
|
|
[13:21:10.715] 113-15/352 :
|
|
befor : 364.000000 414.000000 after : 362.363708 413.454498 TRUE 2.975022
|
|
[13:21:10.715] 113-16/352 :
|
|
befor : 48.000000 428.000000 after : 44.866066 432.095001 FALSE 26.590577
|
|
[13:21:10.715] 113-17/352 :
|
|
befor : 154.000000 444.000000 after : 155.875732 443.564819 TRUE 3.707754
|
|
[13:21:10.715] After Reprojection Map nPoint:22 ,nCell:19 ,nMatches:13 ,distance between ekf and vo x:0.001028 ,z=0.000205,angle between two frames:0.000893
|
|
[13:21:10.715] n deleted obs = 3 n obs with reprojection error less than 0.5 px =10 error init =0.405563 error end=0.309528
|
|
[13:21:10.715] After pose optimization, distance between ekf and vo x:0.096127 ,z=-0.385167,angle between two frames:0.017259
|
|
[13:21:10.715] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13
|
|
[13:21:10.715] Choose frame as a key frame Scene Depth mean:0.259262 ,depth min:-0.616945
|
|
[13:21:10.715] frame process finished the id is: 113 the obs is:13
|
|
[13:21:10.790] Odometry x=0.200431, y=0.075216, theta=-0.047614
|
|
[13:21:10.807] 114-1/352 :
|
|
befor : 301.000000 22.000000 after : 300.966278 21.647102 TRUE 0.125674
|
|
[13:21:10.807] 114-2/352 :
|
|
befor : 312.000000 42.000000 after : 313.272156 40.258236 TRUE 4.652122
|
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[13:21:10.807] 114-3/352 :
|
|
befor : 192.000000 60.000000 after : 192.282715 60.259449 TRUE 0.147241
|
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[13:21:10.807] 114-4/352 :
|
|
befor : 238.000000 116.000000 after : 237.909119 116.559334 FALSE 0.321114
|
|
befor : 232.000000 112.000000 after : 228.872284 117.661186 FALSE 41.831637
|
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[13:21:10.807] 114-5/352 :
|
|
befor : 249.000000 121.000000 after : 248.852020 121.021095 TRUE 0.022343
|
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[13:21:10.807] 114-6/352 :
|
|
befor : 249.000000 205.000000 after : 251.305054 203.304993 TRUE 8.186322
|
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[13:21:10.807] 114-7/352 :
|
|
befor : 184.000000 232.000000 after : 186.154846 228.212891 FALSE 18.985560
|
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[13:21:10.807] 114-8/352 :
|
|
befor : 248.000000 220.000000 after : 248.508118 220.278046 TRUE 0.335493
|
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[13:21:10.807] 114-9/352 :
|
|
befor : 297.000000 326.000000 after : 296.660461 325.798798 TRUE 0.155769
|
|
[13:21:10.807] 114-10/352 :
|
|
befor : 301.000000 314.000000 after : 317.147705 302.684937 TRUE 388.779041
|
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[13:21:10.807] 114-11/352 :
|
|
befor : 306.000000 339.000000 after : 307.796204 336.449280 TRUE 9.732521
|
|
[13:21:10.807] 114-12/352 :
|
|
befor : 220.000000 412.000000 after : 221.282104 415.146973 FALSE 11.547229
|
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[13:21:10.807] 114-13/352 :
|
|
befor : 352.000000 407.000000 after : 352.000000 407.000000 FALSE 0.000000
|
|
[13:21:10.807] 114-14/352 :
|
|
befor : 208.000000 426.000000 after : 207.644440 428.844452 TRUE 8.217330
|
|
[13:21:10.807] After Reprojection Map nPoint:20 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:-0.000086 ,z=0.000123,angle between two frames:0.000024
|
|
[13:21:10.807] n deleted obs = 0 n obs with reprojection error less than 0.5 px =10 error init =0.299717 error end=0.299717
|
|
[13:21:10.807] After pose optimization, distance between ekf and vo x:-0.000086 ,z=0.000123,angle between two frames:0.000024
|
|
[13:21:10.807] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
|
|
[13:21:10.807] frame process finished the id is: 114 the obs is:10
|
|
[13:21:10.887] Odometry x=0.200050, y=0.061710, theta=-0.047542
|
|
[13:21:10.916] 115-1/352 :
|
|
befor : 301.000000 16.000000 after : 301.456543 16.162394 TRUE 0.234803
|
|
[13:21:10.916] 115-2/352 :
|
|
befor : 278.000000 50.000000 after : 277.474792 51.442741 FALSE 2.357346
|
|
befor : 278.000000 48.000000 after : 277.900574 51.014374 FALSE 9.096335
|
|
[13:21:10.916] 115-3/352 :
|
|
befor : 192.000000 60.000000 after : 192.262283 60.248554 TRUE 0.130572
|
|
[13:21:10.916] 115-4/352 :
|
|
befor : 243.000000 114.000000 after : 242.951950 114.127274 TRUE 0.018507
|
|
[13:21:10.917] 115-5/352 :
|
|
befor : 244.000000 120.000000 after : 244.923096 124.996689 FALSE 25.819005
|
|
[13:21:10.917] 115-6/352 :
|
|
befor : 250.000000 204.000000 after : 252.820663 199.567017 TRUE 27.607484
|
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[13:21:10.917] 115-7/352 :
|
|
befor : 204.000000 268.000000 after : 204.375473 268.225677 TRUE 0.191910
|
|
[13:21:10.917] 115-8/352 :
|
|
befor : 244.000000 264.000000 after : 243.560684 263.586456 TRUE 0.364017
|
|
[13:21:10.917] 115-9/352 :
|
|
befor : 226.000000 296.000000 after : 227.189590 295.326202 FALSE 1.869129
|
|
befor : 226.000000 296.000000 after : 224.132095 300.089508 FALSE 20.213144
|
|
[13:21:10.917] 115-10/352 :
|
|
befor : 302.000000 316.000000 after : 306.123474 323.176392 FALSE 68.503635
|
|
[13:21:10.917] 115-11/352 :
|
|
befor : 402.000000 368.000000 after : 402.774811 370.040039 FALSE 4.762091
|
|
[13:21:10.917] 115-12/352 :
|
|
befor : 361.000000 416.000000 after : 361.859253 416.320435 TRUE 0.840994
|
|
[13:21:10.917] 115-13/352 :
|
|
befor : 142.000000 442.000000 after : 160.567596 428.101532 TRUE 537.923051
|
|
[13:21:10.917] After Reprojection Map nPoint:20 ,nCell:15 ,nMatches:8 ,distance between ekf and vo x:0.000036 ,z=0.001463,angle between two frames:0.000073
|
|
[13:21:10.917] n deleted obs = 3 n obs with reprojection error less than 0.5 px =5 error init =0.455936 error end=0.449159
|
|
[13:21:10.917] After pose optimization, distance between ekf and vo x:-0.008367 ,z=0.037217,angle between two frames:0.005114
|
|
[13:21:10.917] frame process finished the id is: 114 the obs is:10
|
|
[13:21:10.991] Odometry x=0.200367, y=0.070480, theta=-0.055993
|
|
[13:21:11.013] 116-1/352 :
|
|
befor : 308.000000 8.000000 after : 308.484589 8.012428 TRUE 0.234981
|
|
[13:21:11.013] 116-2/352 :
|
|
befor : 290.000000 32.000000 after : 290.604919 34.279034 TRUE 5.559922
|
|
[13:21:11.013] 116-3/352 :
|
|
befor : 243.000000 116.000000 after : 242.869934 116.139549 TRUE 0.036391
|
|
[13:21:11.013] 116-4/352 :
|
|
befor : 196.000000 120.000000 after : 195.648636 120.084648 TRUE 0.130622
|
|
[13:21:11.013] 116-5/352 :
|
|
befor : 243.000000 199.000000 after : 244.050873 200.600006 TRUE 3.664353
|
|
[13:21:11.013] 116-6/352 :
|
|
befor : 184.000000 256.000000 after : 184.167770 256.233948 TRUE 0.082878
|
|
[13:21:11.013] 116-7/352 :
|
|
befor : 225.000000 265.000000 after : 229.838287 263.246826 FALSE 26.482643
|
|
befor : 224.000000 266.000000 after : 224.087341 268.526398 TRUE 6.390314
|
|
[13:21:11.013] 116-8/352 :
|
|
befor : 299.000000 315.000000 after : 319.458832 297.621552 TRUE 720.574270
|
|
[13:21:11.013] 116-9/352 :
|
|
befor : 300.000000 325.000000 after : 300.756897 325.329834 TRUE 0.681683
|
|
[13:21:11.013] 116-10/352 :
|
|
befor : 304.000000 336.000000 after : 300.393219 342.053925 FALSE 49.658872
|
|
befor : 305.000000 338.000000 after : 305.000000 338.000000 FALSE 0.000000
|
|
befor : 307.000000 336.000000 after : 306.775330 336.847076 TRUE 0.768015
|
|
[13:21:11.013] 116-11/352 :
|
|
befor : 92.000000 400.000000 after : 93.557793 401.724060 FALSE 5.399101
|
|
[13:21:11.013] 116-12/352 :
|
|
befor : 185.000000 418.000000 after : 184.834183 417.964691 TRUE 0.028742
|
|
[13:21:11.013] 116-13/352 :
|
|
befor : 288.000000 392.000000 after : 289.700073 395.883698 FALSE 17.973355
|
|
[13:21:11.013] 116-14/352 :
|
|
befor : 308.000000 396.000000 after : 308.626770 399.690857 FALSE 14.015266
|
|
[13:21:11.013] 116-15/352 :
|
|
befor : 351.000000 405.000000 after : 350.944305 405.763885 TRUE 0.586623
|
|
[13:21:11.013] After Reprojection Map nPoint:23 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000057 ,z=0.000640,angle between two frames:0.000005
|
|
[13:21:11.013] n deleted obs = 3 n obs with reprojection error less than 0.5 px =9 error init =0.345140 error end=0.345121
|
|
[13:21:11.013] After pose optimization, distance between ekf and vo x:-0.000890 ,z=0.004031,angle between two frames:0.000426
|
|
[13:21:11.013] frame process finished the id is: 114 the obs is:10
|
|
[13:21:11.090] Odometry x=0.204933, y=0.060705, theta=-0.034961
|
|
[13:21:11.110] 117-1/352 :
|
|
befor : 188.000000 56.000000 after : 188.231644 56.232620 TRUE 0.107771
|
|
[13:21:11.110] 117-2/352 :
|
|
befor : 274.000000 52.000000 after : 273.988037 53.939529 FALSE 3.761917
|
|
[13:21:11.110] 117-3/352 :
|
|
befor : 241.000000 111.000000 after : 240.852768 111.137032 TRUE 0.040455
|
|
[13:21:11.110] 117-4/352 :
|
|
befor : 172.000000 148.000000 after : 174.435959 150.061493 TRUE 10.183649
|
|
[13:21:11.110] 117-5/352 :
|
|
befor : 244.000000 120.000000 after : 243.089584 122.280365 FALSE 6.028921
|
|
[13:21:11.110] 117-6/352 :
|
|
befor : 249.000000 203.000000 after : 251.219681 202.696030 TRUE 5.019381
|
|
[13:21:11.110] 117-7/352 :
|
|
befor : 248.000000 216.000000 after : 248.301041 216.296356 TRUE 0.178452
|
|
[13:21:11.110] 117-8/352 :
|
|
befor : 184.000000 256.000000 after : 184.693832 257.964203 FALSE 4.339496
|
|
befor : 184.000000 256.000000 after : 185.112411 252.277634 TRUE 15.093470
|
|
[13:21:11.110] 117-9/352 :
|
|
befor : 227.000000 265.000000 after : 223.811523 272.311951 FALSE 63.631006
|
|
[13:21:11.110] 117-10/352 :
|
|
befor : 323.000000 247.000000 after : 318.426361 255.712692 TRUE 96.829179
|
|
[13:21:11.110] 117-11/352 :
|
|
befor : 303.000000 320.000000 after : 305.828583 327.542725 TRUE 64.893575
|
|
[13:21:11.110] 117-12/352 :
|
|
befor : 320.000000 330.000000 after : 320.295532 330.096161 TRUE 0.096586
|
|
[13:21:11.110] 117-13/352 :
|
|
befor : 365.000000 373.000000 after : 359.557556 379.667450 TRUE 74.075084
|
|
[13:21:11.110] 117-14/352 :
|
|
befor : 402.000000 368.000000 after : 402.606171 369.971039 FALSE 4.252437
|
|
befor : 400.000000 364.000000 after : 401.315796 369.422791 TRUE 31.137976
|
|
[13:21:11.111] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000072 ,z=0.000135,angle between two frames:0.000022
|
|
[13:21:11.111] n deleted obs = 3 n obs with reprojection error less than 0.5 px =8 error init =0.413107 error end=0.407309
|
|
[13:21:11.111] After pose optimization, distance between ekf and vo x:-0.022287 ,z=0.059884,angle between two frames:0.016297
|
|
[13:21:11.111] frame process finished the id is: 114 the obs is:10
|
|
[13:21:11.192] Odometry x=0.206752, y=0.068506, theta=-0.042101
|
|
[13:21:11.236] 118-1/352 :
|
|
befor : 294.000000 28.000000 after : 293.506927 28.120100 TRUE 0.257545
|
|
[13:21:11.236] 118-2/352 :
|
|
befor : 314.000000 35.000000 after : 324.292328 26.235598 FALSE 182.746762
|
|
[13:21:11.236] 118-3/352 :
|
|
befor : 102.000000 66.000000 after : 97.918411 70.670082 TRUE 38.469033
|
|
[13:21:11.236] 118-4/352 :
|
|
befor : 228.000000 108.000000 after : 231.600082 117.618050 FALSE 105.467472
|
|
[13:21:11.236] 118-5/352 :
|
|
befor : 248.000000 118.000000 after : 247.734116 118.034668 TRUE 0.071896
|
|
[13:21:11.236] 118-6/352 :
|
|
befor : 244.000000 120.000000 after : 244.348129 120.278175 TRUE 0.198576
|
|
[13:21:11.236] 118-7/352 :
|
|
befor : 172.000000 152.000000 after : 171.371353 152.738541 TRUE 0.940639
|
|
[13:21:11.236] 118-8/352 :
|
|
befor : 248.000000 209.000000 after : 248.000000 209.000000 FALSE 0.000000
|
|
[13:21:11.236] 118-9/352 :
|
|
befor : 248.000000 216.000000 after : 254.588974 221.552536 FALSE 74.245235
|
|
befor : 248.000000 216.000000 after : 242.706589 222.573822 FALSE 71.235339
|
|
befor : 251.000000 218.000000 after : 250.796997 218.871262 TRUE 0.800307
|
|
[13:21:11.236] 118-10/352 :
|
|
befor : 244.000000 260.000000 after : 244.671036 260.629242 TRUE 0.846234
|
|
[13:21:11.236] 118-11/352 :
|
|
befor : 297.000000 325.000000 after : 294.618835 325.107697 TRUE 5.681543
|
|
[13:21:11.236] 118-12/352 :
|
|
befor : 301.000000 314.000000 after : 299.625122 314.959686 TRUE 2.811287
|
|
[13:21:11.236] 118-13/352 :
|
|
befor : 306.000000 338.000000 after : 306.033752 338.881378 TRUE 0.777967
|
|
[13:21:11.236] 118-14/352 :
|
|
befor : 404.000000 360.000000 after : 410.370392 347.270660 FALSE 202.617979
|
|
[13:21:11.236] 118-15/352 :
|
|
befor : 308.000000 392.000000 after : 302.457489 402.324951 FALSE 137.324045
|
|
[13:21:11.236] 118-16/352 :
|
|
befor : 354.000000 406.000000 after : 353.426270 407.370514 TRUE 2.207475
|
|
[13:21:11.236] 118-17/352 :
|
|
befor : 360.000000 412.000000 after : 358.996307 413.267761 TRUE 2.614617
|
|
[13:21:11.236] 118-18/352 :
|
|
befor : 344.000000 432.000000 after : 343.711609 436.561096 TRUE 20.886768
|
|
[13:21:11.236] 118-19/352 :
|
|
befor : 126.000000 452.000000 after : 127.142349 456.707977 TRUE 23.470012
|
|
[13:21:11.236] After Reprojection Map nPoint:24 ,nCell:21 ,nMatches:14 ,distance between ekf and vo x:-0.000570 ,z=0.001511,angle between two frames:0.000198
|
|
[13:21:11.236] n deleted obs = 6 n obs with reprojection error less than 0.5 px =8 error init =0.476334 error end=0.468655
|
|
[13:21:11.236] After pose optimization, distance between ekf and vo x:-0.033905 ,z=0.108369,angle between two frames:0.014108
|
|
[13:21:11.236] frame process finished the id is: 114 the obs is:10
|
|
[13:21:11.291] Odometry x=0.207255, y=0.074443, theta=-0.031633
|
|
[13:21:11.310] 119-1/352 :
|
|
befor : 192.000000 52.000000 after : 192.240845 52.248634 TRUE 0.119825
|
|
[13:21:11.310] 119-2/352 :
|
|
befor : 298.000000 60.000000 after : 315.285522 45.430252 FALSE 511.066841
|
|
[13:21:11.310] 119-3/352 :
|
|
befor : 238.000000 110.000000 after : 239.748093 115.644493 FALSE 34.916130
|
|
[13:21:11.310] 119-4/352 :
|
|
befor : 258.000000 125.000000 after : 257.544312 125.176353 TRUE 0.238753
|
|
[13:21:11.310] 119-5/352 :
|
|
befor : 248.000000 216.000000 after : 246.270264 212.560913 FALSE 14.819307
|
|
[13:21:11.310] 119-6/352 :
|
|
befor : 244.000000 264.000000 after : 244.539322 264.499146 TRUE 0.540014
|
|
[13:21:11.310] 119-7/352 :
|
|
befor : 299.000000 314.000000 after : 299.000000 314.000000 FALSE 0.000000
|
|
[13:21:11.310] 119-8/352 :
|
|
befor : 304.000000 315.000000 after : 302.834625 315.715607 TRUE 1.870191
|
|
[13:21:11.310] 119-9/352 :
|
|
befor : 568.000000 328.000000 after : 570.194519 331.951447 FALSE 20.429844
|
|
[13:21:11.310] 119-10/352 :
|
|
befor : 292.000000 372.000000 after : 298.710205 364.059601 TRUE 108.076791
|
|
[13:21:11.310] 119-11/352 :
|
|
befor : 304.000000 364.000000 after : 311.819885 359.951843 TRUE 77.538178
|
|
[13:21:11.310] 119-12/352 :
|
|
befor : 404.000000 364.000000 after : 409.153625 359.703705 FALSE 45.018008
|
|
[13:21:11.310] 119-13/352 :
|
|
befor : 88.000000 404.000000 after : 88.738991 405.162537 FALSE 1.897599
|
|
[13:21:11.310] 119-14/352 :
|
|
befor : 222.000000 417.000000 after : 217.979340 417.634369 TRUE 16.568134
|
|
[13:21:11.310] 119-15/352 :
|
|
befor : 308.000000 391.000000 after : 312.317078 383.842133 FALSE 69.872225
|
|
[13:21:11.310] 119-16/352 :
|
|
befor : 364.000000 412.000000 after : 356.842316 419.592255 TRUE 108.874775
|
|
[13:21:11.310] 119-17/352 :
|
|
befor : 126.000000 446.000000 after : 127.519783 449.041504 FALSE 11.560486
|
|
[13:21:11.310] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:8 ,distance between ekf and vo x:-0.000062 ,z=0.000130,angle between two frames:0.000019
|
|
[13:21:11.311] n deleted obs = 1 n obs with reprojection error less than 0.5 px =7 error init =0.375355 error end=0.329511
|
|
[13:21:11.311] After pose optimization, distance between ekf and vo x:-0.106819 ,z=0.276016,angle between two frames:0.012261
|
|
[13:21:11.311] frame process finished the id is: 114 the obs is:10
|
|
[13:21:11.388] Odometry x=0.208419, y=0.082058, theta=-0.044080
|
|
[13:21:11.409] 120-1/352 :
|
|
befor : 307.000000 8.000000 after : 307.402649 7.743535 TRUE 0.227901
|
|
[13:21:11.409] 120-2/352 :
|
|
befor : 276.000000 48.000000 after : 276.302216 47.996418 TRUE 0.091347
|
|
[13:21:11.409] 120-3/352 :
|
|
befor : 236.000000 104.000000 after : 236.313477 104.282013 TRUE 0.177799
|
|
[13:21:11.409] 120-4/352 :
|
|
befor : 252.000000 120.000000 after : 253.836166 124.765289 FALSE 26.079489
|
|
[13:21:11.409] 120-5/352 :
|
|
befor : 256.000000 196.000000 after : 256.317108 196.409836 TRUE 0.268523
|
|
[13:21:11.409] 120-6/352 :
|
|
befor : 253.000000 213.000000 after : 251.579941 217.121979 TRUE 19.007277
|
|
[13:21:11.409] 120-7/352 :
|
|
befor : 248.000000 318.000000 after : 249.383438 321.054260 TRUE 11.242407
|
|
[13:21:11.409] 120-8/352 :
|
|
befor : 304.000000 311.000000 after : 304.322632 310.873993 TRUE 0.119969
|
|
[13:21:11.409] 120-9/352 :
|
|
befor : 310.000000 332.000000 after : 311.550354 331.431335 TRUE 2.726977
|
|
[13:21:11.409] 120-10/352 :
|
|
befor : 283.000000 385.000000 after : 283.551514 385.316071 TRUE 0.404068
|
|
[13:21:11.409] 120-11/352 :
|
|
befor : 404.000000 360.000000 after : 414.101501 344.540222 FALSE 341.045062
|
|
befor : 408.000000 362.000000 after : 414.434723 357.292480 TRUE 63.566399
|
|
[13:21:11.409] 120-12/352 :
|
|
befor : 88.000000 400.000000 after : 88.426529 400.892822 TRUE 0.979059
|
|
[13:21:11.410] 120-13/352 :
|
|
befor : 316.000000 392.000000 after : 318.811829 396.234009 FALSE 25.833211
|
|
[13:21:11.410] 120-14/352 :
|
|
befor : 366.000000 412.000000 after : 366.678497 412.316071 TRUE 0.560259
|
|
[13:21:11.410] After Reprojection Map nPoint:23 ,nCell:15 ,nMatches:12 ,distance between ekf and vo x:-0.000095 ,z=0.000110,angle between two frames:0.000036
|
|
[13:21:11.410] n deleted obs = 3 n obs with reprojection error less than 0.5 px =9 error init =0.457434 error end=0.454932
|
|
[13:21:11.410] After pose optimization, distance between ekf and vo x:-0.017545 ,z=0.056840,angle between two frames:0.010633
|
|
[13:21:11.410] frame process finished the id is: 114 the obs is:10
|
|
[13:21:11.490] Odometry x=0.210424, y=0.094799, theta=-0.033382
|
|
[13:21:11.514] 121-1/352 :
|
|
befor : 325.000000 24.000000 after : 326.857635 23.769236 TRUE 3.504062
|
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[13:21:11.514] 121-2/352 :
|
|
befor : 196.000000 56.000000 after : 196.207047 55.975792 TRUE 0.043454
|
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[13:21:11.514] 121-3/352 :
|
|
befor : 296.000000 31.000000 after : 297.135284 29.393776 FALSE 3.868826
|
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[13:21:11.514] 121-4/352 :
|
|
befor : 248.000000 111.000000 after : 248.338531 111.274803 TRUE 0.190120
|
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[13:21:11.514] 121-5/352 :
|
|
befor : 256.000000 120.000000 after : 257.336426 129.336914 FALSE 88.963998
|
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[13:21:11.514] 121-6/352 :
|
|
befor : 254.000000 199.000000 after : 255.850342 199.745972 TRUE 3.980239
|
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[13:21:11.514] 121-7/352 :
|
|
befor : 257.000000 215.000000 after : 257.464478 217.179871 TRUE 4.967575
|
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[13:21:11.514] 121-8/352 :
|
|
befor : 248.000000 268.000000 after : 250.600037 261.517578 TRUE 48.781984
|
|
[13:21:11.514] 121-9/352 :
|
|
befor : 310.000000 319.000000 after : 312.012085 319.819366 TRUE 4.719847
|
|
[13:21:11.514] 121-10/352 :
|
|
befor : 315.000000 337.000000 after : 312.968231 336.653229 TRUE 4.248335
|
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[13:21:11.515] 121-11/352 :
|
|
befor : 311.000000 388.000000 after : 311.000000 388.000000 FALSE 0.000000
|
|
[13:21:11.515] 121-12/352 :
|
|
befor : 412.000000 366.000000 after : 412.470703 367.045593 FALSE 1.314827
|
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[13:21:11.515] 121-13/352 :
|
|
befor : 296.000000 396.000000 after : 293.081757 401.490082 FALSE 38.657143
|
|
[13:21:11.515] 121-14/352 :
|
|
befor : 181.000000 420.000000 after : 180.820786 419.885956 TRUE 0.045124
|
|
[13:21:11.515] After Reprojection Map nPoint:23 ,nCell:14 ,nMatches:9 ,distance between ekf and vo x:-0.000224 ,z=0.000987,angle between two frames:0.000035
|
|
[13:21:11.515] n deleted obs = 3 n obs with reprojection error less than 0.5 px =6 error init =0.365445 error end=0.365445
|
|
[13:21:11.515] After pose optimization, distance between ekf and vo x:-0.000224 ,z=0.000987,angle between two frames:0.000035
|
|
[13:21:11.515] frame process finished the id is: 114 the obs is:10
|
|
[13:21:11.588] Odometry x=0.211071, y=0.102200, theta=-0.039300
|
|
[13:21:11.610] 122-1/352 :
|
|
befor : 303.000000 19.000000 after : 303.725708 16.977758 TRUE 4.616113
|
|
[13:21:11.610] 122-2/352 :
|
|
befor : 111.000000 52.000000 after : 110.377312 53.633003 FALSE 3.054440
|
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[13:21:11.610] 122-3/352 :
|
|
befor : 204.000000 56.000000 after : 204.214020 56.301289 TRUE 0.136579
|
|
[13:21:11.610] 122-4/352 :
|
|
befor : 257.000000 196.000000 after : 260.141815 197.195953 TRUE 11.301307
|
|
[13:21:11.610] 122-5/352 :
|
|
befor : 258.000000 235.000000 after : 257.975311 235.053696 TRUE 0.003493
|
|
[13:21:11.610] 122-6/352 :
|
|
befor : 212.000000 264.000000 after : 211.948578 265.159668 TRUE 1.347474
|
|
[13:21:11.610] 122-7/352 :
|
|
befor : 308.000000 320.000000 after : 305.628113 324.200195 TRUE 23.267490
|
|
[13:21:11.610] 122-8/352 :
|
|
befor : 334.000000 324.000000 after : 334.435303 323.783020 TRUE 0.236569
|
|
[13:21:11.611] 122-9/352 :
|
|
befor : 319.000000 334.000000 after : 318.759583 334.136047 TRUE 0.076309
|
|
[13:21:11.611] 122-10/352 :
|
|
befor : 416.000000 356.000000 after : 412.681702 348.850677 FALSE 62.123916
|
|
[13:21:11.611] 122-11/352 :
|
|
befor : 414.000000 362.000000 after : 422.312866 347.372711 FALSE 283.061323
|
|
befor : 416.000000 360.000000 after : 415.526245 362.540100 TRUE 6.676552
|
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[13:21:11.611] 122-12/352 :
|
|
befor : 374.000000 408.000000 after : 388.777405 389.175140 TRUE 572.747032
|
|
[13:21:11.611] 122-13/352 :
|
|
befor : 396.000000 438.000000 after : 399.229492 440.934753 FALSE 19.042397
|
|
befor : 396.000000 438.000000 after : 396.739166 438.327759 TRUE 0.653793
|
|
[13:21:11.611] 122-14/352 :
|
|
befor : 112.000000 460.000000 after : 112.318848 459.960968 TRUE 0.103187
|
|
[13:21:11.611] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:12 ,distance between ekf and vo x:-0.000076 ,z=0.000157,angle between two frames:0.000024
|
|
[13:21:11.611] n deleted obs = 4 n obs with reprojection error less than 0.5 px =8 error init =0.481706 error end=0.477743
|
|
[13:21:11.611] After pose optimization, distance between ekf and vo x:-0.030448 ,z=0.073653,angle between two frames:0.011665
|
|
[13:21:11.611] frame process finished the id is: 114 the obs is:10
|
|
[13:21:11.690] Odometry x=0.211085, y=0.109327, theta=-0.061299
|
|
[13:21:11.713] 123-1/352 :
|
|
befor : 312.000000 10.000000 after : 311.224762 10.187119 TRUE 0.636008
|
|
[13:21:11.713] 123-2/352 :
|
|
befor : 110.000000 60.000000 after : 110.075600 60.288658 TRUE 0.089039
|
|
[13:21:11.713] 123-3/352 :
|
|
befor : 256.000000 116.000000 after : 256.175140 125.019356 FALSE 81.379453
|
|
[13:21:11.713] 123-4/352 :
|
|
befor : 264.000000 122.000000 after : 259.992096 125.794952 FALSE 30.464959
|
|
befor : 256.000000 120.000000 after : 255.911499 120.181190 FALSE 0.040662
|
|
[13:21:11.713] 123-5/352 :
|
|
befor : 259.000000 198.000000 after : 263.062836 199.635391 TRUE 19.181138
|
|
[13:21:11.713] 123-6/352 :
|
|
befor : 310.000000 310.000000 after : 305.134186 316.196686 FALSE 62.075063
|
|
[13:21:11.713] 123-7/352 :
|
|
befor : 334.000000 324.000000 after : 334.371094 324.415710 TRUE 0.310526
|
|
[13:21:11.713] 123-8/352 :
|
|
befor : 294.000000 387.000000 after : 293.733917 386.887238 TRUE 0.083515
|
|
[13:21:11.713] 123-9/352 :
|
|
befor : 308.000000 368.000000 after : 309.271149 366.335785 TRUE 4.385431
|
|
[13:21:11.713] 123-10/352 :
|
|
befor : 420.000000 364.000000 after : 423.811859 362.413025 TRUE 17.048760
|
|
[13:21:11.713] 123-11/352 :
|
|
befor : 76.000000 400.000000 after : 76.721848 402.910828 FALSE 8.993981
|
|
[13:21:11.713] 123-12/352 :
|
|
befor : 216.000000 412.000000 after : 218.681427 414.597046 FALSE 13.934698
|
|
[13:21:11.713] 123-13/352 :
|
|
befor : 378.000000 414.000000 after : 384.615784 406.147491 TRUE 105.430484
|
|
[13:21:11.713] 123-14/352 :
|
|
befor : 106.000000 462.000000 after : 106.283722 461.957794 TRUE 0.082279
|
|
[13:21:11.713] After Reprojection Map nPoint:24 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000093 ,z=0.000572,angle between two frames:0.000027
|
|
[13:21:11.713] n deleted obs = 4 n obs with reprojection error less than 0.5 px =5 error init =0.468695 error end=0.450322
|
|
[13:21:11.713] After pose optimization, distance between ekf and vo x:0.047564 ,z=0.220120,angle between two frames:0.088524
|
|
[13:21:11.713] frame process finished the id is: 114 the obs is:10
|
|
[13:21:11.787] Odometry x=0.211327, y=0.114794, theta=-0.052952
|
|
[13:21:11.816] 124-1/352 :
|
|
befor : 206.000000 52.000000 after : 206.109512 52.162361 TRUE 0.038354
|
|
[13:21:11.816] 124-2/352 :
|
|
befor : 284.000000 46.000000 after : 284.163147 46.273682 TRUE 0.101519
|
|
[13:21:11.816] 124-3/352 :
|
|
befor : 116.000000 80.000000 after : 116.272827 80.003128 TRUE 0.074444
|
|
[13:21:11.816] 124-4/352 :
|
|
befor : 98.000000 94.000000 after : 93.417236 95.190788 FALSE 22.419700
|
|
[13:21:11.816] 124-5/352 :
|
|
befor : 266.000000 117.000000 after : 255.940109 107.161179 FALSE 198.003809
|
|
[13:21:11.816] 124-6/352 :
|
|
befor : 201.000000 145.000000 after : 202.762756 145.204956 TRUE 3.149317
|
|
[13:21:11.816] 124-7/352 :
|
|
befor : 264.000000 120.000000 after : 266.586639 125.127586 FALSE 32.982845
|
|
befor : 266.000000 120.000000 after : 265.007141 122.794205 FALSE 8.793349
|
|
[13:21:11.816] 124-8/352 :
|
|
befor : 318.000000 322.000000 after : 318.702881 322.020264 TRUE 0.494452
|
|
[13:21:11.816] 124-9/352 :
|
|
befor : 336.000000 324.000000 after : 333.932739 325.782043 TRUE 7.449246
|
|
[13:21:11.816] 124-10/352 :
|
|
befor : 316.000000 358.000000 after : 317.732666 355.066467 FALSE 11.607746
|
|
[13:21:11.816] 124-11/352 :
|
|
befor : 304.000000 368.000000 after : 304.524872 368.733948 TRUE 0.814170
|
|
[13:21:11.816] 124-12/352 :
|
|
befor : 349.000000 369.000000 after : 369.983032 351.104919 FALSE 760.521550
|
|
[13:21:11.816] 124-13/352 :
|
|
befor : 80.000000 404.000000 after : 72.775352 410.409668 TRUE 93.279375
|
|
[13:21:11.816] 124-14/352 :
|
|
befor : 216.000000 412.000000 after : 221.456726 407.187897 FALSE 52.932197
|
|
[13:21:11.816] 124-15/352 :
|
|
befor : 306.000000 394.000000 after : 306.940155 396.983643 FALSE 9.786015
|
|
[13:21:11.816] 124-16/352 :
|
|
befor : 376.000000 408.000000 after : 376.000000 408.000000 FALSE 0.000000
|
|
[13:21:11.816] 124-17/352 :
|
|
befor : 172.000000 420.000000 after : 172.844788 421.892090 TRUE 4.293670
|
|
[13:21:11.817] After Reprojection Map nPoint:21 ,nCell:18 ,nMatches:9 ,distance between ekf and vo x:0.000096 ,z=0.000583,angle between two frames:0.000105
|
|
[13:21:11.817] n deleted obs = 3 n obs with reprojection error less than 0.5 px =6 error init =0.485421 error end=0.471893
|
|
[13:21:11.817] After pose optimization, distance between ekf and vo x:-0.040468 ,z=0.032542,angle between two frames:0.016637
|
|
[13:21:11.817] frame process finished the id is: 114 the obs is:10
|
|
[13:21:11.892] Odometry x=0.205336, y=0.120571, theta=-0.066509
|
|
[13:21:11.913] 125-1/352 :
|
|
befor : 304.000000 18.000000 after : 303.903381 17.112099 TRUE 0.797704
|
|
[13:21:11.913] 125-2/352 :
|
|
befor : 280.000000 48.000000 after : 280.373535 48.010426 TRUE 0.139637
|
|
[13:21:11.913] 125-3/352 :
|
|
befor : 253.000000 111.000000 after : 253.365631 111.219574 TRUE 0.181899
|
|
[13:21:11.913] 125-4/352 :
|
|
befor : 258.000000 197.000000 after : 260.929382 198.301163 TRUE 10.274305
|
|
[13:21:11.913] 125-5/352 :
|
|
befor : 236.000000 296.000000 after : 252.647903 281.613953 TRUE 484.111048
|
|
[13:21:11.914] 125-6/352 :
|
|
befor : 335.000000 323.000000 after : 334.399658 322.972717 TRUE 0.361155
|
|
[13:21:11.914] 125-7/352 :
|
|
befor : 291.000000 387.000000 after : 309.092896 372.317688 TRUE 542.923154
|
|
[13:21:11.914] 125-8/352 :
|
|
befor : 57.000000 396.000000 after : 57.174316 397.306122 FALSE 1.736340
|
|
[13:21:11.914] 125-9/352 :
|
|
befor : 298.000000 394.000000 after : 302.751495 391.547516 FALSE 28.591387
|
|
[13:21:11.914] 125-10/352 :
|
|
befor : 300.000000 396.000000 after : 302.038452 397.899750 FALSE 7.764336
|
|
[13:21:11.914] 125-11/352 :
|
|
befor : 372.000000 408.000000 after : 379.831604 392.796570 FALSE 292.478310
|
|
befor : 374.000000 412.000000 after : 377.781799 404.997131 FALSE 63.342175
|
|
[13:21:11.914] 125-12/352 :
|
|
befor : 98.000000 448.000000 after : 104.159630 445.247681 FALSE 45.516301
|
|
[13:21:11.914] 125-13/352 :
|
|
befor : 368.000000 440.000000 after : 360.417969 452.479218 TRUE 213.218068
|
|
[13:21:11.914] After Reprojection Map nPoint:21 ,nCell:14 ,nMatches:8 ,distance between ekf and vo x:0.000015 ,z=0.000547,angle between two frames:0.000046
|
|
[13:21:11.914] n deleted obs = 2 n obs with reprojection error less than 0.5 px =6 error init =0.368042 error end=0.368042
|
|
[13:21:11.914] After pose optimization, distance between ekf and vo x:0.000015 ,z=0.000547,angle between two frames:0.000046
|
|
[13:21:11.914] frame process finished the id is: 114 the obs is:10
|
|
[13:21:11.989] Odometry x=0.205541, y=0.126893, theta=-0.048286
|
|
[13:21:12.017] 126-1/352 :
|
|
befor : 112.000000 80.000000 after : 113.691154 89.420807 TRUE 91.611606
|
|
[13:21:12.017] 126-2/352 :
|
|
befor : 104.000000 112.000000 after : 104.229530 111.973343 TRUE 0.053395
|
|
[13:21:12.017] 126-3/352 :
|
|
befor : 256.000000 116.000000 after : 256.265320 116.224930 TRUE 0.120988
|
|
[13:21:12.017] 126-4/352 :
|
|
befor : 257.000000 195.000000 after : 260.176727 196.229889 TRUE 11.604223
|
|
[13:21:12.017] 126-5/352 :
|
|
befor : 256.000000 212.000000 after : 257.729156 214.612350 TRUE 9.814357
|
|
[13:21:12.017] 126-6/352 :
|
|
befor : 212.000000 256.000000 after : 212.309952 256.507507 TRUE 0.353634
|
|
[13:21:12.017] 126-7/352 :
|
|
befor : 332.000000 320.000000 after : 329.514404 322.800262 TRUE 14.019656
|
|
[13:21:12.017] 126-8/352 :
|
|
befor : 416.000000 356.000000 after : 424.186554 344.315094 FALSE 203.556694
|
|
[13:21:12.017] 126-9/352 :
|
|
befor : 313.000000 385.000000 after : 313.347656 386.223083 FALSE 1.616798
|
|
befor : 313.000000 385.000000 after : 313.000000 385.000000 FALSE 0.000000
|
|
[13:21:12.017] 126-10/352 :
|
|
befor : 299.000000 395.000000 after : 300.846649 396.425751 TRUE 5.442878
|
|
[13:21:12.017] 126-11/352 :
|
|
befor : 328.000000 394.000000 after : 327.392639 395.970673 TRUE 4.252438
|
|
[13:21:12.017] 126-12/352 :
|
|
befor : 372.000000 406.000000 after : 372.659760 410.222107 TRUE 18.261470
|
|
[13:21:12.017] 126-13/352 :
|
|
befor : 186.000000 437.000000 after : 199.348694 428.193451 FALSE 255.742934
|
|
befor : 186.000000 437.000000 after : 185.432770 438.817169 FALSE 3.623854
|
|
[13:21:12.017] 126-14/352 :
|
|
befor : 368.000000 444.000000 after : 363.695526 445.118835 TRUE 19.780288
|
|
[13:21:12.017] 126-15/352 :
|
|
befor : 418.000000 470.000000 after : 418.751160 470.271179 TRUE 0.637779
|
|
[13:21:12.017] 126-16/352 :
|
|
befor : 554.000000 456.000000 after : 554.675781 456.396729 TRUE 0.614074
|
|
[13:21:12.017] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:13 ,distance between ekf and vo x:0.000084 ,z=0.000540,angle between two frames:0.000111
|
|
[13:21:12.017] n deleted obs = 5 n obs with reprojection error less than 0.5 px =8 error init =0.546599 error end=0.546599
|
|
[13:21:12.017] After pose optimization, distance between ekf and vo x:0.000084 ,z=0.000540,angle between two frames:0.000111
|
|
[13:21:12.017] frame process finished the id is: 114 the obs is:10
|
|
[13:21:12.092] Odometry x=0.205411, y=0.132236, theta=-0.049719
|
|
[13:21:12.110] 127-1/352 :
|
|
befor : 324.000000 23.000000 after : 330.634216 18.836361 TRUE 61.348716
|
|
[13:21:12.110] 127-2/352 :
|
|
befor : 202.000000 58.000000 after : 202.140366 58.184883 TRUE 0.053884
|
|
[13:21:12.110] 127-3/352 :
|
|
befor : 282.000000 48.000000 after : 282.162201 48.290470 TRUE 0.110682
|
|
[13:21:12.110] 127-4/352 :
|
|
befor : 249.000000 110.000000 after : 249.432556 110.491623 FALSE 0.428798
|
|
[13:21:12.110] 127-5/352 :
|
|
befor : 255.000000 199.000000 after : 259.082458 200.710144 TRUE 19.591060
|
|
[13:21:12.110] 127-6/352 :
|
|
befor : 256.000000 258.000000 after : 262.125031 272.731018 FALSE 254.518892
|
|
[13:21:12.110] 127-7/352 :
|
|
befor : 311.000000 314.000000 after : 311.578888 314.278381 TRUE 0.412607
|
|
[13:21:12.110] 127-8/352 :
|
|
befor : 317.000000 338.000000 after : 318.546722 336.820892 TRUE 3.782645
|
|
[13:21:12.110] 127-9/352 :
|
|
befor : 377.000000 372.000000 after : 374.026611 373.872345 FALSE 12.346716
|
|
befor : 377.000000 372.000000 after : 377.000000 372.000000 FALSE 0.000000
|
|
[13:21:12.110] 127-10/352 :
|
|
befor : 416.000000 368.000000 after : 417.977844 364.411377 FALSE 16.790083
|
|
[13:21:12.110] 127-11/352 :
|
|
befor : 60.000000 400.000000 after : 62.290054 402.136169 TRUE 9.807569
|
|
[13:21:12.110] 127-12/352 :
|
|
befor : 296.000000 400.000000 after : 299.569061 406.949524 TRUE 61.034081
|
|
[13:21:12.110] 127-13/352 :
|
|
befor : 312.000000 390.000000 after : 320.501801 382.200989 FALSE 133.105189
|
|
[13:21:12.110] 127-14/352 :
|
|
befor : 375.000000 419.000000 after : 374.692780 420.916962 TRUE 3.769126
|
|
[13:21:12.110] 127-15/352 :
|
|
befor : 180.000000 438.000000 after : 184.198273 434.572113 FALSE 29.375903
|
|
befor : 188.000000 440.000000 after : 186.383255 443.246704 FALSE 13.154952
|
|
[13:21:12.110] 127-16/352 :
|
|
befor : 572.000000 464.000000 after : 572.485840 464.160339 TRUE 0.261749
|
|
[13:21:12.110] After Reprojection Map nPoint:24 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:-0.000047 ,z=0.000078,angle between two frames:0.000017
|
|
[13:21:12.110] n deleted obs = 4 n obs with reprojection error less than 0.5 px =6 error init =0.621002 error end=0.619635
|
|
[13:21:12.110] After pose optimization, distance between ekf and vo x:-0.010574 ,z=0.034959,angle between two frames:0.004499
|
|
[13:21:12.110] frame process finished the id is: 114 the obs is:10
|
|
[13:21:12.192] Odometry x=0.205788, y=0.138153, theta=-0.051831
|
|
[13:21:12.209] 128-1/352 :
|
|
befor : 238.000000 101.000000 after : 232.821335 96.590469 TRUE 46.262533
|
|
[13:21:12.209] 128-2/352 :
|
|
befor : 245.000000 107.000000 after : 245.371094 107.232178 TRUE 0.191617
|
|
[13:21:12.210] 128-3/352 :
|
|
befor : 252.000000 195.000000 after : 253.729691 195.840958 TRUE 3.699039
|
|
[13:21:12.210] 128-4/352 :
|
|
befor : 252.000000 212.000000 after : 260.398346 201.755692 FALSE 175.478071
|
|
[13:21:12.210] 128-5/352 :
|
|
befor : 184.000000 248.000000 after : 184.147797 242.325317 TRUE 32.223867
|
|
[13:21:12.210] 128-6/352 :
|
|
befor : 244.000000 256.000000 after : 244.190018 255.984253 TRUE 0.036355
|
|
[13:21:12.210] 128-7/352 :
|
|
befor : 226.000000 292.000000 after : 219.955856 302.617065 FALSE 149.253751
|
|
[13:21:12.210] 128-8/352 :
|
|
befor : 298.000000 320.000000 after : 297.678589 320.023712 TRUE 0.103867
|
|
[13:21:12.210] 128-9/352 :
|
|
befor : 303.000000 309.000000 after : 303.077789 309.147949 FALSE 0.027940
|
|
befor : 303.000000 309.000000 after : 295.078735 319.425537 TRUE 171.438258
|
|
[13:21:12.210] 128-10/352 :
|
|
befor : 310.000000 333.000000 after : 310.597717 331.970856 TRUE 1.416404
|
|
[13:21:12.210] 128-11/352 :
|
|
befor : 292.000000 392.000000 after : 293.687378 395.837952 FALSE 17.577117
|
|
befor : 292.000000 394.000000 after : 292.933716 394.174469 TRUE 0.902265
|
|
[13:21:12.210] 128-12/352 :
|
|
befor : 364.000000 408.000000 after : 360.992920 406.957703 TRUE 10.128914
|
|
[13:21:12.210] After Reprojection Map nPoint:19 ,nCell:14 ,nMatches:10 ,distance between ekf and vo x:-0.000071 ,z=0.000131,angle between two frames:0.000024
|
|
[13:21:12.210] n deleted obs = 4 n obs with reprojection error less than 0.5 px =6 error init =0.434630 error end=0.427847
|
|
[13:21:12.210] After pose optimization, distance between ekf and vo x:-0.033418 ,z=0.080243,angle between two frames:0.010875
|
|
[13:21:12.210] frame process finished the id is: 114 the obs is:10
|
|
[13:21:12.293] Odometry x=0.205889, y=0.143652, theta=-0.024040
|
|
[13:21:12.310] 129-1/352 :
|
|
befor : 318.000000 20.000000 after : 318.572754 20.042408 TRUE 0.329845
|
|
[13:21:12.310] 129-2/352 :
|
|
befor : 104.000000 84.000000 after : 104.257469 83.992264 TRUE 0.066350
|
|
[13:21:12.310] 129-3/352 :
|
|
befor : 256.000000 119.000000 after : 256.291565 119.252655 TRUE 0.148845
|
|
[13:21:12.310] 129-4/352 :
|
|
befor : 254.000000 197.000000 after : 254.432938 197.434845 TRUE 0.376525
|
|
[13:21:12.310] 129-5/352 :
|
|
befor : 212.000000 260.000000 after : 213.211334 264.385895 FALSE 20.703404
|
|
[13:21:12.310] 129-6/352 :
|
|
befor : 302.000000 324.000000 after : 301.696747 324.118195 TRUE 0.105932
|
|
[13:21:12.310] 129-7/352 :
|
|
befor : 313.000000 335.000000 after : 313.152344 335.069458 TRUE 0.028033
|
|
[13:21:12.310] 129-8/352 :
|
|
befor : 308.000000 389.000000 after : 308.052460 390.031128 FALSE 1.065977
|
|
[13:21:12.310] 129-9/352 :
|
|
befor : 412.000000 360.000000 after : 428.632111 334.114532 FALSE 946.684532
|
|
[13:21:12.310] 129-10/352 :
|
|
befor : 35.000000 394.000000 after : 61.795120 371.584076 FALSE 1220.452121
|
|
[13:21:12.310] 129-11/352 :
|
|
befor : 200.000000 416.000000 after : 199.463928 417.094604 FALSE 1.485532
|
|
befor : 208.000000 419.000000 after : 205.298889 424.495880 TRUE 37.500698
|
|
[13:21:12.310] 129-12/352 :
|
|
befor : 294.000000 398.000000 after : 296.228821 403.793793 FALSE 38.535676
|
|
[13:21:12.310] 129-13/352 :
|
|
befor : 316.000000 400.000000 after : 310.886932 399.218048 FALSE 26.754909
|
|
[13:21:12.310] 129-14/352 :
|
|
befor : 399.000000 453.000000 after : 404.109406 448.474518 FALSE 46.586014
|
|
[13:21:12.310] 129-15/352 :
|
|
befor : 596.000000 454.000000 after : 597.827820 473.240448 FALSE 373.535764
|
|
befor : 590.000000 458.000000 after : 589.790405 459.830933 FALSE 3.396244
|
|
[13:21:12.310] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:7 ,distance between ekf and vo x:-0.000097 ,z=0.000144,angle between two frames:0.000034
|
|
[13:21:12.310] n deleted obs = 4 n obs with reprojection error less than 0.5 px =3 error init =0.406357 error end=0.406357
|
|
[13:21:12.310] After pose optimization, distance between ekf and vo x:-0.000097 ,z=0.000144,angle between two frames:0.000034
|
|
[13:21:12.310] frame process finished the id is: 114 the obs is:10
|
|
[13:21:12.390] Odometry x=0.206370, y=0.149204, theta=-0.044316
|
|
[13:21:12.417] 130-1/352 :
|
|
befor : 100.000000 88.000000 after : 100.212440 87.966911 TRUE 0.046226
|
|
[13:21:12.417] 130-2/352 :
|
|
befor : 238.000000 100.000000 after : 238.340240 100.271103 TRUE 0.189260
|
|
[13:21:12.417] 130-3/352 :
|
|
befor : 251.000000 191.000000 after : 251.719391 191.434860 TRUE 0.706627
|
|
[13:21:12.417] 130-4/352 :
|
|
befor : 301.000000 307.000000 after : 301.343048 306.973175 TRUE 0.118402
|
|
[13:21:12.417] 130-5/352 :
|
|
befor : 308.000000 331.000000 after : 308.917725 329.469147 TRUE 3.185730
|
|
[13:21:12.417] 130-6/352 :
|
|
befor : 290.000000 372.000000 after : 297.771912 361.237000 FALSE 176.244790
|
|
befor : 288.000000 388.000000 after : 289.671326 391.926270 FALSE 18.208922
|
|
[13:21:12.417] 130-7/352 :
|
|
befor : 410.000000 360.000000 after : 413.685883 365.089661 TRUE 39.490376
|
|
[13:21:12.417] 130-8/352 :
|
|
befor : 246.000000 400.000000 after : 246.601654 400.983154 FALSE 1.328580
|
|
[13:21:12.417] 130-9/352 :
|
|
befor : 160.000000 436.000000 after : 151.254776 450.544220 FALSE 288.013277
|
|
[13:21:12.417] After Reprojection Map nPoint:18 ,nCell:10 ,nMatches:6 ,distance between ekf and vo x:0.000049 ,z=0.001318,angle between two frames:0.000077
|
|
[13:21:12.417] n deleted obs = 2 n obs with reprojection error less than 0.5 px =4 error init =0.349337 error end=0.349337
|
|
[13:21:12.417] After pose optimization, distance between ekf and vo x:0.000049 ,z=0.001318,angle between two frames:0.000077
|
|
[13:21:12.417] frame process finished the id is: 114 the obs is:10
|
|
[13:21:12.488] Odometry x=0.206605, y=0.154536, theta=-0.018482
|
|
[13:21:12.510] 131-1/352 :
|
|
befor : 294.000000 16.000000 after : 293.792236 16.097084 TRUE 0.052591
|
|
[13:21:12.510] 131-2/352 :
|
|
befor : 315.000000 24.000000 after : 326.812775 12.848117 FALSE 263.906142
|
|
[13:21:12.510] 131-3/352 :
|
|
befor : 257.000000 118.000000 after : 257.300323 118.285301 TRUE 0.171591
|
|
[13:21:12.510] 131-4/352 :
|
|
befor : 252.000000 120.000000 after : 252.171875 119.971054 TRUE 0.030379
|
|
[13:21:12.510] 131-5/352 :
|
|
befor : 254.000000 195.000000 after : 254.496948 195.444168 TRUE 0.444243
|
|
[13:21:12.510] 131-6/352 :
|
|
befor : 184.000000 248.000000 after : 187.951584 244.344574 TRUE 28.977154
|
|
[13:21:12.510] 131-7/352 :
|
|
befor : 228.000000 294.000000 after : 229.680695 298.684235 TRUE 24.766788
|
|
[13:21:12.510] 131-8/352 :
|
|
befor : 298.000000 322.000000 after : 298.210754 323.801514 TRUE 3.289869
|
|
[13:21:12.510] 131-9/352 :
|
|
befor : 301.000000 323.000000 after : 300.499847 323.184845 TRUE 0.284320
|
|
[13:21:12.510] 131-10/352 :
|
|
befor : 313.000000 335.000000 after : 313.113831 335.150482 TRUE 0.035602
|
|
[13:21:12.510] 131-11/352 :
|
|
befor : 292.000000 372.000000 after : 286.536133 383.206879 FALSE 155.447974
|
|
[13:21:12.510] 131-12/352 :
|
|
befor : 308.000000 389.000000 after : 308.112610 390.225800 FALSE 1.515266
|
|
befor : 308.000000 389.000000 after : 308.000000 389.000000 FALSE 0.000000
|
|
[13:21:12.510] 131-13/352 :
|
|
befor : 412.000000 364.000000 after : 416.412842 357.164581 FALSE 66.196122
|
|
[13:21:12.510] 131-14/352 :
|
|
befor : 292.000000 398.000000 after : 298.862793 390.939850 TRUE 96.943647
|
|
[13:21:12.510] 131-15/352 :
|
|
befor : 148.000000 428.000000 after : 149.403168 432.708130 TRUE 24.135367
|
|
[13:21:12.510] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000077 ,z=0.000136,angle between two frames:0.000022
|
|
[13:21:12.510] n deleted obs = 4 n obs with reprojection error less than 0.5 px =7 error init =0.367194 error end=0.349772
|
|
[13:21:12.510] After pose optimization, distance between ekf and vo x:-0.080898 ,z=0.179044,angle between two frames:0.018436
|
|
[13:21:12.510] frame process finished the id is: 114 the obs is:10
|
|
[13:21:12.585] Odometry x=0.206701, y=0.159634, theta=-0.033343
|
|
[13:21:12.610] 132-1/352 :
|
|
befor : 100.000000 40.000000 after : 102.181412 37.872883 TRUE 9.283185
|
|
[13:21:12.610] 132-2/352 :
|
|
befor : 302.000000 40.000000 after : 315.425751 30.628942 FALSE 268.067502
|
|
[13:21:12.610] 132-3/352 :
|
|
befor : 102.000000 68.000000 after : 102.003029 68.151779 TRUE 0.023046
|
|
[13:21:12.610] 132-4/352 :
|
|
befor : 100.000000 92.000000 after : 100.244362 91.958572 TRUE 0.061429
|
|
[13:21:12.610] 132-5/352 :
|
|
befor : 238.000000 98.000000 after : 232.575607 94.159424 TRUE 44.174061
|
|
[13:21:12.610] 132-6/352 :
|
|
befor : 248.000000 108.000000 after : 257.260437 155.042465 FALSE 2298.749227
|
|
befor : 252.000000 110.000000 after : 247.504959 117.401054 FALSE 74.980999
|
|
[13:21:12.610] 132-7/352 :
|
|
befor : 250.000000 190.000000 after : 251.837631 190.790970 TRUE 4.002522
|
|
[13:21:12.610] 132-8/352 :
|
|
befor : 216.000000 255.000000 after : 215.222260 256.836212 TRUE 3.976555
|
|
[13:21:12.610] 132-9/352 :
|
|
befor : 244.000000 252.000000 after : 245.725388 258.514923 FALSE 45.421185
|
|
[13:21:12.610] 132-10/352 :
|
|
befor : 299.000000 320.000000 after : 298.823151 319.792511 TRUE 0.074327
|
|
[13:21:12.610] 132-11/352 :
|
|
befor : 304.000000 358.000000 after : 304.000000 358.000000 FALSE 0.000000
|
|
[13:21:12.610] 132-12/352 :
|
|
befor : 412.000000 356.000000 after : 416.964447 349.018311 FALSE 73.389722
|
|
[13:21:12.610] 132-13/352 :
|
|
befor : 336.000000 375.000000 after : 319.993469 399.882111 TRUE 875.328455
|
|
[13:21:12.610] 132-14/352 :
|
|
befor : 352.000000 412.000000 after : 361.853882 429.254303 FALSE 394.809959
|
|
[13:21:12.610] 132-15/352 :
|
|
befor : 366.000000 408.000000 after : 376.807434 398.021301 TRUE 216.375060
|
|
[13:21:12.610] 132-16/352 :
|
|
befor : 160.000000 436.000000 after : 160.900345 436.467651 FALSE 1.029319
|
|
befor : 158.000000 442.000000 after : 148.795898 456.391174 FALSE 291.821384
|
|
[13:21:12.610] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:9 ,distance between ekf and vo x:-0.000067 ,z=0.000076,angle between two frames:0.000025
|
|
[13:21:12.610] n deleted obs = 3 n obs with reprojection error less than 0.5 px =6 error init =0.464946 error end=0.458798
|
|
[13:21:12.610] After pose optimization, distance between ekf and vo x:0.020171 ,z=-0.146615,angle between two frames:0.008777
|
|
[13:21:12.610] frame process finished the id is: 114 the obs is:10
|
|
[13:21:12.687] Odometry x=0.212737, y=0.166120, theta=-0.013017
|
|
[13:21:12.710] 133-1/352 :
|
|
befor : 318.000000 18.000000 after : 317.900482 17.405416 TRUE 0.363433
|
|
[13:21:12.710] 133-2/352 :
|
|
befor : 192.000000 44.000000 after : 194.043854 51.573196 TRUE 61.530642
|
|
[13:21:12.710] 133-3/352 :
|
|
befor : 104.000000 80.000000 after : 104.213913 79.998344 TRUE 0.045761
|
|
[13:21:12.710] 133-4/352 :
|
|
befor : 246.000000 107.000000 after : 246.391800 107.222931 TRUE 0.203205
|
|
[13:21:12.710] 133-5/352 :
|
|
befor : 251.000000 194.000000 after : 254.504333 195.323792 TRUE 14.032777
|
|
[13:21:12.710] 133-6/352 :
|
|
befor : 204.000000 260.000000 after : 200.592453 264.641418 FALSE 33.154142
|
|
[13:21:12.710] 133-7/352 :
|
|
befor : 218.000000 258.000000 after : 218.131210 258.127930 TRUE 0.033582
|
|
[13:21:12.710] 133-8/352 :
|
|
befor : 307.000000 323.000000 after : 305.717010 323.617188 TRUE 2.026982
|
|
[13:21:12.710] 133-9/352 :
|
|
befor : 310.000000 334.000000 after : 310.575043 334.922394 TRUE 1.181484
|
|
[13:21:12.710] 133-10/352 :
|
|
befor : 308.000000 388.000000 after : 308.333801 389.141693 FALSE 1.414886
|
|
befor : 306.000000 360.000000 after : 306.153107 362.354797 FALSE 5.568512
|
|
befor : 308.000000 388.000000 after : 308.000000 388.000000 FALSE 0.000000
|
|
[13:21:12.710] 133-11/352 :
|
|
befor : 416.000000 360.000000 after : 413.374634 365.390442 FALSE 35.949412
|
|
[13:21:12.710] 133-12/352 :
|
|
befor : 198.000000 418.000000 after : 208.134232 408.424103 FALSE 194.400457
|
|
[13:21:12.710] 133-13/352 :
|
|
befor : 292.000000 398.000000 after : 293.137848 399.663696 TRUE 4.062583
|
|
[13:21:12.710] 133-14/352 :
|
|
befor : 146.000000 433.000000 after : 144.455200 433.649902 TRUE 2.808779
|
|
[13:21:12.710] 133-15/352 :
|
|
befor : 155.000000 440.000000 after : 155.644485 439.935944 TRUE 0.419465
|
|
[13:21:12.710] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:11 ,distance between ekf and vo x:-0.000124 ,z=0.000155,angle between two frames:0.000041
|
|
[13:21:12.711] n deleted obs = 2 n obs with reprojection error less than 0.5 px =9 error init =0.353642 error end=0.353642
|
|
[13:21:12.711] After pose optimization, distance between ekf and vo x:-0.000124 ,z=0.000155,angle between two frames:0.000041
|
|
[13:21:12.711] frame process finished the id is: 114 the obs is:10
|
|
[13:21:12.790] Odometry x=0.212781, y=0.170747, theta=-0.023670
|
|
[13:21:12.836] 134-1/352 :
|
|
befor : 100.000000 40.000000 after : 99.589844 40.085587 TRUE 0.175553
|
|
[13:21:12.836] 134-2/352 :
|
|
befor : 276.000000 45.000000 after : 278.949341 41.295193 FALSE 22.424208
|
|
[13:21:12.836] 134-3/352 :
|
|
befor : 108.000000 68.000000 after : 109.366409 78.661873 TRUE 115.542607
|
|
[13:21:12.836] 134-4/352 :
|
|
befor : 80.000000 96.000000 after : 80.208633 95.972511 TRUE 0.044284
|
|
[13:21:12.836] 134-5/352 :
|
|
befor : 238.000000 98.000000 after : 238.440994 98.200714 TRUE 0.234762
|
|
[13:21:12.836] 134-6/352 :
|
|
befor : 256.000000 192.000000 after : 256.341949 192.397232 TRUE 0.274723
|
|
[13:21:12.836] 134-7/352 :
|
|
befor : 302.000000 308.000000 after : 301.745850 308.044067 TRUE 0.066534
|
|
[13:21:12.836] 134-8/352 :
|
|
befor : 306.000000 358.000000 after : 302.791534 354.382080 TRUE 23.383596
|
|
[13:21:12.836] 134-9/352 :
|
|
befor : 16.000000 387.000000 after : 17.769470 390.781403 FALSE 17.430030
|
|
[13:21:12.836] 134-10/352 :
|
|
befor : 296.000000 374.000000 after : 309.106842 363.926880 FALSE 273.257057
|
|
[13:21:12.836] 134-11/352 :
|
|
befor : 309.000000 386.000000 after : 313.811890 378.295807 FALSE 82.508874
|
|
[13:21:12.836] 134-12/352 :
|
|
befor : 58.000000 412.000000 after : 57.467106 412.439972 TRUE 0.477551
|
|
[13:21:12.836] 134-13/352 :
|
|
befor : 192.000000 416.000000 after : 191.869263 416.587128 FALSE 0.361811
|
|
[13:21:12.836] 134-14/352 :
|
|
befor : 292.000000 392.000000 after : 296.412506 391.769897 TRUE 19.523157
|
|
[13:21:12.836] 134-15/352 :
|
|
befor : 372.000000 412.000000 after : 387.975769 389.678009 TRUE 753.496477
|
|
[13:21:12.836] 134-16/352 :
|
|
befor : 132.000000 420.000000 after : 143.290497 403.355927 FALSE 404.500501
|
|
befor : 140.000000 426.000000 after : 140.557907 426.279663 TRUE 0.389472
|
|
[13:21:12.836] 134-17/352 :
|
|
befor : 152.000000 444.000000 after : 158.729736 435.968292 FALSE 109.797681
|
|
befor : 156.000000 444.000000 after : 155.818863 444.767365 TRUE 0.621659
|
|
[13:21:12.836] 134-18/352 :
|
|
befor : 606.000000 464.000000 after : 603.930115 468.388611 FALSE 23.544330
|
|
[13:21:12.836] After Reprojection Map nPoint:24 ,nCell:20 ,nMatches:12 ,distance between ekf and vo x:-0.000114 ,z=0.000151,angle between two frames:0.000040
|
|
[13:21:12.836] n deleted obs = 6 n obs with reprojection error less than 0.5 px =6 error init =0.477963 error end=0.472194
|
|
[13:21:12.836] After pose optimization, distance between ekf and vo x:-0.061144 ,z=0.103955,angle between two frames:0.001546
|
|
[13:21:12.836] frame process finished the id is: 114 the obs is:10
|
|
[13:21:12.891] Odometry x=0.215544, y=0.176884, theta=-0.019556
|
|
[13:21:12.919] 135-1/352 :
|
|
befor : 100.000000 42.000000 after : 93.826897 33.946720 FALSE 102.962522
|
|
[13:21:12.919] 135-2/352 :
|
|
befor : 80.000000 92.000000 after : 80.190399 91.962372 TRUE 0.037668
|
|
[13:21:12.919] 135-3/352 :
|
|
befor : 238.000000 100.000000 after : 238.704895 104.740326 TRUE 22.967567
|
|
[13:21:12.919] 135-4/352 :
|
|
befor : 245.000000 106.000000 after : 245.369232 106.217125 TRUE 0.183476
|
|
[13:21:12.919] 135-5/352 :
|
|
befor : 253.000000 195.000000 after : 256.187927 196.123596 TRUE 11.425349
|
|
[13:21:12.919] 135-6/352 :
|
|
befor : 184.000000 248.000000 after : 188.888275 243.063156 TRUE 48.267661
|
|
[13:21:12.919] 135-7/352 :
|
|
befor : 210.000000 260.000000 after : 206.116440 266.413910 TRUE 56.220280
|
|
[13:21:12.919] 135-8/352 :
|
|
befor : 305.000000 312.000000 after : 305.417145 311.912903 TRUE 0.181596
|
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[13:21:12.919] 135-9/352 :
|
|
befor : 310.000000 334.000000 after : 312.128632 335.057587 TRUE 5.649562
|
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[13:21:12.919] 135-10/352 :
|
|
befor : 294.000000 376.000000 after : 307.124695 365.967621 FALSE 272.906246
|
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[13:21:12.919] 135-11/352 :
|
|
befor : 308.000000 388.000000 after : 315.836884 381.116852 FALSE 108.794473
|
|
befor : 309.000000 388.000000 after : 312.429871 382.383759 FALSE 43.306180
|
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[13:21:12.919] 135-12/352 :
|
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befor : 292.000000 399.000000 after : 292.561798 399.168335 TRUE 0.343954
|
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[13:21:12.919] 135-13/352 :
|
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befor : 320.000000 396.000000 after : 319.021027 398.645752 TRUE 7.958392
|
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[13:21:12.919] 135-14/352 :
|
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befor : 372.000000 414.000000 after : 369.510254 414.482666 FALSE 6.431802
|
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[13:21:12.919] 135-15/352 :
|
|
befor : 139.000000 427.000000 after : 145.964279 420.070923 TRUE 96.513295
|
|
[13:21:12.919] After Reprojection Map nPoint:22 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000515 ,z=0.001402,angle between two frames:0.000124
|
|
[13:21:12.919] n deleted obs = 6 n obs with reprojection error less than 0.5 px =5 error init =0.495393 error end=0.495393
|
|
[13:21:12.919] After pose optimization, distance between ekf and vo x:-0.000515 ,z=0.001402,angle between two frames:0.000124
|
|
[13:21:12.919] frame process finished the id is: 114 the obs is:10
|
|
[13:21:12.992] Odometry x=0.215060, y=0.181961, theta=-0.013855
|
|
[13:21:13.008] 136-1/352 :
|
|
befor : 293.000000 21.000000 after : 295.047760 17.845139 TRUE 14.146472
|
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[13:21:13.008] 136-2/352 :
|
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befor : 303.000000 6.000000 after : 302.479523 5.630128 TRUE 0.407702
|
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[13:21:13.008] 136-3/352 :
|
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befor : 192.000000 44.000000 after : 191.654373 43.605766 FALSE 0.274878
|
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[13:21:13.008] 136-4/352 :
|
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befor : 94.000000 60.000000 after : 94.218933 60.231415 TRUE 0.101485
|
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[13:21:13.008] 136-5/352 :
|
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befor : 236.000000 108.000000 after : 234.124100 109.902374 FALSE 7.138030
|
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[13:21:13.008] 136-6/352 :
|
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befor : 252.000000 116.000000 after : 249.018311 115.250671 FALSE 9.451965
|
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[13:21:13.008] 136-7/352 :
|
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befor : 252.000000 120.000000 after : 259.297913 139.407059 TRUE 429.893456
|
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[13:21:13.008] 136-8/352 :
|
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befor : 255.000000 199.000000 after : 258.419769 200.111084 TRUE 12.929330
|
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[13:21:13.008] 136-9/352 :
|
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befor : 184.000000 228.000000 after : 181.016724 235.165482 FALSE 60.244064
|
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[13:21:13.008] 136-10/352 :
|
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befor : 230.000000 296.000000 after : 229.447754 297.260284 FALSE 1.893293
|
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[13:21:13.008] 136-11/352 :
|
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befor : 232.000000 300.000000 after : 232.091721 300.033447 TRUE 0.009531
|
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[13:21:13.008] 136-12/352 :
|
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befor : 310.000000 322.000000 after : 318.584259 316.990021 TRUE 98.789395
|
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[13:21:13.008] 136-13/352 :
|
|
befor : 331.000000 329.000000 after : 325.932251 335.383942 FALSE 66.436791
|
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[13:21:13.008] 136-14/352 :
|
|
befor : 322.000000 336.000000 after : 322.000000 336.000000 FALSE 0.000000
|
|
befor : 315.000000 339.000000 after : 313.659210 340.435394 TRUE 3.858074
|
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[13:21:13.008] 136-15/352 :
|
|
befor : 379.000000 373.000000 after : 375.790619 375.038971 FALSE 14.457530
|
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[13:21:13.008] 136-16/352 :
|
|
befor : 420.000000 360.000000 after : 422.530731 363.661621 FALSE 19.812069
|
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[13:21:13.008] 136-17/352 :
|
|
befor : 296.000000 402.000000 after : 302.209839 395.948212 TRUE 75.186241
|
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[13:21:13.008] 136-18/352 :
|
|
befor : 374.000000 418.000000 after : 374.501678 417.770294 TRUE 0.304446
|
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[13:21:13.008] 136-19/352 :
|
|
befor : 396.000000 444.000000 after : 396.699768 444.254364 TRUE 0.554376
|
|
[13:21:13.008] After Reprojection Map nPoint:24 ,nCell:20 ,nMatches:11 ,distance between ekf and vo x:-0.000106 ,z=0.000162,angle between two frames:0.000033
|
|
[13:21:13.008] n deleted obs = 3 n obs with reprojection error less than 0.5 px =8 error init =0.412018 error end=0.411223
|
|
[13:21:13.008] After pose optimization, distance between ekf and vo x:-0.011407 ,z=0.031483,angle between two frames:0.010739
|
|
[13:21:13.008] frame process finished the id is: 114 the obs is:10
|
|
[13:21:13.090] Odometry x=0.215397, y=0.187382, theta=-0.016401
|
|
[13:21:13.109] 137-1/352 :
|
|
befor : 311.000000 33.000000 after : 311.926300 33.155182 TRUE 0.882113
|
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[13:21:13.109] 137-2/352 :
|
|
befor : 108.000000 76.000000 after : 108.249901 75.977829 TRUE 0.062942
|
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[13:21:13.109] 137-3/352 :
|
|
befor : 80.000000 100.000000 after : 79.550728 101.186256 FALSE 1.609050
|
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[13:21:13.109] 137-4/352 :
|
|
befor : 236.000000 104.000000 after : 236.347687 104.059349 FALSE 0.124408
|
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[13:21:13.109] 137-5/352 :
|
|
befor : 256.000000 116.000000 after : 256.353180 116.209831 TRUE 0.168765
|
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[13:21:13.109] 137-6/352 :
|
|
befor : 72.000000 132.000000 after : 75.134621 134.197205 TRUE 14.653555
|
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[13:21:13.109] 137-7/352 :
|
|
befor : 194.000000 136.000000 after : 195.862839 136.123611 TRUE 3.485448
|
|
[13:21:13.109] 137-8/352 :
|
|
befor : 258.000000 196.000000 after : 254.955704 195.706100 FALSE 9.354117
|
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[13:21:13.109] 137-9/352 :
|
|
befor : 254.000000 236.000000 after : 253.930878 236.154816 TRUE 0.028746
|
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[13:21:13.109] 137-10/352 :
|
|
befor : 212.000000 264.000000 after : 211.274017 264.514282 FALSE 0.791537
|
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[13:21:13.109] 137-11/352 :
|
|
befor : 244.000000 264.000000 after : 242.380417 266.925232 FALSE 11.180031
|
|
[13:21:13.109] 137-12/352 :
|
|
befor : 311.000000 326.000000 after : 309.825348 325.311432 TRUE 1.853934
|
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[13:21:13.109] 137-13/352 :
|
|
befor : 333.000000 327.000000 after : 332.452026 327.129181 TRUE 0.316963
|
|
[13:21:13.109] 137-14/352 :
|
|
befor : 314.000000 338.000000 after : 315.020874 337.730499 TRUE 1.114814
|
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[13:21:13.109] 137-15/352 :
|
|
befor : 424.000000 360.000000 after : 424.586060 360.592957 TRUE 0.695063
|
|
[13:21:13.109] 137-16/352 :
|
|
befor : 46.000000 418.000000 after : 53.787376 411.494080 FALSE 102.970232
|
|
[13:21:13.109] 137-17/352 :
|
|
befor : 134.000000 440.000000 after : 135.597137 439.328400 TRUE 3.001895
|
|
[13:21:13.109] 137-18/352 :
|
|
befor : 399.000000 444.000000 after : 390.218658 456.648163 FALSE 237.087983
|
|
[13:21:13.109] After Reprojection Map nPoint:23 ,nCell:18 ,nMatches:11 ,distance between ekf and vo x:-0.000087 ,z=0.000154,angle between two frames:0.000027
|
|
[13:21:13.109] n deleted obs = 5 n obs with reprojection error less than 0.5 px =6 error init =0.472894 error end=0.469119
|
|
[13:21:13.109] After pose optimization, distance between ekf and vo x:-0.050219 ,z=0.094888,angle between two frames:0.002564
|
|
[13:21:13.109] frame process finished the id is: 114 the obs is:10
|
|
[13:21:13.189] Odometry x=0.215495, y=0.194262, theta=-0.026526
|
|
[13:21:13.207] 138-1/352 :
|
|
befor : 282.000000 42.000000 after : 281.907623 42.101631 TRUE 0.018862
|
|
[13:21:13.207] 138-2/352 :
|
|
befor : 80.000000 116.000000 after : 80.899704 115.873734 TRUE 0.825410
|
|
[13:21:13.207] 138-3/352 :
|
|
befor : 104.000000 106.000000 after : 104.448021 111.364616 TRUE 28.979832
|
|
[13:21:13.207] 138-4/352 :
|
|
befor : 258.000000 114.000000 after : 258.320312 114.260857 TRUE 0.170646
|
|
[13:21:13.207] 138-5/352 :
|
|
befor : 72.000000 150.000000 after : 76.598587 145.478027 FALSE 41.595239
|
|
[13:21:13.207] 138-6/352 :
|
|
befor : 260.000000 196.000000 after : 260.320831 196.315826 TRUE 0.202679
|
|
[13:21:13.207] 138-7/352 :
|
|
befor : 256.000000 234.000000 after : 253.259491 233.212433 TRUE 8.130652
|
|
[13:21:13.207] 138-8/352 :
|
|
befor : 308.000000 313.000000 after : 307.690948 313.150879 TRUE 0.118277
|
|
[13:21:13.207] 138-9/352 :
|
|
befor : 50.000000 358.000000 after : 61.902901 347.309082 FALSE 255.974772
|
|
[13:21:13.207] 138-10/352 :
|
|
befor : 320.000000 337.000000 after : 319.908051 337.215942 TRUE 0.055086
|
|
[13:21:13.207] 138-11/352 :
|
|
befor : 428.000000 356.000000 after : 429.610779 353.249969 FALSE 10.157276
|
|
[13:21:13.207] 138-12/352 :
|
|
befor : 312.000000 364.000000 after : 321.377991 358.850769 TRUE 114.461289
|
|
[13:21:13.207] 138-13/352 :
|
|
befor : 84.000000 400.000000 after : 84.553787 401.854279 TRUE 3.745029
|
|
[13:21:13.207] 138-14/352 :
|
|
befor : 315.000000 391.000000 after : 315.165405 392.150391 FALSE 1.350757
|
|
befor : 315.000000 391.000000 after : 315.000000 391.000000 FALSE 0.000000
|
|
[13:21:13.207] 138-15/352 :
|
|
befor : 376.000000 414.000000 after : 371.447479 410.452759 TRUE 33.308365
|
|
[13:21:13.207] 138-16/352 :
|
|
befor : 184.000000 420.000000 after : 177.856674 429.552948 FALSE 128.999267
|
|
[13:21:13.207] After Reprojection Map nPoint:24 ,nCell:17 ,nMatches:11 ,distance between ekf and vo x:-0.000087 ,z=0.000144,angle between two frames:0.000029
|
|
[13:21:13.207] n deleted obs = 4 n obs with reprojection error less than 0.5 px =7 error init =0.463268 error end=0.463268
|
|
[13:21:13.207] After pose optimization, distance between ekf and vo x:-0.000087 ,z=0.000144,angle between two frames:0.000029
|
|
[13:21:13.207] frame process finished the id is: 114 the obs is:10
|
|
[13:21:13.288] Odometry x=0.216025, y=0.199496, theta=-0.013839
|
|
[13:21:13.309] 139-1/352 :
|
|
befor : 100.000000 54.000000 after : 101.337219 53.058746 TRUE 2.674114
|
|
[13:21:13.309] 139-2/352 :
|
|
befor : 200.000000 40.000000 after : 200.227859 39.970406 TRUE 0.052796
|
|
[13:21:13.309] 139-3/352 :
|
|
befor : 286.000000 41.000000 after : 290.701630 34.817593 FALSE 60.327482
|
|
befor : 286.000000 41.000000 after : 287.170258 40.465847 TRUE 1.654822
|
|
[13:21:13.309] 139-4/352 :
|
|
befor : 302.000000 54.000000 after : 301.816742 54.150139 TRUE 0.056125
|
|
[13:21:13.309] 139-5/352 :
|
|
befor : 112.000000 76.000000 after : 113.744553 85.622307 TRUE 95.632252
|
|
[13:21:13.309] 139-6/352 :
|
|
befor : 260.000000 112.000000 after : 268.786682 97.919945 FALSE 275.453738
|
|
befor : 260.000000 116.000000 after : 258.531952 118.477173 FALSE 8.291551
|
|
[13:21:13.309] 139-7/352 :
|
|
befor : 267.000000 157.000000 after : 260.094482 165.454025 FALSE 119.156716
|
|
[13:21:13.309] 139-8/352 :
|
|
befor : 265.000000 194.000000 after : 264.239899 194.156937 TRUE 0.602383
|
|
[13:21:13.309] 139-9/352 :
|
|
befor : 320.000000 322.000000 after : 320.276337 322.054535 TRUE 0.079336
|
|
[13:21:13.309] 139-10/352 :
|
|
befor : 320.000000 338.000000 after : 321.246857 337.543396 TRUE 1.763139
|
|
[13:21:13.309] 139-11/352 :
|
|
befor : 318.000000 364.000000 after : 325.945740 360.268829 TRUE 77.056415
|
|
[13:21:13.309] 139-12/352 :
|
|
befor : 432.000000 364.000000 after : 434.546661 364.650238 TRUE 6.908294
|
|
[13:21:13.309] 139-13/352 :
|
|
befor : 238.000000 418.000000 after : 239.176300 416.351624 FALSE 4.100827
|
|
[13:21:13.309] 139-14/352 :
|
|
befor : 240.000000 418.000000 after : 243.769012 425.466919 FALSE 69.960333
|
|
[13:21:13.309] 139-15/352 :
|
|
befor : 321.000000 391.000000 after : 320.834045 391.768799 FALSE 0.618593
|
|
befor : 304.000000 396.000000 after : 303.781250 395.718536 FALSE 0.127073
|
|
[13:21:13.310] 139-16/352 :
|
|
befor : 383.000000 415.000000 after : 382.922241 416.551208 TRUE 2.412294
|
|
[13:21:13.310] After Reprojection Map nPoint:23 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:-0.000152 ,z=0.000199,angle between two frames:0.000053
|
|
[13:21:13.310] n deleted obs = 1 n obs with reprojection error less than 0.5 px =10 error init =0.357481 error end=0.338581
|
|
[13:21:13.310] After pose optimization, distance between ekf and vo x:0.011796 ,z=0.203586,angle between two frames:0.026280
|
|
[13:21:13.310] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11
|
|
[13:21:13.310] Choose frame as a key frame Scene Depth mean:0.429874 ,depth min:-1.128341
|
|
[13:21:13.310] frame process finished the id is: 139 the obs is:11
|
|
[13:21:13.388] Odometry x=0.226730, y=0.392263, theta=0.010752
|
|
[13:21:13.408] 140-1/352 :
|
|
befor : 298.000000 24.000000 after : 298.016327 24.023230 TRUE 0.000806
|
|
[13:21:13.408] 140-2/352 :
|
|
befor : 305.000000 12.000000 after : 307.565552 8.230435 TRUE 20.791673
|
|
[13:21:13.408] 140-3/352 :
|
|
befor : 96.000000 72.000000 after : 99.850624 66.029892 FALSE 50.469496
|
|
[13:21:13.408] 140-4/352 :
|
|
befor : 88.000000 98.000000 after : 87.311371 98.005051 TRUE 0.474236
|
|
[13:21:13.408] 140-5/352 :
|
|
befor : 252.000000 104.000000 after : 253.721954 128.023163 FALSE 580.077480
|
|
befor : 267.000000 116.000000 after : 259.860352 116.468208 FALSE 51.193799
|
|
befor : 250.000000 103.000000 after : 240.591858 98.512405 TRUE 108.651643
|
|
[13:21:13.408] 140-6/352 :
|
|
befor : 260.000000 120.000000 after : 259.143860 119.326851 TRUE 1.186106
|
|
[13:21:13.408] 140-7/352 :
|
|
befor : 256.000000 176.000000 after : 256.363556 176.250580 TRUE 0.194963
|
|
[13:21:13.408] 140-8/352 :
|
|
befor : 262.000000 232.000000 after : 260.582977 234.994476 TRUE 10.974842
|
|
[13:21:13.408] 140-9/352 :
|
|
befor : 228.000000 262.000000 after : 218.661545 274.754669 TRUE 249.888332
|
|
[13:21:13.408] 140-10/352 :
|
|
befor : 324.000000 336.000000 after : 320.761902 335.966980 TRUE 10.486370
|
|
[13:21:13.408] 140-11/352 :
|
|
befor : 432.000000 356.000000 after : 432.000000 356.000000 FALSE 0.000000
|
|
[13:21:13.408] 140-12/352 :
|
|
befor : 434.000000 364.000000 after : 437.160339 364.007690 TRUE 9.987804
|
|
[13:21:13.408] 140-13/352 :
|
|
befor : 36.000000 418.000000 after : 45.173492 426.277954 FALSE 152.677488
|
|
[13:21:13.408] 140-14/352 :
|
|
befor : 84.000000 402.000000 after : 84.369576 402.099518 TRUE 0.146490
|
|
[13:21:13.408] 140-15/352 :
|
|
befor : 136.000000 400.000000 after : 138.066071 403.963379 TRUE 19.977020
|
|
[13:21:13.408] 140-16/352 :
|
|
befor : 261.000000 411.000000 after : 260.724396 411.953552 FALSE 0.985220
|
|
[13:21:13.409] 140-17/352 :
|
|
befor : 386.000000 412.000000 after : 375.471954 425.525208 FALSE 293.770984
|
|
[13:21:13.409] 140-18/352 :
|
|
befor : 256.000000 422.000000 after : 256.565338 422.355652 TRUE 0.446095
|
|
[13:21:13.409] 140-19/352 :
|
|
befor : 129.000000 465.000000 after : 130.865311 464.074921 FALSE 4.335156
|
|
[13:21:13.409] After Reprojection Map nPoint:23 ,nCell:21 ,nMatches:13 ,distance between ekf and vo x:-0.000047 ,z=0.000071,angle between two frames:0.000013
|
|
[13:21:13.409] n deleted obs = 5 n obs with reprojection error less than 0.5 px =8 error init =0.475228 error end=0.421397
|
|
[13:21:13.409] After pose optimization, distance between ekf and vo x:-0.024560 ,z=-0.290596,angle between two frames:0.057451
|
|
[13:21:13.409] frame process finished the id is: 139 the obs is:11
|
|
[13:21:13.490] Odometry x=0.227714, y=0.398847, theta=0.019339
|
|
[13:21:13.528] 141-1/352 :
|
|
befor : 331.000000 6.000000 after : 340.531281 -2.200068 FALSE 158.086416
|
|
[13:21:13.528] 141-2/352 :
|
|
befor : 102.000000 53.000000 after : 95.290047 46.226398 FALSE 90.905151
|
|
[13:21:13.528] 141-3/352 :
|
|
befor : 200.000000 40.000000 after : 191.034912 54.053543 FALSE 277.874874
|
|
[13:21:13.528] 141-4/352 :
|
|
befor : 285.000000 43.000000 after : 289.818115 37.045567 FALSE 58.669512
|
|
[13:21:13.528] 141-5/352 :
|
|
befor : 312.000000 35.000000 after : 324.035767 28.138044 TRUE 191.946113
|
|
[13:21:13.528] 141-6/352 :
|
|
befor : 268.000000 114.000000 after : 268.373016 114.169609 TRUE 0.167908
|
|
[13:21:13.528] 141-7/352 :
|
|
befor : 265.000000 192.000000 after : 265.475067 192.115768 TRUE 0.239091
|
|
[13:21:13.528] 141-8/352 :
|
|
befor : 260.000000 224.000000 after : 259.741394 228.183105 TRUE 17.565248
|
|
[13:21:13.528] 141-9/352 :
|
|
befor : 194.000000 248.000000 after : 194.202591 248.110458 TRUE 0.053244
|
|
[13:21:13.528] 141-10/352 :
|
|
befor : 230.000000 258.000000 after : 224.329758 250.087708 TRUE 94.756020
|
|
[13:21:13.528] 141-11/352 :
|
|
befor : 324.000000 320.000000 after : 343.253906 303.446411 TRUE 644.734210
|
|
[13:21:13.528] 141-12/352 :
|
|
befor : 329.000000 333.000000 after : 326.113983 336.388031 FALSE 19.807847
|
|
befor : 329.000000 333.000000 after : 328.939911 333.023071 TRUE 0.004143
|
|
[13:21:13.528] 141-13/352 :
|
|
befor : 334.000000 331.000000 after : 336.015839 328.879974 FALSE 8.558114
|
|
[13:21:13.528] 141-14/352 :
|
|
befor : 80.000000 400.000000 after : 79.774551 401.093872 TRUE 1.247383
|
|
[13:21:13.528] 141-15/352 :
|
|
befor : 124.000000 442.000000 after : 124.347710 441.809326 TRUE 0.157259
|
|
[13:21:13.528] 141-16/352 :
|
|
befor : 201.000000 425.000000 after : 204.197311 421.776855 FALSE 20.611461
|
|
[13:21:13.528] 141-17/352 :
|
|
befor : 132.000000 452.000000 after : 131.239685 458.047272 FALSE 37.147574
|
|
[13:21:13.528] After Reprojection Map nPoint:25 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:-0.000037 ,z=0.000046,angle between two frames:0.000019
|
|
[13:21:13.528] n deleted obs = 3 n obs with reprojection error less than 0.5 px =7 error init =0.395840 error end=0.376309
|
|
[13:21:13.528] After pose optimization, distance between ekf and vo x:0.017552 ,z=-0.197209,angle between two frames:0.027464
|
|
[13:21:13.528] frame process finished the id is: 139 the obs is:11
|
|
[13:21:13.592] Odometry x=0.227328, y=0.405143, theta=0.012765
|
|
[13:21:13.608] 142-1/352 :
|
|
befor : 321.000000 17.000000 after : 327.552490 23.061783 FALSE 79.680339
|
|
[13:21:13.608] 142-2/352 :
|
|
befor : 100.000000 46.000000 after : 100.959908 45.701447 TRUE 1.010557
|
|
[13:21:13.608] 142-3/352 :
|
|
befor : 296.000000 56.000000 after : 301.792480 60.367744 FALSE 52.630022
|
|
[13:21:13.608] 142-4/352 :
|
|
befor : 96.000000 60.000000 after : 98.040993 58.925770 TRUE 5.319622
|
|
[13:21:13.608] 142-5/352 :
|
|
befor : 267.000000 111.000000 after : 267.278625 111.175072 TRUE 0.108282
|
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[13:21:13.608] 142-6/352 :
|
|
befor : 264.000000 189.000000 after : 264.362976 188.915039 TRUE 0.138970
|
|
[13:21:13.608] 142-7/352 :
|
|
befor : 212.000000 216.000000 after : 212.391937 215.973206 TRUE 0.154333
|
|
[13:21:13.608] 142-8/352 :
|
|
befor : 258.000000 316.000000 after : 262.727142 316.085327 TRUE 22.353155
|
|
[13:21:13.608] 142-9/352 :
|
|
befor : 322.000000 318.000000 after : 322.731567 318.413269 TRUE 0.705982
|
|
[13:21:13.608] 142-10/352 :
|
|
befor : 318.000000 358.000000 after : 318.062622 358.038391 TRUE 0.005395
|
|
[13:21:13.608] 142-11/352 :
|
|
befor : 320.000000 385.000000 after : 321.214874 387.513397 FALSE 7.793085
|
|
befor : 320.000000 385.000000 after : 320.000000 385.000000 FALSE 0.000000
|
|
[13:21:13.608] 142-12/352 :
|
|
befor : 336.000000 398.000000 after : 330.424744 395.838593 FALSE 35.755166
|
|
[13:21:13.608] 142-13/352 :
|
|
befor : 118.000000 428.000000 after : 115.256073 428.400208 TRUE 7.689301
|
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[13:21:13.608] 142-14/352 :
|
|
befor : 360.000000 420.000000 after : 353.081146 429.716278 TRUE 142.276597
|
|
[13:21:13.609] 142-15/352 :
|
|
befor : 408.000000 468.000000 after : 414.477478 459.280701 FALSE 117.983902
|
|
[13:21:13.609] After Reprojection Map nPoint:20 ,nCell:16 ,nMatches:10 ,distance between ekf and vo x:0.000005 ,z=0.000070,angle between two frames:0.000051
|
|
[13:21:13.609] n deleted obs = 3 n obs with reprojection error less than 0.5 px =7 error init =0.370783 error end=0.370783
|
|
[13:21:13.609] After pose optimization, distance between ekf and vo x:0.000005 ,z=0.000070,angle between two frames:0.000051
|
|
[13:21:13.609] frame process finished the id is: 139 the obs is:11
|
|
[13:21:13.688] Odometry x=0.228746, y=0.410559, theta=0.023840
|
|
[13:21:13.713] 143-1/352 :
|
|
befor : 98.000000 46.000000 after : 101.054840 43.345901 FALSE 16.376287
|
|
[13:21:13.713] 143-2/352 :
|
|
befor : 196.000000 40.000000 after : 196.371765 39.842213 TRUE 0.163106
|
|
[13:21:13.713] 143-3/352 :
|
|
befor : 84.000000 92.000000 after : 91.054268 85.856255 FALSE 87.508303
|
|
befor : 84.000000 92.000000 after : 82.372055 93.506302 FALSE 4.919150
|
|
[13:21:13.713] 143-4/352 :
|
|
befor : 104.000000 96.000000 after : 84.662048 77.336876 FALSE 722.268575
|
|
[13:21:13.713] 143-5/352 :
|
|
befor : 248.000000 95.000000 after : 248.527298 95.185593 TRUE 0.312488
|
|
[13:21:13.713] 143-6/352 :
|
|
befor : 267.000000 150.000000 after : 266.481293 141.501831 FALSE 72.487933
|
|
befor : 267.000000 150.000000 after : 252.674255 168.969864 FALSE 565.082695
|
|
[13:21:13.713] 143-7/352 :
|
|
befor : 260.000000 224.000000 after : 249.395737 233.796707 TRUE 208.425871
|
|
[13:21:13.713] 143-8/352 :
|
|
befor : 228.000000 254.000000 after : 228.091553 254.016937 TRUE 0.008669
|
|
[13:21:13.713] 143-9/352 :
|
|
befor : 258.000000 248.000000 after : 257.929626 247.844894 TRUE 0.029010
|
|
[13:21:13.713] 143-10/352 :
|
|
befor : 240.000000 294.000000 after : 239.388336 294.130127 TRUE 0.391066
|
|
[13:21:13.713] 143-11/352 :
|
|
befor : 318.000000 308.000000 after : 310.473175 315.356079 FALSE 110.764994
|
|
befor : 313.000000 307.000000 after : 313.000000 307.000000 FALSE 0.000000
|
|
[13:21:13.713] 143-12/352 :
|
|
befor : 322.000000 332.000000 after : 321.389557 334.232239 FALSE 5.355531
|
|
befor : 323.000000 333.000000 after : 315.392517 331.871124 FALSE 59.148157
|
|
[13:21:13.713] 143-13/352 :
|
|
befor : 436.000000 356.000000 after : 433.238647 364.587311 TRUE 81.366974
|
|
[13:21:13.713] 143-14/352 :
|
|
befor : 70.000000 396.000000 after : 86.020073 382.294159 FALSE 444.492816
|
|
befor : 70.000000 396.000000 after : 41.578712 431.365479 FALSE 2058.486656
|
|
[13:21:13.713] 143-15/352 :
|
|
befor : 382.000000 408.000000 after : 379.822021 405.597198 TRUE 10.517046
|
|
[13:21:13.713] After Reprojection Map nPoint:23 ,nCell:20 ,nMatches:8 ,distance between ekf and vo x:0.000003 ,z=0.000060,angle between two frames:0.000045
|
|
[13:21:13.713] n deleted obs = 1 n obs with reprojection error less than 0.5 px =7 error init =0.324520 error end=0.324520
|
|
[13:21:13.713] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000060,angle between two frames:0.000045
|
|
[13:21:13.713] frame process finished the id is: 139 the obs is:11
|
|
[13:21:13.790] Odometry x=0.228849, y=0.415988, theta=0.019367
|
|
[13:21:13.808] 144-1/352 :
|
|
befor : 327.000000 8.000000 after : 330.629639 18.236454 FALSE 117.959268
|
|
[13:21:13.808] 144-2/352 :
|
|
befor : 102.000000 38.000000 after : 99.594269 39.465851 TRUE 7.936261
|
|
[13:21:13.808] 144-3/352 :
|
|
befor : 76.000000 116.000000 after : 76.346931 115.866356 TRUE 0.138222
|
|
[13:21:13.808] 144-4/352 :
|
|
befor : 261.000000 105.000000 after : 261.405609 105.192650 TRUE 0.201633
|
|
[13:21:13.808] 144-5/352 :
|
|
befor : 267.000000 179.000000 after : 266.101471 181.272675 TRUE 5.972404
|
|
[13:21:13.808] 144-6/352 :
|
|
befor : 264.000000 188.000000 after : 264.037109 188.150482 TRUE 0.024022
|
|
[13:21:13.808] 144-7/352 :
|
|
befor : 190.000000 241.000000 after : 197.310196 236.393372 FALSE 74.659990
|
|
[13:21:13.808] 144-8/352 :
|
|
befor : 221.000000 253.000000 after : 221.000000 253.000000 FALSE 0.000000
|
|
[13:21:13.808] 144-9/352 :
|
|
befor : 243.000000 253.000000 after : 245.224915 255.009460 TRUE 8.988176
|
|
[13:21:13.808] 144-10/352 :
|
|
befor : 240.000000 292.000000 after : 241.214081 293.047089 TRUE 2.570387
|
|
[13:21:13.808] 144-11/352 :
|
|
befor : 314.000000 307.000000 after : 315.755432 303.993378 TRUE 12.121320
|
|
[13:21:13.808] 144-12/352 :
|
|
befor : 318.000000 358.000000 after : 318.222137 357.850250 TRUE 0.071770
|
|
[13:21:13.808] 144-13/352 :
|
|
befor : 86.000000 388.000000 after : 83.895111 390.992859 FALSE 13.387762
|
|
[13:21:13.808] 144-14/352 :
|
|
befor : 296.000000 386.000000 after : 289.455261 376.901794 FALSE 125.610950
|
|
befor : 296.000000 386.000000 after : 297.262329 386.502930 TRUE 1.846413
|
|
[13:21:13.808] 144-15/352 :
|
|
befor : 249.000000 421.000000 after : 228.348724 446.768280 FALSE 1090.479441
|
|
befor : 249.000000 421.000000 after : 245.129593 427.307190 FALSE 54.760696
|
|
[13:21:13.808] 144-16/352 :
|
|
befor : 420.000000 446.000000 after : 406.932220 465.985260 FALSE 570.177480
|
|
[13:21:13.808] After Reprojection Map nPoint:23 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:-0.000215 ,z=0.000062,angle between two frames:0.000150
|
|
[13:21:13.808] n deleted obs = 2 n obs with reprojection error less than 0.5 px =8 error init =0.427728 error end=0.405618
|
|
[13:21:13.808] After pose optimization, distance between ekf and vo x:-0.058889 ,z=-0.041775,angle between two frames:0.024733
|
|
[13:21:13.808] frame process finished the id is: 139 the obs is:11
|
|
[13:21:13.893] Odometry x=0.228891, y=0.421431, theta=0.011268
|
|
[13:21:13.909] 145-1/352 :
|
|
befor : 299.000000 8.000000 after : 298.396423 9.099980 TRUE 1.574262
|
|
[13:21:13.909] 145-2/352 :
|
|
befor : 323.000000 9.000000 after : 322.959259 9.111612 TRUE 0.014117
|
|
[13:21:13.909] 145-3/352 :
|
|
befor : 100.000000 100.000000 after : 100.456100 99.853455 TRUE 0.229503
|
|
[13:21:13.909] 145-4/352 :
|
|
befor : 257.000000 104.000000 after : 261.753571 100.730087 TRUE 33.288762
|
|
[13:21:13.909] 145-5/352 :
|
|
befor : 263.000000 180.000000 after : 253.558777 187.491806 FALSE 145.263852
|
|
[13:21:13.909] 145-6/352 :
|
|
befor : 256.000000 228.000000 after : 259.859436 224.231674 FALSE 29.095526
|
|
[13:21:13.909] 145-7/352 :
|
|
befor : 224.000000 254.000000 after : 223.755524 253.831985 TRUE 0.087998
|
|
[13:21:13.909] 145-8/352 :
|
|
befor : 332.000000 320.000000 after : 314.239410 302.032135 FALSE 638.282715
|
|
befor : 332.000000 320.000000 after : 328.618835 316.119141 TRUE 26.493343
|
|
[13:21:13.910] 145-9/352 :
|
|
befor : 432.000000 356.000000 after : 447.318665 337.211700 FALSE 587.661684
|
|
[13:21:13.910] 145-10/352 :
|
|
befor : 432.000000 360.000000 after : 430.874054 360.130707 TRUE 1.284839
|
|
[13:21:13.910] 145-11/352 :
|
|
befor : 380.000000 410.000000 after : 380.770569 410.046234 TRUE 0.595914
|
|
[13:21:13.910] 145-12/352 :
|
|
befor : 243.000000 423.000000 after : 238.077301 430.570557 FALSE 81.546293
|
|
[13:21:13.910] After Reprojection Map nPoint:20 ,nCell:13 ,nMatches:8 ,distance between ekf and vo x:-0.000131 ,z=0.000045,angle between two frames:0.000068
|
|
[13:21:13.910] n deleted obs = 3 n obs with reprojection error less than 0.5 px =5 error init =0.488157 error end=0.429351
|
|
[13:21:13.910] After pose optimization, distance between ekf and vo x:-0.033771 ,z=-0.146609,angle between two frames:0.040985
|
|
[13:21:13.910] frame process finished the id is: 139 the obs is:11
|
|
[13:21:13.990] Odometry x=0.226289, y=0.426254, theta=0.017027
|
|
[13:21:14.007] 146-1/352 :
|
|
befor : 295.000000 13.000000 after : 292.556854 14.330546 TRUE 7.739315
|
|
[13:21:14.007] 146-2/352 :
|
|
befor : 310.000000 27.000000 after : 313.709473 33.922688 FALSE 61.683790
|
|
[13:21:14.007] 146-3/352 :
|
|
befor : 88.000000 56.000000 after : 90.132881 54.532890 TRUE 6.701593
|
|
[13:21:14.007] 146-4/352 :
|
|
befor : 98.000000 36.000000 after : 95.894859 38.953827 FALSE 13.156711
|
|
befor : 98.000000 36.000000 after : 97.157028 37.062634 TRUE 1.839791
|
|
[13:21:14.007] 146-5/352 :
|
|
befor : 280.000000 36.000000 after : 289.302795 25.691986 FALSE 192.797153
|
|
[13:21:14.007] 146-6/352 :
|
|
befor : 263.000000 109.000000 after : 263.345520 109.215469 TRUE 0.165811
|
|
[13:21:14.007] 146-7/352 :
|
|
befor : 260.000000 176.000000 after : 253.213501 183.920593 TRUE 108.792367
|
|
[13:21:14.007] 146-8/352 :
|
|
befor : 257.000000 227.000000 after : 257.000000 227.000000 FALSE 0.000000
|
|
[13:21:14.007] 146-9/352 :
|
|
befor : 190.000000 244.000000 after : 189.800766 243.879578 TRUE 0.054196
|
|
[13:21:14.007] 146-10/352 :
|
|
befor : 229.000000 254.000000 after : 221.107819 243.289932 TRUE 176.992078
|
|
[13:21:14.007] 146-11/352 :
|
|
befor : 310.000000 307.000000 after : 307.956085 309.164581 FALSE 8.863000
|
|
[13:21:14.007] 146-12/352 :
|
|
befor : 324.000000 331.000000 after : 321.902496 333.910492 FALSE 12.870485
|
|
befor : 324.000000 331.000000 after : 316.829315 323.555023 TRUE 106.846400
|
|
[13:21:14.007] 146-13/352 :
|
|
befor : 432.000000 356.000000 after : 431.894470 356.049438 FALSE 0.013581
|
|
[13:21:14.007] 146-14/352 :
|
|
befor : 292.000000 386.000000 after : 293.811737 385.968597 TRUE 3.283377
|
|
[13:21:14.007] 146-15/352 :
|
|
befor : 318.000000 386.000000 after : 317.995056 386.135620 TRUE 0.018417
|
|
[13:21:14.007] 146-16/352 :
|
|
befor : 384.000000 410.000000 after : 372.816650 400.438599 TRUE 216.487705
|
|
[13:21:14.007] 146-17/352 :
|
|
befor : 96.000000 432.000000 after : 98.875900 430.205902 FALSE 11.489590
|
|
[13:21:14.007] After Reprojection Map nPoint:22 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:-0.000102 ,z=0.000046,angle between two frames:0.000046
|
|
[13:21:14.007] n deleted obs = 6 n obs with reprojection error less than 0.5 px =5 error init =0.623450 error end=0.610864
|
|
[13:21:14.008] After pose optimization, distance between ekf and vo x:-0.076489 ,z=-0.786643,angle between two frames:0.310112
|
|
[13:21:14.008] frame process finished the id is: 139 the obs is:11
|
|
[13:21:14.087] Odometry x=0.226337, y=0.431477, theta=0.011820
|
|
[13:21:14.108] 147-1/352 :
|
|
befor : 278.000000 28.000000 after : 284.910278 22.276642 TRUE 80.508775
|
|
[13:21:14.108] 147-2/352 :
|
|
befor : 102.000000 76.000000 after : 92.118134 88.695480 FALSE 258.826506
|
|
[13:21:14.108] 147-3/352 :
|
|
befor : 239.000000 95.000000 after : 239.525497 95.204254 TRUE 0.317867
|
|
[13:21:14.108] 147-4/352 :
|
|
befor : 248.000000 108.000000 after : 248.331726 107.850456 TRUE 0.132406
|
|
[13:21:14.108] 147-5/352 :
|
|
befor : 62.000000 134.000000 after : 63.753220 133.203979 TRUE 3.707428
|
|
[13:21:14.108] 147-6/352 :
|
|
befor : 257.000000 149.000000 after : 254.453293 147.627884 TRUE 8.368420
|
|
[13:21:14.108] 147-7/352 :
|
|
befor : 254.000000 182.000000 after : 253.323853 182.051285 TRUE 0.459806
|
|
[13:21:14.108] 147-8/352 :
|
|
befor : 209.000000 252.000000 after : 207.825699 253.026535 FALSE 2.432757
|
|
befor : 209.000000 252.000000 after : 207.156342 259.586273 FALSE 60.950617
|
|
[13:21:14.109] 147-9/352 :
|
|
befor : 215.000000 257.000000 after : 214.142441 254.639297 TRUE 6.308324
|
|
[13:21:14.109] 147-10/352 :
|
|
befor : 308.000000 309.000000 after : 300.117706 316.776062 FALSE 122.597694
|
|
befor : 309.000000 320.000000 after : 309.722809 320.177399 TRUE 0.553923
|
|
[13:21:14.109] 147-11/352 :
|
|
befor : 312.000000 332.000000 after : 311.162415 335.115570 FALSE 10.408326
|
|
befor : 315.000000 333.000000 after : 315.718506 333.261261 TRUE 0.584508
|
|
[13:21:14.109] 147-12/352 :
|
|
befor : 424.000000 356.000000 after : 425.416107 358.688568 TRUE 9.233758
|
|
[13:21:14.109] 147-13/352 :
|
|
befor : 310.000000 387.000000 after : 310.357635 390.060516 FALSE 9.494664
|
|
befor : 306.000000 360.000000 after : 306.000000 360.000000 FALSE 0.000000
|
|
[13:21:14.109] 147-14/352 :
|
|
befor : 320.000000 396.000000 after : 305.801758 381.841095 FALSE 402.064673
|
|
[13:21:14.109] 147-15/352 :
|
|
befor : 82.000000 430.000000 after : 69.724251 446.161987 TRUE 411.903852
|
|
[13:21:14.109] 147-16/352 :
|
|
befor : 156.000000 420.000000 after : 145.917206 432.020905 FALSE 246.164885
|
|
[13:21:14.109] After Reprojection Map nPoint:25 ,nCell:20 ,nMatches:11 ,distance between ekf and vo x:-0.000151 ,z=0.000030,angle between two frames:0.000096
|
|
[13:21:14.109] n deleted obs = 4 n obs with reprojection error less than 0.5 px =7 error init =0.430899 error end=0.422829
|
|
[13:21:14.109] After pose optimization, distance between ekf and vo x:-0.157084 ,z=-0.102047,angle between two frames:0.148865
|
|
[13:21:14.109] frame process finished the id is: 139 the obs is:11
|
|
[13:21:14.189] Odometry x=0.226638, y=0.437041, theta=0.036397
|
|
[13:21:14.209] 148-1/352 :
|
|
befor : 282.000000 18.000000 after : 280.324341 17.862856 TRUE 2.826642
|
|
[13:21:14.209] 148-2/352 :
|
|
befor : 92.000000 30.000000 after : 94.568031 28.305998 TRUE 9.464428
|
|
[13:21:14.209] 148-3/352 :
|
|
befor : 274.000000 34.000000 after : 273.970764 36.295780 TRUE 5.271461
|
|
[13:21:14.209] 148-4/352 :
|
|
befor : 100.000000 72.000000 after : 100.433876 71.838654 TRUE 0.214281
|
|
[13:21:14.209] 148-5/352 :
|
|
befor : 240.000000 97.000000 after : 240.543518 97.203590 TRUE 0.336861
|
|
[13:21:14.209] 148-6/352 :
|
|
befor : 214.000000 258.000000 after : 214.281601 257.992737 TRUE 0.079352
|
|
[13:21:14.209] 148-7/352 :
|
|
befor : 309.000000 310.000000 after : 300.643433 318.705963 FALSE 145.626013
|
|
befor : 309.000000 310.000000 after : 309.691833 309.847687 FALSE 0.501833
|
|
befor : 304.000000 310.000000 after : 299.848816 304.756256 TRUE 44.729179
|
|
[13:21:14.209] 148-8/352 :
|
|
befor : 330.000000 324.000000 after : 323.353912 331.733215 TRUE 103.973100
|
|
[13:21:14.209] 148-9/352 :
|
|
befor : 428.000000 362.000000 after : 432.854034 356.357086 FALSE 55.404127
|
|
[13:21:14.209] 148-10/352 :
|
|
befor : 296.000000 396.000000 after : 296.578857 396.308807 TRUE 0.430438
|
|
[13:21:14.209] 148-11/352 :
|
|
befor : 380.000000 414.000000 after : 380.418854 414.173981 TRUE 0.205708
|
|
[13:21:14.209] 148-12/352 :
|
|
befor : 78.000000 432.000000 after : 75.456413 437.195129 TRUE 33.459203
|
|
[13:21:14.209] 148-13/352 :
|
|
befor : 236.000000 426.000000 after : 230.890152 432.142395 TRUE 63.839563
|
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[13:21:14.209] 148-14/352 :
|
|
befor : 364.000000 424.000000 after : 355.871887 434.132782 FALSE 168.739488
|
|
[13:21:14.209] 148-15/352 :
|
|
befor : 406.000000 440.000000 after : 437.193665 412.937317 FALSE 1705.433525
|
|
[13:21:14.209] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:12 ,distance between ekf and vo x:-0.000046 ,z=0.000065,angle between two frames:0.000033
|
|
[13:21:14.209] n deleted obs = 6 n obs with reprojection error less than 0.5 px =6 error init =0.536267 error end=0.504228
|
|
[13:21:14.209] After pose optimization, distance between ekf and vo x:0.016783 ,z=-0.293069,angle between two frames:0.038859
|
|
[13:21:14.209] frame process finished the id is: 139 the obs is:11
|
|
[13:21:14.291] Odometry x=0.226571, y=0.442331, theta=0.018275
|
|
[13:21:14.310] 149-1/352 :
|
|
befor : 290.000000 6.000000 after : 290.000000 6.000000 FALSE 0.000000
|
|
befor : 290.000000 6.000000 after : 290.000000 6.000000 FALSE 0.000000
|
|
[13:21:14.310] 149-2/352 :
|
|
befor : 312.000000 10.000000 after : 311.988708 10.121518 TRUE 0.014894
|
|
[13:21:14.310] 149-3/352 :
|
|
befor : 184.000000 36.000000 after : 184.240005 35.826286 TRUE 0.087779
|
|
[13:21:14.310] 149-4/352 :
|
|
befor : 283.000000 54.000000 after : 282.847809 56.656837 TRUE 7.081947
|
|
[13:21:14.310] 149-5/352 :
|
|
befor : 68.000000 84.000000 after : 65.007378 88.908859 FALSE 33.052688
|
|
[13:21:14.310] 149-6/352 :
|
|
befor : 48.000000 164.000000 after : 47.020199 165.059311 FALSE 2.082150
|
|
[13:21:14.310] 149-7/352 :
|
|
befor : 176.000000 239.000000 after : 177.201401 244.871902 TRUE 35.922602
|
|
[13:21:14.310] 149-8/352 :
|
|
befor : 244.000000 224.000000 after : 234.664963 231.782318 TRUE 147.707395
|
|
[13:21:14.310] 149-9/352 :
|
|
befor : 210.000000 256.000000 after : 210.855804 256.050323 TRUE 0.734934
|
|
[13:21:14.310] 149-10/352 :
|
|
befor : 327.000000 242.000000 after : 334.158600 232.440994 FALSE 142.620143
|
|
[13:21:14.310] 149-11/352 :
|
|
befor : 298.000000 322.000000 after : 297.814941 322.142181 FALSE 0.054462
|
|
befor : 299.000000 322.000000 after : 289.975464 330.918793 FALSE 160.987116
|
|
befor : 298.000000 322.000000 after : 297.894653 321.790802 TRUE 0.054862
|
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[13:21:14.310] 149-12/352 :
|
|
befor : 300.000000 322.000000 after : 303.675964 314.915680 FALSE 63.700305
|
|
[13:21:14.310] 149-13/352 :
|
|
befor : 316.000000 332.000000 after : 302.021423 345.082001 FALSE 366.539349
|
|
befor : 312.000000 333.000000 after : 304.373871 325.273346 FALSE 117.859029
|
|
[13:21:14.310] 149-14/352 :
|
|
befor : 424.000000 356.000000 after : 416.972839 348.766357 FALSE 101.706572
|
|
[13:21:14.310] 149-15/352 :
|
|
befor : 421.000000 365.000000 after : 421.634766 364.910522 TRUE 0.410934
|
|
[13:21:14.310] 149-16/352 :
|
|
befor : 290.000000 398.000000 after : 294.715973 395.831604 TRUE 26.942342
|
|
[13:21:14.310] After Reprojection Map nPoint:24 ,nCell:20 ,nMatches:9 ,distance between ekf and vo x:-0.000135 ,z=0.000090,angle between two frames:0.000048
|
|
[13:21:14.310] n deleted obs = 5 n obs with reprojection error less than 0.5 px =4 error init =0.481584 error end=0.472862
|
|
[13:21:14.310] After pose optimization, distance between ekf and vo x:-0.168117 ,z=0.275470,angle between two frames:0.037321
|
|
[13:21:14.310] frame process finished the id is: 139 the obs is:11
|
|
[13:21:14.389] Odometry x=0.226538, y=0.447965, theta=0.035059
|
|
[13:21:14.410] 150-1/352 :
|
|
befor : 279.000000 23.000000 after : 279.099243 23.036097 TRUE 0.011152
|
|
[13:21:14.410] 150-2/352 :
|
|
befor : 234.000000 94.000000 after : 227.731293 88.582428 TRUE 68.646778
|
|
[13:21:14.410] 150-3/352 :
|
|
befor : 252.000000 106.000000 after : 251.345200 113.699615 TRUE 59.712842
|
|
[13:21:14.410] 150-4/352 :
|
|
befor : 292.000000 168.000000 after : 290.668121 169.409119 FALSE 3.759516
|
|
[13:21:14.410] 150-5/352 :
|
|
befor : 208.000000 256.000000 after : 208.780685 255.892960 TRUE 0.620927
|
|
[13:21:14.410] 150-6/352 :
|
|
befor : 210.000000 256.000000 after : 210.370911 255.968872 TRUE 0.138544
|
|
[13:21:14.410] 150-7/352 :
|
|
befor : 226.000000 294.000000 after : 227.876404 293.526489 TRUE 3.745104
|
|
[13:21:14.410] 150-8/352 :
|
|
befor : 299.000000 309.000000 after : 308.666290 299.918365 FALSE 175.913253
|
|
[13:21:14.410] 150-9/352 :
|
|
befor : 305.000000 322.000000 after : 305.911560 322.338226 TRUE 0.945339
|
|
[13:21:14.410] 150-10/352 :
|
|
befor : 564.000000 328.000000 after : 568.146301 332.332428 FALSE 35.961746
|
|
[13:21:14.410] 150-11/352 :
|
|
befor : 309.000000 335.000000 after : 306.969452 336.479156 FALSE 6.311030
|
|
befor : 311.000000 335.000000 after : 311.000000 335.000000 FALSE 0.000000
|
|
[13:21:14.410] 150-12/352 :
|
|
befor : 281.000000 388.000000 after : 281.342712 387.754028 TRUE 0.177954
|
|
[13:21:14.410] 150-13/352 :
|
|
befor : 306.000000 389.000000 after : 291.220734 405.749512 FALSE 498.972857
|
|
[13:21:14.410] 150-14/352 :
|
|
befor : 237.000000 411.000000 after : 239.987381 410.997406 TRUE 8.924452
|
|
[13:21:14.410] 150-15/352 :
|
|
befor : 62.000000 427.000000 after : 52.236801 439.312775 FALSE 246.924472
|
|
[13:21:14.410] After Reprojection Map nPoint:22 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:-0.000130 ,z=0.000091,angle between two frames:0.000053
|
|
[13:21:14.410] n deleted obs = 3 n obs with reprojection error less than 0.5 px =6 error init =0.435768 error end=0.435768
|
|
[13:21:14.410] After pose optimization, distance between ekf and vo x:-0.000130 ,z=0.000091,angle between two frames:0.000053
|
|
[13:21:14.410] frame process finished the id is: 139 the obs is:11
|
|
[13:21:14.491] Odometry x=0.226332, y=0.453548, theta=0.028448
|
|
[13:21:14.519] 151-1/352 :
|
|
befor : 312.000000 12.000000 after : 320.135742 24.006622 FALSE 210.349280
|
|
[13:21:14.519] 151-2/352 :
|
|
befor : 100.000000 64.000000 after : 100.426453 63.885731 TRUE 0.194919
|
|
[13:21:14.519] 151-3/352 :
|
|
befor : 252.000000 112.000000 after : 250.189926 115.524307 FALSE 15.697109
|
|
befor : 242.000000 99.000000 after : 242.381927 99.262367 TRUE 0.214705
|
|
[13:21:14.519] 151-4/352 :
|
|
befor : 247.000000 227.000000 after : 250.222275 222.965897 TRUE 26.657045
|
|
[13:21:14.519] 151-5/352 :
|
|
befor : 240.000000 256.000000 after : 241.524063 266.914368 TRUE 121.446190
|
|
[13:21:14.519] 151-6/352 :
|
|
befor : 228.000000 296.000000 after : 228.371613 296.084778 TRUE 0.145283
|
|
[13:21:14.519] 151-7/352 :
|
|
befor : 330.000000 323.000000 after : 324.920380 329.299377 FALSE 65.484699
|
|
befor : 330.000000 324.000000 after : 331.305756 322.100952 FALSE 5.311380
|
|
[13:21:14.519] 151-8/352 :
|
|
befor : 312.000000 334.000000 after : 307.364319 340.252533 TRUE 60.583708
|
|
[13:21:14.519] 151-9/352 :
|
|
befor : 383.000000 369.000000 after : 382.354187 370.017487 TRUE 1.452353
|
|
[13:21:14.519] 151-10/352 :
|
|
befor : 376.000000 414.000000 after : 373.378754 419.523163 TRUE 37.376260
|
|
[13:21:14.519] 151-11/352 :
|
|
befor : 60.000000 434.000000 after : 59.791435 433.962036 TRUE 0.044941
|
|
[13:21:14.519] 151-12/352 :
|
|
befor : 156.000000 430.000000 after : 186.273071 461.197205 FALSE 1889.724419
|
|
[13:21:14.519] 151-13/352 :
|
|
befor : 208.000000 422.000000 after : 206.718353 423.037476 FALSE 2.718974
|
|
[13:21:14.519] 151-14/352 :
|
|
befor : 225.000000 429.000000 after : 223.577377 426.372467 TRUE 8.927785
|
|
[13:21:14.519] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:10 ,distance between ekf and vo x:-0.000103 ,z=0.000106,angle between two frames:0.000018
|
|
[13:21:14.519] n deleted obs = 2 n obs with reprojection error less than 0.5 px =8 error init =0.423690 error end=0.380786
|
|
[13:21:14.519] After pose optimization, distance between ekf and vo x:-0.454937 ,z=0.624507,angle between two frames:0.171671
|
|
[13:21:14.519] frame process finished the id is: 139 the obs is:11
|
|
[13:21:14.588] Odometry x=0.226264, y=0.458952, theta=0.027019
|
|
[13:21:14.622] 152-1/352 :
|
|
befor : 91.000000 24.000000 after : 86.767738 27.296247 TRUE 28.777286
|
|
[13:21:14.622] 152-2/352 :
|
|
befor : 286.000000 47.000000 after : 285.954559 47.136917 TRUE 0.020811
|
|
[13:21:14.622] 152-3/352 :
|
|
befor : 84.000000 116.000000 after : 84.459389 115.809715 TRUE 0.247246
|
|
[13:21:14.622] 152-4/352 :
|
|
befor : 239.000000 95.000000 after : 243.633194 92.850388 FALSE 26.087320
|
|
[13:21:14.622] 152-5/352 :
|
|
befor : 241.000000 98.000000 after : 251.868546 115.852242 TRUE 436.827809
|
|
[13:21:14.622] 152-6/352 :
|
|
befor : 244.000000 216.000000 after : 244.902939 216.977173 FALSE 1.770165
|
|
[13:21:14.622] 152-7/352 :
|
|
befor : 214.000000 252.000000 after : 214.036774 251.757172 TRUE 0.060318
|
|
[13:21:14.622] 152-8/352 :
|
|
befor : 298.000000 318.000000 after : 298.338989 318.177277 TRUE 0.146341
|
|
[13:21:14.622] 152-9/352 :
|
|
befor : 297.000000 352.000000 after : 298.023590 349.685547 FALSE 6.404430
|
|
befor : 297.000000 352.000000 after : 294.179382 349.684021 TRUE 13.319643
|
|
[13:21:14.622] 152-10/352 :
|
|
befor : 292.000000 392.000000 after : 291.255157 392.987549 FALSE 1.530043
|
|
[13:21:14.622] 152-11/352 :
|
|
befor : 325.000000 403.000000 after : 316.845032 398.505585 TRUE 86.703276
|
|
[13:21:14.622] 152-12/352 :
|
|
befor : 136.000000 424.000000 after : 96.170006 383.499634 FALSE 3226.708101
|
|
[13:21:14.622] 152-13/352 :
|
|
befor : 206.000000 420.000000 after : 201.098801 425.976685 FALSE 59.742513
|
|
[13:21:14.622] 152-14/352 :
|
|
befor : 224.000000 429.000000 after : 230.644363 429.959961 FALSE 45.069090
|
|
befor : 224.000000 428.000000 after : 221.441620 432.234131 FALSE 24.473173
|
|
[13:21:14.622] 152-15/352 :
|
|
befor : 396.000000 428.000000 after : 396.683350 433.980865 TRUE 36.237719
|
|
[13:21:14.622] 152-16/352 :
|
|
befor : 428.000000 465.000000 after : 451.490265 444.999512 FALSE 951.812076
|
|
[13:21:14.622] After Reprojection Map nPoint:20 ,nCell:18 ,nMatches:9 ,distance between ekf and vo x:-0.000009 ,z=0.000127,angle between two frames:0.000078
|
|
[13:21:14.622] n deleted obs = 2 n obs with reprojection error less than 0.5 px =7 error init =0.489722 error end=0.396061
|
|
[13:21:14.622] After pose optimization, distance between ekf and vo x:0.094809 ,z=-0.486168,angle between two frames:0.081636
|
|
[13:21:14.622] frame process finished the id is: 139 the obs is:11
|
|
[13:21:14.690] Odometry x=0.226171, y=0.465348, theta=0.037497
|
|
[13:21:14.710] 153-1/352 :
|
|
befor : 282.000000 19.000000 after : 278.729767 17.064404 TRUE 14.440959
|
|
[13:21:14.710] 153-2/352 :
|
|
befor : 88.000000 84.000000 after : 89.952454 83.837631 TRUE 3.838439
|
|
[13:21:14.710] 153-3/352 :
|
|
befor : 239.000000 97.000000 after : 253.287506 119.336540 TRUE 703.053860
|
|
[13:21:14.710] 153-4/352 :
|
|
befor : 242.000000 99.000000 after : 242.419296 99.213074 TRUE 0.221210
|
|
[13:21:14.710] 153-5/352 :
|
|
befor : 84.000000 120.000000 after : 84.509186 118.880798 FALSE 1.511883
|
|
[13:21:14.710] 153-6/352 :
|
|
befor : 244.000000 220.000000 after : 236.653214 229.398682 TRUE 142.310488
|
|
[13:21:14.710] 153-7/352 :
|
|
befor : 180.000000 244.000000 after : 176.910782 245.670700 TRUE 12.334507
|
|
[13:21:14.710] 153-8/352 :
|
|
befor : 221.000000 256.000000 after : 210.366669 266.775208 FALSE 229.172832
|
|
befor : 212.000000 260.000000 after : 212.996887 260.047882 TRUE 0.996077
|
|
[13:21:14.710] 153-9/352 :
|
|
befor : 312.000000 322.000000 after : 317.257629 324.392303 TRUE 33.365783
|
|
[13:21:14.710] 153-10/352 :
|
|
befor : 316.000000 334.000000 after : 315.653412 334.729248 TRUE 0.651926
|
|
[13:21:14.710] 153-11/352 :
|
|
befor : 428.000000 360.000000 after : 430.278839 361.194183 TRUE 6.619182
|
|
[13:21:14.710] 153-12/352 :
|
|
befor : 292.000000 396.000000 after : 277.969391 412.983643 FALSE 485.302108
|
|
[13:21:14.710] 153-13/352 :
|
|
befor : 343.000000 403.000000 after : 350.576050 397.287720 FALSE 90.026677
|
|
[13:21:14.710] 153-14/352 :
|
|
befor : 380.000000 414.000000 after : 367.950684 402.468414 FALSE 278.163494
|
|
befor : 378.000000 414.000000 after : 378.000000 414.000000 FALSE 0.000000
|
|
[13:21:14.710] 153-15/352 :
|
|
befor : 42.000000 428.000000 after : 37.648323 432.793365 FALSE 41.913445
|
|
[13:21:14.710] 153-16/352 :
|
|
befor : 226.000000 430.000000 after : 226.253571 429.777527 TRUE 0.113792
|
|
[13:21:14.710] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:11 ,distance between ekf and vo x:-0.000038 ,z=0.000062,angle between two frames:0.000033
|
|
[13:21:14.710] n deleted obs = 4 n obs with reprojection error less than 0.5 px =7 error init =0.363958 error end=0.363958
|
|
[13:21:14.710] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000062,angle between two frames:0.000033
|
|
[13:21:14.710] frame process finished the id is: 139 the obs is:11
|
|
[13:21:14.792] Odometry x=0.226202, y=0.471121, theta=0.032539
|
|
[13:21:14.811] 154-1/352 :
|
|
befor : 297.000000 29.000000 after : 307.189819 21.632059 FALSE 158.118971
|
|
[13:21:14.811] 154-2/352 :
|
|
befor : 293.000000 34.000000 after : 293.089294 34.176128 TRUE 0.038995
|
|
[13:21:14.811] 154-3/352 :
|
|
befor : 240.000000 95.000000 after : 230.765350 86.661232 TRUE 154.813806
|
|
[13:21:14.811] 154-4/352 :
|
|
befor : 254.000000 170.000000 after : 253.737793 165.884094 FALSE 17.009433
|
|
[13:21:14.811] 154-5/352 :
|
|
befor : 249.000000 197.000000 after : 257.770142 186.626495 FALSE 184.524982
|
|
[13:21:14.811] 154-6/352 :
|
|
befor : 244.000000 248.000000 after : 241.561523 246.538345 TRUE 8.082602
|
|
[13:21:14.811] 154-7/352 :
|
|
befor : 228.000000 292.000000 after : 233.264282 294.374329 TRUE 33.350104
|
|
[13:21:14.811] 154-8/352 :
|
|
befor : 307.000000 309.000000 after : 300.301361 315.514191 FALSE 87.306443
|
|
[13:21:14.811] 154-9/352 :
|
|
befor : 331.000000 320.000000 after : 330.570618 321.556427 TRUE 2.606834
|
|
[13:21:14.811] 154-10/352 :
|
|
befor : 313.000000 334.000000 after : 313.001404 333.685852 TRUE 0.098691
|
|
[13:21:14.811] 154-11/352 :
|
|
befor : 428.000000 356.000000 after : 430.061859 355.591278 TRUE 4.418317
|
|
[13:21:14.811] 154-12/352 :
|
|
befor : 296.000000 396.000000 after : 292.222992 400.438568 FALSE 33.966677
|
|
[13:21:14.811] 154-13/352 :
|
|
befor : 320.000000 396.000000 after : 342.761627 419.064575 FALSE 1050.066302
|
|
[13:21:14.811] 154-14/352 :
|
|
befor : 378.000000 412.000000 after : 378.704315 412.109894 TRUE 0.508137
|
|
[13:21:14.811] 154-15/352 :
|
|
befor : 224.000000 430.000000 after : 234.482071 424.453369 FALSE 140.638925
|
|
[13:21:14.811] 154-16/352 :
|
|
befor : 396.000000 428.000000 after : 396.391907 428.027771 TRUE 0.154362
|
|
[13:21:14.811] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:-0.000116 ,z=0.000032,angle between two frames:0.000062
|
|
[13:21:14.811] n deleted obs = 6 n obs with reprojection error less than 0.5 px =3 error init =0.574859 error end=0.574859
|
|
[13:21:14.811] After pose optimization, distance between ekf and vo x:-0.000116 ,z=0.000032,angle between two frames:0.000062
|
|
[13:21:14.811] frame process finished the id is: 139 the obs is:11
|
|
[13:21:14.892] Odometry x=0.225191, y=0.477324, theta=0.044227
|
|
[13:21:14.910] 155-1/352 :
|
|
befor : 302.000000 26.000000 after : 313.658936 40.418442 FALSE 343.822241
|
|
[13:21:14.910] 155-2/352 :
|
|
befor : 86.000000 36.000000 after : 90.348892 31.078398 FALSE 43.135032
|
|
[13:21:14.910] 155-3/352 :
|
|
befor : 239.000000 97.000000 after : 239.439392 97.166229 TRUE 0.220698
|
|
[13:21:14.910] 155-4/352 :
|
|
befor : 244.000000 108.000000 after : 244.367462 107.803238 TRUE 0.173744
|
|
[13:21:14.910] 155-5/352 :
|
|
befor : 257.000000 154.000000 after : 236.695328 181.906555 TRUE 1191.055537
|
|
[13:21:14.910] 155-6/352 :
|
|
befor : 250.000000 226.000000 after : 243.286316 232.331665 TRUE 85.163536
|
|
[13:21:14.910] 155-7/352 :
|
|
befor : 215.000000 263.000000 after : 215.463318 262.966339 TRUE 0.215797
|
|
[13:21:14.910] 155-8/352 :
|
|
befor : 232.000000 298.000000 after : 231.993134 297.937561 TRUE 0.003946
|
|
[13:21:14.910] 155-9/352 :
|
|
befor : 307.000000 324.000000 after : 300.775330 317.374420 TRUE 82.644830
|
|
[13:21:14.910] 155-10/352 :
|
|
befor : 314.000000 336.000000 after : 305.865509 345.377502 FALSE 154.107495
|
|
befor : 324.000000 333.000000 after : 327.867767 328.847717 FALSE 32.201076
|
|
[13:21:14.910] 155-11/352 :
|
|
befor : 296.000000 372.000000 after : 299.334320 375.261841 TRUE 21.757296
|
|
[13:21:14.910] 155-12/352 :
|
|
befor : 311.000000 361.000000 after : 304.370239 369.578094 FALSE 117.537432
|
|
[13:21:14.910] 155-13/352 :
|
|
befor : 315.000000 391.000000 after : 296.404602 411.504181 FALSE 766.210260
|
|
[13:21:14.910] 155-14/352 :
|
|
befor : 224.000000 432.000000 after : 223.578049 431.760986 TRUE 0.235170
|
|
[13:21:14.910] After Reprojection Map nPoint:20 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000021 ,z=0.000076,angle between two frames:0.000048
|
|
[13:21:14.910] n deleted obs = 3 n obs with reprojection error less than 0.5 px =6 error init =0.428049 error end=0.428049
|
|
[13:21:14.910] After pose optimization, distance between ekf and vo x:-0.000021 ,z=0.000076,angle between two frames:0.000048
|
|
[13:21:14.910] frame process finished the id is: 139 the obs is:11
|
|
[13:21:14.989] Odometry x=0.225076, y=0.482852, theta=0.035123
|
|
[13:21:15.009] 156-1/352 :
|
|
befor : 311.000000 13.000000 after : 311.034790 13.082675 TRUE 0.008045
|
|
[13:21:15.009] 156-2/352 :
|
|
befor : 252.000000 104.000000 after : 252.450607 104.082092 TRUE 0.209786
|
|
[13:21:15.009] 156-3/352 :
|
|
befor : 253.000000 200.000000 after : 249.075089 195.933929 TRUE 31.937860
|
|
[13:21:15.009] 156-4/352 :
|
|
befor : 244.000000 220.000000 after : 244.259888 220.053299 TRUE 0.070382
|
|
[13:21:15.009] 156-5/352 :
|
|
befor : 216.000000 256.000000 after : 216.409958 256.000580 TRUE 0.168066
|
|
[13:21:15.009] 156-6/352 :
|
|
befor : 244.000000 252.000000 after : 242.648315 254.908783 FALSE 10.288069
|
|
[13:21:15.009] 156-7/352 :
|
|
befor : 313.000000 323.000000 after : 312.687408 327.184601 TRUE 17.608598
|
|
[13:21:15.009] 156-8/352 :
|
|
befor : 318.000000 335.000000 after : 315.241150 338.993927 TRUE 23.562707
|
|
[13:21:15.009] 156-9/352 :
|
|
befor : 440.000000 356.000000 after : 436.355438 359.339996 FALSE 24.438406
|
|
befor : 436.000000 356.000000 after : 431.833252 352.008087 FALSE 33.297157
|
|
[13:21:15.009] 156-10/352 :
|
|
befor : 315.000000 391.000000 after : 313.951874 386.207428 TRUE 24.067315
|
|
[13:21:15.010] 156-11/352 :
|
|
befor : 204.000000 426.000000 after : 204.152054 427.842163 TRUE 3.416685
|
|
[13:21:15.010] After Reprojection Map nPoint:22 ,nCell:12 ,nMatches:9 ,distance between ekf and vo x:-0.000019 ,z=0.000067,angle between two frames:0.000049
|
|
[13:21:15.010] n deleted obs = 1 n obs with reprojection error less than 0.5 px =8 error init =0.309818 error end=0.303951
|
|
[13:21:15.010] After pose optimization, distance between ekf and vo x:-0.006851 ,z=-0.004563,angle between two frames:0.008684
|
|
[13:21:15.010] frame process finished the id is: 139 the obs is:11
|
|
[13:21:15.087] Odometry x=0.224963, y=0.488610, theta=0.043489
|
|
[13:21:15.110] 157-1/352 :
|
|
befor : 302.000000 34.000000 after : 317.536163 54.855118 FALSE 676.308309
|
|
[13:21:15.110] 157-2/352 :
|
|
befor : 241.000000 99.000000 after : 241.436813 99.136093 TRUE 0.209327
|
|
[13:21:15.110] 157-3/352 :
|
|
befor : 260.000000 175.000000 after : 259.547028 168.417542 FALSE 43.533944
|
|
[13:21:15.110] 157-4/352 :
|
|
befor : 300.000000 172.000000 after : 301.660553 171.589478 TRUE 2.925965
|
|
[13:21:15.110] 157-5/352 :
|
|
befor : 252.000000 228.000000 after : 252.098297 228.029968 TRUE 0.010560
|
|
[13:21:15.110] 157-6/352 :
|
|
befor : 220.000000 260.000000 after : 178.111618 306.849487 FALSE 3949.511004
|
|
[13:21:15.110] 157-7/352 :
|
|
befor : 314.000000 317.000000 after : 306.176086 324.865845 FALSE 123.085137
|
|
[13:21:15.110] 157-8/352 :
|
|
befor : 332.000000 328.000000 after : 331.727997 329.261047 TRUE 1.664226
|
|
[13:21:15.110] 157-9/352 :
|
|
befor : 320.000000 341.000000 after : 315.710663 344.693542 FALSE 32.040669
|
|
befor : 320.000000 338.000000 after : 311.995697 328.073761 TRUE 162.599087
|
|
[13:21:15.110] 157-10/352 :
|
|
befor : 300.000000 376.000000 after : 304.989899 382.567871 TRUE 68.036020
|
|
[13:21:15.110] 157-11/352 :
|
|
befor : 24.000000 408.000000 after : 17.952312 415.005035 FALSE 85.645045
|
|
[13:21:15.110] 157-12/352 :
|
|
befor : 300.000000 404.000000 after : 294.504456 398.640045 TRUE 58.930124
|
|
[13:21:15.110] 157-13/352 :
|
|
befor : 209.000000 431.000000 after : 209.000000 431.000000 FALSE 0.000000
|
|
[13:21:15.110] 157-14/352 :
|
|
befor : 242.000000 422.000000 after : 242.177460 422.027649 TRUE 0.032256
|
|
[13:21:15.110] 157-15/352 :
|
|
befor : 380.000000 436.000000 after : 384.243530 434.265625 FALSE 21.015606
|
|
[13:21:15.110] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:8 ,distance between ekf and vo x:-0.000085 ,z=0.000084,angle between two frames:0.000005
|
|
[13:21:15.110] n deleted obs = 3 n obs with reprojection error less than 0.5 px =5 error init =0.894232 error end=0.392026
|
|
[13:21:15.110] After pose optimization, distance between ekf and vo x:-0.149579 ,z=-0.331620,angle between two frames:0.220711
|
|
[13:21:15.110] frame process finished the id is: 139 the obs is:11
|
|
[13:21:15.195] Odometry x=0.224844, y=0.494267, theta=0.034525
|
|
[13:21:15.209] 158-1/352 :
|
|
befor : 280.000000 28.000000 after : 280.523743 27.306873 FALSE 0.754731
|
|
befor : 294.000000 9.000000 after : 288.381531 2.907032 FALSE 68.691461
|
|
[13:21:15.210] 158-2/352 :
|
|
befor : 305.000000 30.000000 after : 320.681183 17.494493 FALSE 402.287189
|
|
[13:21:15.210] 158-3/352 :
|
|
befor : 256.000000 112.000000 after : 251.691528 118.859612 FALSE 65.617198
|
|
befor : 260.000000 111.000000 after : 260.387451 111.117516 TRUE 0.163928
|
|
[13:21:15.210] 158-4/352 :
|
|
befor : 253.000000 229.000000 after : 253.663147 228.780594 TRUE 0.487903
|
|
[13:21:15.210] 158-5/352 :
|
|
befor : 226.000000 260.000000 after : 220.156693 267.897583 TRUE 96.516060
|
|
[13:21:15.210] 158-6/352 :
|
|
befor : 311.000000 314.000000 after : 307.839081 309.908722 TRUE 26.729966
|
|
[13:21:15.210] 158-7/352 :
|
|
befor : 341.000000 327.000000 after : 341.231415 327.203827 TRUE 0.095098
|
|
[13:21:15.210] 158-8/352 :
|
|
befor : 316.000000 366.000000 after : 316.986023 366.071655 TRUE 0.977376
|
|
[13:21:15.210] 158-9/352 :
|
|
befor : 319.000000 395.000000 after : 291.505280 425.985352 FALSE 1716.051665
|
|
befor : 319.000000 395.000000 after : 319.172394 396.214722 FALSE 1.505268
|
|
[13:21:15.210] After Reprojection Map nPoint:19 ,nCell:12 ,nMatches:6 ,distance between ekf and vo x:-0.000129 ,z=0.000038,angle between two frames:0.000078
|
|
[13:21:15.210] n deleted obs = 1 n obs with reprojection error less than 0.5 px =5 error init =0.455964 error end=0.455964
|
|
[13:21:15.210] After pose optimization, distance between ekf and vo x:-0.000129 ,z=0.000038,angle between two frames:0.000078
|
|
[13:21:15.210] frame process finished the id is: 139 the obs is:11
|
|
[13:21:15.290] Odometry x=0.224086, y=0.502702, theta=0.035562
|
|
[13:21:15.308] 159-1/352 :
|
|
befor : 298.000000 6.000000 after : 298.000000 6.000000 FALSE 0.000000
|
|
[13:21:15.308] 159-2/352 :
|
|
befor : 100.000000 88.000000 after : 100.484970 87.788696 TRUE 0.279845
|
|
[13:21:15.308] 159-3/352 :
|
|
befor : 249.000000 102.000000 after : 249.551865 102.075577 TRUE 0.310266
|
|
[13:21:15.309] 159-4/352 :
|
|
befor : 172.000000 140.000000 after : 171.481476 139.643585 FALSE 0.395899
|
|
[13:21:15.309] 159-5/352 :
|
|
befor : 258.000000 231.000000 after : 262.201935 226.141632 TRUE 41.259995
|
|
[13:21:15.309] 159-6/352 :
|
|
befor : 224.000000 264.000000 after : 224.379044 267.365326 TRUE 11.469093
|
|
[13:21:15.309] 159-7/352 :
|
|
befor : 250.000000 302.000000 after : 249.459778 302.153351 FALSE 0.315356
|
|
[13:21:15.309] 159-8/352 :
|
|
befor : 319.000000 317.000000 after : 319.828247 317.168365 TRUE 0.714340
|
|
[13:21:15.309] 159-9/352 :
|
|
befor : 344.000000 328.000000 after : 344.388794 328.263794 TRUE 0.220748
|
|
[13:21:15.309] 159-10/352 :
|
|
befor : 334.000000 337.000000 after : 332.497833 334.820251 TRUE 7.007809
|
|
[13:21:15.309] 159-11/352 :
|
|
befor : 323.000000 395.000000 after : 300.678680 419.886719 FALSE 1117.590078
|
|
befor : 308.000000 404.000000 after : 308.413971 404.460938 FALSE 0.383835
|
|
[13:21:15.309] 159-12/352 :
|
|
befor : 208.000000 436.000000 after : 208.023285 435.938751 TRUE 0.004294
|
|
[13:21:15.309] After Reprojection Map nPoint:20 ,nCell:13 ,nMatches:8 ,distance between ekf and vo x:-0.000071 ,z=0.000053,angle between two frames:0.000023
|
|
[13:21:15.309] n deleted obs = 3 n obs with reprojection error less than 0.5 px =5 error init =0.408012 error end=0.408012
|
|
[13:21:15.309] After pose optimization, distance between ekf and vo x:-0.000071 ,z=0.000053,angle between two frames:0.000023
|
|
[13:21:15.309] frame process finished the id is: 139 the obs is:11
|
|
[13:21:15.392] Odometry x=0.223995, y=0.507954, theta=0.033626
|
|
[13:21:15.411] 160-1/352 :
|
|
befor : 298.000000 6.000000 after : 298.000000 6.000000 FALSE 0.000000
|
|
[13:21:15.411] 160-2/352 :
|
|
befor : 104.000000 72.000000 after : 104.803375 70.660728 FALSE 2.439060
|
|
[13:21:15.411] 160-3/352 :
|
|
befor : 236.000000 96.000000 after : 236.494873 95.942566 TRUE 0.248198
|
|
[13:21:15.411] 160-4/352 :
|
|
befor : 259.000000 106.000000 after : 259.190369 106.167862 TRUE 0.064418
|
|
[13:21:15.411] 160-5/352 :
|
|
befor : 252.000000 216.000000 after : 242.500854 226.020508 TRUE 190.644342
|
|
[13:21:15.411] 160-6/352 :
|
|
befor : 186.000000 243.000000 after : 202.692978 230.664642 FALSE 430.816560
|
|
[13:21:15.411] 160-7/352 :
|
|
befor : 215.000000 256.000000 after : 215.000000 256.000000 FALSE 0.000000
|
|
[13:21:15.411] 160-8/352 :
|
|
befor : 314.000000 313.000000 after : 312.306152 315.029175 FALSE 6.986670
|
|
[13:21:15.411] 160-9/352 :
|
|
befor : 340.000000 328.000000 after : 336.987823 332.284607 TRUE 27.431064
|
|
[13:21:15.411] 160-10/352 :
|
|
befor : 334.000000 336.000000 after : 331.842621 338.257904 FALSE 9.752416
|
|
[13:21:15.411] 160-11/352 :
|
|
befor : 308.000000 408.000000 after : 299.664520 399.340332 FALSE 144.470072
|
|
befor : 308.000000 408.000000 after : 307.624908 407.381195 TRUE 0.523613
|
|
[13:21:15.411] 160-12/352 :
|
|
befor : 357.000000 401.000000 after : 339.253693 420.958099 FALSE 713.257156
|
|
befor : 332.000000 408.000000 after : 344.260254 397.704834 FALSE 256.304269
|
|
[13:21:15.411] 160-13/352 :
|
|
befor : 398.000000 420.000000 after : 401.058014 415.533203 FALSE 29.303723
|
|
[13:21:15.411] 160-14/352 :
|
|
befor : 134.000000 452.000000 after : 132.971527 450.958435 FALSE 2.142614
|
|
[13:21:15.411] After Reprojection Map nPoint:23 ,nCell:16 ,nMatches:5 ,distance between ekf and vo x:-0.000097 ,z=0.000055,angle between two frames:0.000044
|
|
[13:21:15.411] n deleted obs = 0 n obs with reprojection error less than 0.5 px =5 error init =0.231800 error end=0.231800
|
|
[13:21:15.411] After pose optimization, distance between ekf and vo x:-0.000097 ,z=0.000055,angle between two frames:0.000044
|
|
[13:21:15.411] frame process finished the id is: 139 the obs is:11
|
|
[13:21:15.504] Odometry x=0.223866, y=0.515367, theta=0.039778
|
|
[13:21:15.512] 161-1/352 :
|
|
befor : 256.000000 108.000000 after : 256.393036 107.770584 TRUE 0.207109
|
|
[13:21:15.512] 161-2/352 :
|
|
befor : 308.000000 172.000000 after : 292.813538 190.481613 FALSE 572.198665
|
|
befor : 308.000000 172.000000 after : 310.221130 172.585220 TRUE 5.275903
|
|
[13:21:15.512] 161-3/352 :
|
|
befor : 261.000000 226.000000 after : 267.258667 219.191986 FALSE 85.519966
|
|
[13:21:15.512] 161-4/352 :
|
|
befor : 237.000000 258.000000 after : 236.381973 256.222687 TRUE 3.540799
|
|
[13:21:15.512] 161-5/352 :
|
|
befor : 324.000000 314.000000 after : 316.077393 321.514984 FALSE 119.242695
|
|
befor : 325.000000 325.000000 after : 328.840668 325.803986 TRUE 15.397121
|
|
[13:21:15.512] 161-6/352 :
|
|
befor : 342.000000 326.000000 after : 339.712067 330.315735 TRUE 23.860206
|
|
[13:21:15.512] 161-7/352 :
|
|
befor : 35.000000 337.000000 after : 32.718842 334.379059 TRUE 12.073016
|
|
[13:21:15.512] 161-8/352 :
|
|
befor : 328.000000 336.000000 after : 328.000000 336.000000 FALSE 0.000000
|
|
[13:21:15.512] 161-9/352 :
|
|
befor : 456.000000 352.000000 after : 456.068329 352.054291 TRUE 0.007616
|
|
[13:21:15.512] 161-10/352 :
|
|
befor : 406.000000 368.000000 after : 405.888580 367.962036 TRUE 0.013856
|
|
[13:21:15.512] 161-11/352 :
|
|
befor : 454.000000 360.000000 after : 454.930359 361.072357 TRUE 2.015518
|
|
[13:21:15.512] After Reprojection Map nPoint:21 ,nCell:13 ,nMatches:9 ,distance between ekf and vo x:-0.000092 ,z=0.000076,angle between two frames:0.000025
|
|
[13:21:15.512] n deleted obs = 4 n obs with reprojection error less than 0.5 px =5 error init =1.875312 error end=0.526782
|
|
[13:21:15.512] After pose optimization, distance between ekf and vo x:0.099774 ,z=-0.489613,angle between two frames:0.109540
|
|
[13:21:15.512] frame process finished the id is: 139 the obs is:11
|
|
[13:21:15.588] Odometry x=0.223757, y=0.521274, theta=0.032284
|
|
[13:21:15.610] 162-1/352 :
|
|
befor : 200.000000 28.000000 after : 198.729385 30.141273 FALSE 6.199514
|
|
befor : 200.000000 28.000000 after : 193.827454 37.664970 FALSE 131.511982
|
|
[13:21:15.610] 162-2/352 :
|
|
befor : 96.000000 104.000000 after : 96.543304 103.762413 TRUE 0.351627
|
|
[13:21:15.610] 162-3/352 :
|
|
befor : 249.000000 91.000000 after : 249.410995 91.065773 TRUE 0.173243
|
|
[13:21:15.610] 162-4/352 :
|
|
befor : 268.000000 161.000000 after : 267.546722 154.457245 FALSE 43.013105
|
|
[13:21:15.610] 162-5/352 :
|
|
befor : 266.000000 185.000000 after : 265.488098 184.976852 TRUE 0.262579
|
|
[13:21:15.610] 162-6/352 :
|
|
befor : 252.000000 216.000000 after : 248.342926 219.752838 TRUE 27.457984
|
|
[13:21:15.610] 162-7/352 :
|
|
befor : 226.000000 258.000000 after : 226.398010 258.021271 TRUE 0.158865
|
|
[13:21:15.610] 162-8/352 :
|
|
befor : 261.000000 242.000000 after : 269.627869 238.690262 TRUE 85.394484
|
|
[13:21:15.610] 162-9/352 :
|
|
befor : 326.000000 320.000000 after : 330.442139 316.369324 FALSE 32.914406
|
|
befor : 320.000000 321.000000 after : 321.518219 322.283112 TRUE 3.951364
|
|
[13:21:15.610] 162-10/352 :
|
|
befor : 329.000000 333.000000 after : 324.558167 338.006012 FALSE 44.790041
|
|
befor : 329.000000 334.000000 after : 328.983978 333.775269 TRUE 0.050761
|
|
[13:21:15.610] 162-11/352 :
|
|
befor : 456.000000 352.000000 after : 463.675018 343.753052 FALSE 126.918061
|
|
befor : 454.000000 358.000000 after : 454.000000 358.000000 FALSE 0.000000
|
|
[13:21:15.610] 162-12/352 :
|
|
befor : 327.000000 389.000000 after : 303.652405 414.258118 FALSE 1183.082711
|
|
[13:21:15.610] 162-13/352 :
|
|
befor : 80.000000 414.000000 after : 86.459335 423.735016 FALSE 136.493547
|
|
[13:21:15.610] 162-14/352 :
|
|
befor : 336.000000 404.000000 after : 347.985016 394.752075 TRUE 229.164719
|
|
[13:21:15.610] 162-15/352 :
|
|
befor : 401.000000 418.000000 after : 396.924835 413.597351 TRUE 35.990286
|
|
[13:21:15.610] 162-16/352 :
|
|
befor : 420.000000 428.000000 after : 420.323242 427.883575 TRUE 0.118040
|
|
[13:21:15.610] 162-17/352 :
|
|
befor : 354.000000 470.000000 after : 360.427704 464.755829 FALSE 68.816708
|
|
[13:21:15.610] After Reprojection Map nPoint:23 ,nCell:21 ,nMatches:11 ,distance between ekf and vo x:-0.000112 ,z=0.000081,angle between two frames:0.000047
|
|
[13:21:15.610] n deleted obs = 5 n obs with reprojection error less than 0.5 px =6 error init =2.028903 error end=0.520991
|
|
[13:21:15.610] After pose optimization, distance between ekf and vo x:0.251611 ,z=-0.790874,angle between two frames:0.061100
|
|
[13:21:15.610] frame process finished the id is: 139 the obs is:11
|
|
[13:21:15.701] Odometry x=0.223682, y=0.526218, theta=0.033037
|
|
[13:21:15.709] 163-1/352 :
|
|
befor : 196.000000 32.000000 after : 187.150208 41.186481 TRUE 162.710269
|
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[13:21:15.709] 163-2/352 :
|
|
befor : 246.000000 91.000000 after : 246.406540 91.098228 TRUE 0.174924
|
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[13:21:15.709] 163-3/352 :
|
|
befor : 188.000000 240.000000 after : 188.063080 240.517242 TRUE 0.271519
|
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[13:21:15.709] 163-4/352 :
|
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befor : 252.000000 252.000000 after : 252.416290 251.826675 TRUE 0.203339
|
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[13:21:15.709] 163-5/352 :
|
|
befor : 324.000000 313.000000 after : 315.240082 321.771454 FALSE 153.674570
|
|
befor : 316.000000 309.000000 after : 316.000000 309.000000 FALSE 0.000000
|
|
[13:21:15.709] 163-6/352 :
|
|
befor : 344.000000 322.000000 after : 340.752594 326.344757 TRUE 29.422560
|
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[13:21:15.709] 163-7/352 :
|
|
befor : 33.000000 337.000000 after : 32.848610 336.861786 TRUE 0.042022
|
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[13:21:15.709] 163-8/352 :
|
|
befor : 329.000000 335.000000 after : 330.696503 333.896454 TRUE 4.095935
|
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[13:21:15.709] 163-9/352 :
|
|
befor : 336.000000 331.000000 after : 339.858917 327.060516 TRUE 30.410774
|
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[13:21:15.709] 163-10/352 :
|
|
befor : 452.000000 356.000000 after : 453.176361 358.190704 FALSE 6.183011
|
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[13:21:15.709] 163-11/352 :
|
|
befor : 322.000000 360.000000 after : 315.410858 367.818207 FALSE 104.541148
|
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[13:21:15.709] 163-12/352 :
|
|
befor : 40.000000 404.000000 after : 41.407925 405.364502 TRUE 3.844117
|
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[13:21:15.710] 163-13/352 :
|
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befor : 76.000000 396.000000 after : 75.208267 396.884918 TRUE 1.409921
|
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[13:21:15.710] 163-14/352 :
|
|
befor : 324.000000 390.000000 after : 323.471558 389.487244 TRUE 0.542170
|
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[13:21:15.710] 163-15/352 :
|
|
befor : 244.000000 421.000000 after : 241.041504 419.571198 TRUE 10.794176
|
|
[13:21:15.710] After Reprojection Map nPoint:20 ,nCell:16 ,nMatches:12 ,distance between ekf and vo x:-0.000087 ,z=0.000096,angle between two frames:0.000019
|
|
[13:21:15.710] n deleted obs = 4 n obs with reprojection error less than 0.5 px =8 error init =3.003206 error end=0.473289
|
|
[13:21:15.710] After pose optimization, distance between ekf and vo x:0.090769 ,z=-0.586492,angle between two frames:0.204827
|
|
[13:21:15.710] frame process finished the id is: 139 the obs is:11
|
|
[13:21:15.794] Odometry x=0.223591, y=0.532000, theta=0.031774
|
|
[13:21:15.809] 164-1/352 :
|
|
befor : 282.000000 20.000000 after : 288.963257 12.865158 TRUE 99.392915
|
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[13:21:15.809] 164-2/352 :
|
|
befor : 309.000000 17.000000 after : 308.974518 17.055971 TRUE 0.003782
|
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[13:21:15.809] 164-3/352 :
|
|
befor : 297.000000 37.000000 after : 314.452484 58.903080 FALSE 784.334115
|
|
[13:21:15.809] 164-4/352 :
|
|
befor : 262.000000 178.000000 after : 262.430725 178.453918 TRUE 0.391566
|
|
[13:21:15.810] 164-5/352 :
|
|
befor : 46.000000 186.000000 after : 46.577251 186.019653 TRUE 0.333605
|
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[13:21:15.810] 164-6/352 :
|
|
befor : 257.000000 219.000000 after : 261.937958 214.018478 FALSE 49.198984
|
|
befor : 254.000000 216.000000 after : 253.847214 215.362579 TRUE 0.429649
|
|
[13:21:15.810] 164-7/352 :
|
|
befor : 336.000000 316.000000 after : 335.350494 323.832733 TRUE 61.773566
|
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[13:21:15.810] 164-8/352 :
|
|
befor : 324.000000 330.000000 after : 324.092560 329.993958 TRUE 0.008604
|
|
[13:21:15.810] 164-9/352 :
|
|
befor : 452.000000 348.000000 after : 449.255310 352.195984 FALSE 25.139604
|
|
befor : 452.000000 348.000000 after : 452.527649 348.270538 TRUE 0.351604
|
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[13:21:15.810] 164-10/352 :
|
|
befor : 324.000000 387.000000 after : 300.843262 412.096191 FALSE 1166.053351
|
|
befor : 324.000000 387.000000 after : 295.739899 417.399323 FALSE 1722.752136
|
|
[13:21:15.810] 164-11/352 :
|
|
befor : 280.000000 412.000000 after : 280.627686 411.873230 TRUE 0.410060
|
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[13:21:15.810] 164-12/352 :
|
|
befor : 308.000000 402.000000 after : 308.555542 402.486450 TRUE 0.545261
|
|
[13:21:15.810] 164-13/352 :
|
|
befor : 359.000000 393.000000 after : 363.671265 397.003357 TRUE 37.847580
|
|
[13:21:15.810] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000110 ,z=0.000102,angle between two frames:0.000024
|
|
[13:21:15.810] n deleted obs = 4 n obs with reprojection error less than 0.5 px =7 error init =22.908331 error end=0.441773
|
|
[13:21:15.810] After pose optimization, distance between ekf and vo x:53.178879 ,z=-151.499735,angle between two frames:1.638836
|
|
[13:21:15.810] frame process finished the id is: 139 the obs is:11
|
|
[13:21:15.892] Odometry x=0.223519, y=0.537344, theta=0.034356
|
|
[13:21:15.909] 165-1/352 :
|
|
befor : 92.000000 14.000000 after : 85.795914 20.621891 FALSE 82.340128
|
|
[13:21:15.909] 165-2/352 :
|
|
befor : 284.000000 19.000000 after : 284.018951 18.876612 TRUE 0.015584
|
|
[13:21:15.909] 165-3/352 :
|
|
befor : 198.000000 30.000000 after : 197.990829 29.985645 TRUE 0.000290
|
|
[13:21:15.909] 165-4/352 :
|
|
befor : 256.000000 100.000000 after : 251.518204 107.313400 FALSE 73.572321
|
|
befor : 262.000000 100.000000 after : 263.367828 110.262131 TRUE 107.182282
|
|
[13:21:15.910] 165-5/352 :
|
|
befor : 84.000000 136.000000 after : 84.431961 135.760025 TRUE 0.244178
|
|
[13:21:15.910] 165-6/352 :
|
|
befor : 182.000000 235.000000 after : 182.317520 234.683350 TRUE 0.201087
|
|
[13:21:15.910] 165-7/352 :
|
|
befor : 184.000000 240.000000 after : 180.770706 246.284882 FALSE 49.928075
|
|
[13:21:15.910] 165-8/352 :
|
|
befor : 241.000000 295.000000 after : 241.000000 295.000000 FALSE 0.000000
|
|
[13:21:15.910] 165-9/352 :
|
|
befor : 315.000000 307.000000 after : 312.986023 309.457886 FALSE 10.097306
|
|
befor : 315.000000 307.000000 after : 307.559540 316.919647 FALSE 153.759849
|
|
[13:21:15.910] 165-10/352 :
|
|
befor : 345.000000 321.000000 after : 347.800812 316.944000 FALSE 24.295681
|
|
[13:21:15.910] 165-11/352 :
|
|
befor : 30.000000 340.000000 after : 32.179295 337.566284 FALSE 10.672298
|
|
[13:21:15.910] 165-12/352 :
|
|
befor : 328.000000 330.000000 after : 322.352875 336.540436 TRUE 74.667324
|
|
[13:21:15.910] 165-13/352 :
|
|
befor : 308.000000 372.000000 after : 308.673279 372.289276 TRUE 0.536985
|
|
[13:21:15.910] 165-14/352 :
|
|
befor : 308.000000 404.000000 after : 308.454773 404.001617 TRUE 0.206821
|
|
[13:21:15.910] 165-15/352 :
|
|
befor : 336.000000 404.000000 after : 332.137421 399.957245 FALSE 31.263388
|
|
[13:21:15.910] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:8 ,distance between ekf and vo x:-0.000085 ,z=0.000048,angle between two frames:0.000024
|
|
[13:21:15.910] n deleted obs = 4 n obs with reprojection error less than 0.5 px =4 error init =0.494353 error end=0.494353
|
|
[13:21:15.910] After pose optimization, distance between ekf and vo x:-0.000085 ,z=0.000048,angle between two frames:0.000024
|
|
[13:21:15.910] frame process finished the id is: 139 the obs is:11
|
|
[13:21:15.990] Odometry x=0.223433, y=0.542546, theta=0.032134
|
|
[13:21:16.008] 166-1/352 :
|
|
befor : 262.000000 99.000000 after : 262.187134 99.106613 TRUE 0.046385
|
|
[13:21:16.008] 166-2/352 :
|
|
befor : 263.000000 167.000000 after : 262.650421 161.303391 FALSE 32.573565
|
|
[13:21:16.008] 166-3/352 :
|
|
befor : 262.000000 181.000000 after : 261.286285 180.951294 TRUE 0.511761
|
|
[13:21:16.008] 166-4/352 :
|
|
befor : 248.000000 212.000000 after : 243.507141 216.431763 TRUE 39.826302
|
|
[13:21:16.008] 166-5/352 :
|
|
befor : 320.000000 307.000000 after : 311.823181 314.874878 FALSE 128.874069
|
|
befor : 320.000000 307.000000 after : 317.500092 308.902557 TRUE 9.869267
|
|
[13:21:16.008] 166-6/352 :
|
|
befor : 332.000000 316.000000 after : 332.393799 315.756775 TRUE 0.214236
|
|
[13:21:16.008] 166-7/352 :
|
|
befor : 328.000000 330.000000 after : 328.644226 330.121826 TRUE 0.429869
|
|
[13:21:16.008] 166-8/352 :
|
|
befor : 452.000000 348.000000 after : 452.710144 350.160339 FALSE 5.171371
|
|
[13:21:16.008] 166-9/352 :
|
|
befor : 322.000000 387.000000 after : 319.744141 381.349426 TRUE 37.017885
|
|
[13:21:16.008] 166-10/352 :
|
|
befor : 306.000000 402.000000 after : 306.540192 402.035614 TRUE 0.293075
|
|
[13:21:16.008] 166-11/352 :
|
|
befor : 332.000000 396.000000 after : 329.705444 393.722229 FALSE 10.453226
|
|
[13:21:16.008] 166-12/352 :
|
|
befor : 92.000000 430.000000 after : 95.917145 439.076508 TRUE 97.727013
|
|
[13:21:16.008] 166-13/352 :
|
|
befor : 192.000000 430.000000 after : 191.938141 429.906830 TRUE 0.012507
|
|
[13:21:16.008] After Reprojection Map nPoint:22 ,nCell:14 ,nMatches:10 ,distance between ekf and vo x:-0.000109 ,z=0.000012,angle between two frames:0.000070
|
|
[13:21:16.008] n deleted obs = 1 n obs with reprojection error less than 0.5 px =9 error init =0.390432 error end=0.296442
|
|
[13:21:16.008] After pose optimization, distance between ekf and vo x:-0.968348 ,z=6.577226,angle between two frames:0.005844
|
|
[13:21:16.008] frame process finished the id is: 139 the obs is:11
|
|
[13:21:16.089] Odometry x=0.223357, y=0.547946, theta=0.027809
|
|
[13:21:16.113] 167-1/352 :
|
|
befor : 188.000000 24.000000 after : 181.059036 16.735891 FALSE 100.944252
|
|
[13:21:16.113] 167-2/352 :
|
|
befor : 256.000000 100.000000 after : 256.431213 99.738655 TRUE 0.254246
|
|
[13:21:16.113] 167-3/352 :
|
|
befor : 44.000000 162.000000 after : 43.843407 162.940231 TRUE 0.908556
|
|
[13:21:16.113] 167-4/352 :
|
|
befor : 259.000000 165.000000 after : 255.875992 167.504333 TRUE 16.031113
|
|
[13:21:16.113] 167-5/352 :
|
|
befor : 41.000000 182.000000 after : 44.557949 176.651810 FALSE 41.262141
|
|
befor : 42.000000 180.000000 after : 41.689827 179.987778 TRUE 0.096357
|
|
[13:21:16.113] 167-6/352 :
|
|
befor : 250.000000 214.000000 after : 250.184280 215.552795 TRUE 2.445133
|
|
[13:21:16.113] 167-7/352 :
|
|
befor : 22.000000 326.000000 after : 12.160164 316.669281 TRUE 183.884692
|
|
[13:21:16.113] 167-8/352 :
|
|
befor : 316.000000 321.000000 after : 315.523682 321.673859 TRUE 0.680965
|
|
[13:21:16.113] 167-9/352 :
|
|
befor : 400.000000 365.000000 after : 399.557648 365.816193 TRUE 0.861846
|
|
[13:21:16.113] After Reprojection Map nPoint:19 ,nCell:10 ,nMatches:8 ,distance between ekf and vo x:-0.000045 ,z=0.000107,angle between two frames:0.000062
|
|
[13:21:16.113] n deleted obs = 3 n obs with reprojection error less than 0.5 px =5 error init =0.474333 error end=0.474333
|
|
[13:21:16.113] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000107,angle between two frames:0.000062
|
|
[13:21:16.113] frame process finished the id is: 139 the obs is:11
|
|
[13:21:16.186] Odometry x=0.223316, y=0.555022, theta=0.030700
|
|
[13:21:16.207] 168-1/352 :
|
|
befor : 287.000000 44.000000 after : 307.809113 67.545486 FALSE 987.409097
|
|
[13:21:16.207] 168-2/352 :
|
|
befor : 68.000000 68.000000 after : 73.359268 62.091892 FALSE 63.627493
|
|
befor : 68.000000 68.000000 after : 68.543747 68.320969 TRUE 0.398682
|
|
[13:21:16.207] 168-3/352 :
|
|
befor : 56.000000 104.000000 after : 60.346283 104.448318 TRUE 19.091165
|
|
[13:21:16.207] 168-4/352 :
|
|
befor : 238.000000 90.000000 after : 237.942886 89.826073 TRUE 0.033513
|
|
[13:21:16.207] 168-5/352 :
|
|
befor : 241.000000 90.000000 after : 241.391083 90.061592 TRUE 0.156739
|
|
[13:21:16.207] 168-6/352 :
|
|
befor : 296.000000 168.000000 after : 304.433807 175.940826 TRUE 134.185831
|
|
[13:21:16.207] 168-7/352 :
|
|
befor : 28.000000 232.000000 after : 48.284023 212.224380 FALSE 802.516728
|
|
[13:21:16.207] 168-8/352 :
|
|
befor : 176.000000 236.000000 after : 175.838364 236.497299 FALSE 0.273433
|
|
[13:21:16.207] 168-9/352 :
|
|
befor : 244.000000 212.000000 after : 250.636108 219.095886 FALSE 94.389536
|
|
[13:21:16.208] 168-10/352 :
|
|
befor : 312.000000 324.000000 after : 302.306122 333.715881 FALSE 188.369624
|
|
befor : 312.000000 310.000000 after : 309.358643 311.283478 TRUE 8.624084
|
|
[13:21:16.208] 168-11/352 :
|
|
befor : 336.000000 321.000000 after : 334.862854 323.108093 TRUE 5.737158
|
|
[13:21:16.208] 168-12/352 :
|
|
befor : 19.000000 335.000000 after : 19.000000 335.000000 FALSE 0.000000
|
|
[13:21:16.208] 168-13/352 :
|
|
befor : 325.000000 333.000000 after : 323.675446 330.855957 TRUE 6.351365
|
|
[13:21:16.208] 168-14/352 :
|
|
befor : 309.000000 362.000000 after : 302.837891 368.912018 FALSE 85.747582
|
|
[13:21:16.208] 168-15/352 :
|
|
befor : 397.000000 369.000000 after : 393.488373 371.850311 TRUE 20.455800
|
|
[13:21:16.208] 168-16/352 :
|
|
befor : 446.000000 362.000000 after : 446.502808 361.629242 TRUE 0.390277
|
|
[13:21:16.208] After Reprojection Map nPoint:20 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:-0.000049 ,z=0.000057,angle between two frames:0.000027
|
|
[13:21:16.208] n deleted obs = 3 n obs with reprojection error less than 0.5 px =7 error init =0.437716 error end=0.437716
|
|
[13:21:16.208] After pose optimization, distance between ekf and vo x:-0.000049 ,z=0.000057,angle between two frames:0.000027
|
|
[13:21:16.208] frame process finished the id is: 139 the obs is:11
|
|
[13:21:16.290] Odometry x=0.223356, y=0.560330, theta=0.031187
|
|
[13:21:16.307] 169-1/352 :
|
|
befor : 285.000000 43.000000 after : 306.410095 67.610382 FALSE 1064.063083
|
|
[13:21:16.307] 169-2/352 :
|
|
befor : 88.000000 80.000000 after : 88.257263 79.690323 FALSE 0.162084
|
|
[13:21:16.307] 169-3/352 :
|
|
befor : 92.000000 64.000000 after : 92.552719 64.337105 TRUE 0.419138
|
|
[13:21:16.307] 169-4/352 :
|
|
befor : 236.000000 90.000000 after : 225.287643 101.897293 FALSE 256.300166
|
|
befor : 238.000000 90.000000 after : 255.169022 77.231865 FALSE 457.800576
|
|
[13:21:16.307] 169-5/352 :
|
|
befor : 254.000000 103.000000 after : 254.245361 102.951508 TRUE 0.062554
|
|
[13:21:16.307] 169-6/352 :
|
|
befor : 170.000000 236.000000 after : 170.101959 235.938293 TRUE 0.014203
|
|
[13:21:16.307] 169-7/352 :
|
|
befor : 220.000000 256.000000 after : 219.866409 255.747772 TRUE 0.081465
|
|
[13:21:16.307] 169-8/352 :
|
|
befor : 309.000000 311.000000 after : 310.612762 309.843506 FALSE 3.938481
|
|
befor : 303.000000 311.000000 after : 302.997162 310.965485 TRUE 0.001199
|
|
[13:21:16.307] 169-9/352 :
|
|
befor : 17.000000 335.000000 after : 19.349434 332.060944 TRUE 14.157892
|
|
[13:21:16.307] 169-10/352 :
|
|
befor : 314.000000 336.000000 after : 314.951538 335.986450 TRUE 0.905608
|
|
[13:21:16.307] 169-11/352 :
|
|
befor : 262.000000 418.000000 after : 262.613525 417.971497 TRUE 0.377226
|
|
[13:21:16.307] 169-12/352 :
|
|
befor : 388.000000 422.000000 after : 385.851929 419.785187 FALSE 9.519608
|
|
[13:21:16.307] 169-13/352 :
|
|
befor : 434.000000 463.000000 after : 434.434021 462.789276 TRUE 0.232779
|
|
[13:21:16.307] After Reprojection Map nPoint:20 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000069 ,z=0.000047,angle between two frames:0.000004
|
|
[13:21:16.307] n deleted obs = 2 n obs with reprojection error less than 0.5 px =7 error init =0.753466 error end=0.394945
|
|
[13:21:16.307] After pose optimization, distance between ekf and vo x:-0.433964 ,z=0.926752,angle between two frames:0.004622
|
|
[13:21:16.307] frame process finished the id is: 139 the obs is:11
|
|
[13:21:16.389] Odometry x=0.223290, y=0.568656, theta=0.039221
|
|
[13:21:16.410] 170-1/352 :
|
|
befor : 290.000000 34.000000 after : 306.074005 20.928473 FALSE 429.238472
|
|
[13:21:16.411] 170-2/352 :
|
|
befor : 236.000000 89.000000 after : 236.435806 89.000435 TRUE 0.189927
|
|
[13:21:16.411] 170-3/352 :
|
|
befor : 248.000000 100.000000 after : 238.590591 109.531654 FALSE 179.389404
|
|
befor : 244.000000 100.000000 after : 244.219604 100.386955 TRUE 0.197961
|
|
[13:21:16.411] 170-4/352 :
|
|
befor : 253.000000 158.000000 after : 252.288742 148.603973 FALSE 88.791204
|
|
[13:21:16.411] 170-5/352 :
|
|
befor : 34.000000 180.000000 after : 33.992764 179.905151 TRUE 0.009049
|
|
[13:21:16.411] 170-6/352 :
|
|
befor : 244.000000 220.000000 after : 244.919846 219.589645 TRUE 1.014507
|
|
[13:21:16.411] 170-7/352 :
|
|
befor : 223.000000 254.000000 after : 223.000000 254.000000 FALSE 0.000000
|
|
[13:21:16.411] 170-8/352 :
|
|
befor : 228.000000 296.000000 after : 227.971924 295.956482 TRUE 0.002682
|
|
[13:21:16.411] 170-9/352 :
|
|
befor : 303.000000 311.000000 after : 302.477692 310.700043 TRUE 0.362780
|
|
[13:21:16.411] 170-10/352 :
|
|
befor : 333.000000 323.000000 after : 331.746765 324.888489 TRUE 5.136987
|
|
[13:21:16.411] 170-11/352 :
|
|
befor : 16.000000 334.000000 after : 16.484322 335.553711 FALSE 2.648585
|
|
[13:21:16.411] 170-12/352 :
|
|
befor : 299.000000 364.000000 after : 295.469391 361.829010 TRUE 17.178398
|
|
[13:21:16.411] 170-13/352 :
|
|
befor : 444.000000 364.000000 after : 449.261780 359.047729 FALSE 52.211310
|
|
befor : 444.000000 364.000000 after : 449.385315 358.934784 FALSE 54.658031
|
|
[13:21:16.411] 170-14/352 :
|
|
befor : 309.000000 393.000000 after : 307.584625 395.977386 FALSE 10.868116
|
|
[13:21:16.411] 170-15/352 :
|
|
befor : 168.000000 436.000000 after : 168.485397 435.823212 TRUE 0.266865
|
|
[13:21:16.411] After Reprojection Map nPoint:21 ,nCell:17 ,nMatches:9 ,distance between ekf and vo x:-0.000030 ,z=0.000061,angle between two frames:0.000031
|
|
[13:21:16.411] n deleted obs = 4 n obs with reprojection error less than 0.5 px =5 error init =1.220948 error end=0.430583
|
|
[13:21:16.411] After pose optimization, distance between ekf and vo x:-0.604749 ,z=0.856389,angle between two frames:0.027211
|
|
[13:21:16.411] frame process finished the id is: 139 the obs is:11
|
|
[13:21:16.491] Odometry x=0.223160, y=0.575255, theta=0.038620
|
|
[13:21:16.509] 171-1/352 :
|
|
befor : 56.000000 92.000000 after : 56.608292 91.797203 TRUE 0.411145
|
|
[13:21:16.509] 171-2/352 :
|
|
befor : 80.000000 100.000000 after : 82.062782 100.920670 TRUE 5.102703
|
|
[13:21:16.509] 171-3/352 :
|
|
befor : 244.000000 100.000000 after : 237.192291 107.982277 FALSE 110.061643
|
|
befor : 241.000000 91.000000 after : 252.098511 135.588135 TRUE 2111.278703
|
|
[13:21:16.509] 171-4/352 :
|
|
befor : 32.000000 182.000000 after : 32.477547 181.939011 TRUE 0.231771
|
|
[13:21:16.509] 171-5/352 :
|
|
befor : 245.000000 219.000000 after : 243.696274 220.119888 FALSE 2.953852
|
|
[13:21:16.509] 171-6/352 :
|
|
befor : 210.000000 262.000000 after : 210.605392 261.467743 TRUE 0.649798
|
|
[13:21:16.509] 171-7/352 :
|
|
befor : 240.000000 248.000000 after : 234.070160 254.193130 FALSE 73.517869
|
|
[13:21:16.509] 171-8/352 :
|
|
befor : 226.000000 294.000000 after : 226.000000 294.000000 FALSE 0.000000
|
|
[13:21:16.509] 171-9/352 :
|
|
befor : 15.000000 323.000000 after : 22.543264 316.226593 TRUE 102.779880
|
|
[13:21:16.509] 171-10/352 :
|
|
befor : 312.000000 322.000000 after : 315.452606 324.648193 TRUE 18.933418
|
|
[13:21:16.509] 171-11/352 :
|
|
befor : 13.000000 334.000000 after : 17.141623 328.686340 TRUE 45.388016
|
|
[13:21:16.509] 171-12/352 :
|
|
befor : 312.000000 334.000000 after : 304.094025 324.591766 TRUE 151.019306
|
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[13:21:16.509] 171-13/352 :
|
|
befor : 311.000000 392.000000 after : 310.954681 391.880066 TRUE 0.016438
|
|
[13:21:16.509] 171-14/352 :
|
|
befor : 216.000000 424.000000 after : 220.468735 418.999084 FALSE 44.978746
|
|
[13:21:16.509] After Reprojection Map nPoint:22 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:-0.000048 ,z=0.000065,angle between two frames:0.000009
|
|
[13:21:16.509] n deleted obs = 5 n obs with reprojection error less than 0.5 px =5 error init =0.639562 error end=0.639562
|
|
[13:21:16.509] After pose optimization, distance between ekf and vo x:-0.000048 ,z=0.000065,angle between two frames:0.000009
|
|
[13:21:16.509] frame process finished the id is: 139 the obs is:11
|
|
[13:21:16.591] Odometry x=0.223236, y=0.580684, theta=0.036201
|
|
[13:21:16.610] 172-1/352 :
|
|
befor : 291.000000 23.000000 after : 299.357635 32.944572 FALSE 168.744592
|
|
befor : 291.000000 23.000000 after : 313.888702 4.771366 FALSE 856.175790
|
|
[13:21:16.610] 172-2/352 :
|
|
befor : 92.000000 52.000000 after : 100.460487 43.132313 FALSE 150.215723
|
|
befor : 92.000000 52.000000 after : 92.499977 52.335762 TRUE 0.362713
|
|
[13:21:16.610] 172-3/352 :
|
|
befor : 238.000000 86.000000 after : 240.361603 112.334290 FALSE 699.071974
|
|
befor : 234.000000 84.000000 after : 233.958588 83.902344 TRUE 0.011252
|
|
[13:21:16.610] 172-4/352 :
|
|
befor : 250.000000 95.000000 after : 246.050064 97.961823 TRUE 24.374386
|
|
[13:21:16.610] 172-5/352 :
|
|
befor : 34.000000 156.000000 after : 33.533535 156.064041 TRUE 0.221691
|
|
[13:21:16.610] 172-6/352 :
|
|
befor : 169.000000 173.000000 after : 169.215256 172.922272 TRUE 0.052377
|
|
[13:21:16.610] 172-7/352 :
|
|
befor : 240.000000 168.000000 after : 240.409607 167.731537 TRUE 0.239850
|
|
[13:21:16.610] 172-8/352 :
|
|
befor : 28.000000 184.000000 after : 57.064434 215.590866 FALSE 1842.724147
|
|
[13:21:16.610] 172-9/352 :
|
|
befor : 242.000000 215.000000 after : 242.000000 215.000000 FALSE 0.000000
|
|
[13:21:16.610] 172-10/352 :
|
|
befor : 12.000000 320.000000 after : 11.892414 322.321564 TRUE 5.401233
|
|
[13:21:16.610] 172-11/352 :
|
|
befor : 301.000000 307.000000 after : 299.742340 308.028961 FALSE 2.640470
|
|
befor : 300.000000 306.000000 after : 312.949799 293.804108 FALSE 316.437073
|
|
[13:21:16.611] 172-12/352 :
|
|
befor : 13.000000 330.000000 after : 14.835633 327.254700 TRUE 10.906223
|
|
[13:21:16.611] 172-13/352 :
|
|
befor : 312.000000 330.000000 after : 309.872040 332.982391 FALSE 13.422873
|
|
befor : 310.000000 330.000000 after : 312.588379 328.146759 FALSE 10.134207
|
|
[13:21:16.611] After Reprojection Map nPoint:21 ,nCell:18 ,nMatches:8 ,distance between ekf and vo x:-0.000038 ,z=0.000048,angle between two frames:0.000019
|
|
[13:21:16.611] n deleted obs = 5 n obs with reprojection error less than 0.5 px =3 error init =1.973949 error end=0.671433
|
|
[13:21:16.611] After pose optimization, distance between ekf and vo x:-0.103643 ,z=-1.033869,angle between two frames:0.173306
|
|
[13:21:16.611] frame process finished the id is: 139 the obs is:11
|
|
[13:21:16.690] Odometry x=0.223112, y=0.586440, theta=0.044434
|
|
[13:21:16.708] 173-1/352 :
|
|
befor : 303.000000 6.000000 after : 303.000000 6.000000 FALSE 0.000000
|
|
[13:21:16.708] 173-2/352 :
|
|
befor : 60.000000 72.000000 after : 65.067619 67.565857 FALSE 45.342390
|
|
[13:21:16.708] 173-3/352 :
|
|
befor : 48.000000 112.000000 after : 54.446606 104.374413 FALSE 99.708309
|
|
befor : 48.000000 112.000000 after : 48.417423 112.339233 TRUE 0.289321
|
|
[13:21:16.708] 173-4/352 :
|
|
befor : 250.000000 97.000000 after : 250.271454 96.976761 TRUE 0.074227
|
|
[13:21:16.708] 173-5/352 :
|
|
befor : 34.000000 162.000000 after : 61.189167 192.145996 FALSE 1648.031884
|
|
[13:21:16.708] 173-6/352 :
|
|
befor : 292.000000 164.000000 after : 293.603394 162.645050 FALSE 4.406760
|
|
[13:21:16.708] 173-7/352 :
|
|
befor : 30.000000 180.000000 after : 30.489779 179.875366 TRUE 0.255417
|
|
[13:21:16.708] 173-8/352 :
|
|
befor : 243.000000 217.000000 after : 242.983200 217.036377 TRUE 0.001606
|
|
[13:21:16.708] 173-9/352 :
|
|
befor : 333.000000 247.000000 after : 342.253723 237.640793 FALSE 173.226151
|
|
[13:21:16.708] 173-10/352 :
|
|
befor : 14.000000 324.000000 after : -0.114165 339.280701 FALSE 432.709476
|
|
[13:21:16.708] 173-11/352 :
|
|
befor : 303.000000 310.000000 after : 300.240997 314.098022 FALSE 24.405884
|
|
[13:21:16.708] 173-12/352 :
|
|
befor : 332.000000 322.000000 after : 333.533112 321.861603 TRUE 2.369585
|
|
[13:21:16.708] 173-13/352 :
|
|
befor : 15.000000 336.000000 after : 2.719722 323.729553 FALSE 301.369097
|
|
befor : 15.000000 336.000000 after : 15.174273 336.054688 TRUE 0.033362
|
|
[13:21:16.708] 173-14/352 :
|
|
befor : 317.000000 334.000000 after : 317.000000 334.000000 FALSE 0.000000
|
|
[13:21:16.708] 173-15/352 :
|
|
befor : 452.000000 352.000000 after : 452.412445 351.731293 TRUE 0.242315
|
|
[13:21:16.708] 173-16/352 :
|
|
befor : 296.000000 380.000000 after : 300.617920 375.325378 FALSE 43.177271
|
|
[13:21:16.708] 173-17/352 :
|
|
befor : 44.000000 432.000000 after : 44.990822 430.998779 FALSE 1.984171
|
|
[13:21:16.708] 173-18/352 :
|
|
befor : 158.000000 436.000000 after : 150.876846 445.985168 TRUE 150.442908
|
|
[13:21:16.708] After Reprojection Map nPoint:23 ,nCell:20 ,nMatches:8 ,distance between ekf and vo x:0.000025 ,z=0.000092,angle between two frames:0.000147
|
|
[13:21:16.708] n deleted obs = 5 n obs with reprojection error less than 0.5 px =3 error init =5.052845 error end=0.757510
|
|
[13:21:16.708] After pose optimization, distance between ekf and vo x:-0.959750 ,z=-4.709801,angle between two frames:1.554844
|
|
[13:21:16.708] frame process finished the id is: 139 the obs is:11
|
|
[13:21:16.792] Odometry x=0.223013, y=0.592370, theta=0.043106
|
|
[13:21:16.809] 174-1/352 :
|
|
befor : 190.000000 26.000000 after : 213.744507 3.855544 FALSE 1054.178532
|
|
[13:21:16.809] 174-2/352 :
|
|
befor : 292.000000 28.000000 after : 307.387939 15.909592 FALSE 382.966654
|
|
[13:21:16.809] 174-3/352 :
|
|
befor : 68.000000 56.000000 after : 68.064194 55.957897 TRUE 0.005893
|
|
[13:21:16.809] 174-4/352 :
|
|
befor : 60.000000 76.000000 after : 67.135155 67.206436 TRUE 128.237198
|
|
[13:21:16.809] 174-5/352 :
|
|
befor : 236.000000 88.000000 after : 229.140015 85.941231 TRUE 51.297930
|
|
[13:21:16.809] 174-6/352 :
|
|
befor : 80.000000 104.000000 after : 83.917938 99.213982 FALSE 38.256212
|
|
[13:21:16.809] 174-7/352 :
|
|
befor : 254.000000 97.000000 after : 254.192719 97.003181 TRUE 0.037151
|
|
[13:21:16.809] 174-8/352 :
|
|
befor : 253.000000 180.000000 after : 242.061203 172.681335 TRUE 173.220131
|
|
[13:21:16.809] 174-9/352 :
|
|
befor : 222.000000 255.000000 after : 222.000000 255.000000 FALSE 0.000000
|
|
[13:21:16.809] 174-10/352 :
|
|
befor : 206.000000 318.000000 after : 200.152557 325.068726 FALSE 84.159467
|
|
[13:21:16.809] 174-11/352 :
|
|
befor : 307.000000 308.000000 after : 306.963287 308.035706 TRUE 0.002623
|
|
[13:21:16.809] 174-12/352 :
|
|
befor : 13.000000 334.000000 after : 5.818379 341.840118 FALSE 113.043131
|
|
[13:21:16.809] 174-13/352 :
|
|
befor : 326.000000 330.000000 after : 325.839020 329.209625 TRUE 0.650607
|
|
[13:21:16.809] 174-14/352 :
|
|
befor : 452.000000 352.000000 after : 453.685333 350.235291 FALSE 5.954548
|
|
[13:21:16.809] 174-15/352 :
|
|
befor : 300.000000 372.000000 after : 303.345093 375.590576 FALSE 24.081883
|
|
[13:21:16.809] 174-16/352 :
|
|
befor : 216.000000 426.000000 after : 216.380997 425.745605 TRUE 0.209875
|
|
[13:21:16.809] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:8 ,distance between ekf and vo x:-0.000128 ,z=0.000073,angle between two frames:0.000060
|
|
[13:21:16.809] n deleted obs = 3 n obs with reprojection error less than 0.5 px =5 error init =7.952305 error end=0.445044
|
|
[13:21:16.809] After pose optimization, distance between ekf and vo x:-5.449231 ,z=-51.747775,angle between two frames:1.745399
|
|
[13:21:16.809] frame process finished the id is: 139 the obs is:11
|
|
[13:21:16.890] Odometry x=0.222878, y=0.597970, theta=0.039909
|
|
[13:21:16.909] 175-1/352 :
|
|
befor : 188.000000 24.000000 after : 182.980011 28.843897 TRUE 48.663627
|
|
[13:21:16.909] 175-2/352 :
|
|
befor : 76.000000 36.000000 after : 80.437645 28.582884 TRUE 74.706305
|
|
[13:21:16.909] 175-3/352 :
|
|
befor : 286.000000 40.000000 after : 334.152649 -0.208088 FALSE 3935.367933
|
|
[13:21:16.909] 175-4/352 :
|
|
befor : 84.000000 92.000000 after : 86.383743 92.206612 TRUE 5.724920
|
|
[13:21:16.909] 175-5/352 :
|
|
befor : 256.000000 163.000000 after : 255.226242 154.481430 FALSE 73.164735
|
|
befor : 255.000000 178.000000 after : 246.853745 174.218475 TRUE 80.661407
|
|
[13:21:16.909] 175-6/352 :
|
|
befor : 300.000000 164.000000 after : 300.538086 163.731186 TRUE 0.361797
|
|
[13:21:16.909] 175-7/352 :
|
|
befor : 32.000000 182.000000 after : 32.509926 181.846558 TRUE 0.283569
|
|
[13:21:16.909] 175-8/352 :
|
|
befor : 246.000000 216.000000 after : 248.150375 215.831665 TRUE 4.652451
|
|
[13:21:16.909] 175-9/352 :
|
|
befor : 338.000000 238.000000 after : 335.655548 240.450333 FALSE 11.500585
|
|
[13:21:16.909] 175-10/352 :
|
|
befor : 314.000000 311.000000 after : 312.236908 312.098938 FALSE 4.316158
|
|
befor : 315.000000 323.000000 after : 323.578888 315.835480 FALSE 124.927669
|
|
befor : 318.000000 322.000000 after : 318.746277 322.461670 TRUE 0.770068
|
|
[13:21:16.909] 175-11/352 :
|
|
befor : 352.000000 300.000000 after : 352.645386 300.127625 TRUE 0.432811
|
|
[13:21:16.909] 175-12/352 :
|
|
befor : 14.000000 347.000000 after : 13.793710 347.237823 FALSE 0.099116
|
|
befor : 18.000000 337.000000 after : 7.022759 326.166382 FALSE 237.867093
|
|
[13:21:16.909] 175-13/352 :
|
|
befor : 322.000000 334.000000 after : 319.227814 337.452240 FALSE 19.602978
|
|
[13:21:16.909] 175-14/352 :
|
|
befor : 246.000000 418.000000 after : 246.394669 418.578308 FALSE 0.490204
|
|
[13:21:16.909] 175-15/352 :
|
|
befor : 317.000000 392.000000 after : 316.950684 391.937836 TRUE 0.006297
|
|
[13:21:16.909] 175-16/352 :
|
|
befor : 334.000000 410.000000 after : 331.155060 413.672302 TRUE 21.579488
|
|
[13:21:16.909] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:11 ,distance between ekf and vo x:-0.000090 ,z=0.000060,angle between two frames:0.000041
|
|
[13:21:16.909] n deleted obs = 7 n obs with reprojection error less than 0.5 px =4 error init =9.850194 error end=0.687103
|
|
[13:21:16.909] After pose optimization, distance between ekf and vo x:90.015611 ,z=195.188386,angle between two frames:1.526088
|
|
[13:21:16.909] frame process finished the id is: 139 the obs is:11
|
|
[13:21:16.989] Odometry x=0.222758, y=0.603714, theta=0.042989
|
|
[13:21:17.008] 176-1/352 :
|
|
befor : 240.000000 88.000000 after : 240.424911 87.809631 TRUE 0.216790
|
|
[13:21:17.008] 176-2/352 :
|
|
befor : 80.000000 112.000000 after : 80.462830 112.343163 TRUE 0.331972
|
|
[13:21:17.008] 176-3/352 :
|
|
befor : 256.000000 98.000000 after : 255.911392 97.887695 TRUE 0.020464
|
|
[13:21:17.008] 176-4/352 :
|
|
befor : 36.000000 162.000000 after : 65.998528 195.455429 FALSE 2019.177389
|
|
[13:21:17.008] 176-5/352 :
|
|
befor : 176.000000 178.000000 after : 182.743912 184.951447 FALSE 93.802955
|
|
[13:21:17.008] 176-6/352 :
|
|
befor : 36.000000 182.000000 after : 44.590866 175.586990 FALSE 114.929673
|
|
[13:21:17.008] 176-7/352 :
|
|
befor : 176.000000 231.000000 after : 141.374069 265.268188 FALSE 2373.263824
|
|
befor : 176.000000 232.000000 after : 176.000000 232.000000 FALSE 0.000000
|
|
[13:21:17.008] 176-8/352 :
|
|
befor : 224.000000 254.000000 after : 228.370224 250.684647 FALSE 30.090426
|
|
[13:21:17.008] 176-9/352 :
|
|
befor : 317.000000 323.000000 after : 316.642914 324.097778 FALSE 1.332628
|
|
befor : 317.000000 309.000000 after : 317.955872 308.947540 TRUE 0.916443
|
|
[13:21:17.008] 176-10/352 :
|
|
befor : 355.000000 307.000000 after : 354.426727 307.189423 TRUE 0.364523
|
|
[13:21:17.009] 176-11/352 :
|
|
befor : 15.000000 346.000000 after : 50.224442 315.054749 FALSE 2198.369869
|
|
[13:21:17.009] 176-12/352 :
|
|
befor : 326.000000 333.000000 after : 324.767639 334.489319 TRUE 3.736784
|
|
[13:21:17.009] 176-13/352 :
|
|
befor : 314.000000 361.000000 after : 314.061493 361.059021 TRUE 0.007265
|
|
[13:21:17.009] 176-14/352 :
|
|
befor : 320.000000 392.000000 after : 322.307587 396.775024 FALSE 28.125814
|
|
[13:21:17.009] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:7 ,distance between ekf and vo x:-0.000048 ,z=0.000050,angle between two frames:0.000002
|
|
[13:21:17.009] n deleted obs = 4 n obs with reprojection error less than 0.5 px =3 error init =2.108401 error end=0.467270
|
|
[13:21:17.009] After pose optimization, distance between ekf and vo x:0.797629 ,z=1.086896,angle between two frames:0.709506
|
|
[13:21:17.009] frame process finished the id is: 139 the obs is:11
|
|
[13:21:17.089] Odometry x=0.222824, y=0.609118, theta=0.044867
|
|
[13:21:17.109] 177-1/352 :
|
|
befor : 300.000000 22.000000 after : 300.031525 22.010561 TRUE 0.001105
|
|
[13:21:17.109] 177-2/352 :
|
|
befor : 164.000000 132.000000 after : 164.053772 131.999939 TRUE 0.002891
|
|
[13:21:17.109] 177-3/352 :
|
|
befor : 39.000000 166.000000 after : 45.621078 157.188904 FALSE 121.474096
|
|
[13:21:17.109] 177-4/352 :
|
|
befor : 248.000000 172.000000 after : 248.394485 172.287811 TRUE 0.238454
|
|
[13:21:17.109] 177-5/352 :
|
|
befor : 304.000000 164.000000 after : 309.641815 170.887939 TRUE 79.273788
|
|
[13:21:17.109] 177-6/352 :
|
|
befor : 248.000000 212.000000 after : 248.653244 211.583603 TRUE 0.600114
|
|
[13:21:17.109] 177-7/352 :
|
|
befor : 222.000000 260.000000 after : 223.157166 259.658783 TRUE 1.455461
|
|
[13:21:17.109] 177-8/352 :
|
|
befor : 248.000000 248.000000 after : 256.579926 257.560944 FALSE 165.026765
|
|
[13:21:17.109] 177-9/352 :
|
|
befor : 345.000000 250.000000 after : 354.517487 239.829880 FALSE 194.013896
|
|
[13:21:17.109] 177-10/352 :
|
|
befor : 315.000000 323.000000 after : 315.280579 323.355347 TRUE 0.204996
|
|
[13:21:17.109] 177-11/352 :
|
|
befor : 345.000000 323.000000 after : 345.832489 322.310150 TRUE 1.168931
|
|
[13:21:17.109] 177-12/352 :
|
|
befor : 17.000000 347.000000 after : 15.927942 348.047577 FALSE 2.246725
|
|
befor : 18.000000 348.000000 after : 28.729792 338.476929 TRUE 205.817315
|
|
[13:21:17.109] 177-13/352 :
|
|
befor : 464.000000 356.000000 after : 467.317291 358.999908 TRUE 20.003872
|
|
[13:21:17.109] 177-14/352 :
|
|
befor : 410.000000 404.000000 after : 407.944885 405.742554 FALSE 7.259990
|
|
[13:21:17.109] After Reprojection Map nPoint:20 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:-0.000077 ,z=0.000058,angle between two frames:0.000018
|
|
[13:21:17.109] n deleted obs = 4 n obs with reprojection error less than 0.5 px =6 error init =1.155801 error end=0.490264
|
|
[13:21:17.109] After pose optimization, distance between ekf and vo x:-0.121439 ,z=1.723513,angle between two frames:0.571425
|
|
[13:21:17.109] frame process finished the id is: 139 the obs is:11
|
|
[13:21:17.188] Odometry x=0.222628, y=0.617602, theta=0.041771
|
|
[13:21:17.208] 178-1/352 :
|
|
befor : 248.000000 87.000000 after : 248.433548 86.915421 TRUE 0.195118
|
|
[13:21:17.208] 178-2/352 :
|
|
befor : 82.000000 132.000000 after : 80.264618 131.697174 TRUE 3.103255
|
|
[13:21:17.208] 178-3/352 :
|
|
befor : 40.000000 164.000000 after : 46.431904 156.697433 FALSE 94.696865
|
|
[13:21:17.208] 178-4/352 :
|
|
befor : 252.000000 172.000000 after : 252.435333 171.708801 TRUE 0.274312
|
|
[13:21:17.208] 178-5/352 :
|
|
befor : 36.000000 188.000000 after : 36.499825 187.944687 TRUE 0.252884
|
|
[13:21:17.208] 178-6/352 :
|
|
befor : 252.000000 212.000000 after : 243.988998 220.397995 FALSE 134.702466
|
|
befor : 256.000000 212.000000 after : 261.067444 207.970871 FALSE 41.912868
|
|
[13:21:17.209] 178-7/352 :
|
|
befor : 208.000000 244.000000 after : 208.065567 243.890442 TRUE 0.016302
|
|
[13:21:17.209] 178-8/352 :
|
|
befor : 224.000000 260.000000 after : 226.492126 259.350037 TRUE 6.633147
|
|
[13:21:17.209] 178-9/352 :
|
|
befor : 320.000000 322.000000 after : 319.413116 321.726166 TRUE 0.419417
|
|
[13:21:17.209] 178-10/352 :
|
|
befor : 349.000000 321.000000 after : 346.078064 324.039551 FALSE 17.776579
|
|
befor : 344.000000 322.000000 after : 344.000000 322.000000 FALSE 0.000000
|
|
[13:21:17.209] 178-11/352 :
|
|
befor : 18.000000 347.000000 after : 13.592885 351.508423 FALSE 39.748539
|
|
befor : 19.000000 349.000000 after : 7.742045 335.276367 FALSE 315.079639
|
|
[13:21:17.209] 178-12/352 :
|
|
befor : 329.000000 335.000000 after : 329.075684 334.800415 TRUE 0.045562
|
|
[13:21:17.209] 178-13/352 :
|
|
befor : 337.000000 331.000000 after : 344.514069 324.389954 FALSE 100.153940
|
|
befor : 330.000000 334.000000 after : 321.177307 323.256195 TRUE 193.269254
|
|
[13:21:17.209] 178-14/352 :
|
|
befor : 468.000000 352.000000 after : 506.674438 392.636475 FALSE 3147.035260
|
|
[13:21:17.209] After Reprojection Map nPoint:20 ,nCell:18 ,nMatches:9 ,distance between ekf and vo x:-0.000010 ,z=0.000074,angle between two frames:0.000078
|
|
[13:21:17.209] n deleted obs = 2 n obs with reprojection error less than 0.5 px =7 error init =0.966046 error end=0.364406
|
|
[13:21:17.209] After pose optimization, distance between ekf and vo x:0.020059 ,z=-0.812492,angle between two frames:0.074654
|
|
[13:21:17.209] frame process finished the id is: 139 the obs is:11
|
|
[13:21:17.290] Odometry x=0.222533, y=0.623353, theta=0.037770
|
|
[13:21:17.309] 179-1/352 :
|
|
befor : 255.000000 89.000000 after : 259.587646 94.741127 FALSE 54.007040
|
|
[13:21:17.309] 179-2/352 :
|
|
befor : 256.000000 96.000000 after : 265.223694 123.081161 TRUE 818.465836
|
|
[13:21:17.309] 179-3/352 :
|
|
befor : 84.000000 120.000000 after : 84.378418 120.312447 TRUE 0.240823
|
|
[13:21:17.309] 179-4/352 :
|
|
befor : 187.000000 145.000000 after : 218.078232 176.701599 TRUE 1970.847879
|
|
[13:21:17.309] 179-5/352 :
|
|
befor : 40.000000 164.000000 after : 50.530010 175.939713 TRUE 253.437850
|
|
[13:21:17.309] 179-6/352 :
|
|
befor : 260.000000 172.000000 after : 260.534698 172.069672 TRUE 0.290757
|
|
[13:21:17.309] 179-7/352 :
|
|
befor : 260.000000 215.000000 after : 257.609924 216.717255 FALSE 8.661425
|
|
[13:21:17.309] 179-8/352 :
|
|
befor : 325.000000 312.000000 after : 325.672272 312.507843 TRUE 0.709854
|
|
[13:21:17.309] 179-9/352 :
|
|
befor : 351.000000 321.000000 after : 348.662323 323.672577 FALSE 12.607401
|
|
befor : 348.000000 322.000000 after : 347.799896 321.940186 TRUE 0.043619
|
|
[13:21:17.309] 179-10/352 :
|
|
befor : 24.000000 350.000000 after : 22.038404 352.083740 TRUE 8.189830
|
|
[13:21:17.309] 179-11/352 :
|
|
befor : 340.000000 331.000000 after : 353.806091 317.335419 FALSE 377.328939
|
|
[13:21:17.309] 179-12/352 :
|
|
befor : 328.000000 392.000000 after : 328.155945 391.811768 TRUE 0.059750
|
|
[13:21:17.309] 179-13/352 :
|
|
befor : 368.000000 410.000000 after : 371.875305 405.687317 FALSE 33.617226
|
|
[13:21:17.309] 179-14/352 :
|
|
befor : 404.000000 412.000000 after : 404.594971 411.601318 TRUE 0.512937
|
|
[13:21:17.309] After Reprojection Map nPoint:22 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:-0.000072 ,z=0.000085,angle between two frames:0.000002
|
|
[13:21:17.309] n deleted obs = 5 n obs with reprojection error less than 0.5 px =5 error init =0.890095 error end=0.890095
|
|
[13:21:17.309] After pose optimization, distance between ekf and vo x:-0.000072 ,z=0.000085,angle between two frames:0.000002
|
|
[13:21:17.309] frame process finished the id is: 139 the obs is:11
|
|
[13:21:17.389] Odometry x=0.222421, y=0.629571, theta=0.035312
|
|
[13:21:17.409] 180-1/352 :
|
|
befor : 84.000000 28.000000 after : 81.816833 28.077179 TRUE 4.772173
|
|
[13:21:17.409] 180-2/352 :
|
|
befor : 92.000000 88.000000 after : 92.420837 88.261787 TRUE 0.245637
|
|
[13:21:17.409] 180-3/352 :
|
|
befor : 252.000000 83.000000 after : 252.469696 82.879562 TRUE 0.235120
|
|
[13:21:17.409] 180-4/352 :
|
|
befor : 256.000000 92.000000 after : 239.089523 108.670128 FALSE 563.857385
|
|
[13:21:17.409] 180-5/352 :
|
|
befor : 44.000000 158.000000 after : 44.373947 158.024933 TRUE 0.140458
|
|
[13:21:17.409] 180-6/352 :
|
|
befor : 184.000000 168.000000 after : 185.093979 168.371063 TRUE 1.334478
|
|
[13:21:17.409] 180-7/352 :
|
|
befor : 264.000000 178.000000 after : 273.679962 168.457886 TRUE 184.753612
|
|
[13:21:17.409] 180-8/352 :
|
|
befor : 308.000000 160.000000 after : 323.070862 151.117691 FALSE 306.026288
|
|
[13:21:17.409] 180-9/352 :
|
|
befor : 258.000000 210.000000 after : 258.000000 210.000000 FALSE 0.000000
|
|
[13:21:17.409] 180-10/352 :
|
|
befor : 210.000000 242.000000 after : 202.329041 249.788681 FALSE 119.507171
|
|
[13:21:17.409] 180-11/352 :
|
|
befor : 212.000000 316.000000 after : 207.041672 311.557709 TRUE 44.318971
|
|
[13:21:17.409] 180-12/352 :
|
|
befor : 323.000000 307.000000 after : 321.898438 306.713989 TRUE 1.295242
|
|
[13:21:17.409] 180-13/352 :
|
|
befor : 341.000000 326.000000 after : 343.792084 323.241577 FALSE 15.404628
|
|
[13:21:17.409] 180-14/352 :
|
|
befor : 19.000000 346.000000 after : 23.626507 340.511597 TRUE 51.527136
|
|
[13:21:17.409] 180-15/352 :
|
|
befor : 334.000000 330.000000 after : 333.519867 330.855042 TRUE 0.961624
|
|
[13:21:17.409] 180-16/352 :
|
|
befor : 324.000000 360.000000 after : 325.959778 359.863037 TRUE 3.859488
|
|
[13:21:17.409] 180-17/352 :
|
|
befor : 330.000000 388.000000 after : 329.937469 387.828156 TRUE 0.033441
|
|
[13:21:17.409] 180-18/352 :
|
|
befor : 220.000000 428.000000 after : 220.042908 428.279785 FALSE 0.080121
|
|
[13:21:17.409] After Reprojection Map nPoint:24 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000091 ,z=0.000096,angle between two frames:0.000009
|
|
[13:21:17.409] n deleted obs = 7 n obs with reprojection error less than 0.5 px =5 error init =0.997371 error end=0.596843
|
|
[13:21:17.409] After pose optimization, distance between ekf and vo x:0.783517 ,z=4.171739,angle between two frames:2.917490
|
|
[13:21:17.409] frame process finished the id is: 139 the obs is:11
|
|
[13:21:17.489] Odometry x=0.222355, y=0.635061, theta=0.029122
|
|
[13:21:17.508] 181-1/352 :
|
|
befor : 254.000000 86.000000 after : 264.020020 119.579468 TRUE 1227.981447
|
|
[13:21:17.508] 181-2/352 :
|
|
befor : 84.000000 108.000000 after : 84.049545 109.445930 TRUE 2.093170
|
|
[13:21:17.508] 181-3/352 :
|
|
befor : 252.000000 92.000000 after : 252.438126 91.708160 TRUE 0.277124
|
|
[13:21:17.508] 181-4/352 :
|
|
befor : 42.000000 160.000000 after : 43.904858 159.117874 TRUE 4.406629
|
|
[13:21:17.508] 181-5/352 :
|
|
befor : 263.000000 175.000000 after : 262.064606 175.095535 TRUE 0.884089
|
|
[13:21:17.508] 181-6/352 :
|
|
befor : 257.000000 211.000000 after : 255.164124 212.917175 FALSE 7.046003
|
|
[13:21:17.508] 181-7/352 :
|
|
befor : 229.000000 257.000000 after : 217.149902 268.572266 TRUE 274.342146
|
|
[13:21:17.508] 181-8/352 :
|
|
befor : 17.000000 347.000000 after : 20.044815 343.669464 TRUE 20.363368
|
|
[13:21:17.508] 181-9/352 :
|
|
befor : 329.000000 332.000000 after : 328.758026 332.821503 TRUE 0.733418
|
|
[13:21:17.508] 181-10/352 :
|
|
befor : 332.000000 331.000000 after : 330.676483 332.665039 TRUE 4.524052
|
|
[13:21:17.508] 181-11/352 :
|
|
befor : 325.000000 389.000000 after : 313.591888 399.807770 FALSE 246.952897
|
|
befor : 326.000000 389.000000 after : 336.554840 399.343964 FALSE 218.402233
|
|
befor : 325.000000 389.000000 after : 325.548401 389.392426 TRUE 0.454741
|
|
[13:21:17.508] 181-12/352 :
|
|
befor : 94.000000 410.000000 after : 94.803772 410.412537 TRUE 0.816236
|
|
[13:21:17.508] 181-13/352 :
|
|
befor : 365.000000 398.000000 after : 365.683014 397.798248 TRUE 0.507212
|
|
[13:21:17.508] After Reprojection Map nPoint:22 ,nCell:15 ,nMatches:12 ,distance between ekf and vo x:-0.000038 ,z=0.000070,angle between two frames:0.000022
|
|
[13:21:17.508] n deleted obs = 3 n obs with reprojection error less than 0.5 px =9 error init =0.791561 error end=0.440777
|
|
[13:21:17.508] After pose optimization, distance between ekf and vo x:-0.265940 ,z=0.501534,angle between two frames:0.047559
|
|
[13:21:17.508] frame process finished the id is: 139 the obs is:11
|
|
[13:21:17.591] Odometry x=0.222294, y=0.640752, theta=0.031737
|
|
[13:21:17.610] 182-1/352 :
|
|
befor : 96.000000 56.000000 after : 91.994293 60.729462 FALSE 38.413495
|
|
[13:21:17.610] 182-2/352 :
|
|
befor : 248.000000 84.000000 after : 248.473404 83.877975 TRUE 0.239001
|
|
[13:21:17.610] 182-3/352 :
|
|
befor : 72.000000 144.000000 after : 72.500572 143.738205 TRUE 0.319109
|
|
[13:21:17.610] 182-4/352 :
|
|
befor : 178.000000 167.000000 after : 180.744156 169.414246 TRUE 13.358973
|
|
[13:21:17.610] 182-5/352 :
|
|
befor : 250.000000 208.000000 after : 250.104767 209.325150 TRUE 1.766997
|
|
[13:21:17.610] 182-6/352 :
|
|
befor : 238.000000 292.000000 after : 231.013565 299.296051 FALSE 102.042634
|
|
[13:21:17.610] 182-7/352 :
|
|
befor : 12.000000 322.000000 after : 25.361448 311.308075 TRUE 292.845562
|
|
[13:21:17.610] 182-8/352 :
|
|
befor : 324.000000 318.000000 after : 320.664581 321.892761 FALSE 26.278608
|
|
befor : 321.000000 307.000000 after : 320.381195 306.158447 TRUE 1.091131
|
|
[13:21:17.610] 182-9/352 :
|
|
befor : 335.000000 328.000000 after : 332.098328 331.371490 TRUE 19.786651
|
|
[13:21:17.610] 182-10/352 :
|
|
befor : 11.000000 346.000000 after : 5.755134 351.092743 FALSE 53.444649
|
|
befor : 12.000000 347.000000 after : 49.708099 314.015533 FALSE 2509.875792
|
|
[13:21:17.610] 182-11/352 :
|
|
befor : 328.000000 331.000000 after : 317.679352 318.386993 TRUE 265.603714
|
|
[13:21:17.610] 182-12/352 :
|
|
befor : 470.000000 352.000000 after : 502.093262 386.020630 FALSE 2187.380705
|
|
[13:21:17.610] 182-13/352 :
|
|
befor : 325.000000 390.000000 after : 311.292511 403.068634 FALSE 358.684451
|
|
befor : 325.000000 390.000000 after : 325.219147 390.347778 TRUE 0.168975
|
|
[13:21:17.610] 182-14/352 :
|
|
befor : 342.000000 414.000000 after : 341.969635 413.647919 TRUE 0.124883
|
|
[13:21:17.610] 182-15/352 :
|
|
befor : 548.000000 467.000000 after : 548.582153 466.882050 TRUE 0.352815
|
|
[13:21:17.610] After Reprojection Map nPoint:23 ,nCell:18 ,nMatches:11 ,distance between ekf and vo x:-0.000105 ,z=0.000059,angle between two frames:0.000075
|
|
[13:21:17.610] n deleted obs = 5 n obs with reprojection error less than 0.5 px =6 error init =0.860598 error end=0.860598
|
|
[13:21:17.610] After pose optimization, distance between ekf and vo x:-0.000105 ,z=0.000059,angle between two frames:0.000075
|
|
[13:21:17.610] frame process finished the id is: 139 the obs is:11
|
|
[13:21:17.693] Odometry x=0.222203, y=0.647078, theta=0.025154
|
|
[13:21:17.708] 183-1/352 :
|
|
befor : 30.000000 164.000000 after : 41.816204 153.700500 FALSE 245.702369
|
|
[13:21:17.708] 183-2/352 :
|
|
befor : 257.000000 158.000000 after : 256.281250 153.852280 FALSE 17.720186
|
|
[13:21:17.708] 183-3/352 :
|
|
befor : 246.000000 208.000000 after : 246.668167 207.742889 TRUE 0.512553
|
|
[13:21:17.708] 183-4/352 :
|
|
befor : 172.000000 226.000000 after : 176.139725 220.702240 FALSE 45.203582
|
|
[13:21:17.708] 183-5/352 :
|
|
befor : 248.000000 210.000000 after : 249.940430 209.750580 TRUE 3.827478
|
|
[13:21:17.708] 183-6/352 :
|
|
befor : 216.000000 252.000000 after : 216.571991 251.716644 TRUE 0.407464
|
|
[13:21:17.708] 183-7/352 :
|
|
befor : 235.000000 294.000000 after : 234.673035 293.375610 TRUE 0.496769
|
|
[13:21:17.708] 183-8/352 :
|
|
befor : 316.000000 307.000000 after : 311.790710 311.529327 FALSE 38.232925
|
|
befor : 318.000000 320.000000 after : 317.778229 320.012817 TRUE 0.049347
|
|
[13:21:17.708] 183-9/352 :
|
|
befor : 342.000000 317.000000 after : 336.701416 311.585785 TRUE 57.388717
|
|
[13:21:17.708] 183-10/352 :
|
|
befor : 7.000000 346.000000 after : 7.000000 346.000000 FALSE 0.000000
|
|
befor : 15.000000 335.000000 after : 20.738499 331.538239 TRUE 44.914160
|
|
[13:21:17.708] 183-11/352 :
|
|
befor : 318.000000 332.000000 after : 318.000000 332.000000 FALSE 0.000000
|
|
[13:21:17.708] 183-12/352 :
|
|
befor : 468.000000 352.000000 after : 468.046478 351.874329 TRUE 0.017954
|
|
[13:21:17.708] 183-13/352 :
|
|
befor : 319.000000 390.000000 after : 315.358459 393.860352 FALSE 28.163132
|
|
befor : 319.000000 390.000000 after : 319.311218 390.369080 TRUE 0.233077
|
|
[13:21:17.708] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:-0.000051 ,z=0.000096,angle between two frames:0.000031
|
|
[13:21:17.708] n deleted obs = 5 n obs with reprojection error less than 0.5 px =4 error init =0.597720 error end=0.597720
|
|
[13:21:17.708] After pose optimization, distance between ekf and vo x:-0.000051 ,z=0.000096,angle between two frames:0.000031
|
|
[13:21:17.708] frame process finished the id is: 139 the obs is:11
|
|
[13:21:17.790] Odometry x=0.222151, y=0.653808, theta=0.027664
|
|
[13:21:17.808] 184-1/352 :
|
|
befor : 88.000000 56.000000 after : 115.878464 86.458572 FALSE 1704.933373
|
|
[13:21:17.808] 184-2/352 :
|
|
befor : 238.000000 80.000000 after : 237.956039 79.856544 TRUE 0.022512
|
|
[13:21:17.808] 184-3/352 :
|
|
befor : 248.000000 88.000000 after : 241.577942 95.185669 FALSE 92.876669
|
|
[13:21:17.808] 184-4/352 :
|
|
befor : 254.000000 90.000000 after : 254.284668 89.704117 TRUE 0.168583
|
|
[13:21:17.808] 184-5/352 :
|
|
befor : 28.000000 148.000000 after : 30.201996 151.166946 TRUE 14.878335
|
|
[13:21:17.808] 184-6/352 :
|
|
befor : 169.000000 165.000000 after : 171.896317 167.920670 TRUE 16.918960
|
|
[13:21:17.808] 184-7/352 :
|
|
befor : 253.000000 155.000000 after : 251.914505 150.360901 FALSE 22.699540
|
|
[13:21:17.809] 184-8/352 :
|
|
befor : 296.000000 156.000000 after : 299.075043 157.090424 TRUE 10.644911
|
|
[13:21:17.809] 184-9/352 :
|
|
befor : 244.000000 204.000000 after : 244.322281 204.075272 TRUE 0.109531
|
|
[13:21:17.809] 184-10/352 :
|
|
befor : 245.000000 229.000000 after : 255.366455 241.881790 TRUE 273.403909
|
|
[13:21:17.809] 184-11/352 :
|
|
befor : 230.000000 290.000000 after : 232.432953 290.460754 TRUE 6.131554
|
|
[13:21:17.809] 184-12/352 :
|
|
befor : 312.000000 305.000000 after : 313.799530 303.195648 FALSE 6.493994
|
|
befor : 307.000000 305.000000 after : 301.167816 299.487732 TRUE 64.399468
|
|
[13:21:17.809] 184-13/352 :
|
|
befor : 338.000000 315.000000 after : 337.395813 315.860016 FALSE 1.104669
|
|
[13:21:17.809] 184-14/352 :
|
|
befor : 318.000000 330.000000 after : 317.820740 330.502380 TRUE 0.284520
|
|
[13:21:17.809] 184-15/352 :
|
|
befor : 409.000000 361.000000 after : 408.527435 361.459320 FALSE 0.434292
|
|
befor : 409.000000 361.000000 after : 409.000000 361.000000 FALSE 0.000000
|
|
[13:21:17.809] 184-16/352 :
|
|
befor : 353.000000 396.000000 after : 407.075867 350.569641 TRUE 4988.116868
|
|
[13:21:17.809] 184-17/352 :
|
|
befor : 560.000000 464.000000 after : 560.426086 463.691284 TRUE 0.276855
|
|
[13:21:17.809] After Reprojection Map nPoint:22 ,nCell:19 ,nMatches:12 ,distance between ekf and vo x:-0.000064 ,z=0.000087,angle between two frames:0.000000
|
|
[13:21:17.809] n deleted obs = 7 n obs with reprojection error less than 0.5 px =5 error init =0.792427 error end=0.792427
|
|
[13:21:17.809] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.000087,angle between two frames:0.000000
|
|
[13:21:17.809] frame process finished the id is: 139 the obs is:11
|
|
[13:21:17.888] Odometry x=0.222084, y=0.659216, theta=0.029142
|
|
[13:21:17.910] 185-1/352 :
|
|
befor : 238.000000 82.000000 after : 230.636215 90.012856 FALSE 118.431180
|
|
befor : 238.000000 82.000000 after : 238.196182 82.501480 TRUE 0.289970
|
|
[13:21:17.910] 185-2/352 :
|
|
befor : 170.000000 146.000000 after : 185.071136 159.067215 FALSE 397.891262
|
|
[13:21:17.910] 185-3/352 :
|
|
befor : 24.000000 152.000000 after : 28.855766 146.967667 FALSE 48.902846
|
|
[13:21:17.910] 185-4/352 :
|
|
befor : 166.000000 172.000000 after : 177.479111 184.298080 FALSE 283.012765
|
|
[13:21:17.910] 185-5/352 :
|
|
befor : 251.000000 155.000000 after : 233.430023 170.194031 FALSE 539.562656
|
|
[13:21:17.910] 185-6/352 :
|
|
befor : 242.000000 206.000000 after : 242.259918 205.761551 TRUE 0.124415
|
|
[13:21:17.910] 185-7/352 :
|
|
befor : 164.000000 224.000000 after : 162.604965 228.506821 FALSE 22.257555
|
|
[13:21:17.910] 185-8/352 :
|
|
befor : 311.000000 320.000000 after : 309.145996 322.996674 TRUE 12.417383
|
|
[13:21:17.910] 185-9/352 :
|
|
befor : 336.000000 317.000000 after : 336.337524 316.892792 FALSE 0.125416
|
|
[13:21:17.910] 185-10/352 :
|
|
befor : 7.000000 342.000000 after : 6.634041 342.322815 TRUE 0.238136
|
|
[13:21:17.910] 185-11/352 :
|
|
befor : 154.000000 342.000000 after : 154.763229 341.705017 TRUE 0.669534
|
|
[13:21:17.910] 185-12/352 :
|
|
befor : 310.000000 358.000000 after : 338.654144 388.025635 FALSE 1722.598728
|
|
[13:21:17.910] 185-13/352 :
|
|
befor : 464.000000 354.000000 after : 464.346741 354.222198 TRUE 0.169601
|
|
[13:21:17.910] 185-14/352 :
|
|
befor : 324.000000 412.000000 after : 313.363007 423.145020 FALSE 237.357089
|
|
[13:21:17.910] After Reprojection Map nPoint:24 ,nCell:15 ,nMatches:6 ,distance between ekf and vo x:-0.000112 ,z=0.000060,angle between two frames:0.000052
|
|
[13:21:17.910] n deleted obs = 3 n obs with reprojection error less than 0.5 px =3 error init =0.641900 error end=0.641900
|
|
[13:21:17.910] After pose optimization, distance between ekf and vo x:-0.000112 ,z=0.000060,angle between two frames:0.000052
|
|
[13:21:17.910] frame process finished the id is: 139 the obs is:11
|
|
[13:21:17.991] Odometry x=0.222004, y=0.664563, theta=0.034430
|
|
[13:21:18.009] 186-1/352 :
|
|
befor : 84.000000 56.000000 after : 84.535011 55.736305 TRUE 0.355772
|
|
[13:21:18.009] 186-2/352 :
|
|
befor : 238.000000 79.000000 after : 236.884323 79.911018 TRUE 2.074689
|
|
[13:21:18.009] 186-3/352 :
|
|
befor : 244.000000 88.000000 after : 239.777100 92.315277 FALSE 36.454504
|
|
[13:21:18.009] 186-4/352 :
|
|
befor : 250.000000 90.000000 after : 248.329559 91.935242 FALSE 6.535532
|
|
befor : 250.000000 90.000000 after : 249.336960 90.357597 TRUE 0.567498
|
|
[13:21:18.009] 186-5/352 :
|
|
befor : 169.000000 142.000000 after : 193.874786 159.657394 FALSE 930.538575
|
|
[13:21:18.009] 186-6/352 :
|
|
befor : 165.000000 171.000000 after : 221.736404 121.699158 FALSE 5649.592636
|
|
befor : 165.000000 166.000000 after : 177.846848 179.525146 FALSE 347.971079
|
|
befor : 167.000000 156.000000 after : 171.619247 161.204926 TRUE 48.428697
|
|
[13:21:18.009] 186-7/352 :
|
|
befor : 240.000000 204.000000 after : 240.398300 203.792969 TRUE 0.201505
|
|
[13:21:18.009] 186-8/352 :
|
|
befor : 209.000000 257.000000 after : 205.532852 260.407928 TRUE 23.635090
|
|
[13:21:18.009] 186-9/352 :
|
|
befor : 238.000000 290.000000 after : 241.922714 292.280487 TRUE 20.588308
|
|
[13:21:18.009] 186-10/352 :
|
|
befor : 305.000000 318.000000 after : 287.284027 329.348328 FALSE 442.640236
|
|
befor : 303.000000 305.000000 after : 304.520813 302.190887 TRUE 10.203985
|
|
[13:21:18.009] 186-11/352 :
|
|
befor : 152.000000 344.000000 after : 145.680023 349.960022 FALSE 75.463969
|
|
[13:21:18.009] 186-12/352 :
|
|
befor : 314.000000 330.000000 after : 314.000000 330.000000 FALSE 0.000000
|
|
[13:21:18.009] 186-13/352 :
|
|
befor : 461.000000 355.000000 after : 470.938843 345.674591 FALSE 185.743847
|
|
befor : 464.000000 354.000000 after : 464.558228 354.027557 TRUE 0.312377
|
|
[13:21:18.009] 186-14/352 :
|
|
befor : 312.000000 389.000000 after : 312.110260 388.855621 TRUE 0.033002
|
|
[13:21:18.009] 186-15/352 :
|
|
befor : 186.000000 434.000000 after : 186.143631 435.013184 TRUE 1.047171
|
|
[13:21:18.009] After Reprojection Map nPoint:22 ,nCell:20 ,nMatches:11 ,distance between ekf and vo x:-0.000019 ,z=0.000059,angle between two frames:0.000051
|
|
[13:21:18.009] n deleted obs = 4 n obs with reprojection error less than 0.5 px =7 error init =0.863862 error end=0.571250
|
|
[13:21:18.009] After pose optimization, distance between ekf and vo x:0.258078 ,z=-0.373824,angle between two frames:0.326499
|
|
[13:21:18.009] frame process finished the id is: 139 the obs is:11
|
|
[13:21:18.093] Odometry x=0.222013, y=0.670059, theta=0.039725
|
|
[13:21:18.110] 187-1/352 :
|
|
befor : 238.000000 82.000000 after : 232.823776 87.915314 FALSE 61.784229
|
|
befor : 238.000000 82.000000 after : 238.224228 82.515915 TRUE 0.316446
|
|
[13:21:18.110] 187-2/352 :
|
|
befor : 245.000000 86.000000 after : 245.415161 85.827194 TRUE 0.202221
|
|
[13:21:18.110] 187-3/352 :
|
|
befor : 248.000000 92.000000 after : 237.584717 104.507378 FALSE 264.912619
|
|
[13:21:18.110] 187-4/352 :
|
|
befor : 170.000000 146.000000 after : 219.368927 197.073730 FALSE 5045.816897
|
|
[13:21:18.110] 187-5/352 :
|
|
befor : 250.000000 174.000000 after : 233.239410 158.275726 FALSE 528.170147
|
|
[13:21:18.110] 187-6/352 :
|
|
befor : 242.000000 204.000000 after : 237.612335 207.981491 TRUE 35.103874
|
|
[13:21:18.110] 187-7/352 :
|
|
befor : 236.000000 240.000000 after : 242.790100 254.406799 TRUE 253.661326
|
|
[13:21:18.110] 187-8/352 :
|
|
befor : 331.000000 325.000000 after : 330.115631 325.900787 FALSE 1.593526
|
|
befor : 331.000000 325.000000 after : 328.908508 326.853058 TRUE 7.808161
|
|
[13:21:18.110] 187-9/352 :
|
|
befor : 466.000000 356.000000 after : 466.403839 355.891602 TRUE 0.174836
|
|
[13:21:18.110] 187-10/352 :
|
|
befor : 116.000000 400.000000 after : 118.379402 398.323608 TRUE 8.471843
|
|
[13:21:18.110] 187-11/352 :
|
|
befor : 314.000000 392.000000 after : 314.564911 395.444366 TRUE 12.182785
|
|
[13:21:18.110] 187-12/352 :
|
|
befor : 100.000000 448.000000 after : 100.383194 447.666748 TRUE 0.257894
|
|
[13:21:18.110] 187-13/352 :
|
|
befor : 588.000000 468.000000 after : 579.109070 478.022675 FALSE 179.502645
|
|
[13:21:18.110] After Reprojection Map nPoint:22 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000091 ,z=0.000079,angle between two frames:0.000019
|
|
[13:21:18.110] n deleted obs = 5 n obs with reprojection error less than 0.5 px =4 error init =0.718787 error end=0.594237
|
|
[13:21:18.110] After pose optimization, distance between ekf and vo x:-0.485904 ,z=0.414381,angle between two frames:0.122550
|
|
[13:21:18.110] frame process finished the id is: 139 the obs is:11
|
|
[13:21:18.190] Odometry x=0.221918, y=0.676708, theta=0.029422
|
|
[13:21:18.209] 188-1/352 :
|
|
befor : 24.000000 148.000000 after : 24.546406 148.406982 TRUE 0.464194
|
|
[13:21:18.209] 188-2/352 :
|
|
befor : 251.000000 145.000000 after : 249.596832 141.720276 TRUE 12.725470
|
|
[13:21:18.209] 188-3/352 :
|
|
befor : 236.000000 164.000000 after : 236.401642 164.590286 TRUE 0.509754
|
|
[13:21:18.209] 188-4/352 :
|
|
befor : 247.000000 172.000000 after : 246.364441 171.914642 TRUE 0.411221
|
|
[13:21:18.209] 188-5/352 :
|
|
befor : 296.000000 156.000000 after : 296.224365 155.812485 FALSE 0.085502
|
|
[13:21:18.209] 188-6/352 :
|
|
befor : 242.000000 204.000000 after : 242.808548 203.899261 TRUE 0.663898
|
|
[13:21:18.209] 188-7/352 :
|
|
befor : 162.000000 222.000000 after : 162.000000 222.000000 FALSE 0.000000
|
|
[13:21:18.209] 188-8/352 :
|
|
befor : 311.000000 303.000000 after : 336.824158 281.630005 FALSE 1123.563813
|
|
befor : 306.000000 317.000000 after : 303.168060 314.372375 FALSE 14.924293
|
|
befor : 311.000000 317.000000 after : 322.389832 310.370239 FALSE 173.681990
|
|
[13:21:18.209] 188-9/352 :
|
|
befor : 330.000000 318.000000 after : 328.190247 314.810822 TRUE 13.446067
|
|
[13:21:18.209] 188-10/352 :
|
|
befor : 6.000000 340.000000 after : 5.513264 340.663177 TRUE 0.676717
|
|
[13:21:18.209] 188-11/352 :
|
|
befor : 308.000000 358.000000 after : 315.902008 366.926819 FALSE 142.129826
|
|
[13:21:18.209] 188-12/352 :
|
|
befor : 468.000000 344.000000 after : 468.468719 343.689026 TRUE 0.316403
|
|
[13:21:18.209] 188-13/352 :
|
|
befor : 296.000000 368.000000 after : 296.392242 367.805359 TRUE 0.191739
|
|
[13:21:18.209] 188-14/352 :
|
|
befor : 410.000000 360.000000 after : 407.812653 361.817993 TRUE 8.089588
|
|
[13:21:18.209] 188-15/352 :
|
|
befor : 350.000000 397.000000 after : 349.359619 396.903137 TRUE 0.419470
|
|
[13:21:18.209] 188-16/352 :
|
|
befor : 406.000000 422.000000 after : 409.977112 427.823425 TRUE 49.729701
|
|
[13:21:18.209] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000046 ,z=0.000061,angle between two frames:0.000015
|
|
[13:21:18.209] n deleted obs = 8 n obs with reprojection error less than 0.5 px =4 error init =0.983727 error end=0.711421
|
|
[13:21:18.209] After pose optimization, distance between ekf and vo x:-2.246530 ,z=2.619104,angle between two frames:0.421953
|
|
[13:21:18.209] frame process finished the id is: 139 the obs is:11
|
|
[13:21:18.290] Odometry x=0.221877, y=0.681926, theta=0.032954
|
|
[13:21:18.310] 189-1/352 :
|
|
befor : 238.000000 76.000000 after : 238.348511 75.900917 TRUE 0.131277
|
|
[13:21:18.310] 189-2/352 :
|
|
befor : 244.000000 92.000000 after : 244.456284 91.692574 TRUE 0.302706
|
|
[13:21:18.310] 189-3/352 :
|
|
befor : 251.000000 146.000000 after : 249.536499 142.183716 TRUE 16.705860
|
|
[13:21:18.310] 189-4/352 :
|
|
befor : 166.000000 160.000000 after : 171.926819 166.928787 TRUE 83.135274
|
|
[13:21:18.310] 189-5/352 :
|
|
befor : 249.000000 171.000000 after : 233.699600 156.601486 FALSE 441.419433
|
|
[13:21:18.310] 189-6/352 :
|
|
befor : 228.000000 290.000000 after : 231.744431 293.623138 TRUE 27.147892
|
|
[13:21:18.310] 189-7/352 :
|
|
befor : 306.000000 305.000000 after : 305.336304 305.271149 TRUE 0.514014
|
|
[13:21:18.310] 189-8/352 :
|
|
befor : 338.000000 315.000000 after : 337.564758 315.645020 TRUE 0.605486
|
|
[13:21:18.310] 189-9/352 :
|
|
befor : 316.000000 330.000000 after : 311.177155 334.926453 TRUE 47.529774
|
|
[13:21:18.310] 189-10/352 :
|
|
befor : 315.000000 389.000000 after : 310.276245 393.393097 FALSE 41.613161
|
|
befor : 314.000000 389.000000 after : 309.593262 393.105225 FALSE 36.272211
|
|
[13:21:18.310] 189-11/352 :
|
|
befor : 411.000000 402.000000 after : 415.915955 397.432007 TRUE 45.033171
|
|
[13:21:18.310] 189-12/352 :
|
|
befor : 88.000000 448.000000 after : 83.933372 452.755768 FALSE 39.154787
|
|
befor : 84.000000 444.000000 after : 81.093636 440.832184 FALSE 18.482014
|
|
[13:21:18.310] 189-13/352 :
|
|
befor : 246.000000 426.000000 after : 246.069321 425.858887 TRUE 0.024718
|
|
[13:21:18.310] After Reprojection Map nPoint:19 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:-0.000111 ,z=0.000076,angle between two frames:0.000046
|
|
[13:21:18.310] n deleted obs = 1 n obs with reprojection error less than 0.5 px =9 error init =1.196561 error end=0.299698
|
|
[13:21:18.310] After pose optimization, distance between ekf and vo x:-0.175952 ,z=0.991667,angle between two frames:0.565629
|
|
[13:21:18.310] frame process finished the id is: 139 the obs is:11
|
|
[13:21:18.389] Odometry x=0.221791, y=0.687044, theta=0.032636
|
|
[13:21:18.410] 190-1/352 :
|
|
befor : 239.000000 78.000000 after : 239.443695 77.802513 TRUE 0.235866
|
|
[13:21:18.411] 190-2/352 :
|
|
befor : 252.000000 110.000000 after : 251.730927 110.054489 TRUE 0.075370
|
|
[13:21:18.411] 190-3/352 :
|
|
befor : 167.000000 159.000000 after : 168.216934 159.301636 TRUE 1.571913
|
|
[13:21:18.411] 190-4/352 :
|
|
befor : 250.000000 170.000000 after : 244.131882 166.737274 FALSE 45.080192
|
|
[13:21:18.411] 190-5/352 :
|
|
befor : 313.000000 305.000000 after : 309.279510 309.321564 FALSE 32.517955
|
|
befor : 314.000000 318.000000 after : 314.562683 317.979095 TRUE 0.317049
|
|
[13:21:18.411] 190-6/352 :
|
|
befor : 332.000000 318.000000 after : 332.036987 317.942688 TRUE 0.004653
|
|
[13:21:18.411] 190-7/352 :
|
|
befor : 319.000000 331.000000 after : 318.978027 331.237366 TRUE 0.056825
|
|
[13:21:18.411] 190-8/352 :
|
|
befor : 415.000000 359.000000 after : 414.302551 359.051392 TRUE 0.489076
|
|
[13:21:18.411] 190-9/352 :
|
|
befor : 472.000000 350.000000 after : 471.813995 350.206299 FALSE 0.077157
|
|
[13:21:18.411] 190-10/352 :
|
|
befor : 296.000000 372.000000 after : 309.646362 387.456818 TRUE 425.136415
|
|
[13:21:18.411] 190-11/352 :
|
|
befor : 315.000000 388.000000 after : 315.000000 388.000000 FALSE 0.000000
|
|
[13:21:18.411] 190-12/352 :
|
|
befor : 42.000000 402.000000 after : 39.812080 404.461151 TRUE 10.844257
|
|
[13:21:18.411] 190-13/352 :
|
|
befor : 300.000000 408.000000 after : 300.519806 407.668518 TRUE 0.380078
|
|
[13:21:18.411] 190-14/352 :
|
|
befor : 413.000000 401.000000 after : 418.777740 395.138245 TRUE 67.742461
|
|
[13:21:18.411] After Reprojection Map nPoint:22 ,nCell:15 ,nMatches:11 ,distance between ekf and vo x:-0.000049 ,z=0.000072,angle between two frames:0.000017
|
|
[13:21:18.411] n deleted obs = 9 n obs with reprojection error less than 0.5 px =2 error init =17.965942 error end=1.080389
|
|
[13:21:18.411] After pose optimization, distance between ekf and vo x:-168.669566 ,z=-149.647347,angle between two frames:2.542256
|
|
[13:21:18.411] frame process finished the id is: 139 the obs is:11
|
|
[13:21:18.484] Odometry x=0.221674, y=0.692841, theta=0.036923
|
|
[13:21:18.509] 191-1/352 :
|
|
befor : 241.000000 79.000000 after : 241.373886 78.864754 TRUE 0.158082
|
|
[13:21:18.509] 191-2/352 :
|
|
befor : 244.000000 204.000000 after : 244.689148 203.679642 TRUE 0.577554
|
|
[13:21:18.509] 191-3/352 :
|
|
befor : 244.000000 290.000000 after : 244.470016 290.035645 TRUE 0.222186
|
|
[13:21:18.509] 191-4/352 :
|
|
befor : 310.000000 308.000000 after : 310.121429 307.984253 TRUE 0.014993
|
|
[13:21:18.509] 191-5/352 :
|
|
befor : 341.000000 318.000000 after : 340.480438 318.740021 TRUE 0.817575
|
|
[13:21:18.509] 191-6/352 :
|
|
befor : 314.000000 360.000000 after : 320.783661 367.601410 FALSE 103.799488
|
|
[13:21:18.509] 191-7/352 :
|
|
befor : 418.000000 362.000000 after : 417.627289 362.692108 TRUE 0.617927
|
|
[13:21:18.509] 191-8/352 :
|
|
befor : 318.000000 391.000000 after : 341.345856 370.722473 FALSE 956.207074
|
|
befor : 318.000000 391.000000 after : 321.787964 396.535461 FALSE 44.990003
|
|
[13:21:18.509] 191-9/352 :
|
|
befor : 338.000000 419.000000 after : 332.336945 413.428497 TRUE 63.111839
|
|
[13:21:18.509] 191-10/352 :
|
|
befor : 248.000000 432.000000 after : 245.576584 428.951782 FALSE 15.164577
|
|
[13:21:18.509] 191-11/352 :
|
|
befor : 414.000000 426.000000 after : 412.474976 427.194122 TRUE 3.751628
|
|
[13:21:18.509] After Reprojection Map nPoint:21 ,nCell:12 ,nMatches:8 ,distance between ekf and vo x:-0.000055 ,z=0.000044,angle between two frames:0.000022
|
|
[13:21:18.509] n deleted obs = 1 n obs with reprojection error less than 0.5 px =7 error init =0.920883 error end=0.311317
|
|
[13:21:18.509] After pose optimization, distance between ekf and vo x:1.425146 ,z=6.034093,angle between two frames:0.683391
|
|
[13:21:18.509] frame process finished the id is: 139 the obs is:11
|
|
[13:21:18.590] Odometry x=0.221572, y=0.698499, theta=0.033360
|
|
[13:21:18.610] 192-1/352 :
|
|
befor : 190.000000 14.000000 after : 190.515717 14.011817 TRUE 0.266103
|
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[13:21:18.610] 192-2/352 :
|
|
befor : 255.000000 90.000000 after : 255.336075 89.607826 TRUE 0.266747
|
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[13:21:18.610] 192-3/352 :
|
|
befor : 172.000000 142.000000 after : 172.714630 141.344650 FALSE 0.940179
|
|
befor : 172.000000 142.000000 after : 174.052368 142.811234 TRUE 4.870315
|
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[13:21:18.610] 192-4/352 :
|
|
befor : 255.000000 147.000000 after : 254.482788 147.633820 TRUE 0.669235
|
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[13:21:18.610] 192-5/352 :
|
|
befor : 169.000000 164.000000 after : 171.552216 165.097931 TRUE 7.719257
|
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[13:21:18.610] 192-6/352 :
|
|
befor : 252.000000 176.000000 after : 246.324158 171.065369 TRUE 56.565772
|
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[13:21:18.611] 192-7/352 :
|
|
befor : 246.000000 206.000000 after : 246.448746 205.704712 TRUE 0.288568
|
|
[13:21:18.611] 192-8/352 :
|
|
befor : 168.000000 228.000000 after : 164.908630 231.847290 FALSE 24.358207
|
|
[13:21:18.611] 192-9/352 :
|
|
befor : 216.000000 261.000000 after : 215.799698 261.463959 TRUE 0.255379
|
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[13:21:18.611] 192-10/352 :
|
|
befor : 317.000000 307.000000 after : 313.877350 309.721313 TRUE 17.156491
|
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[13:21:18.611] 192-11/352 :
|
|
befor : 344.000000 317.000000 after : 343.598083 317.590027 TRUE 0.509669
|
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[13:21:18.611] 192-12/352 :
|
|
befor : 9.000000 347.000000 after : 9.000000 347.000000 FALSE 0.000000
|
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[13:21:18.611] 192-13/352 :
|
|
befor : 325.000000 331.000000 after : 324.975067 331.369476 TRUE 0.137134
|
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[13:21:18.611] 192-14/352 :
|
|
befor : 478.000000 350.000000 after : 488.193970 361.616882 TRUE 238.868974
|
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[13:21:18.611] 192-15/352 :
|
|
befor : 300.000000 372.000000 after : 301.787964 371.418213 TRUE 3.535291
|
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[13:21:18.611] 192-16/352 :
|
|
befor : 421.000000 361.000000 after : 420.802734 361.510529 TRUE 0.299553
|
|
[13:21:18.611] 192-17/352 :
|
|
befor : 320.000000 392.000000 after : 342.145721 373.184448 FALSE 844.457966
|
|
[13:21:18.611] 192-18/352 :
|
|
befor : 419.000000 405.000000 after : 418.513550 405.513672 TRUE 0.500493
|
|
[13:21:18.611] 192-19/352 :
|
|
befor : 418.000000 428.000000 after : 444.517426 450.147888 FALSE 1193.702808
|
|
[13:21:18.611] After Reprojection Map nPoint:22 ,nCell:20 ,nMatches:15 ,distance between ekf and vo x:-0.000090 ,z=0.000015,angle between two frames:0.000069
|
|
[13:21:18.611] n deleted obs = 8 n obs with reprojection error less than 0.5 px =7 error init =0.651638 error end=0.651638
|
|
[13:21:18.611] After pose optimization, distance between ekf and vo x:-0.000090 ,z=0.000015,angle between two frames:0.000069
|
|
[13:21:18.611] frame process finished the id is: 139 the obs is:11
|
|
[13:21:18.693] Odometry x=0.221464, y=0.704638, theta=0.036613
|
|
[13:21:18.708] 193-1/352 :
|
|
befor : 254.000000 87.000000 after : 254.234833 86.926193 TRUE 0.060594
|
|
[13:21:18.708] 193-2/352 :
|
|
befor : 68.000000 124.000000 after : 65.728310 122.062614 TRUE 8.914040
|
|
[13:21:18.708] 193-3/352 :
|
|
befor : 174.000000 143.000000 after : 174.766846 143.456894 TRUE 0.796804
|
|
[13:21:18.708] 193-4/352 :
|
|
befor : 169.000000 176.000000 after : 266.212982 93.700455 TRUE 16223.579059
|
|
[13:21:18.708] 193-5/352 :
|
|
befor : 254.000000 176.000000 after : 254.816193 176.085800 TRUE 0.673532
|
|
[13:21:18.708] 193-6/352 :
|
|
befor : 249.000000 230.000000 after : 243.863419 235.495605 TRUE 56.586148
|
|
[13:21:18.708] 193-7/352 :
|
|
befor : 244.000000 240.000000 after : 259.442474 256.867249 TRUE 522.974088
|
|
[13:21:18.708] 193-8/352 :
|
|
befor : 338.000000 324.000000 after : 339.128113 323.288269 FALSE 1.779199
|
|
befor : 345.000000 320.000000 after : 347.054932 317.349548 FALSE 11.247638
|
|
befor : 346.000000 318.000000 after : 344.037292 318.002167 TRUE 3.852226
|
|
[13:21:18.709] 193-9/352 :
|
|
befor : 10.000000 348.000000 after : 9.648774 348.478058 TRUE 0.351899
|
|
[13:21:18.709] 193-10/352 :
|
|
befor : 158.000000 350.000000 after : 158.000000 350.000000 FALSE 0.000000
|
|
[13:21:18.709] 193-11/352 :
|
|
befor : 326.000000 332.000000 after : 325.707214 331.901764 TRUE 0.095374
|
|
[13:21:18.709] 193-12/352 :
|
|
befor : 304.000000 376.000000 after : 308.755768 378.024719 TRUE 26.716816
|
|
[13:21:18.709] 193-13/352 :
|
|
befor : 424.000000 363.000000 after : 423.881653 363.375397 TRUE 0.154929
|
|
[13:21:18.709] 193-14/352 :
|
|
befor : 304.000000 412.000000 after : 306.578033 408.467041 FALSE 19.128056
|
|
[13:21:18.709] 193-15/352 :
|
|
befor : 224.000000 428.000000 after : 224.486465 428.011597 TRUE 0.236783
|
|
[13:21:18.709] 193-16/352 :
|
|
befor : 342.000000 421.000000 after : 342.071930 420.998352 TRUE 0.005177
|
|
[13:21:18.709] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:14 ,distance between ekf and vo x:-0.000056 ,z=0.000085,angle between two frames:0.000029
|
|
[13:21:18.709] n deleted obs = 3 n obs with reprojection error less than 0.5 px =11 error init =0.602789 error end=0.323915
|
|
[13:21:18.709] After pose optimization, distance between ekf and vo x:-3.184771 ,z=10.844307,angle between two frames:1.658521
|
|
[13:21:18.709] frame process finished the id is: 139 the obs is:11
|
|
[13:21:18.788] Odometry x=0.221347, y=0.710955, theta=0.035573
|
|
[13:21:18.808] 194-1/352 :
|
|
befor : 292.000000 20.000000 after : 287.287537 24.060373 TRUE 38.693942
|
|
[13:21:18.808] 194-2/352 :
|
|
befor : 256.000000 87.000000 after : 256.102600 86.944595 TRUE 0.013596
|
|
[13:21:18.808] 194-3/352 :
|
|
befor : 171.000000 167.000000 after : 170.953018 167.193970 TRUE 0.039832
|
|
[13:21:18.808] 194-4/352 :
|
|
befor : 250.000000 207.000000 after : 252.276901 207.472824 TRUE 5.407842
|
|
[13:21:18.808] 194-5/352 :
|
|
befor : 248.000000 292.000000 after : 248.755829 291.978943 TRUE 0.571721
|
|
[13:21:18.808] 194-6/352 :
|
|
befor : 324.000000 318.000000 after : 324.552765 317.912231 TRUE 0.313252
|
|
[13:21:18.808] 194-7/352 :
|
|
befor : 340.000000 325.000000 after : 341.095642 324.284760 TRUE 1.712001
|
|
[13:21:18.808] 194-8/352 :
|
|
befor : 328.000000 333.000000 after : 327.893097 333.283234 TRUE 0.091650
|
|
[13:21:18.808] 194-9/352 :
|
|
befor : 426.000000 358.000000 after : 425.876831 358.281433 TRUE 0.094375
|
|
[13:21:18.808] 194-10/352 :
|
|
befor : 484.000000 350.000000 after : 483.468536 350.422394 TRUE 0.460870
|
|
[13:21:18.808] 194-11/352 :
|
|
befor : 362.000000 378.000000 after : 362.000000 378.000000 FALSE 0.000000
|
|
[13:21:18.808] 194-12/352 :
|
|
befor : 304.000000 412.000000 after : 304.849701 411.717865 TRUE 0.801592
|
|
[13:21:18.808] 194-13/352 :
|
|
befor : 426.000000 430.000000 after : 440.530945 441.591888 FALSE 345.520235
|
|
[13:21:18.809] After Reprojection Map nPoint:21 ,nCell:13 ,nMatches:11 ,distance between ekf and vo x:-0.000004 ,z=0.000055,angle between two frames:0.000067
|
|
[13:21:18.809] n deleted obs = 2 n obs with reprojection error less than 0.5 px =9 error init =0.489095 error end=0.321012
|
|
[13:21:18.809] After pose optimization, distance between ekf and vo x:-0.175797 ,z=0.600004,angle between two frames:0.364709
|
|
[13:21:18.809] frame process finished the id is: 139 the obs is:11
|
|
[13:21:18.884] Odometry x=0.221257, y=0.716089, theta=0.034220
|
|
[13:21:18.908] 195-1/352 :
|
|
befor : 80.000000 84.000000 after : 80.540451 83.679932 TRUE 0.394531
|
|
[13:21:18.908] 195-2/352 :
|
|
befor : 258.000000 87.000000 after : 258.283081 86.737801 TRUE 0.148883
|
|
[13:21:18.908] 195-3/352 :
|
|
befor : 259.000000 145.000000 after : 252.240005 145.302094 TRUE 45.788786
|
|
[13:21:18.908] 195-4/352 :
|
|
befor : 256.000000 174.000000 after : 255.498795 172.961761 TRUE 1.329146
|
|
[13:21:18.908] 195-5/352 :
|
|
befor : 358.000000 159.000000 after : 357.779327 159.113861 TRUE 0.061661
|
|
[13:21:18.908] 195-6/352 :
|
|
befor : 248.000000 204.000000 after : 247.633362 204.287109 TRUE 0.216855
|
|
[13:21:18.908] 195-7/352 :
|
|
befor : 246.000000 258.000000 after : 246.745209 257.941437 TRUE 0.558766
|
|
[13:21:18.908] 195-8/352 :
|
|
befor : 326.000000 320.000000 after : 324.850372 320.429993 TRUE 1.506538
|
|
[13:21:18.908] 195-9/352 :
|
|
befor : 336.000000 320.000000 after : 335.650787 320.350769 TRUE 0.244988
|
|
[13:21:18.908] 195-10/352 :
|
|
befor : 12.000000 335.000000 after : 12.035994 334.304443 FALSE 0.485095
|
|
[13:21:18.908] 195-11/352 :
|
|
befor : 328.000000 334.000000 after : 319.257080 324.454407 TRUE 167.556999
|
|
[13:21:18.908] 195-12/352 :
|
|
befor : 488.000000 348.000000 after : 488.000000 348.000000 FALSE 0.000000
|
|
[13:21:18.908] 195-13/352 :
|
|
befor : 340.000000 416.000000 after : 350.141205 423.743683 TRUE 162.808660
|
|
[13:21:18.908] 195-14/352 :
|
|
befor : 344.000000 420.000000 after : 343.973236 419.947571 TRUE 0.003465
|
|
[13:21:18.908] 195-15/352 :
|
|
befor : 427.000000 429.000000 after : 427.191132 428.764862 TRUE 0.091821
|
|
[13:21:18.909] After Reprojection Map nPoint:23 ,nCell:15 ,nMatches:13 ,distance between ekf and vo x:-0.000034 ,z=0.000050,angle between two frames:0.000018
|
|
[13:21:18.909] n deleted obs = 2 n obs with reprojection error less than 0.5 px =11 error init =0.500679 error end=0.307503
|
|
[13:21:18.909] After pose optimization, distance between ekf and vo x:-1.244711 ,z=9.062324,angle between two frames:0.988766
|
|
[13:21:18.909] frame process finished the id is: 139 the obs is:11
|
|
[13:21:18.990] Odometry x=0.221148, y=0.722108, theta=0.037518
|
|
[13:21:19.009] 196-1/352 :
|
|
befor : 259.000000 85.000000 after : 259.311981 84.702347 TRUE 0.185930
|
|
[13:21:19.009] 196-2/352 :
|
|
befor : 175.000000 149.000000 after : 175.077087 149.473648 TRUE 0.230285
|
|
[13:21:19.009] 196-3/352 :
|
|
befor : 252.000000 200.000000 after : 252.281265 199.814041 TRUE 0.113691
|
|
[13:21:19.009] 196-4/352 :
|
|
befor : 224.000000 254.000000 after : 224.812469 254.675995 TRUE 1.117076
|
|
[13:21:19.009] 196-5/352 :
|
|
befor : 325.000000 317.000000 after : 335.377777 326.664612 FALSE 201.102979
|
|
befor : 328.000000 316.000000 after : 331.230499 319.074188 TRUE 19.886759
|
|
[13:21:19.009] 196-6/352 :
|
|
befor : 352.000000 314.000000 after : 352.647278 313.496033 TRUE 0.672952
|
|
[13:21:19.009] 196-7/352 :
|
|
befor : 162.000000 347.000000 after : 162.793228 348.319885 TRUE 2.371308
|
|
[13:21:19.009] 196-8/352 :
|
|
befor : 331.000000 330.000000 after : 330.692932 330.534973 TRUE 0.380487
|
|
[13:21:19.009] 196-9/352 :
|
|
befor : 327.000000 388.000000 after : 326.664673 388.365173 TRUE 0.245796
|
|
[13:21:19.009] 196-10/352 :
|
|
befor : 312.000000 412.000000 after : 312.500977 411.675873 TRUE 0.356036
|
|
[13:21:19.009] 196-11/352 :
|
|
befor : 170.000000 442.000000 after : 169.916748 441.919189 TRUE 0.013461
|
|
[13:21:19.009] 196-12/352 :
|
|
befor : 252.000000 436.000000 after : 274.221039 458.156097 FALSE 984.667219
|
|
[13:21:19.009] 196-13/352 :
|
|
befor : 281.000000 421.000000 after : 280.374084 421.605621 TRUE 0.758547
|
|
[13:21:19.009] After Reprojection Map nPoint:20 ,nCell:14 ,nMatches:12 ,distance between ekf and vo x:-0.000071 ,z=0.000017,angle between two frames:0.000042
|
|
[13:21:19.009] n deleted obs = 2 n obs with reprojection error less than 0.5 px =10 error init =1.238896 error end=0.375156
|
|
[13:21:19.009] After pose optimization, distance between ekf and vo x:6.064838 ,z=27.052141,angle between two frames:0.659344
|
|
[13:21:19.009] frame process finished the id is: 139 the obs is:11
|
|
[13:21:19.087] Odometry x=0.221049, y=0.727962, theta=0.034842
|
|
[13:21:19.109] 197-1/352 :
|
|
befor : 253.000000 79.000000 after : 250.592422 98.374626 TRUE 381.172568
|
|
[13:21:19.109] 197-2/352 :
|
|
befor : 259.000000 172.000000 after : 257.918152 171.714279 TRUE 1.252032
|
|
[13:21:19.109] 197-3/352 :
|
|
befor : 308.000000 156.000000 after : 309.704468 156.720764 TRUE 3.424711
|
|
[13:21:19.109] 197-4/352 :
|
|
befor : 198.000000 188.000000 after : 198.291565 187.721939 TRUE 0.162328
|
|
[13:21:19.109] 197-5/352 :
|
|
befor : 248.000000 236.000000 after : 248.109451 235.402435 TRUE 0.369063
|
|
[13:21:19.109] 197-6/352 :
|
|
befor : 250.000000 256.000000 after : 250.629639 255.987000 TRUE 0.396614
|
|
[13:21:19.109] 197-7/352 :
|
|
befor : 322.000000 319.000000 after : 320.710968 319.579376 TRUE 1.997280
|
|
[13:21:19.109] 197-8/352 :
|
|
befor : 330.000000 318.000000 after : 328.859283 318.421509 TRUE 1.478904
|
|
[13:21:19.109] 197-9/352 :
|
|
befor : 164.000000 346.000000 after : 164.000000 346.000000 FALSE 0.000000
|
|
[13:21:19.109] 197-10/352 :
|
|
befor : 328.000000 332.000000 after : 327.854095 331.870728 TRUE 0.038000
|
|
[13:21:19.109] 197-11/352 :
|
|
befor : 334.000000 330.000000 after : 332.725525 332.167297 TRUE 6.321465
|
|
[13:21:19.109] 197-12/352 :
|
|
befor : 434.000000 405.000000 after : 434.413544 404.297058 TRUE 0.665146
|
|
[13:21:19.109] 197-13/352 :
|
|
befor : 154.000000 437.000000 after : 153.794327 436.980865 TRUE 0.042668
|
|
[13:21:19.109] 197-14/352 :
|
|
befor : 228.000000 428.000000 after : 229.585724 430.124481 FALSE 7.027941
|
|
[13:21:19.109] 197-15/352 :
|
|
befor : 350.000000 420.000000 after : 345.672760 415.380890 TRUE 40.061184
|
|
[13:21:19.109] 197-16/352 :
|
|
befor : 462.000000 446.000000 after : 462.740295 445.559357 TRUE 0.742204
|
|
[13:21:19.109] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:14 ,distance between ekf and vo x:-0.000060 ,z=0.000039,angle between two frames:0.000036
|
|
[13:21:19.109] n deleted obs = 7 n obs with reprojection error less than 0.5 px =7 error init =1.402912 error end=0.486924
|
|
[13:21:19.109] After pose optimization, distance between ekf and vo x:0.143157 ,z=-0.394851,angle between two frames:0.114526
|
|
[13:21:19.109] frame process finished the id is: 139 the obs is:11
|
|
[13:21:19.189] Odometry x=0.220969, y=0.733468, theta=0.035733
|
|
[13:21:19.208] 198-1/352 :
|
|
befor : 96.000000 40.000000 after : 93.870605 38.256413 TRUE 7.574418
|
|
[13:21:19.208] 198-2/352 :
|
|
befor : 252.000000 75.000000 after : 252.510406 74.704704 TRUE 0.347714
|
|
[13:21:19.209] 198-3/352 :
|
|
befor : 264.000000 145.000000 after : 263.994080 146.724228 FALSE 2.972997
|
|
[13:21:19.209] 198-4/352 :
|
|
befor : 176.000000 167.000000 after : 182.075623 164.870407 TRUE 41.448355
|
|
[13:21:19.209] 198-5/352 :
|
|
befor : 254.000000 196.000000 after : 254.043716 195.641251 TRUE 0.130612
|
|
[13:21:19.209] 198-6/352 :
|
|
befor : 355.000000 227.000000 after : 354.835510 226.449081 TRUE 0.330568
|
|
[13:21:19.209] 198-7/352 :
|
|
befor : 234.000000 250.000000 after : 234.711639 249.950928 TRUE 0.508839
|
|
[13:21:19.209] 198-8/352 :
|
|
befor : 329.000000 303.000000 after : 352.582397 283.935242 FALSE 919.594479
|
|
befor : 324.000000 315.000000 after : 322.928955 315.867249 TRUE 1.899257
|
|
[13:21:19.209] 198-9/352 :
|
|
befor : 330.000000 316.000000 after : 330.470093 316.273987 TRUE 0.296056
|
|
[13:21:19.209] 198-10/352 :
|
|
befor : 60.000000 388.000000 after : 62.745243 391.763794 TRUE 21.702504
|
|
[13:21:19.209] 198-11/352 :
|
|
befor : 304.000000 386.000000 after : 304.299225 385.683502 TRUE 0.189706
|
|
[13:21:19.209] 198-12/352 :
|
|
befor : 332.000000 387.000000 after : 357.718475 365.925415 FALSE 1105.578105
|
|
[13:21:19.209] 198-13/352 :
|
|
befor : 372.000000 371.000000 after : 371.981934 370.875580 TRUE 0.015807
|
|
[13:21:19.209] 198-14/352 :
|
|
befor : 104.000000 400.000000 after : 104.463295 399.734711 TRUE 0.285021
|
|
[13:21:19.209] 198-15/352 :
|
|
befor : 312.000000 408.000000 after : 312.084351 407.498688 TRUE 0.258429
|
|
[13:21:19.209] 198-16/352 :
|
|
befor : 438.000000 401.000000 after : 437.930450 400.870239 TRUE 0.021675
|
|
[13:21:19.209] After Reprojection Map nPoint:23 ,nCell:17 ,nMatches:14 ,distance between ekf and vo x:-0.000089 ,z=0.000092,angle between two frames:0.000026
|
|
[13:21:19.209] n deleted obs = 3 n obs with reprojection error less than 0.5 px =11 error init =2.282344 error end=0.369187
|
|
[13:21:19.209] After pose optimization, distance between ekf and vo x:11.616667 ,z=-91.573417,angle between two frames:2.191262
|
|
[13:21:19.209] frame process finished the id is: 139 the obs is:11
|
|
[13:21:19.291] Odometry x=0.220877, y=0.738884, theta=0.032653
|
|
[13:21:19.312] 199-1/352 :
|
|
befor : 251.000000 70.000000 after : 251.464035 69.710808 TRUE 0.298961
|
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[13:21:19.312] 199-2/352 :
|
|
befor : 178.000000 149.000000 after : 180.062836 149.502319 TRUE 4.507616
|
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[13:21:19.312] 199-3/352 :
|
|
befor : 312.000000 152.000000 after : 333.094482 171.882523 FALSE 840.291893
|
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[13:21:19.312] 199-4/352 :
|
|
befor : 11.000000 199.000000 after : 13.965548 198.475052 TRUE 9.070043
|
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[13:21:19.312] 199-5/352 :
|
|
befor : 256.000000 196.000000 after : 258.283417 195.529099 TRUE 5.435740
|
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[13:21:19.312] 199-6/352 :
|
|
befor : 257.000000 219.000000 after : 257.174042 218.843933 TRUE 0.054647
|
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[13:21:19.312] 199-7/352 :
|
|
befor : 232.000000 250.000000 after : 233.121323 249.060028 FALSE 2.140912
|
|
befor : 236.000000 247.000000 after : 237.649887 250.093353 TRUE 12.290962
|
|
[13:21:19.312] 199-8/352 :
|
|
befor : 332.000000 312.000000 after : 332.045319 311.387573 TRUE 0.377120
|
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[13:21:19.312] 199-9/352 :
|
|
befor : 12.000000 344.000000 after : 11.810916 344.566345 TRUE 0.356500
|
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[13:21:19.312] 199-10/352 :
|
|
befor : 320.000000 343.000000 after : 321.688416 344.703003 TRUE 5.750966
|
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[13:21:19.312] 199-11/352 :
|
|
befor : 373.000000 368.000000 after : 419.912781 331.316742 FALSE 3546.470420
|
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[13:21:19.312] 199-12/352 :
|
|
befor : 24.000000 408.000000 after : 24.526047 407.715210 TRUE 0.357831
|
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[13:21:19.312] 199-13/352 :
|
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befor : 96.000000 396.000000 after : 96.369522 396.343292 TRUE 0.254396
|
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[13:21:19.312] 199-14/352 :
|
|
befor : 354.000000 414.000000 after : 357.442719 410.892517 TRUE 21.508761
|
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[13:21:19.313] 199-15/352 :
|
|
befor : 439.000000 398.000000 after : 439.000000 398.000000 FALSE 0.000000
|
|
[13:21:19.313] After Reprojection Map nPoint:22 ,nCell:16 ,nMatches:12 ,distance between ekf and vo x:-0.000056 ,z=0.000053,angle between two frames:0.000015
|
|
[13:21:19.313] n deleted obs = 5 n obs with reprojection error less than 0.5 px =7 error init =0.814188 error end=0.814188
|
|
[13:21:19.313] After pose optimization, distance between ekf and vo x:-0.000056 ,z=0.000053,angle between two frames:0.000015
|
|
[13:21:19.313] frame process finished the id is: 139 the obs is:11
|
|
[13:21:19.388] Odometry x=0.220801, y=0.743920, theta=0.030817
|
|
[13:21:19.409] 200-1/352 :
|
|
befor : 260.000000 76.000000 after : 259.919708 76.489922 TRUE 0.246470
|
|
[13:21:19.409] 200-2/352 :
|
|
befor : 175.000000 160.000000 after : 183.190811 156.794937 TRUE 77.361815
|
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[13:21:19.409] 200-3/352 :
|
|
befor : 256.000000 158.000000 after : 255.926056 158.706558 TRUE 0.504692
|
|
[13:21:19.409] 200-4/352 :
|
|
befor : 8.000000 202.000000 after : 15.291524 194.778152 FALSE 105.321403
|
|
[13:21:19.409] 200-5/352 :
|
|
befor : 256.000000 190.000000 after : 256.120972 189.739532 TRUE 0.082477
|
|
[13:21:19.409] 200-6/352 :
|
|
befor : 432.000000 192.000000 after : 430.707520 194.817505 TRUE 9.608840
|
|
[13:21:19.409] 200-7/352 :
|
|
befor : 228.000000 244.000000 after : 233.180283 250.125778 TRUE 64.360486
|
|
[13:21:19.409] 200-8/352 :
|
|
befor : 328.000000 297.000000 after : 328.003174 297.626740 TRUE 0.392812
|
|
[13:21:19.409] 200-9/352 :
|
|
befor : 329.000000 310.000000 after : 351.334534 332.785431 FALSE 1018.007257
|
|
befor : 322.000000 302.000000 after : 320.015228 301.309875 TRUE 4.415591
|
|
[13:21:19.409] 200-10/352 :
|
|
befor : 330.000000 305.000000 after : 328.931213 305.443970 TRUE 1.339414
|
|
[13:21:19.409] 200-11/352 :
|
|
befor : 166.000000 338.000000 after : 166.865158 337.761322 TRUE 0.805466
|
|
[13:21:19.409] 200-12/352 :
|
|
befor : 327.000000 349.000000 after : 327.342285 353.364380 TRUE 19.164971
|
|
[13:21:19.409] 200-13/352 :
|
|
befor : 331.000000 381.000000 after : 365.414154 353.723328 FALSE 1928.350854
|
|
[13:21:19.409] 200-14/352 :
|
|
befor : 312.000000 404.000000 after : 343.464081 434.533691 FALSE 1922.294692
|
|
[13:21:19.409] 200-15/352 :
|
|
befor : 376.000000 404.000000 after : 376.521423 403.969025 TRUE 0.272842
|
|
[13:21:19.409] After Reprojection Map nPoint:20 ,nCell:16 ,nMatches:12 ,distance between ekf and vo x:-0.000034 ,z=0.000024,angle between two frames:0.000002
|
|
[13:21:19.410] n deleted obs = 1 n obs with reprojection error less than 0.5 px =11 error init =0.608741 error end=0.258320
|
|
[13:21:19.410] After pose optimization, distance between ekf and vo x:-0.526274 ,z=1.290175,angle between two frames:0.043603
|
|
[13:21:19.410] frame process finished the id is: 139 the obs is:11
|
|
[13:21:19.490] Odometry x=0.220709, y=0.749352, theta=0.037162
|
|
[13:21:19.514] 201-1/352 :
|
|
befor : 76.000000 96.000000 after : 77.736298 95.925705 TRUE 3.020249
|
|
[13:21:19.514] 201-2/352 :
|
|
befor : 36.000000 149.000000 after : 39.903694 152.903076 TRUE 30.472832
|
|
[13:21:19.514] 201-3/352 :
|
|
befor : 176.000000 146.000000 after : 175.652130 146.215042 FALSE 0.167257
|
|
[13:21:19.514] 201-4/352 :
|
|
befor : 312.000000 148.000000 after : 312.123932 148.208252 TRUE 0.058728
|
|
[13:21:19.514] 201-5/352 :
|
|
befor : 263.000000 154.000000 after : 257.242828 154.973984 FALSE 34.093670
|
|
[13:21:19.514] 201-6/352 :
|
|
befor : 7.000000 206.000000 after : 9.502668 200.267227 TRUE 39.128033
|
|
[13:21:19.514] 201-7/352 :
|
|
befor : 369.000000 185.000000 after : 369.000183 184.831390 FALSE 0.028429
|
|
[13:21:19.514] 201-8/352 :
|
|
befor : 212.000000 226.000000 after : 211.947800 225.915955 TRUE 0.009789
|
|
[13:21:19.514] 201-9/352 :
|
|
befor : 228.000000 250.000000 after : 228.646011 249.980316 TRUE 0.417718
|
|
[13:21:19.514] 201-10/352 :
|
|
befor : 329.000000 298.000000 after : 329.303589 298.500946 TRUE 0.343113
|
|
[13:21:19.514] 201-11/352 :
|
|
befor : 323.000000 303.000000 after : 321.645020 303.361359 TRUE 1.966552
|
|
[13:21:19.514] 201-12/352 :
|
|
befor : 325.000000 331.000000 after : 325.000000 331.000000 FALSE 0.000000
|
|
[13:21:19.514] 201-13/352 :
|
|
befor : 332.000000 383.000000 after : 338.051086 378.566772 FALSE 56.269153
|
|
[13:21:19.514] 201-14/352 :
|
|
befor : 316.000000 404.000000 after : 356.407715 443.346375 FALSE 3180.920606
|
|
[13:21:19.514] 201-15/352 :
|
|
befor : 352.000000 414.000000 after : 351.905151 414.790466 TRUE 0.633833
|
|
[13:21:19.514] 201-16/352 :
|
|
befor : 148.000000 444.000000 after : 148.567459 443.667786 TRUE 0.432376
|
|
[13:21:19.514] After Reprojection Map nPoint:20 ,nCell:16 ,nMatches:10 ,distance between ekf and vo x:-0.000066 ,z=0.000085,angle between two frames:0.000002
|
|
[13:21:19.514] n deleted obs = 4 n obs with reprojection error less than 0.5 px =6 error init =0.882735 error end=0.504259
|
|
[13:21:19.514] After pose optimization, distance between ekf and vo x:-0.347926 ,z=0.354951,angle between two frames:0.477478
|
|
[13:21:19.515] frame process finished the id is: 139 the obs is:11
|
|
[13:21:19.587] Odometry x=0.220629, y=0.754705, theta=0.023560
|
|
[13:21:19.610] 202-1/352 :
|
|
befor : 84.000000 60.000000 after : 82.440643 62.067085 TRUE 6.704435
|
|
[13:21:19.610] 202-2/352 :
|
|
befor : 172.000000 148.000000 after : 217.331085 113.818153 FALSE 3223.305924
|
|
befor : 172.000000 148.000000 after : 204.651047 179.446915 TRUE 2054.999297
|
|
[13:21:19.610] 202-3/352 :
|
|
befor : 258.000000 161.000000 after : 257.864777 160.377197 TRUE 0.406169
|
|
[13:21:19.610] 202-4/352 :
|
|
befor : 172.000000 216.000000 after : 172.509048 217.495499 TRUE 2.495647
|
|
[13:21:19.610] 202-5/352 :
|
|
befor : 252.000000 216.000000 after : 251.792191 215.885788 TRUE 0.056229
|
|
[13:21:19.610] 202-6/352 :
|
|
befor : 229.000000 248.000000 after : 229.135056 248.262253 TRUE 0.087017
|
|
[13:21:19.610] 202-7/352 :
|
|
befor : 325.000000 298.000000 after : 325.196716 298.276093 TRUE 0.114924
|
|
[13:21:19.610] 202-8/352 :
|
|
befor : 320.000000 304.000000 after : 319.679932 306.508789 TRUE 6.396466
|
|
[13:21:19.610] 202-9/352 :
|
|
befor : 161.000000 341.000000 after : 161.000000 341.000000 FALSE 0.000000
|
|
[13:21:19.610] 202-10/352 :
|
|
befor : 502.000000 334.000000 after : 502.428253 334.341370 TRUE 0.299934
|
|
[13:21:19.610] 202-11/352 :
|
|
befor : 308.000000 364.000000 after : 309.617310 363.493164 TRUE 2.872573
|
|
[13:21:19.610] 202-12/352 :
|
|
befor : 344.000000 408.000000 after : 343.748596 408.165253 TRUE 0.090512
|
|
[13:21:19.610] 202-13/352 :
|
|
befor : 120.000000 428.000000 after : 117.763771 426.223572 TRUE 8.156417
|
|
[13:21:19.610] 202-14/352 :
|
|
befor : 278.000000 420.000000 after : 279.079071 421.170990 TRUE 2.535612
|
|
[13:21:19.610] After Reprojection Map nPoint:23 ,nCell:15 ,nMatches:13 ,distance between ekf and vo x:-0.000051 ,z=0.000064,angle between two frames:0.000000
|
|
[13:21:19.610] n deleted obs = 5 n obs with reprojection error less than 0.5 px =8 error init =1.611644 error end=0.433747
|
|
[13:21:19.610] After pose optimization, distance between ekf and vo x:-0.585695 ,z=1.366128,angle between two frames:1.507746
|
|
[13:21:19.610] frame process finished the id is: 139 the obs is:11
|
|
[13:21:19.692] Odometry x=0.220566, y=0.760283, theta=0.027729
|
|
[13:21:19.709] 203-1/352 :
|
|
befor : 92.000000 28.000000 after : 98.558846 35.284081 FALSE 96.076283
|
|
[13:21:19.709] 203-2/352 :
|
|
befor : 256.000000 77.000000 after : 256.288361 76.659767 TRUE 0.198910
|
|
[13:21:19.709] 203-3/352 :
|
|
befor : 167.000000 156.000000 after : 168.702271 156.464279 TRUE 3.113280
|
|
[13:21:19.709] 203-4/352 :
|
|
befor : 248.000000 192.000000 after : 248.298737 191.839340 TRUE 0.115055
|
|
[13:21:19.709] 203-5/352 :
|
|
befor : 198.000000 227.000000 after : 199.158478 228.752731 FALSE 4.414138
|
|
[13:21:19.709] 203-6/352 :
|
|
befor : 349.000000 229.000000 after : 349.042328 229.185455 TRUE 0.036185
|
|
[13:21:19.709] 203-7/352 :
|
|
befor : 317.000000 314.000000 after : 316.734680 316.225708 TRUE 5.024171
|
|
[13:21:19.709] 203-8/352 :
|
|
befor : 335.000000 323.000000 after : 335.316254 322.750702 TRUE 0.162166
|
|
[13:21:19.709] 203-9/352 :
|
|
befor : 438.000000 353.000000 after : 435.002075 350.266296 TRUE 16.460689
|
|
[13:21:19.709] 203-10/352 :
|
|
befor : 304.000000 368.000000 after : 304.798859 367.713379 TRUE 0.720327
|
|
[13:21:19.709] 203-11/352 :
|
|
befor : 232.000000 440.000000 after : 231.896545 439.670044 TRUE 0.119574
|
|
[13:21:19.709] 203-12/352 :
|
|
befor : 272.000000 424.000000 after : 272.545105 424.924652 TRUE 1.152121
|
|
[13:21:19.709] 203-13/352 :
|
|
befor : 323.000000 422.000000 after : 328.958801 428.038544 FALSE 71.971323
|
|
[13:21:19.709] 203-14/352 :
|
|
befor : 347.000000 420.000000 after : 347.267334 419.901306 TRUE 0.081208
|
|
[13:21:19.709] After Reprojection Map nPoint:23 ,nCell:14 ,nMatches:11 ,distance between ekf and vo x:-0.000079 ,z=0.000106,angle between two frames:0.000003
|
|
[13:21:19.709] n deleted obs = 0 n obs with reprojection error less than 0.5 px =11 error init =1.125503 error end=0.241287
|
|
[13:21:19.709] After pose optimization, distance between ekf and vo x:0.723792 ,z=48.068471,angle between two frames:0.289101
|
|
[13:21:19.709] frame process finished the id is: 139 the obs is:11
|
|
[13:21:19.789] Odometry x=0.220513, y=0.765691, theta=0.027803
|
|
[13:21:19.809] 204-1/352 :
|
|
befor : 28.000000 80.000000 after : 28.413689 82.330597 TRUE 5.602820
|
|
[13:21:19.809] 204-2/352 :
|
|
befor : 165.000000 147.000000 after : 168.138977 148.630783 TRUE 12.512630
|
|
[13:21:19.809] 204-3/352 :
|
|
befor : 194.000000 226.000000 after : 200.918152 233.737732 FALSE 107.733321
|
|
[13:21:19.809] 204-4/352 :
|
|
befor : 320.000000 312.000000 after : 320.429443 311.915985 TRUE 0.191480
|
|
[13:21:19.809] 204-5/352 :
|
|
befor : 336.000000 308.000000 after : 336.487427 307.681335 TRUE 0.339132
|
|
[13:21:19.809] 204-6/352 :
|
|
befor : 316.000000 354.000000 after : 316.538269 353.518097 TRUE 0.521964
|
|
[13:21:19.809] 204-7/352 :
|
|
befor : 36.000000 384.000000 after : 40.099419 387.641357 FALSE 30.064717
|
|
[13:21:19.809] 204-8/352 :
|
|
befor : 320.000000 387.000000 after : 321.518616 385.515839 TRUE 4.508929
|
|
[13:21:19.809] 204-9/352 :
|
|
befor : 336.000000 412.000000 after : 336.274628 412.384521 TRUE 0.223277
|
|
[13:21:19.809] 204-10/352 :
|
|
befor : 433.000000 403.000000 after : 434.169159 401.974365 FALSE 2.418859
|
|
[13:21:19.809] 204-11/352 :
|
|
befor : 112.000000 436.000000 after : 112.053192 435.966949 TRUE 0.003922
|
|
[13:21:19.809] 204-12/352 :
|
|
befor : 128.000000 446.000000 after : 127.939117 445.924835 TRUE 0.009356
|
|
[13:21:19.809] 204-13/352 :
|
|
befor : 228.000000 436.000000 after : 228.501907 436.574982 TRUE 0.582515
|
|
[13:21:19.809] 204-14/352 :
|
|
befor : 342.000000 423.000000 after : 342.241821 422.303192 TRUE 0.544019
|
|
[13:21:19.809] After Reprojection Map nPoint:20 ,nCell:14 ,nMatches:11 ,distance between ekf and vo x:-0.000072 ,z=0.000095,angle between two frames:0.000008
|
|
[13:21:19.809] n deleted obs = 8 n obs with reprojection error less than 0.5 px =3 error init =1.092369 error end=1.092369
|
|
[13:21:19.809] After pose optimization, distance between ekf and vo x:-0.000072 ,z=0.000095,angle between two frames:0.000008
|
|
[13:21:19.809] frame process finished the id is: 139 the obs is:11
|
|
[13:21:19.888] Odometry x=0.220440, y=0.771727, theta=0.030507
|
|
[13:21:19.909] 205-1/352 :
|
|
befor : 184.000000 20.000000 after : 183.983597 22.339203 TRUE 5.472139
|
|
[13:21:19.909] 205-2/352 :
|
|
befor : 163.000000 146.000000 after : 163.670944 146.313217 TRUE 0.548271
|
|
[13:21:19.909] 205-3/352 :
|
|
befor : 240.000000 224.000000 after : 240.659637 223.329529 TRUE 0.884653
|
|
[13:21:19.909] 205-4/352 :
|
|
befor : 343.000000 232.000000 after : 343.340057 231.627747 TRUE 0.254212
|
|
[13:21:19.909] 205-5/352 :
|
|
befor : 236.000000 248.000000 after : 236.554596 247.663803 TRUE 0.420605
|
|
[13:21:19.909] 205-6/352 :
|
|
befor : 230.000000 288.000000 after : 230.864868 287.939178 TRUE 0.751696
|
|
[13:21:19.909] 205-7/352 :
|
|
befor : 315.000000 306.000000 after : 316.458679 304.758881 TRUE 3.668122
|
|
[13:21:19.909] 205-8/352 :
|
|
befor : 344.000000 313.000000 after : 344.201996 312.373474 TRUE 0.433337
|
|
[13:21:19.909] 205-9/352 :
|
|
befor : 320.000000 330.000000 after : 320.639984 329.342987 TRUE 0.841246
|
|
[13:21:19.909] 205-10/352 :
|
|
befor : 300.000000 416.000000 after : 300.674774 416.693634 TRUE 0.936448
|
|
[13:21:19.909] 205-11/352 :
|
|
befor : 431.000000 409.000000 after : 433.728119 406.317627 TRUE 14.637758
|
|
[13:21:19.909] 205-12/352 :
|
|
befor : 118.000000 446.000000 after : 117.965828 445.896820 TRUE 0.011814
|
|
[13:21:19.909] 205-13/352 :
|
|
befor : 206.000000 438.000000 after : 205.890839 438.027405 TRUE 0.012667
|
|
[13:21:19.909] After Reprojection Map nPoint:20 ,nCell:13 ,nMatches:13 ,distance between ekf and vo x:-0.000086 ,z=0.000085,angle between two frames:0.000003
|
|
[13:21:19.909] n deleted obs = 12 n obs with reprojection error less than 0.5 px =1 error init =0.975533 error end=0.827916
|
|
[13:21:19.909] After pose optimization, distance between ekf and vo x:-3.004696 ,z=2.029641,angle between two frames:0.226145
|
|
[13:21:19.909] frame process finished the id is: 139 the obs is:11
|
|
[13:21:19.987] Odometry x=0.220381, y=0.777117, theta=0.036040
|
|
[13:21:20.009] 206-1/352 :
|
|
befor : 40.000000 40.000000 after : 40.818031 43.577950 TRUE 13.470898
|
|
[13:21:20.009] 206-2/352 :
|
|
befor : 163.000000 146.000000 after : 165.180023 140.851227 FALSE 31.262367
|
|
befor : 167.000000 124.000000 after : 185.418793 142.457947 FALSE 679.947725
|
|
befor : 163.000000 148.000000 after : 164.545059 148.613770 TRUE 2.763921
|
|
[13:21:20.009] 206-3/352 :
|
|
befor : 246.000000 166.000000 after : 245.931519 165.892151 TRUE 0.016321
|
|
[13:21:20.009] 206-4/352 :
|
|
befor : 168.000000 220.000000 after : 168.547974 219.470245 TRUE 0.580915
|
|
[13:21:20.009] 206-5/352 :
|
|
befor : 236.000000 224.000000 after : 237.579193 225.346909 TRUE 4.308014
|
|
[13:21:20.009] 206-6/352 :
|
|
befor : 343.000000 235.000000 after : 343.400421 234.594879 TRUE 0.324460
|
|
[13:21:20.009] 206-7/352 :
|
|
befor : 228.000000 284.000000 after : 227.343369 283.408142 TRUE 0.781461
|
|
[13:21:20.009] 206-8/352 :
|
|
befor : 316.000000 318.000000 after : 316.872528 317.884277 TRUE 0.774697
|
|
[13:21:20.009] 206-9/352 :
|
|
befor : 332.000000 316.000000 after : 332.491302 315.683746 TRUE 0.341395
|
|
[13:21:20.009] 206-10/352 :
|
|
befor : 320.000000 332.000000 after : 320.300781 332.622803 TRUE 0.478353
|
|
[13:21:20.009] 206-11/352 :
|
|
befor : 312.000000 362.000000 after : 310.043091 363.906677 TRUE 7.464912
|
|
[13:21:20.009] 206-12/352 :
|
|
befor : 317.000000 393.000000 after : 317.301514 392.697693 FALSE 0.182300
|
|
befor : 315.000000 393.000000 after : 314.619568 392.330811 TRUE 0.592543
|
|
[13:21:20.010] 206-13/352 :
|
|
befor : 432.000000 411.000000 after : 433.350677 409.817139 TRUE 3.223491
|
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[13:21:20.010] 206-14/352 :
|
|
befor : 112.000000 448.000000 after : 112.480354 447.499146 TRUE 0.481595
|
|
[13:21:20.010] After Reprojection Map nPoint:24 ,nCell:17 ,nMatches:14 ,distance between ekf and vo x:-0.000046 ,z=0.000050,angle between two frames:0.000004
|
|
[13:21:20.010] n deleted obs = 1 n obs with reprojection error less than 0.5 px =13 error init =1.539302 error end=0.313499
|
|
[13:21:20.010] After pose optimization, distance between ekf and vo x:-2.448119 ,z=11.853557,angle between two frames:1.226601
|
|
[13:21:20.010] frame process finished the id is: 139 the obs is:11
|
|
[13:21:20.089] Odometry x=0.220335, y=0.782386, theta=0.032606
|
|
[13:21:20.109] 207-1/352 :
|
|
befor : 26.000000 74.000000 after : 26.563860 73.415634 TRUE 0.659421
|
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[13:21:20.109] 207-2/352 :
|
|
befor : 241.000000 73.000000 after : 241.503098 72.641685 TRUE 0.381496
|
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[13:21:20.109] 207-3/352 :
|
|
befor : 427.000000 208.000000 after : 430.598541 204.016006 TRUE 28.821704
|
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[13:21:20.109] 207-4/352 :
|
|
befor : 186.000000 230.000000 after : 187.964157 230.151535 TRUE 3.880876
|
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[13:21:20.109] 207-5/352 :
|
|
befor : 236.000000 228.000000 after : 235.875229 228.141632 FALSE 0.035627
|
|
befor : 236.000000 228.000000 after : 236.530289 228.410934 TRUE 0.450073
|
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[13:21:20.109] 207-6/352 :
|
|
befor : 318.000000 320.000000 after : 318.218689 319.975922 TRUE 0.048405
|
|
[13:21:20.109] 207-7/352 :
|
|
befor : 332.000000 316.000000 after : 332.495575 315.681549 TRUE 0.347006
|
|
[13:21:20.109] 207-8/352 :
|
|
befor : 150.000000 344.000000 after : 149.097260 341.907288 TRUE 5.194386
|
|
[13:21:20.109] 207-9/352 :
|
|
befor : 328.000000 330.000000 after : 329.593384 328.405243 FALSE 5.082122
|
|
befor : 318.000000 334.000000 after : 318.115967 334.626617 TRUE 0.406098
|
|
[13:21:20.110] 207-10/352 :
|
|
befor : 296.000000 376.000000 after : 296.101044 376.894562 TRUE 0.810451
|
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[13:21:20.110] 207-11/352 :
|
|
befor : 312.000000 362.000000 after : 310.966248 363.206940 TRUE 2.525348
|
|
[13:21:20.110] 207-12/352 :
|
|
befor : 360.000000 402.000000 after : 362.391083 404.016663 TRUE 9.784205
|
|
[13:21:20.110] 207-13/352 :
|
|
befor : 192.000000 436.000000 after : 190.499466 434.768677 FALSE 3.767759
|
|
[13:21:20.110] 207-14/352 :
|
|
befor : 212.000000 450.000000 after : 212.470016 449.788635 TRUE 0.265591
|
|
[13:21:20.110] After Reprojection Map nPoint:22 ,nCell:16 ,nMatches:13 ,distance between ekf and vo x:-0.000033 ,z=0.000056,angle between two frames:0.000036
|
|
[13:21:20.110] n deleted obs = 7 n obs with reprojection error less than 0.5 px =6 error init =2.054649 error end=0.561137
|
|
[13:21:20.110] After pose optimization, distance between ekf and vo x:0.113537 ,z=-0.239238,angle between two frames:0.033217
|
|
[13:21:20.110] frame process finished the id is: 139 the obs is:11
|
|
[13:21:20.187] Odometry x=0.220240, y=0.787863, theta=0.037282
|
|
[13:21:20.208] 208-1/352 :
|
|
befor : 182.000000 26.000000 after : 178.352005 29.670235 FALSE 26.778490
|
|
befor : 182.000000 26.000000 after : 180.957626 28.528181 FALSE 7.478242
|
|
[13:21:20.208] 208-2/352 :
|
|
befor : 30.000000 62.000000 after : 29.863445 62.135906 FALSE 0.037118
|
|
befor : 32.000000 60.000000 after : 31.238632 60.096981 TRUE 0.589086
|
|
[13:21:20.208] 208-3/352 :
|
|
befor : 180.000000 62.000000 after : 178.552704 70.205635 TRUE 69.427113
|
|
[13:21:20.208] 208-4/352 :
|
|
befor : 242.000000 74.000000 after : 242.458588 73.701164 TRUE 0.299605
|
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[13:21:20.208] 208-5/352 :
|
|
befor : 240.000000 164.000000 after : 202.817352 199.852646 FALSE 2667.961507
|
|
[13:21:20.208] 208-6/352 :
|
|
befor : 240.000000 224.000000 after : 240.689209 224.206345 TRUE 0.517587
|
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[13:21:20.208] 208-7/352 :
|
|
befor : 236.000000 252.000000 after : 236.284943 251.953644 TRUE 0.083341
|
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[13:21:20.208] 208-8/352 :
|
|
befor : 320.000000 320.000000 after : 320.264374 319.994415 TRUE 0.069925
|
|
[13:21:20.208] 208-9/352 :
|
|
befor : 330.000000 330.000000 after : 347.076202 314.742279 FALSE 524.394737
|
|
[13:21:20.209] 208-10/352 :
|
|
befor : 318.000000 395.000000 after : 317.529846 394.217773 FALSE 0.832923
|
|
[13:21:20.209] 208-11/352 :
|
|
befor : 437.000000 412.000000 after : 437.992523 411.033997 TRUE 1.918265
|
|
[13:21:20.209] 208-12/352 :
|
|
befor : 200.000000 446.000000 after : 199.894470 446.136139 TRUE 0.029670
|
|
[13:21:20.209] 208-13/352 :
|
|
befor : 260.000000 435.000000 after : 263.234894 431.864777 TRUE 20.294164
|
|
[13:21:20.209] 208-14/352 :
|
|
befor : 332.000000 424.000000 after : 331.800171 424.701813 TRUE 0.532473
|
|
[13:21:20.209] 208-15/352 :
|
|
befor : 438.000000 440.000000 after : 435.053802 436.805481 FALSE 18.885032
|
|
[13:21:20.209] 208-16/352 :
|
|
befor : 456.000000 444.000000 after : 467.704071 455.804688 FALSE 276.335926
|
|
[13:21:20.209] After Reprojection Map nPoint:24 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:-0.000078 ,z=0.000052,angle between two frames:0.000027
|
|
[13:21:20.209] n deleted obs = 4 n obs with reprojection error less than 0.5 px =6 error init =0.528545 error end=0.441507
|
|
[13:21:20.209] After pose optimization, distance between ekf and vo x:-0.946806 ,z=1.539169,angle between two frames:0.222760
|
|
[13:21:20.209] frame process finished the id is: 139 the obs is:11
|
|
[13:21:20.291] Odometry x=0.220131, y=0.793718, theta=0.037078
|
|
[13:21:20.310] 209-1/352 :
|
|
befor : 44.000000 28.000000 after : 44.273468 31.133137 TRUE 9.891331
|
|
[13:21:20.310] 209-2/352 :
|
|
befor : 76.000000 60.000000 after : 76.699837 58.874592 FALSE 1.756315
|
|
[13:21:20.310] 209-3/352 :
|
|
befor : 180.000000 62.000000 after : 178.001328 64.309868 FALSE 9.330181
|
|
befor : 180.000000 62.000000 after : 180.231171 61.761646 TRUE 0.110252
|
|
[13:21:20.310] 209-4/352 :
|
|
befor : 241.000000 75.000000 after : 241.456467 74.666405 TRUE 0.319648
|
|
[13:21:20.310] 209-5/352 :
|
|
befor : 20.000000 151.000000 after : 13.225766 145.500885 FALSE 76.130509
|
|
[13:21:20.310] 209-6/352 :
|
|
befor : 240.000000 164.000000 after : 240.499908 163.684616 TRUE 0.349375
|
|
[13:21:20.310] 209-7/352 :
|
|
befor : 300.000000 160.000000 after : 300.491821 160.324905 TRUE 0.347452
|
|
[13:21:20.310] 209-8/352 :
|
|
befor : 242.000000 198.000000 after : 242.358139 197.685196 TRUE 0.227365
|
|
[13:21:20.310] 209-9/352 :
|
|
befor : 242.000000 226.000000 after : 242.196884 226.038864 TRUE 0.040274
|
|
[13:21:20.310] 209-10/352 :
|
|
befor : 344.000000 217.000000 after : 329.132690 233.708679 FALSE 500.216854
|
|
[13:21:20.310] 209-11/352 :
|
|
befor : 235.000000 264.000000 after : 235.105667 262.165619 TRUE 3.376120
|
|
[13:21:20.310] 209-12/352 :
|
|
befor : 232.000000 294.000000 after : 232.165512 293.887024 TRUE 0.040158
|
|
[13:21:20.310] 209-13/352 :
|
|
befor : 311.000000 310.000000 after : 312.609100 307.723755 FALSE 7.770496
|
|
befor : 320.000000 322.000000 after : 320.000000 322.000000 FALSE 0.000000
|
|
[13:21:20.310] 209-14/352 :
|
|
befor : 336.000000 328.000000 after : 338.314880 326.052734 FALSE 9.150515
|
|
[13:21:20.310] 209-15/352 :
|
|
befor : 304.000000 380.000000 after : 303.753021 380.717682 TRUE 0.576066
|
|
[13:21:20.310] 209-16/352 :
|
|
befor : 319.000000 396.000000 after : 319.116028 395.841003 FALSE 0.038742
|
|
[13:21:20.310] 209-17/352 :
|
|
befor : 334.000000 399.000000 after : 334.779297 399.432190 TRUE 0.794092
|
|
[13:21:20.310] 209-18/352 :
|
|
befor : 439.000000 413.000000 after : 442.119690 410.040680 TRUE 18.490041
|
|
[13:21:20.310] 209-19/352 :
|
|
befor : 342.000000 434.000000 after : 342.934814 432.992371 FALSE 1.889195
|
|
befor : 336.000000 424.000000 after : 336.763428 424.532532 FALSE 0.866412
|
|
[13:21:20.310] After Reprojection Map nPoint:25 ,nCell:22 ,nMatches:12 ,distance between ekf and vo x:-0.000078 ,z=0.000032,angle between two frames:0.000049
|
|
[13:21:20.310] n deleted obs = 2 n obs with reprojection error less than 0.5 px =10 error init =5.848107 error end=0.297918
|
|
[13:21:20.310] After pose optimization, distance between ekf and vo x:3.090901 ,z=-10.257504,angle between two frames:0.322939
|
|
[13:21:20.310] frame process finished the id is: 139 the obs is:11
|
|
[13:21:20.388] Odometry x=0.220027, y=0.799141, theta=0.038484
|
|
[13:21:20.409] 210-1/352 :
|
|
befor : 288.000000 10.000000 after : 287.635895 10.490059 TRUE 0.372730
|
|
[13:21:20.409] 210-2/352 :
|
|
befor : 34.000000 54.000000 after : 35.345402 52.515873 FALSE 4.012739
|
|
befor : 34.000000 52.000000 after : 32.503246 52.901665 TRUE 3.053271
|
|
[13:21:20.409] 210-3/352 :
|
|
befor : 68.000000 88.000000 after : 64.391037 86.983131 TRUE 14.058636
|
|
[13:21:20.409] 210-4/352 :
|
|
befor : 248.000000 84.000000 after : 248.363556 84.359581 TRUE 0.261471
|
|
[13:21:20.409] 210-5/352 :
|
|
befor : 18.000000 96.000000 after : 18.810366 95.862740 TRUE 0.675533
|
|
[13:21:20.409] 210-6/352 :
|
|
befor : 304.000000 156.000000 after : 304.498627 155.686493 TRUE 0.346915
|
|
[13:21:20.409] 210-7/352 :
|
|
befor : 244.000000 196.000000 after : 244.897949 195.724915 TRUE 0.881985
|
|
[13:21:20.409] 210-8/352 :
|
|
befor : 244.000000 222.000000 after : 244.927139 223.395950 TRUE 2.808265
|
|
[13:21:20.409] 210-9/352 :
|
|
befor : 348.000000 235.000000 after : 348.000000 235.000000 FALSE 0.000000
|
|
[13:21:20.409] 210-10/352 :
|
|
befor : 234.000000 294.000000 after : 232.322495 297.531982 TRUE 15.288925
|
|
[13:21:20.409] 210-11/352 :
|
|
befor : 320.000000 321.000000 after : 318.833954 322.554199 FALSE 3.775199
|
|
befor : 320.000000 307.000000 after : 313.422607 297.655640 TRUE 130.579164
|
|
[13:21:20.410] 210-12/352 :
|
|
befor : 154.000000 348.000000 after : 153.936356 347.765869 TRUE 0.058868
|
|
[13:21:20.410] 210-13/352 :
|
|
befor : 510.000000 342.000000 after : 511.989075 342.452026 TRUE 4.160746
|
|
[13:21:20.410] 210-14/352 :
|
|
befor : 318.000000 362.000000 after : 318.348053 361.162628 TRUE 0.822332
|
|
[13:21:20.410] 210-15/352 :
|
|
befor : 323.000000 394.000000 after : 331.399323 388.374542 FALSE 102.194394
|
|
befor : 321.000000 394.000000 after : 321.229218 393.699249 FALSE 0.142992
|
|
[13:21:20.410] 210-16/352 :
|
|
befor : 445.000000 439.000000 after : 446.229401 437.907684 FALSE 2.704579
|
|
befor : 432.000000 426.000000 after : 431.361725 425.618896 TRUE 0.552635
|
|
[13:21:20.410] After Reprojection Map nPoint:22 ,nCell:20 ,nMatches:14 ,distance between ekf and vo x:-0.000088 ,z=0.000116,angle between two frames:0.000013
|
|
[13:21:20.410] n deleted obs = 4 n obs with reprojection error less than 0.5 px =10 error init =2.037592 error end=0.454744
|
|
[13:21:20.410] After pose optimization, distance between ekf and vo x:-14.145760 ,z=61.388339,angle between two frames:1.204372
|
|
[13:21:20.410] frame process finished the id is: 139 the obs is:11
|
|
[13:21:20.490] Odometry x=0.219929, y=0.804986, theta=0.035943
|
|
[13:21:20.510] 211-1/352 :
|
|
befor : 52.000000 14.000000 after : 52.000000 14.000000 FALSE 0.000000
|
|
[13:21:20.510] 211-2/352 :
|
|
befor : 40.000000 40.000000 after : 42.217506 37.624989 TRUE 10.558014
|
|
[13:21:20.510] 211-3/352 :
|
|
befor : 84.000000 44.000000 after : 83.063263 45.234486 FALSE 2.401431
|
|
[13:21:20.510] 211-4/352 :
|
|
befor : 32.000000 60.000000 after : 29.700714 63.059666 FALSE 14.648270
|
|
[13:21:20.510] 211-5/352 :
|
|
befor : 255.000000 80.000000 after : 255.334518 79.514328 TRUE 0.347780
|
|
[13:21:20.510] 211-6/352 :
|
|
befor : 60.000000 116.000000 after : 60.469971 116.338936 TRUE 0.335750
|
|
[13:21:20.510] 211-7/352 :
|
|
befor : 164.000000 154.000000 after : 163.577896 153.554810 TRUE 0.376366
|
|
[13:21:20.510] 211-8/352 :
|
|
befor : 240.000000 164.000000 after : 253.809662 177.218018 FALSE 365.422750
|
|
[13:21:20.510] 211-9/352 :
|
|
befor : 244.000000 194.000000 after : 244.637573 193.717667 TRUE 0.486212
|
|
[13:21:20.510] 211-10/352 :
|
|
befor : 242.000000 256.000000 after : 242.513977 255.990662 TRUE 0.264260
|
|
[13:21:20.510] 211-11/352 :
|
|
befor : 149.000000 328.000000 after : 150.399277 330.841431 TRUE 10.031704
|
|
[13:21:20.510] 211-12/352 :
|
|
befor : 322.000000 308.000000 after : 317.916046 312.003052 FALSE 32.703102
|
|
befor : 321.000000 309.000000 after : 321.582825 309.604248 TRUE 0.704800
|
|
[13:21:20.510] 211-13/352 :
|
|
befor : 340.000000 320.000000 after : 340.499054 319.687347 TRUE 0.346806
|
|
[13:21:20.510] 211-14/352 :
|
|
befor : 328.000000 333.000000 after : 331.030853 331.341949 TRUE 11.935203
|
|
[13:21:20.510] 211-15/352 :
|
|
befor : 448.000000 357.000000 after : 447.287903 357.454895 TRUE 0.714012
|
|
[13:21:20.510] 211-16/352 :
|
|
befor : 325.000000 395.000000 after : 324.170593 395.815704 FALSE 1.353289
|
|
befor : 324.000000 394.000000 after : 324.000000 394.000000 FALSE 0.000000
|
|
[13:21:20.510] 211-17/352 :
|
|
befor : 368.000000 406.000000 after : 370.757080 403.003723 FALSE 16.579166
|
|
[13:21:20.510] 211-18/352 :
|
|
befor : 304.000000 424.000000 after : 303.791901 424.745392 TRUE 0.598914
|
|
[13:21:20.510] 211-19/352 :
|
|
befor : 438.000000 428.000000 after : 435.859070 429.933746 FALSE 8.322957
|
|
[13:21:20.510] After Reprojection Map nPoint:22 ,nCell:21 ,nMatches:12 ,distance between ekf and vo x:-0.000057 ,z=0.000071,angle between two frames:0.000002
|
|
[13:21:20.510] n deleted obs = 2 n obs with reprojection error less than 0.5 px =10 error init =3.129500 error end=0.392528
|
|
[13:21:20.510] After pose optimization, distance between ekf and vo x:-23.904445 ,z=123.274842,angle between two frames:0.166715
|
|
[13:21:20.510] frame process finished the id is: 139 the obs is:11
|
|
[13:21:20.587] Odometry x=0.219822, y=0.810359, theta=0.034578
|
|
[13:21:20.610] 212-1/352 :
|
|
befor : 34.000000 54.000000 after : 33.070412 55.021282 FALSE 1.907152
|
|
befor : 44.000000 30.000000 after : 44.631901 28.769264 FALSE 1.914009
|
|
[13:21:20.610] 212-2/352 :
|
|
befor : 28.000000 70.000000 after : 29.676115 71.261841 TRUE 4.401604
|
|
[13:21:20.610] 212-3/352 :
|
|
befor : 248.000000 80.000000 after : 249.556915 78.498566 TRUE 4.678290
|
|
[13:21:20.610] 212-4/352 :
|
|
befor : 164.000000 156.000000 after : 164.641647 156.187820 TRUE 0.446988
|
|
[13:21:20.610] 212-5/352 :
|
|
befor : 304.000000 156.000000 after : 305.665741 155.586426 TRUE 2.945737
|
|
[13:21:20.610] 212-6/352 :
|
|
befor : 156.000000 348.000000 after : 156.827942 347.776886 TRUE 0.735268
|
|
[13:21:20.610] 212-7/352 :
|
|
befor : 329.000000 333.000000 after : 326.412170 335.097198 TRUE 11.095103
|
|
[13:21:20.610] 212-8/352 :
|
|
befor : 296.000000 392.000000 after : 295.411560 391.434906 TRUE 0.665593
|
|
[13:21:20.610] 212-9/352 :
|
|
befor : 326.000000 394.000000 after : 326.166016 393.779724 FALSE 0.076083
|
|
befor : 324.000000 394.000000 after : 324.188019 393.721680 FALSE 0.112813
|
|
befor : 326.000000 394.000000 after : 326.000000 394.000000 FALSE 0.000000
|
|
[13:21:20.610] 212-10/352 :
|
|
befor : 449.000000 411.000000 after : 452.126556 408.159180 TRUE 17.845615
|
|
[13:21:20.610] 212-11/352 :
|
|
befor : 62.000000 438.000000 after : 65.075363 439.586273 FALSE 11.974121
|
|
[13:21:20.610] 212-12/352 :
|
|
befor : 319.000000 436.000000 after : 320.443512 434.615753 FALSE 3.999866
|
|
[13:21:20.610] 212-13/352 :
|
|
befor : 344.000000 432.000000 after : 344.453064 431.722748 TRUE 0.282136
|
|
[13:21:20.610] 212-14/352 :
|
|
befor : 440.000000 428.000000 after : 438.811279 429.107574 FALSE 2.639778
|
|
[13:21:20.610] 212-15/352 :
|
|
befor : 206.000000 458.000000 after : 204.581741 454.447601 TRUE 14.630994
|
|
[13:21:20.610] After Reprojection Map nPoint:23 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:-0.000040 ,z=0.000094,angle between two frames:0.000063
|
|
[13:21:20.610] n deleted obs = 2 n obs with reprojection error less than 0.5 px =8 error init =1.261287 error end=0.363080
|
|
[13:21:20.610] After pose optimization, distance between ekf and vo x:-1.039632 ,z=2.243206,angle between two frames:0.084923
|
|
[13:21:20.610] frame process finished the id is: 139 the obs is:11
|
|
[13:21:20.690] Odometry x=0.219715, y=0.816799, theta=0.038541
|
|
[13:21:20.709] 213-1/352 :
|
|
befor : 44.000000 28.000000 after : 44.154388 30.204266 TRUE 4.882623
|
|
[13:21:20.709] 213-2/352 :
|
|
befor : 34.000000 56.000000 after : 32.009979 58.810410 FALSE 11.858584
|
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[13:21:20.709] 213-3/352 :
|
|
befor : 26.000000 76.000000 after : 30.586411 81.177391 TRUE 47.840540
|
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[13:21:20.710] 213-4/352 :
|
|
befor : 247.000000 73.000000 after : 247.491669 72.620987 TRUE 0.385389
|
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[13:21:20.710] 213-5/352 :
|
|
befor : 166.000000 151.000000 after : 165.653183 149.820755 TRUE 1.510901
|
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[13:21:20.710] 213-6/352 :
|
|
befor : 252.000000 160.000000 after : 247.862640 163.785522 FALSE 31.447925
|
|
befor : 252.000000 160.000000 after : 252.367493 160.367126 TRUE 0.269833
|
|
[13:21:20.710] 213-7/352 :
|
|
befor : 168.000000 218.000000 after : 167.334320 217.342010 TRUE 0.876080
|
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[13:21:20.710] 213-8/352 :
|
|
befor : 244.000000 228.000000 after : 244.524872 227.774063 TRUE 0.326538
|
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[13:21:20.710] 213-9/352 :
|
|
befor : 227.000000 258.000000 after : 242.510925 243.337540 FALSE 455.576546
|
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[13:21:20.710] 213-10/352 :
|
|
befor : 328.000000 322.000000 after : 333.052551 320.765869 TRUE 27.051353
|
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[13:21:20.710] 213-11/352 :
|
|
befor : 326.000000 396.000000 after : 327.169189 397.214142 TRUE 2.841144
|
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[13:21:20.710] 213-12/352 :
|
|
befor : 452.000000 413.000000 after : 456.079315 409.134369 TRUE 31.583916
|
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[13:21:20.710] 213-13/352 :
|
|
befor : 66.000000 450.000000 after : 66.277603 450.008636 TRUE 0.077138
|
|
[13:21:20.710] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:11 ,distance between ekf and vo x:-0.000083 ,z=0.000074,angle between two frames:0.000025
|
|
[13:21:20.710] n deleted obs = 1 n obs with reprojection error less than 0.5 px =10 error init =1.772344 error end=0.319872
|
|
[13:21:20.710] After pose optimization, distance between ekf and vo x:-1.696039 ,z=4.391919,angle between two frames:0.037828
|
|
[13:21:20.710] frame process finished the id is: 139 the obs is:11
|
|
[13:21:20.787] Odometry x=0.219595, y=0.823365, theta=0.037427
|
|
[13:21:20.815] 214-1/352 :
|
|
befor : 36.000000 52.000000 after : 34.549736 51.720535 TRUE 2.181366
|
|
[13:21:20.815] 214-2/352 :
|
|
befor : 30.000000 68.000000 after : 30.361761 67.275497 TRUE 0.655775
|
|
[13:21:20.815] 214-3/352 :
|
|
befor : 252.000000 76.000000 after : 253.446136 85.974510 TRUE 101.582164
|
|
[13:21:20.815] 214-4/352 :
|
|
befor : 244.000000 164.000000 after : 243.705383 165.742401 TRUE 3.122761
|
|
[13:21:20.815] 214-5/352 :
|
|
befor : 226.000000 261.000000 after : 244.017349 244.148453 FALSE 608.599518
|
|
[13:21:20.815] 214-6/352 :
|
|
befor : 248.000000 256.000000 after : 248.371796 256.018768 TRUE 0.138584
|
|
[13:21:20.815] 214-7/352 :
|
|
befor : 153.000000 329.000000 after : 153.445709 329.523743 TRUE 0.472963
|
|
[13:21:20.815] 214-8/352 :
|
|
befor : 358.000000 316.000000 after : 358.294281 315.329956 TRUE 0.535560
|
|
[13:21:20.815] 214-9/352 :
|
|
befor : 333.000000 335.000000 after : 332.048279 334.034393 FALSE 1.838170
|
|
[13:21:20.815] 214-10/352 :
|
|
befor : 528.000000 342.000000 after : 528.039734 341.771637 TRUE 0.053728
|
|
[13:21:20.815] 214-11/352 :
|
|
befor : 330.000000 395.000000 after : 330.697205 395.717712 TRUE 1.001205
|
|
[13:21:20.815] 214-12/352 :
|
|
befor : 457.000000 412.000000 after : 461.328156 407.882263 TRUE 35.688687
|
|
[13:21:20.815] 214-13/352 :
|
|
befor : 192.000000 448.000000 after : 192.475891 447.877594 TRUE 0.241456
|
|
[13:21:20.816] 214-14/352 :
|
|
befor : 448.000000 430.000000 after : 448.673187 430.119690 TRUE 0.467507
|
|
[13:21:20.816] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:12 ,distance between ekf and vo x:-0.001059 ,z=0.000399,angle between two frames:0.001344
|
|
[13:21:20.816] n deleted obs = 6 n obs with reprojection error less than 0.5 px =6 error init =0.673331 error end=0.621697
|
|
[13:21:20.816] After pose optimization, distance between ekf and vo x:-0.072055 ,z=0.076400,angle between two frames:0.038427
|
|
[13:21:20.816] frame process finished the id is: 139 the obs is:11
|
|
[13:21:20.891] Odometry x=0.219555, y=0.828731, theta=0.041014
|
|
[13:21:20.910] 215-1/352 :
|
|
befor : 54.000000 12.000000 after : 52.934212 13.418327 FALSE 3.147557
|
|
[13:21:20.910] 215-2/352 :
|
|
befor : 36.000000 52.000000 after : 34.585278 52.077320 TRUE 2.007418
|
|
[13:21:20.910] 215-3/352 :
|
|
befor : 186.000000 62.000000 after : 187.985535 61.538425 TRUE 4.155399
|
|
[13:21:20.910] 215-4/352 :
|
|
befor : 169.000000 151.000000 after : 170.895538 152.289597 TRUE 5.256125
|
|
[13:21:20.910] 215-5/352 :
|
|
befor : 312.000000 156.000000 after : 309.313568 158.578369 FALSE 13.864904
|
|
befor : 312.000000 156.000000 after : 312.370422 156.344681 TRUE 0.256018
|
|
[13:21:20.910] 215-6/352 :
|
|
befor : 252.000000 190.000000 after : 252.475983 189.948944 TRUE 0.229166
|
|
[13:21:20.910] 215-7/352 :
|
|
befor : 233.000000 255.000000 after : 250.025696 239.008347 FALSE 545.607297
|
|
[13:21:20.910] 215-8/352 :
|
|
befor : 331.000000 319.000000 after : 330.724426 319.685394 TRUE 0.545706
|
|
[13:21:20.910] 215-9/352 :
|
|
befor : 360.000000 315.000000 after : 360.049042 314.378143 TRUE 0.389111
|
|
[13:21:20.910] 215-10/352 :
|
|
befor : 336.000000 331.000000 after : 335.849731 331.573975 TRUE 0.352027
|
|
[13:21:20.910] 215-11/352 :
|
|
befor : 462.000000 352.000000 after : 459.887360 353.293121 TRUE 6.135412
|
|
[13:21:20.910] 215-12/352 :
|
|
befor : 333.000000 393.000000 after : 333.861786 393.856293 TRUE 1.475912
|
|
[13:21:20.910] 215-13/352 :
|
|
befor : 462.000000 410.000000 after : 463.506409 408.725128 TRUE 3.894565
|
|
[13:21:20.910] 215-14/352 :
|
|
befor : 266.000000 440.000000 after : 267.791534 439.477783 TRUE 3.482306
|
|
[13:21:20.910] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:12 ,distance between ekf and vo x:-0.000025 ,z=0.000079,angle between two frames:0.000092
|
|
[13:21:20.910] n deleted obs = 2 n obs with reprojection error less than 0.5 px =10 error init =0.761246 error end=0.388202
|
|
[13:21:20.910] After pose optimization, distance between ekf and vo x:-0.316318 ,z=0.589756,angle between two frames:0.036387
|
|
[13:21:20.910] frame process finished the id is: 139 the obs is:11
|
|
[13:21:20.986] Odometry x=0.219440, y=0.834480, theta=0.036871
|
|
[13:21:21.010] 216-1/352 :
|
|
befor : 40.000000 44.000000 after : 42.013573 43.780426 TRUE 4.102688
|
|
[13:21:21.010] 216-2/352 :
|
|
befor : 32.000000 60.000000 after : 32.309402 59.468292 TRUE 0.378443
|
|
[13:21:21.010] 216-3/352 :
|
|
befor : 76.000000 76.000000 after : 71.341278 60.242599 FALSE 269.999361
|
|
[13:21:21.010] 216-4/352 :
|
|
befor : 188.000000 60.000000 after : 189.845383 59.555397 TRUE 3.603109
|
|
[13:21:21.010] 216-5/352 :
|
|
befor : 255.000000 74.000000 after : 257.335693 80.018318 TRUE 41.675617
|
|
[13:21:21.010] 216-6/352 :
|
|
befor : 171.000000 145.000000 after : 172.428558 145.680450 TRUE 2.503792
|
|
[13:21:21.010] 216-7/352 :
|
|
befor : 248.000000 164.000000 after : 247.724350 164.246277 FALSE 0.136635
|
|
befor : 248.000000 164.000000 after : 248.363602 164.363312 TRUE 0.264202
|
|
[13:21:21.010] 216-8/352 :
|
|
befor : 252.000000 190.000000 after : 251.915390 189.499313 TRUE 0.257846
|
|
[13:21:21.010] 216-9/352 :
|
|
befor : 236.000000 252.000000 after : 236.444092 251.983109 TRUE 0.197503
|
|
[13:21:21.010] 216-10/352 :
|
|
befor : 334.000000 332.000000 after : 331.063385 335.801697 TRUE 23.076606
|
|
[13:21:21.010] 216-11/352 :
|
|
befor : 466.000000 352.000000 after : 466.122040 351.351044 TRUE 0.436038
|
|
[13:21:21.010] 216-12/352 :
|
|
befor : 534.000000 336.000000 after : 533.743042 336.191040 TRUE 0.102524
|
|
[13:21:21.010] 216-13/352 :
|
|
befor : 334.000000 393.000000 after : 333.983765 392.945862 FALSE 0.003195
|
|
befor : 334.000000 393.000000 after : 334.742767 393.687744 TRUE 1.024695
|
|
[13:21:21.010] 216-14/352 :
|
|
befor : 465.000000 411.000000 after : 471.606110 404.802216 TRUE 82.053216
|
|
[13:21:21.010] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:13 ,distance between ekf and vo x:-0.000010 ,z=0.000070,angle between two frames:0.000105
|
|
[13:21:21.010] n deleted obs = 5 n obs with reprojection error less than 0.5 px =8 error init =1.214080 error end=0.522429
|
|
[13:21:21.010] After pose optimization, distance between ekf and vo x:-1.725791 ,z=6.688334,angle between two frames:1.190749
|
|
[13:21:21.010] frame process finished the id is: 139 the obs is:11
|
|
[13:21:21.085] Odometry x=0.219376, y=0.839564, theta=0.030835
|
|
[13:21:21.108] 217-1/352 :
|
|
befor : 40.000000 40.000000 after : 38.535973 39.615681 TRUE 2.291078
|
|
[13:21:21.108] 217-2/352 :
|
|
befor : 32.000000 60.000000 after : 32.455540 59.219154 TRUE 0.817236
|
|
[13:21:21.108] 217-3/352 :
|
|
befor : 252.000000 76.000000 after : 252.497833 75.705643 TRUE 0.334484
|
|
[13:21:21.108] 217-4/352 :
|
|
befor : 254.000000 190.000000 after : 254.042343 189.973541 FALSE 0.002493
|
|
[13:21:21.108] 217-5/352 :
|
|
befor : 244.000000 228.000000 after : 248.831512 223.418472 FALSE 44.333909
|
|
befor : 248.000000 224.000000 after : 248.373962 224.424240 TRUE 0.319828
|
|
[13:21:21.108] 217-6/352 :
|
|
befor : 327.000000 308.000000 after : 316.263611 294.138519 TRUE 307.410700
|
|
[13:21:21.108] 217-7/352 :
|
|
befor : 362.000000 313.000000 after : 362.161377 312.415985 TRUE 0.367116
|
|
[13:21:21.108] 217-8/352 :
|
|
befor : 164.000000 348.000000 after : 164.438339 347.932617 TRUE 0.196682
|
|
[13:21:21.108] 217-9/352 :
|
|
befor : 312.000000 376.000000 after : 318.239716 376.236786 TRUE 38.990118
|
|
[13:21:21.108] 217-10/352 :
|
|
befor : 334.000000 394.000000 after : 334.927917 393.044708 FALSE 1.773613
|
|
[13:21:21.108] 217-11/352 :
|
|
befor : 464.000000 408.000000 after : 464.211700 407.940765 TRUE 0.048326
|
|
[13:21:21.108] After Reprojection Map nPoint:16 ,nCell:12 ,nMatches:9 ,distance between ekf and vo x:-0.000018 ,z=0.000062,angle between two frames:0.000078
|
|
[13:21:21.109] n deleted obs = 3 n obs with reprojection error less than 0.5 px =6 error init =0.632392 error end=0.591773
|
|
[13:21:21.109] After pose optimization, distance between ekf and vo x:-0.096836 ,z=0.099420,angle between two frames:0.058799
|
|
[13:21:21.109] frame process finished the id is: 139 the obs is:11
|
|
[13:21:21.188] Odometry x=0.219279, y=0.845427, theta=0.032052
|
|
[13:21:21.210] 218-1/352 :
|
|
befor : 44.000000 28.000000 after : 44.923973 27.893358 TRUE 0.865099
|
|
[13:21:21.210] 218-2/352 :
|
|
befor : 80.000000 56.000000 after : 75.940315 50.268742 FALSE 49.328363
|
|
[13:21:21.210] 218-3/352 :
|
|
befor : 251.000000 70.000000 after : 254.920197 78.301208 TRUE 84.278003
|
|
[13:21:21.210] 218-4/352 :
|
|
befor : 167.000000 150.000000 after : 170.945175 151.808105 TRUE 18.833653
|
|
[13:21:21.210] 218-5/352 :
|
|
befor : 308.000000 156.000000 after : 311.133698 156.638962 TRUE 10.228332
|
|
[13:21:21.210] 218-6/352 :
|
|
befor : 250.000000 188.000000 after : 250.447937 187.820770 TRUE 0.232771
|
|
[13:21:21.210] 218-7/352 :
|
|
befor : 359.000000 234.000000 after : 365.948395 227.494995 FALSE 90.595278
|
|
[13:21:21.210] 218-8/352 :
|
|
befor : 360.000000 313.000000 after : 360.152405 312.402191 TRUE 0.380603
|
|
[13:21:21.210] 218-9/352 :
|
|
befor : 162.000000 348.000000 after : 163.053940 346.936920 FALSE 2.240928
|
|
befor : 161.000000 349.000000 after : 160.611343 349.269989 TRUE 0.223948
|
|
[13:21:21.210] 218-10/352 :
|
|
befor : 536.000000 336.000000 after : 528.589600 302.258606 TRUE 1193.395706
|
|
[13:21:21.210] 218-11/352 :
|
|
befor : 330.000000 394.000000 after : 329.968903 393.951202 FALSE 0.003348
|
|
befor : 330.000000 394.000000 after : 331.089722 394.974670 TRUE 2.137476
|
|
[13:21:21.210] 218-12/352 :
|
|
befor : 465.000000 413.000000 after : 467.668213 410.386322 TRUE 13.950673
|
|
[13:21:21.210] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:10 ,distance between ekf and vo x:-0.000049 ,z=0.000068,angle between two frames:0.000005
|
|
[13:21:21.210] n deleted obs = 3 n obs with reprojection error less than 0.5 px =7 error init =0.546643 error end=0.446628
|
|
[13:21:21.210] After pose optimization, distance between ekf and vo x:-0.611308 ,z=0.637913,angle between two frames:0.055966
|
|
[13:21:21.210] frame process finished the id is: 139 the obs is:11
|
|
[13:21:21.291] Odometry x=0.219232, y=0.851285, theta=0.034132
|
|
[13:21:21.336] 219-1/352 :
|
|
befor : 84.000000 40.000000 after : 78.057320 27.845894 FALSE 183.037746
|
|
[13:21:21.336] 219-2/352 :
|
|
befor : 184.000000 56.000000 after : 187.573318 55.736824 TRUE 12.837867
|
|
[13:21:21.336] 219-3/352 :
|
|
befor : 248.000000 67.000000 after : 248.427917 66.662842 TRUE 0.296789
|
|
[13:21:21.336] 219-4/352 :
|
|
befor : 353.000000 132.000000 after : 360.534302 125.139992 FALSE 103.825416
|
|
[13:21:21.336] 219-5/352 :
|
|
befor : 256.000000 167.000000 after : 256.570740 165.955368 TRUE 1.417000
|
|
[13:21:21.336] 219-6/352 :
|
|
befor : 248.000000 188.000000 after : 247.696274 186.491776 FALSE 2.366991
|
|
[13:21:21.336] 219-7/352 :
|
|
befor : 240.000000 224.000000 after : 249.119644 214.332672 FALSE 176.625138
|
|
befor : 240.000000 224.000000 after : 240.421631 224.432480 TRUE 0.364811
|
|
[13:21:21.336] 219-8/352 :
|
|
befor : 242.000000 292.000000 after : 242.602661 291.962463 TRUE 0.364609
|
|
[13:21:21.337] 219-9/352 :
|
|
befor : 330.000000 318.000000 after : 330.971039 319.006622 TRUE 1.956205
|
|
[13:21:21.337] 219-10/352 :
|
|
befor : 466.000000 352.000000 after : 459.103973 341.253052 TRUE 163.052080
|
|
[13:21:21.337] 219-11/352 :
|
|
befor : 538.000000 336.000000 after : 537.734680 336.204041 TRUE 0.112027
|
|
[13:21:21.337] 219-12/352 :
|
|
befor : 377.000000 376.000000 after : 383.315155 381.595734 TRUE 71.193418
|
|
[13:21:21.337] 219-13/352 :
|
|
befor : 329.000000 394.000000 after : 329.893219 392.995422 FALSE 1.807016
|
|
befor : 329.000000 394.000000 after : 330.449554 395.366211 TRUE 3.967740
|
|
[13:21:21.337] 219-14/352 :
|
|
befor : 466.000000 412.000000 after : 465.683014 411.700775 TRUE 0.190016
|
|
[13:21:21.337] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000031 ,z=0.000077,angle between two frames:0.000054
|
|
[13:21:21.337] n deleted obs = 3 n obs with reprojection error less than 0.5 px =8 error init =0.584513 error end=0.467331
|
|
[13:21:21.337] After pose optimization, distance between ekf and vo x:-0.185675 ,z=0.411617,angle between two frames:0.043711
|
|
[13:21:21.337] frame process finished the id is: 139 the obs is:11
|
|
[13:21:21.388] Odometry x=0.219144, y=0.856913, theta=0.031149
|
|
[13:21:21.410] 220-1/352 :
|
|
befor : 186.000000 12.000000 after : 187.182999 13.012671 TRUE 2.424987
|
|
[13:21:21.410] 220-2/352 :
|
|
befor : 32.000000 40.000000 after : 29.457144 39.197441 TRUE 7.110219
|
|
[13:21:21.410] 220-3/352 :
|
|
befor : 76.000000 52.000000 after : 76.561058 51.735241 TRUE 0.384883
|
|
[13:21:21.410] 220-4/352 :
|
|
befor : 250.000000 66.000000 after : 251.796967 72.050110 TRUE 39.832918
|
|
[13:21:21.410] 220-5/352 :
|
|
befor : 164.000000 132.000000 after : 166.288925 133.771210 TRUE 8.376362
|
|
[13:21:21.410] 220-6/352 :
|
|
befor : 308.000000 148.000000 after : 308.123413 147.974762 TRUE 0.015868
|
|
[13:21:21.410] 220-7/352 :
|
|
befor : 160.000000 158.000000 after : 161.829926 157.685715 TRUE 3.447403
|
|
[13:21:21.410] 220-8/352 :
|
|
befor : 244.000000 156.000000 after : 245.114838 154.931229 FALSE 2.385135
|
|
[13:21:21.410] 220-9/352 :
|
|
befor : 324.000000 303.000000 after : 324.771606 302.126343 FALSE 1.358653
|
|
[13:21:21.410] 220-10/352 :
|
|
befor : 355.000000 309.000000 after : 355.133575 308.247742 TRUE 0.583735
|
|
[13:21:21.410] 220-11/352 :
|
|
befor : 156.000000 342.000000 after : 155.849182 342.075104 TRUE 0.028387
|
|
[13:21:21.410] 220-12/352 :
|
|
befor : 314.000000 346.000000 after : 314.776031 345.096863 TRUE 1.417882
|
|
[13:21:21.410] 220-13/352 :
|
|
befor : 326.000000 388.000000 after : 325.958466 387.962646 TRUE 0.003120
|
|
[13:21:21.410] After Reprojection Map nPoint:16 ,nCell:13 ,nMatches:11 ,distance between ekf and vo x:-0.000062 ,z=0.000095,angle between two frames:0.000022
|
|
[13:21:21.410] n deleted obs = 3 n obs with reprojection error less than 0.5 px =8 error init =0.553697 error end=0.374820
|
|
[13:21:21.410] After pose optimization, distance between ekf and vo x:-0.465256 ,z=1.200587,angle between two frames:0.510136
|
|
[13:21:21.410] frame process finished the id is: 139 the obs is:11
|
|
[13:21:21.485] Odometry x=0.219284, y=0.862010, theta=0.036804
|
|
[13:21:21.509] 221-1/352 :
|
|
befor : 24.000000 52.000000 after : 21.589382 51.409992 TRUE 6.159187
|
|
[13:21:21.509] 221-2/352 :
|
|
befor : 244.000000 68.000000 after : 244.488235 67.721664 TRUE 0.315845
|
|
[13:21:21.509] 221-3/352 :
|
|
befor : 304.000000 148.000000 after : 313.082672 146.974304 TRUE 83.546985
|
|
[13:21:21.509] 221-4/352 :
|
|
befor : 246.000000 208.000000 after : 247.068405 208.896072 TRUE 1.944435
|
|
[13:21:21.509] 221-5/352 :
|
|
befor : 240.000000 216.000000 after : 239.613113 216.921936 FALSE 0.999647
|
|
befor : 240.000000 216.000000 after : 240.426804 216.406998 TRUE 0.347808
|
|
[13:21:21.509] 221-6/352 :
|
|
befor : 326.000000 314.000000 after : 326.229980 313.953125 TRUE 0.055088
|
|
[13:21:21.509] 221-7/352 :
|
|
befor : 356.000000 309.000000 after : 356.331421 308.234344 TRUE 0.696068
|
|
[13:21:21.509] 221-8/352 :
|
|
befor : 156.000000 342.000000 after : 155.613571 342.351929 TRUE 0.273181
|
|
[13:21:21.509] 221-9/352 :
|
|
befor : 374.000000 372.000000 after : 379.606384 377.684296 TRUE 63.742762
|
|
[13:21:21.509] 221-10/352 :
|
|
befor : 325.000000 390.000000 after : 325.369904 389.567261 FALSE 0.324092
|
|
befor : 325.000000 390.000000 after : 326.396423 391.258179 TRUE 3.533012
|
|
[13:21:21.509] 221-11/352 :
|
|
befor : 464.000000 410.000000 after : 458.743774 403.923676 TRUE 64.549626
|
|
[13:21:21.509] 221-12/352 :
|
|
befor : 319.000000 443.000000 after : 324.436707 437.419800 FALSE 60.696412
|
|
[13:21:21.509] 221-13/352 :
|
|
befor : 352.000000 440.000000 after : 352.100983 439.991760 TRUE 0.010265
|
|
[13:21:21.509] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:12 ,distance between ekf and vo x:-0.000096 ,z=0.000126,angle between two frames:0.000051
|
|
[13:21:21.509] n deleted obs = 4 n obs with reprojection error less than 0.5 px =8 error init =0.614833 error end=0.516076
|
|
[13:21:21.509] After pose optimization, distance between ekf and vo x:-0.384323 ,z=0.797479,angle between two frames:0.058361
|
|
[13:21:21.509] frame process finished the id is: 139 the obs is:11
|
|
[13:21:21.593] Odometry x=0.219182, y=0.867452, theta=0.029342
|
|
[13:21:21.608] 222-1/352 :
|
|
befor : 28.000000 40.000000 after : 25.534695 39.111534 TRUE 6.867102
|
|
[13:21:21.608] 222-2/352 :
|
|
befor : 253.000000 71.000000 after : 253.517670 70.417503 TRUE 0.607284
|
|
[13:21:21.608] 222-3/352 :
|
|
befor : 160.000000 134.000000 after : 162.950668 135.393982 TRUE 10.649629
|
|
[13:21:21.608] 222-4/352 :
|
|
befor : 240.000000 156.000000 after : 240.940475 156.564560 TRUE 1.203222
|
|
[13:21:21.608] 222-5/352 :
|
|
befor : 304.000000 152.000000 after : 302.989532 152.104355 TRUE 1.031935
|
|
[13:21:21.608] 222-6/352 :
|
|
befor : 242.000000 182.000000 after : 242.572342 181.688187 TRUE 0.424803
|
|
[13:21:21.608] 222-7/352 :
|
|
befor : 353.000000 230.000000 after : 360.977325 222.506577 FALSE 119.789116
|
|
[13:21:21.608] 222-8/352 :
|
|
befor : 144.000000 298.000000 after : 144.213623 297.832642 TRUE 0.073644
|
|
[13:21:21.608] 222-9/352 :
|
|
befor : 144.000000 328.000000 after : 143.671585 328.232544 TRUE 0.161933
|
|
[13:21:21.608] 222-10/352 :
|
|
befor : 322.000000 307.000000 after : 325.838989 303.288208 FALSE 28.515238
|
|
[13:21:21.608] 222-11/352 :
|
|
befor : 465.000000 349.000000 after : 458.870605 339.128723 TRUE 135.011584
|
|
[13:21:21.608] 222-12/352 :
|
|
befor : 318.000000 360.000000 after : 320.384857 363.164062 TRUE 15.698835
|
|
[13:21:21.608] 222-13/352 :
|
|
befor : 322.000000 391.000000 after : 322.495880 391.059723 TRUE 0.249464
|
|
[13:21:21.608] 222-14/352 :
|
|
befor : 465.000000 411.000000 after : 466.375671 409.606934 TRUE 3.833106
|
|
[13:21:21.608] 222-15/352 :
|
|
befor : 612.000000 400.000000 after : 612.418152 399.836151 TRUE 0.201697
|
|
[13:21:21.608] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:13 ,distance between ekf and vo x:-0.000043 ,z=0.000023,angle between two frames:0.000021
|
|
[13:21:21.608] n deleted obs = 2 n obs with reprojection error less than 0.5 px =11 error init =0.633308 error end=0.397768
|
|
[13:21:21.608] After pose optimization, distance between ekf and vo x:-0.272802 ,z=1.365713,angle between two frames:0.056048
|
|
[13:21:21.608] frame process finished the id is: 139 the obs is:11
|
|
[13:21:21.688] Odometry x=0.219106, y=0.872954, theta=0.030491
|
|
[13:21:21.707] 223-1/352 :
|
|
befor : 178.000000 18.000000 after : 178.309921 17.659599 FALSE 0.211924
|
|
[13:21:21.707] 223-2/352 :
|
|
befor : 64.000000 68.000000 after : 64.483147 67.751869 TRUE 0.295000
|
|
[13:21:21.707] 223-3/352 :
|
|
befor : 236.000000 68.000000 after : 242.115067 62.040760 FALSE 72.906580
|
|
[13:21:21.707] 223-4/352 :
|
|
befor : 240.000000 68.000000 after : 240.609283 69.361588 TRUE 2.225147
|
|
[13:21:21.707] 223-5/352 :
|
|
befor : 156.000000 136.000000 after : 158.906067 137.861710 TRUE 11.911187
|
|
[13:21:21.707] 223-6/352 :
|
|
befor : 240.000000 160.000000 after : 240.363190 160.386169 TRUE 0.281034
|
|
[13:21:21.707] 223-7/352 :
|
|
befor : 232.000000 220.000000 after : 232.176910 219.960648 TRUE 0.032846
|
|
[13:21:21.707] 223-8/352 :
|
|
befor : 320.000000 316.000000 after : 320.563232 315.842682 TRUE 0.341980
|
|
[13:21:21.707] 223-9/352 :
|
|
befor : 322.000000 330.000000 after : 321.939636 329.996552 TRUE 0.003656
|
|
[13:21:21.707] 223-10/352 :
|
|
befor : 464.000000 351.000000 after : 457.170502 340.575287 TRUE 155.316691
|
|
[13:21:21.707] 223-11/352 :
|
|
befor : 465.000000 361.000000 after : 478.197296 348.040588 FALSE 342.114975
|
|
[13:21:21.707] 223-12/352 :
|
|
befor : 319.000000 394.000000 after : 318.138397 393.154541 TRUE 1.457160
|
|
[13:21:21.707] 223-13/352 :
|
|
befor : 462.000000 412.000000 after : 459.112823 408.678986 TRUE 19.364925
|
|
[13:21:21.707] 223-14/352 :
|
|
befor : 350.000000 449.000000 after : 350.255249 448.256927 TRUE 0.617309
|
|
[13:21:21.707] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:11 ,distance between ekf and vo x:-0.000039 ,z=0.000086,angle between two frames:0.000093
|
|
[13:21:21.708] n deleted obs = 4 n obs with reprojection error less than 0.5 px =7 error init =0.617504 error end=0.434545
|
|
[13:21:21.708] After pose optimization, distance between ekf and vo x:-0.275799 ,z=0.425086,angle between two frames:0.017410
|
|
[13:21:21.708] frame process finished the id is: 139 the obs is:11
|
|
[13:21:21.792] Odometry x=0.219040, y=0.878618, theta=0.025964
|
|
[13:21:21.807] 224-1/352 :
|
|
befor : 153.000000 134.000000 after : 158.445953 138.630188 FALSE 51.097049
|
|
[13:21:21.808] 224-2/352 :
|
|
befor : 246.000000 129.000000 after : 231.316071 102.129387 FALSE 937.647632
|
|
[13:21:21.808] 224-3/352 :
|
|
befor : 150.000000 152.000000 after : 157.799820 150.463882 TRUE 63.196848
|
|
[13:21:21.808] 224-4/352 :
|
|
befor : 242.000000 162.000000 after : 242.226257 161.665298 TRUE 0.163217
|
|
[13:21:21.808] 224-5/352 :
|
|
befor : 232.000000 216.000000 after : 232.229614 215.904327 TRUE 0.061876
|
|
[13:21:21.808] 224-6/352 :
|
|
befor : 316.000000 316.000000 after : 316.585205 315.841644 TRUE 0.367542
|
|
[13:21:21.808] 224-7/352 :
|
|
befor : 332.000000 316.000000 after : 332.486603 315.730164 TRUE 0.309594
|
|
[13:21:21.808] 224-8/352 :
|
|
befor : 146.000000 346.000000 after : 145.826645 346.078003 TRUE 0.036136
|
|
[13:21:21.808] 224-9/352 :
|
|
befor : 322.000000 330.000000 after : 325.156860 326.448120 FALSE 22.581618
|
|
[13:21:21.808] 224-10/352 :
|
|
befor : 462.000000 352.000000 after : 462.274017 351.237610 TRUE 0.656324
|
|
[13:21:21.808] 224-11/352 :
|
|
befor : 463.000000 361.000000 after : 476.562775 347.630829 FALSE 362.683593
|
|
[13:21:21.808] 224-12/352 :
|
|
befor : 315.000000 394.000000 after : 314.008057 393.007599 TRUE 1.968812
|
|
[13:21:21.808] 224-13/352 :
|
|
befor : 344.000000 448.000000 after : 366.221802 425.117249 FALSE 1017.428788
|
|
[13:21:21.808] 224-14/352 :
|
|
befor : 231.000000 454.000000 after : 241.068512 454.864990 TRUE 102.123141
|
|
[13:21:21.808] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:9 ,distance between ekf and vo x:-0.000082 ,z=0.000041,angle between two frames:0.000043
|
|
[13:21:21.808] n deleted obs = 2 n obs with reprojection error less than 0.5 px =7 error init =0.461423 error end=0.383299
|
|
[13:21:21.808] After pose optimization, distance between ekf and vo x:-0.122073 ,z=0.244241,angle between two frames:0.051230
|
|
[13:21:21.808] frame process finished the id is: 139 the obs is:11
|
|
[13:21:21.892] Odometry x=0.218979, y=0.884089, theta=0.032079
|
|
[13:21:21.913] 225-1/352 :
|
|
befor : 236.000000 68.000000 after : 237.530685 67.073982 TRUE 3.200507
|
|
[13:21:21.913] 225-2/352 :
|
|
befor : 149.000000 138.000000 after : 150.504105 138.831741 TRUE 2.954124
|
|
[13:21:21.913] 225-3/352 :
|
|
befor : 243.000000 126.000000 after : 226.665161 89.703560 FALSE 1584.258527
|
|
[13:21:21.913] 225-4/352 :
|
|
befor : 296.000000 152.000000 after : 296.355377 152.394638 TRUE 0.282032
|
|
[13:21:21.913] 225-5/352 :
|
|
befor : 233.000000 183.000000 after : 230.752579 178.654800 FALSE 23.931662
|
|
[13:21:21.913] 225-6/352 :
|
|
befor : 134.000000 298.000000 after : 138.463486 299.810974 TRUE 23.202332
|
|
[13:21:21.913] 225-7/352 :
|
|
befor : 343.000000 313.000000 after : 343.281067 312.283813 TRUE 0.591922
|
|
[13:21:21.913] 225-8/352 :
|
|
befor : 600.000000 326.000000 after : 603.045471 322.501953 FALSE 21.511227
|
|
[13:21:21.913] 225-9/352 :
|
|
befor : 143.000000 346.000000 after : 142.780640 346.090698 TRUE 0.056345
|
|
[13:21:21.913] 225-10/352 :
|
|
befor : 460.000000 354.000000 after : 481.008026 333.211365 FALSE 873.504517
|
|
befor : 460.000000 354.000000 after : 449.319366 340.638733 FALSE 292.599391
|
|
[13:21:21.913] 225-11/352 :
|
|
befor : 292.000000 376.000000 after : 292.516357 375.724884 TRUE 0.342314
|
|
[13:21:21.913] 225-12/352 :
|
|
befor : 308.000000 362.000000 after : 309.138275 363.268585 TRUE 2.904979
|
|
[13:21:21.913] 225-13/352 :
|
|
befor : 313.000000 394.000000 after : 313.021515 393.913269 TRUE 0.007985
|
|
[13:21:21.913] 225-14/352 :
|
|
befor : 338.000000 450.000000 after : 340.108368 447.554291 FALSE 10.426709
|
|
[13:21:21.913] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000681 ,z=-0.000082,angle between two frames:0.000783
|
|
[13:21:21.913] n deleted obs = 4 n obs with reprojection error less than 0.5 px =5 error init =0.551663 error end=0.551663
|
|
[13:21:21.913] After pose optimization, distance between ekf and vo x:-0.000681 ,z=-0.000082,angle between two frames:0.000783
|
|
[13:21:21.913] frame process finished the id is: 139 the obs is:11
|
|
[13:21:21.990] Odometry x=0.218886, y=0.889930, theta=0.031042
|
|
[13:21:22.008] 226-1/352 :
|
|
befor : 241.000000 138.000000 after : 224.674942 95.692581 FALSE 2056.425206
|
|
[13:21:22.008] 226-2/352 :
|
|
befor : 230.000000 180.000000 after : 230.742630 179.651703 TRUE 0.672810
|
|
[13:21:22.008] 226-3/352 :
|
|
befor : 359.000000 197.000000 after : 358.722504 196.908752 TRUE 0.085330
|
|
[13:21:22.008] 226-4/352 :
|
|
befor : 310.000000 305.000000 after : 313.760254 301.070343 FALSE 29.581713
|
|
befor : 302.000000 318.000000 after : 302.360443 317.954437 TRUE 0.131995
|
|
[13:21:22.008] 226-5/352 :
|
|
befor : 332.000000 312.000000 after : 332.486023 311.738739 TRUE 0.304476
|
|
[13:21:22.008] 226-6/352 :
|
|
befor : 142.000000 344.000000 after : 141.554199 344.252838 TRUE 0.262665
|
|
[13:21:22.008] 226-7/352 :
|
|
befor : 308.000000 360.000000 after : 308.798798 360.543060 TRUE 0.932992
|
|
[13:21:22.008] 226-8/352 :
|
|
befor : 362.000000 376.000000 after : 367.187195 379.769867 TRUE 41.118887
|
|
[13:21:22.008] 226-9/352 :
|
|
befor : 310.000000 394.000000 after : 309.208618 393.207275 TRUE 1.254698
|
|
[13:21:22.008] 226-10/352 :
|
|
befor : 600.000000 410.000000 after : 597.200439 406.201599 FALSE 22.265388
|
|
[13:21:22.008] 226-11/352 :
|
|
befor : 300.000000 453.000000 after : 300.403900 452.708893 FALSE 0.247879
|
|
[13:21:22.008] 226-12/352 :
|
|
befor : 340.000000 455.000000 after : 340.273499 454.443024 TRUE 0.385024
|
|
[13:21:22.008] After Reprojection Map nPoint:16 ,nCell:13 ,nMatches:9 ,distance between ekf and vo x:-0.000073 ,z=0.000082,angle between two frames:0.000018
|
|
[13:21:22.008] n deleted obs = 3 n obs with reprojection error less than 0.5 px =6 error init =0.532051 error end=0.439569
|
|
[13:21:22.008] After pose optimization, distance between ekf and vo x:-0.122791 ,z=0.241960,angle between two frames:0.038483
|
|
[13:21:22.008] frame process finished the id is: 139 the obs is:11
|
|
[13:21:22.088] Odometry x=0.219007, y=0.895262, theta=0.030161
|
|
[13:21:22.108] 227-1/352 :
|
|
befor : 242.000000 70.000000 after : 242.357193 69.458252 TRUE 0.421078
|
|
[13:21:22.108] 227-2/352 :
|
|
befor : 237.000000 153.000000 after : 221.429779 107.890907 FALSE 2277.262026
|
|
[13:21:22.108] 227-3/352 :
|
|
befor : 292.000000 152.000000 after : 292.483124 151.743362 TRUE 0.299271
|
|
[13:21:22.108] 227-4/352 :
|
|
befor : 228.000000 182.000000 after : 229.635529 181.355972 TRUE 3.089725
|
|
[13:21:22.108] 227-5/352 :
|
|
befor : 339.000000 232.000000 after : 342.782013 228.620544 FALSE 25.724342
|
|
[13:21:22.108] 227-6/352 :
|
|
befor : 128.000000 296.000000 after : 128.446152 295.771545 TRUE 0.251243
|
|
[13:21:22.108] 227-7/352 :
|
|
befor : 298.000000 320.000000 after : 291.070892 309.018707 TRUE 168.601323
|
|
[13:21:22.108] 227-8/352 :
|
|
befor : 138.000000 344.000000 after : 137.787369 344.003815 TRUE 0.045227
|
|
[13:21:22.108] 227-9/352 :
|
|
befor : 302.000000 364.000000 after : 301.487732 363.557648 FALSE 0.458094
|
|
[13:21:22.108] 227-10/352 :
|
|
befor : 308.000000 396.000000 after : 306.438293 397.575500 FALSE 4.921129
|
|
befor : 307.000000 396.000000 after : 306.201141 395.144592 TRUE 1.369897
|
|
[13:21:22.108] 227-11/352 :
|
|
befor : 214.000000 460.000000 after : 216.694565 456.864380 FALSE 17.092793
|
|
befor : 214.000000 460.000000 after : 214.733154 460.023834 TRUE 0.538083
|
|
[13:21:22.108] 227-12/352 :
|
|
befor : 309.000000 462.000000 after : 309.624573 455.297241 TRUE 45.317067
|
|
[13:21:22.108] 227-13/352 :
|
|
befor : 336.000000 461.000000 after : 343.038147 454.339661 TRUE 93.895633
|
|
[13:21:22.108] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:-0.000072 ,z=0.000079,angle between two frames:0.000014
|
|
[13:21:22.108] n deleted obs = 6 n obs with reprojection error less than 0.5 px =4 error init =0.494225 error end=0.494225
|
|
[13:21:22.108] After pose optimization, distance between ekf and vo x:-0.000072 ,z=0.000079,angle between two frames:0.000014
|
|
[13:21:22.108] frame process finished the id is: 139 the obs is:11
|
|
[13:21:22.186] Odometry x=0.218915, y=0.900450, theta=0.040544
|
|
[13:21:22.210] 228-1/352 :
|
|
befor : 232.000000 68.000000 after : 232.482819 67.751671 TRUE 0.294781
|
|
[13:21:22.210] 228-2/352 :
|
|
befor : 240.000000 68.000000 after : 240.298279 67.265480 TRUE 0.628490
|
|
[13:21:22.210] 228-3/352 :
|
|
befor : 148.000000 112.000000 after : 154.456451 108.733246 FALSE 52.357448
|
|
[13:21:22.210] 228-4/352 :
|
|
befor : 447.000000 166.000000 after : 443.658447 152.648697 FALSE 189.423269
|
|
[13:21:22.210] 228-5/352 :
|
|
befor : 226.000000 208.000000 after : 225.767166 207.975510 TRUE 0.054811
|
|
[13:21:22.210] 228-6/352 :
|
|
befor : 128.000000 328.000000 after : 127.366096 328.492828 TRUE 0.644713
|
|
[13:21:22.210] 228-7/352 :
|
|
befor : 332.000000 312.000000 after : 326.160095 304.603394 FALSE 88.814275
|
|
[13:21:22.211] 228-8/352 :
|
|
befor : 604.000000 322.000000 after : 612.847534 312.876343 FALSE 161.519982
|
|
[13:21:22.211] 228-9/352 :
|
|
befor : 138.000000 344.000000 after : 136.114105 340.694214 FALSE 14.484821
|
|
[13:21:22.211] 228-10/352 :
|
|
befor : 312.000000 331.000000 after : 313.288971 330.453613 TRUE 1.959985
|
|
[13:21:22.211] 228-11/352 :
|
|
befor : 540.000000 334.000000 after : 533.057068 341.490845 FALSE 104.317061
|
|
[13:21:22.211] 228-12/352 :
|
|
befor : 307.000000 394.000000 after : 306.392853 394.518768 FALSE 0.637748
|
|
befor : 307.000000 394.000000 after : 308.385864 395.199249 TRUE 3.358819
|
|
[13:21:22.211] 228-13/352 :
|
|
befor : 592.000000 408.000000 after : 591.236267 405.064453 TRUE 9.200723
|
|
[13:21:22.211] 228-14/352 :
|
|
befor : 311.000000 463.000000 after : 311.356293 462.457336 TRUE 0.421428
|
|
[13:21:22.211] 228-15/352 :
|
|
befor : 338.000000 458.000000 after : 337.803864 458.363586 TRUE 0.170665
|
|
[13:21:22.211] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:-0.000115 ,z=0.000083,angle between two frames:0.000040
|
|
[13:21:22.211] n deleted obs = 3 n obs with reprojection error less than 0.5 px =6 error init =0.485084 error end=0.400694
|
|
[13:21:22.211] After pose optimization, distance between ekf and vo x:-0.567812 ,z=1.090416,angle between two frames:0.011167
|
|
[13:21:22.211] frame process finished the id is: 139 the obs is:11
|
|
[13:21:22.288] Odometry x=0.218807, y=0.906453, theta=0.041699
|
|
[13:21:22.324] 229-1/352 :
|
|
befor : 232.000000 68.000000 after : 237.739594 62.768597 FALSE 60.310515
|
|
befor : 236.000000 66.000000 after : 236.744003 65.666985 TRUE 0.664440
|
|
[13:21:22.324] 229-2/352 :
|
|
befor : 241.000000 69.000000 after : 241.326599 68.330658 TRUE 0.554686
|
|
[13:21:22.324] 229-3/352 :
|
|
befor : 239.000000 123.000000 after : 218.827362 64.905533 TRUE 3781.902436
|
|
[13:21:22.324] 229-4/352 :
|
|
befor : 222.000000 242.000000 after : 222.297546 241.973175 TRUE 0.089253
|
|
[13:21:22.324] 229-5/352 :
|
|
befor : 544.000000 328.000000 after : 544.585083 327.775635 TRUE 0.392662
|
|
[13:21:22.324] 229-6/352 :
|
|
befor : 608.000000 320.000000 after : 622.149475 308.451385 TRUE 333.578142
|
|
[13:21:22.324] 229-7/352 :
|
|
befor : 141.000000 345.000000 after : 140.452255 345.315613 TRUE 0.399636
|
|
[13:21:22.324] 229-8/352 :
|
|
befor : 466.000000 350.000000 after : 459.863922 340.427795 TRUE 129.278552
|
|
[13:21:22.324] 229-9/352 :
|
|
befor : 311.000000 394.000000 after : 310.179169 393.045044 TRUE 1.585705
|
|
[13:21:22.324] 229-10/352 :
|
|
befor : 464.000000 416.000000 after : 452.975677 426.798065 FALSE 238.133899
|
|
[13:21:22.324] 229-11/352 :
|
|
befor : 580.000000 418.000000 after : 580.112244 417.871552 TRUE 0.029098
|
|
[13:21:22.324] 229-12/352 :
|
|
befor : 341.000000 463.000000 after : 362.030762 441.306824 FALSE 912.886835
|
|
befor : 340.000000 462.000000 after : 332.914581 451.758789 FALSE 155.085560
|
|
befor : 340.000000 460.000000 after : 340.190216 460.395569 TRUE 0.192657
|
|
[13:21:22.324] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:11 ,distance between ekf and vo x:-0.001437 ,z=0.000090,angle between two frames:0.001830
|
|
[13:21:22.324] n deleted obs = 4 n obs with reprojection error less than 0.5 px =7 error init =0.565714 error end=0.526665
|
|
[13:21:22.324] After pose optimization, distance between ekf and vo x:-0.112274 ,z=0.374121,angle between two frames:0.015762
|
|
[13:21:22.324] frame process finished the id is: 139 the obs is:11
|
|
[13:21:22.390] Odometry x=0.218674, y=0.911947, theta=0.041565
|
|
[13:21:22.416] 230-1/352 :
|
|
befor : 242.000000 67.000000 after : 242.535965 66.449074 TRUE 0.590778
|
|
[13:21:22.416] 230-2/352 :
|
|
befor : 239.000000 142.000000 after : 223.085587 95.271545 FALSE 2436.817024
|
|
[13:21:22.416] 230-3/352 :
|
|
befor : 228.000000 156.000000 after : 228.478714 155.760864 TRUE 0.286353
|
|
[13:21:22.416] 230-4/352 :
|
|
befor : 220.000000 236.000000 after : 220.222092 235.765335 FALSE 0.104392
|
|
[13:21:22.416] 230-5/352 :
|
|
befor : 224.000000 288.000000 after : 224.761948 287.853638 TRUE 0.601986
|
|
[13:21:22.416] 230-6/352 :
|
|
befor : 314.000000 316.000000 after : 314.732269 316.507263 TRUE 0.793534
|
|
[13:21:22.416] 230-7/352 :
|
|
befor : 596.000000 324.000000 after : 595.800720 324.022949 TRUE 0.040239
|
|
[13:21:22.416] 230-8/352 :
|
|
befor : 142.000000 344.000000 after : 141.335999 342.211731 TRUE 3.638804
|
|
[13:21:22.416] 230-9/352 :
|
|
befor : 316.000000 331.000000 after : 312.681671 328.357208 TRUE 17.995655
|
|
[13:21:22.416] 230-10/352 :
|
|
befor : 470.000000 349.000000 after : 464.133484 339.528625 TRUE 124.122946
|
|
[13:21:22.416] 230-11/352 :
|
|
befor : 310.000000 360.000000 after : 312.354279 361.892426 TRUE 9.123902
|
|
[13:21:22.416] 230-12/352 :
|
|
befor : 314.000000 394.000000 after : 312.295135 395.729767 FALSE 5.898656
|
|
befor : 312.000000 394.000000 after : 311.086182 393.085907 TRUE 1.670630
|
|
[13:21:22.416] 230-13/352 :
|
|
befor : 598.000000 420.000000 after : 601.293701 416.744507 TRUE 21.446703
|
|
[13:21:22.416] 230-14/352 :
|
|
befor : 210.000000 466.000000 after : 210.537140 465.705902 TRUE 0.375013
|
|
[13:21:22.416] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:12 ,distance between ekf and vo x:-0.000380 ,z=0.000334,angle between two frames:0.000171
|
|
[13:21:22.416] n deleted obs = 3 n obs with reprojection error less than 0.5 px =9 error init =0.609847 error end=0.474466
|
|
[13:21:22.416] After pose optimization, distance between ekf and vo x:-0.028433 ,z=0.744921,angle between two frames:0.150371
|
|
[13:21:22.416] frame process finished the id is: 139 the obs is:11
|
|
[13:21:22.490] Odometry x=0.218529, y=0.918883, theta=0.041578
|
|
[13:21:22.509] 231-1/352 :
|
|
befor : 232.000000 68.000000 after : 232.349457 68.389740 TRUE 0.274017
|
|
[13:21:22.509] 231-2/352 :
|
|
befor : 244.000000 70.000000 after : 244.539032 69.266090 TRUE 0.829179
|
|
[13:21:22.509] 231-3/352 :
|
|
befor : 144.000000 152.000000 after : 146.292511 151.389328 TRUE 5.628527
|
|
[13:21:22.509] 231-4/352 :
|
|
befor : 238.000000 165.000000 after : 236.829712 165.872894 TRUE 2.131519
|
|
[13:21:22.509] 231-5/352 :
|
|
befor : 142.000000 198.000000 after : 142.079605 197.920578 TRUE 0.012645
|
|
[13:21:22.509] 231-6/352 :
|
|
befor : 214.000000 252.000000 after : 213.070892 249.542633 TRUE 6.901893
|
|
[13:21:22.509] 231-7/352 :
|
|
befor : 130.000000 294.000000 after : 132.201691 293.309540 TRUE 5.324177
|
|
[13:21:22.509] 231-8/352 :
|
|
befor : 316.000000 318.000000 after : 315.526154 318.265900 TRUE 0.295233
|
|
[13:21:22.509] 231-9/352 :
|
|
befor : 600.000000 324.000000 after : 600.069275 323.967041 TRUE 0.005885
|
|
[13:21:22.509] 231-10/352 :
|
|
befor : 146.000000 346.000000 after : 148.285126 342.383331 FALSE 18.302092
|
|
[13:21:22.509] 231-11/352 :
|
|
befor : 322.000000 331.000000 after : 336.825012 316.520935 FALSE 429.424309
|
|
[13:21:22.509] 231-12/352 :
|
|
befor : 368.000000 377.000000 after : 374.231506 381.459473 TRUE 58.718568
|
|
[13:21:22.509] 231-13/352 :
|
|
befor : 316.000000 396.000000 after : 314.631226 394.818817 TRUE 3.268736
|
|
[13:21:22.509] 231-14/352 :
|
|
befor : 594.000000 418.000000 after : 583.989075 428.640198 FALSE 213.432433
|
|
[13:21:22.509] 231-15/352 :
|
|
befor : 608.000000 420.000000 after : 603.679871 415.842316 TRUE 35.949857
|
|
[13:21:22.509] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:12 ,distance between ekf and vo x:-0.000095 ,z=0.000037,angle between two frames:0.000064
|
|
[13:21:22.509] n deleted obs = 2 n obs with reprojection error less than 0.5 px =10 error init =0.509495 error end=0.405879
|
|
[13:21:22.509] After pose optimization, distance between ekf and vo x:-0.428886 ,z=0.680353,angle between two frames:0.087924
|
|
[13:21:22.509] frame process finished the id is: 139 the obs is:11
|
|
[13:21:22.593] Odometry x=0.218375, y=0.926025, theta=0.046779
|
|
[13:21:22.608] 232-1/352 :
|
|
befor : 236.000000 68.000000 after : 242.336304 61.662052 FALSE 80.318328
|
|
befor : 236.000000 68.000000 after : 236.358505 68.412979 TRUE 0.299078
|
|
[13:21:22.608] 232-2/352 :
|
|
befor : 250.000000 71.000000 after : 250.245895 70.246178 TRUE 0.628713
|
|
[13:21:22.608] 232-3/352 :
|
|
befor : 150.000000 152.000000 after : 151.925873 149.905304 FALSE 8.096738
|
|
[13:21:22.608] 232-4/352 :
|
|
befor : 239.000000 182.000000 after : 228.839279 128.358185 FALSE 2980.684584
|
|
[13:21:22.608] 232-5/352 :
|
|
befor : 322.000000 322.000000 after : 322.015686 322.700378 TRUE 0.490776
|
|
[13:21:22.608] 232-6/352 :
|
|
befor : 337.000000 328.000000 after : 336.817078 320.806122 TRUE 51.785344
|
|
[13:21:22.608] 232-7/352 :
|
|
befor : 608.000000 322.000000 after : 607.341003 322.334961 TRUE 0.546475
|
|
[13:21:22.608] 232-8/352 :
|
|
befor : 140.000000 334.000000 after : 128.924606 322.713837 TRUE 250.041828
|
|
[13:21:22.608] 232-9/352 :
|
|
befor : 486.000000 349.000000 after : 513.505859 319.572723 FALSE 1622.536909
|
|
befor : 486.000000 349.000000 after : 474.869171 334.454773 FALSE 335.458981
|
|
[13:21:22.608] 232-10/352 :
|
|
befor : 484.000000 420.000000 after : 484.599121 419.787811 TRUE 0.403970
|
|
[13:21:22.608] 232-11/352 :
|
|
befor : 607.000000 425.000000 after : 610.713867 428.868835 TRUE 28.760697
|
|
[13:21:22.608] 232-12/352 :
|
|
befor : 355.000000 474.000000 after : 355.155884 473.298737 TRUE 0.516070
|
|
[13:21:22.608] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:9 ,distance between ekf and vo x:-0.000070 ,z=0.000062,angle between two frames:0.000042
|
|
[13:21:22.608] n deleted obs = 5 n obs with reprojection error less than 0.5 px =4 error init =0.700681 error end=0.640266
|
|
[13:21:22.608] After pose optimization, distance between ekf and vo x:-0.026219 ,z=0.630744,angle between two frames:0.049400
|
|
[13:21:22.608] frame process finished the id is: 139 the obs is:11
|
|
[13:21:22.690] Odometry x=0.218312, y=0.932140, theta=0.044496
|
|
[13:21:22.709] 233-1/352 :
|
|
befor : 254.000000 71.000000 after : 254.476700 70.227585 TRUE 0.823868
|
|
[13:21:22.709] 233-2/352 :
|
|
befor : 159.000000 126.000000 after : 196.416428 93.798164 TRUE 2436.947273
|
|
[13:21:22.709] 233-3/352 :
|
|
befor : 253.000000 123.000000 after : 238.977310 91.814491 FALSE 1169.171784
|
|
[13:21:22.709] 233-4/352 :
|
|
befor : 152.000000 164.000000 after : 152.879074 163.731125 TRUE 0.845065
|
|
[13:21:22.709] 233-5/352 :
|
|
befor : 249.000000 165.000000 after : 249.782883 164.576218 TRUE 0.792497
|
|
[13:21:22.709] 233-6/352 :
|
|
befor : 148.000000 328.000000 after : 147.183441 328.717224 FALSE 1.181179
|
|
[13:21:22.709] 233-7/352 :
|
|
befor : 330.000000 320.000000 after : 332.799408 315.962555 FALSE 24.137648
|
|
befor : 341.000000 328.000000 after : 340.437042 327.148712 FALSE 1.041612
|
|
befor : 330.000000 320.000000 after : 330.598297 320.490967 TRUE 0.599008
|
|
[13:21:22.709] 233-8/352 :
|
|
befor : 140.000000 332.000000 after : 133.555481 325.385529 TRUE 85.283058
|
|
[13:21:22.709] 233-9/352 :
|
|
befor : 317.000000 353.000000 after : 323.185944 356.487122 TRUE 50.425915
|
|
[13:21:22.709] 233-10/352 :
|
|
befor : 332.000000 330.000000 after : 332.201965 329.749512 TRUE 0.103534
|
|
[13:21:22.709] 233-11/352 :
|
|
befor : 492.000000 418.000000 after : 484.993103 425.299408 FALSE 102.377962
|
|
[13:21:22.709] 233-12/352 :
|
|
befor : 612.000000 414.000000 after : 612.485474 414.020294 TRUE 0.236097
|
|
[13:21:22.709] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:9 ,distance between ekf and vo x:-0.000058 ,z=0.000083,angle between two frames:0.000023
|
|
[13:21:22.709] n deleted obs = 2 n obs with reprojection error less than 0.5 px =7 error init =0.555341 error end=0.487560
|
|
[13:21:22.709] After pose optimization, distance between ekf and vo x:-0.079119 ,z=0.273639,angle between two frames:0.018346
|
|
[13:21:22.709] frame process finished the id is: 139 the obs is:11
|
|
[13:21:22.788] Odometry x=0.218232, y=0.937473, theta=0.039747
|
|
[13:21:22.809] 234-1/352 :
|
|
befor : 256.000000 67.000000 after : 256.488068 66.319412 TRUE 0.701410
|
|
[13:21:22.809] 234-2/352 :
|
|
befor : 162.000000 116.000000 after : 197.629181 84.641159 TRUE 2252.815437
|
|
[13:21:22.809] 234-3/352 :
|
|
befor : 252.000000 161.000000 after : 252.739227 160.482071 TRUE 0.814708
|
|
[13:21:22.810] 234-4/352 :
|
|
befor : 379.000000 178.000000 after : 378.547974 178.132126 TRUE 0.221785
|
|
[13:21:22.810] 234-5/352 :
|
|
befor : 154.000000 196.000000 after : 153.863159 196.024292 TRUE 0.019316
|
|
[13:21:22.810] 234-6/352 :
|
|
befor : 145.000000 273.000000 after : 158.533325 256.647308 FALSE 450.561415
|
|
[13:21:22.810] 234-7/352 :
|
|
befor : 345.000000 322.000000 after : 341.911591 324.774170 FALSE 17.234292
|
|
[13:21:22.810] 234-8/352 :
|
|
befor : 160.000000 346.000000 after : 160.043076 322.008942 TRUE 575.572736
|
|
[13:21:22.810] 234-9/352 :
|
|
befor : 328.000000 358.000000 after : 328.813873 358.082184 TRUE 0.669144
|
|
[13:21:22.810] 234-10/352 :
|
|
befor : 501.000000 351.000000 after : 489.449738 334.812012 TRUE 395.459527
|
|
[13:21:22.810] 234-11/352 :
|
|
befor : 332.000000 391.000000 after : 329.618774 393.400116 FALSE 11.430792
|
|
[13:21:22.810] 234-12/352 :
|
|
befor : 618.000000 422.000000 after : 616.587646 420.150604 TRUE 5.415007
|
|
[13:21:22.810] 234-13/352 :
|
|
befor : 366.000000 468.000000 after : 365.860962 468.018250 TRUE 0.019665
|
|
[13:21:22.810] After Reprojection Map nPoint:16 ,nCell:13 ,nMatches:10 ,distance between ekf and vo x:-0.000059 ,z=0.000033,angle between two frames:0.000016
|
|
[13:21:22.810] n deleted obs = 2 n obs with reprojection error less than 0.5 px =8 error init =0.376058 error end=0.367779
|
|
[13:21:22.810] After pose optimization, distance between ekf and vo x:-0.092659 ,z=0.135833,angle between two frames:0.045472
|
|
[13:21:22.810] frame process finished the id is: 139 the obs is:11
|
|
[13:21:22.890] Odometry x=0.218103, y=0.942836, theta=0.037152
|
|
[13:21:22.908] 235-1/352 :
|
|
befor : 257.000000 62.000000 after : 257.290466 61.415333 TRUE 0.426206
|
|
[13:21:22.908] 235-2/352 :
|
|
befor : 154.000000 160.000000 after : 154.834641 159.716080 TRUE 0.777235
|
|
[13:21:22.908] 235-3/352 :
|
|
befor : 381.000000 174.000000 after : 381.510010 170.700180 TRUE 11.148922
|
|
[13:21:22.908] 235-4/352 :
|
|
befor : 363.000000 213.000000 after : 371.488647 204.986511 FALSE 136.273138
|
|
[13:21:22.908] 235-5/352 :
|
|
befor : 144.000000 292.000000 after : 144.339706 291.802917 TRUE 0.154242
|
|
[13:21:22.909] 235-6/352 :
|
|
befor : 325.000000 300.000000 after : 332.505188 291.791962 FALSE 123.699740
|
|
befor : 324.000000 310.000000 after : 324.389130 309.679810 TRUE 0.253944
|
|
[13:21:22.909] 235-7/352 :
|
|
befor : 505.000000 347.000000 after : 493.461090 330.736755 TRUE 397.639568
|
|
[13:21:22.909] 235-8/352 :
|
|
befor : 334.000000 389.000000 after : 331.514130 391.490295 FALSE 12.381123
|
|
[13:21:22.909] 235-9/352 :
|
|
befor : 594.000000 442.000000 after : 595.922546 442.693298 TRUE 4.176847
|
|
[13:21:22.909] 235-10/352 :
|
|
befor : 578.000000 452.000000 after : 578.615173 452.625854 TRUE 0.770132
|
|
[13:21:22.909] After Reprojection Map nPoint:16 ,nCell:11 ,nMatches:8 ,distance between ekf and vo x:-0.000069 ,z=0.000053,angle between two frames:0.000045
|
|
[13:21:22.909] n deleted obs = 3 n obs with reprojection error less than 0.5 px =5 error init =0.629648 error end=0.608289
|
|
[13:21:22.909] After pose optimization, distance between ekf and vo x:-0.450605 ,z=0.812147,angle between two frames:0.066378
|
|
[13:21:22.909] frame process finished the id is: 139 the obs is:11
|
|
[13:21:22.988] Odometry x=0.218016, y=0.948315, theta=0.038619
|
|
[13:21:23.008] 236-1/352 :
|
|
befor : 252.000000 58.000000 after : 251.904327 57.363636 TRUE 0.414112
|
|
[13:21:23.009] 236-2/352 :
|
|
befor : 258.000000 62.000000 after : 258.521515 61.261646 TRUE 0.817144
|
|
[13:21:23.009] 236-3/352 :
|
|
befor : 161.000000 127.000000 after : 172.897156 116.725906 FALSE 247.099315
|
|
[13:21:23.009] 236-4/352 :
|
|
befor : 257.000000 129.000000 after : 237.136459 56.307781 TRUE 5678.718918
|
|
[13:21:23.009] 236-5/352 :
|
|
befor : 360.000000 121.000000 after : 369.289825 112.356018 FALSE 161.019280
|
|
[13:21:23.009] 236-6/352 :
|
|
befor : 252.000000 154.000000 after : 252.075943 153.888535 TRUE 0.018192
|
|
[13:21:23.009] 236-7/352 :
|
|
befor : 156.000000 190.000000 after : 161.731247 197.809464 TRUE 93.834912
|
|
[13:21:23.009] 236-8/352 :
|
|
befor : 248.000000 198.000000 after : 247.757629 198.034607 TRUE 0.059941
|
|
[13:21:23.009] 236-9/352 :
|
|
befor : 242.000000 236.000000 after : 241.719696 235.793457 FALSE 0.121230
|
|
befor : 242.000000 236.000000 after : 242.347549 236.340851 TRUE 0.236970
|
|
[13:21:23.009] 236-10/352 :
|
|
befor : 326.000000 312.000000 after : 315.458282 295.098969 TRUE 396.772674
|
|
[13:21:23.009] 236-11/352 :
|
|
befor : 322.000000 346.000000 after : 349.276245 318.800446 FALSE 1483.809310
|
|
befor : 322.000000 345.000000 after : 322.662079 344.629364 TRUE 0.575719
|
|
[13:21:23.009] 236-12/352 :
|
|
befor : 304.000000 386.000000 after : 304.484283 386.443878 TRUE 0.431558
|
|
[13:21:23.009] After Reprojection Map nPoint:15 ,nCell:14 ,nMatches:10 ,distance between ekf and vo x:-0.000065 ,z=0.000076,angle between two frames:0.000004
|
|
[13:21:23.009] n deleted obs = 0 n obs with reprojection error less than 0.5 px =10 error init =0.323285 error end=0.225842
|
|
[13:21:23.009] After pose optimization, distance between ekf and vo x:-0.162070 ,z=0.417071,angle between two frames:0.020418
|
|
[13:21:23.009] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
|
|
[13:21:23.009] Choose frame as a key frame Scene Depth mean:-1.147977 ,depth min:-3.540812
|
|
[13:21:23.009] frame process finished the id is: 236 the obs is:10
|
|
[13:21:23.091] Odometry x=0.064800, y=1.342914, theta=0.057778
|
|
[13:21:23.123] 237-1/352 :
|
|
befor : 80.000000 28.000000 after : 78.141640 28.560801 TRUE 3.768000
|
|
[13:21:23.123] 237-2/352 :
|
|
befor : 256.000000 54.000000 after : 242.396072 62.978817 FALSE 265.686001
|
|
[13:21:23.123] 237-3/352 :
|
|
befor : 261.000000 60.000000 after : 258.941071 61.201897 TRUE 5.683746
|
|
[13:21:23.123] 237-4/352 :
|
|
befor : 383.000000 119.000000 after : 379.003601 120.924042 TRUE 19.673141
|
|
[13:21:23.124] 237-5/352 :
|
|
befor : 256.000000 144.000000 after : 256.328552 144.251556 TRUE 0.171227
|
|
[13:21:23.124] 237-6/352 :
|
|
befor : 258.000000 154.000000 after : 257.528137 153.975510 TRUE 0.223254
|
|
[13:21:23.124] 237-7/352 :
|
|
befor : 387.000000 164.000000 after : 391.804535 160.134232 TRUE 38.027721
|
|
[13:21:23.124] 237-8/352 :
|
|
befor : 340.000000 312.000000 after : 341.950684 312.262604 TRUE 3.874127
|
|
[13:21:23.124] 237-9/352 :
|
|
befor : 325.000000 387.000000 after : 325.608948 388.429718 TRUE 2.414911
|
|
[13:21:23.124] After Reprojection Map nPoint:9 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:0.000088 ,z=-0.000215,angle between two frames:0.000012
|
|
[13:21:23.124] n deleted obs = 1 n obs with reprojection error less than 0.5 px =7 error init =0.292092 error end=0.292092
|
|
[13:21:23.124] After pose optimization, distance between ekf and vo x:0.000088 ,z=-0.000215,angle between two frames:0.000012
|
|
[13:21:23.124] frame process finished the id is: 236 the obs is:10
|
|
[13:21:23.187] Odometry x=0.064633, y=1.349430, theta=0.046884
|
|
[13:21:23.208] 238-1/352 :
|
|
befor : 258.000000 57.000000 after : 245.702103 62.457741 TRUE 181.025213
|
|
[13:21:23.208] 238-2/352 :
|
|
befor : 261.000000 60.000000 after : 258.282349 61.507217 TRUE 9.657333
|
|
[13:21:23.208] 238-3/352 :
|
|
befor : 158.000000 158.000000 after : 160.126282 156.238632 TRUE 7.623491
|
|
[13:21:23.208] 238-4/352 :
|
|
befor : 251.000000 168.000000 after : 252.386719 167.111420 FALSE 2.712564
|
|
[13:21:23.208] 238-5/352 :
|
|
befor : 248.000000 284.000000 after : 248.414978 284.154205 TRUE 0.195986
|
|
[13:21:23.208] 238-6/352 :
|
|
befor : 150.000000 326.000000 after : 152.492569 334.119141 TRUE 72.133345
|
|
[13:21:23.208] 238-7/352 :
|
|
befor : 338.000000 308.000000 after : 336.891052 308.707397 TRUE 1.730176
|
|
[13:21:23.208] 238-8/352 :
|
|
befor : 166.000000 342.000000 after : 166.710373 341.810669 TRUE 0.540476
|
|
[13:21:23.208] After Reprojection Map nPoint:9 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000058 ,z=-0.000017,angle between two frames:0.000019
|
|
[13:21:23.208] n deleted obs = 0 n obs with reprojection error less than 0.5 px =7 error init =0.192767 error end=0.192767
|
|
[13:21:23.208] After pose optimization, distance between ekf and vo x:-0.000058 ,z=-0.000017,angle between two frames:0.000019
|
|
[13:21:23.208] frame process finished the id is: 236 the obs is:10
|
|
[13:21:23.290] Odometry x=0.064509, y=1.354859, theta=0.046640
|
|
[13:21:23.316] 239-1/352 :
|
|
befor : 261.000000 59.000000 after : 258.018311 60.441563 TRUE 10.968575
|
|
[13:21:23.316] 239-2/352 :
|
|
befor : 60.000000 80.000000 after : 57.897160 80.973763 TRUE 5.370151
|
|
[13:21:23.316] 239-3/352 :
|
|
befor : 158.000000 156.000000 after : 159.893219 154.566406 TRUE 5.639469
|
|
[13:21:23.316] 239-4/352 :
|
|
befor : 146.000000 294.000000 after : 146.016190 294.095703 TRUE 0.009421
|
|
[13:21:23.316] 239-5/352 :
|
|
befor : 330.000000 312.000000 after : 314.841583 320.609253 TRUE 303.896834
|
|
[13:21:23.316] 239-6/352 :
|
|
befor : 522.000000 344.000000 after : 508.026978 316.961426 TRUE 926.329852
|
|
[13:21:23.316] 239-7/352 :
|
|
befor : 628.000000 372.000000 after : 628.404114 371.676025 TRUE 0.268267
|
|
[13:21:23.316] 239-8/352 :
|
|
befor : 518.000000 412.000000 after : 518.411926 411.925537 TRUE 0.175228
|
|
[13:21:23.316] 239-9/352 :
|
|
befor : 626.000000 438.000000 after : 625.718201 438.412994 TRUE 0.249975
|
|
[13:21:23.316] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:9 ,distance between ekf and vo x:-0.000041 ,z=-0.000052,angle between two frames:0.000015
|
|
[13:21:23.316] n deleted obs = 3 n obs with reprojection error less than 0.5 px =6 error init =0.798722 error end=0.798722
|
|
[13:21:23.316] After pose optimization, distance between ekf and vo x:-0.000041 ,z=-0.000052,angle between two frames:0.000015
|
|
[13:21:23.316] frame process finished the id is: 236 the obs is:10
|
|
[13:21:23.388] Odometry x=0.064417, y=1.360824, theta=0.046940
|
|
[13:21:23.415] 240-1/352 :
|
|
befor : 258.000000 58.000000 after : 246.056274 63.662048 TRUE 174.711372
|
|
[13:21:23.415] 240-2/352 :
|
|
befor : 261.000000 62.000000 after : 258.197296 63.489651 TRUE 10.074208
|
|
[13:21:23.415] 240-3/352 :
|
|
befor : 158.000000 151.000000 after : 160.758026 148.651840 TRUE 13.120562
|
|
[13:21:23.415] 240-4/352 :
|
|
befor : 388.000000 157.000000 after : 394.498871 160.075989 TRUE 51.697029
|
|
[13:21:23.415] 240-5/352 :
|
|
befor : 633.000000 309.000000 after : 633.000000 309.000000 FALSE 0.000000
|
|
[13:21:23.415] 240-6/352 :
|
|
befor : 165.000000 346.000000 after : 166.270630 350.366943 TRUE 20.684695
|
|
[13:21:23.415] 240-7/352 :
|
|
befor : 522.000000 414.000000 after : 521.666260 413.361359 TRUE 0.519245
|
|
[13:21:23.415] 240-8/352 :
|
|
befor : 608.000000 462.000000 after : 607.845642 462.184265 TRUE 0.057780
|
|
[13:21:23.415] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:0.000017 ,z=-0.000082,angle between two frames:0.000001
|
|
[13:21:23.415] n deleted obs = 1 n obs with reprojection error less than 0.5 px =6 error init =0.502641 error end=0.502641
|
|
[13:21:23.415] After pose optimization, distance between ekf and vo x:0.000017 ,z=-0.000082,angle between two frames:0.000001
|
|
[13:21:23.415] frame process finished the id is: 236 the obs is:10
|
|
[13:21:23.495] Odometry x=0.064308, y=1.366219, theta=0.054233
|
|
[13:21:23.524] 241-1/352 :
|
|
befor : 257.000000 59.000000 after : 245.131546 66.193855 TRUE 192.611754
|
|
[13:21:23.524] 241-2/352 :
|
|
befor : 384.000000 98.000000 after : 387.557983 97.170113 TRUE 13.347959
|
|
[13:21:23.524] 241-3/352 :
|
|
befor : 159.000000 151.000000 after : 158.143036 151.279694 TRUE 0.812616
|
|
[13:21:23.524] 241-4/352 :
|
|
befor : 148.000000 300.000000 after : 148.147141 299.955872 TRUE 0.023598
|
|
[13:21:23.524] 241-5/352 :
|
|
befor : 368.000000 304.000000 after : 367.618011 303.828278 TRUE 0.175404
|
|
[13:21:23.524] 241-6/352 :
|
|
befor : 344.000000 330.000000 after : 338.374786 330.157135 FALSE 31.667720
|
|
[13:21:23.524] 241-7/352 :
|
|
befor : 526.000000 332.000000 after : 526.356018 331.640656 TRUE 0.255877
|
|
[13:21:23.524] 241-8/352 :
|
|
befor : 336.000000 360.000000 after : 336.102112 359.821747 TRUE 0.042201
|
|
[13:21:23.524] 241-9/352 :
|
|
befor : 342.000000 395.000000 after : 342.936401 395.145996 TRUE 0.898162
|
|
[13:21:23.525] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:0.000199 ,z=-0.000305,angle between two frames:0.000041
|
|
[13:21:23.525] n deleted obs = 2 n obs with reprojection error less than 0.5 px =6 error init =0.424349 error end=0.424349
|
|
[13:21:23.525] After pose optimization, distance between ekf and vo x:0.000199 ,z=-0.000305,angle between two frames:0.000041
|
|
[13:21:23.525] frame process finished the id is: 236 the obs is:10
|
|
[13:21:23.588] Odometry x=0.064137, y=1.372846, theta=0.047935
|
|
[13:21:23.609] 242-1/352 :
|
|
befor : 80.000000 28.000000 after : 77.994835 28.592190 TRUE 4.371376
|
|
[13:21:23.609] 242-2/352 :
|
|
befor : 261.000000 67.000000 after : 258.034943 68.568855 TRUE 11.252872
|
|
[13:21:23.609] 242-3/352 :
|
|
befor : 157.000000 164.000000 after : 158.646652 161.449432 FALSE 9.216859
|
|
[13:21:23.609] 242-4/352 :
|
|
befor : 132.000000 180.000000 after : 132.309464 180.033936 TRUE 0.096919
|
|
[13:21:23.609] 242-5/352 :
|
|
befor : 158.000000 198.000000 after : 157.967575 198.142471 TRUE 0.021349
|
|
[13:21:23.609] 242-6/352 :
|
|
befor : 340.000000 320.000000 after : 339.916046 320.138641 TRUE 0.026270
|
|
[13:21:23.609] 242-7/352 :
|
|
befor : 346.000000 331.000000 after : 338.941437 332.587158 FALSE 52.342386
|
|
[13:21:23.609] 242-8/352 :
|
|
befor : 399.000000 415.000000 after : 409.950226 419.185181 TRUE 137.423183
|
|
[13:21:23.609] 242-9/352 :
|
|
befor : 374.000000 454.000000 after : 374.146759 453.811310 TRUE 0.057142
|
|
[13:21:23.609] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000064 ,z=0.000011,angle between two frames:0.000016
|
|
[13:21:23.609] n deleted obs = 1 n obs with reprojection error less than 0.5 px =6 error init =0.354068 error end=0.354068
|
|
[13:21:23.609] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.000011,angle between two frames:0.000016
|
|
[13:21:23.609] frame process finished the id is: 236 the obs is:10
|
|
[13:21:23.685] Odometry x=0.064044, y=1.378532, theta=0.048139
|
|
[13:21:23.709] 243-1/352 :
|
|
befor : 58.000000 88.000000 after : 58.309280 87.716171 TRUE 0.176213
|
|
[13:21:23.709] 243-2/352 :
|
|
befor : 60.000000 76.000000 after : 58.174633 76.663689 TRUE 3.772447
|
|
[13:21:23.709] 243-3/352 :
|
|
befor : 259.000000 66.000000 after : 255.844910 67.320267 TRUE 11.697699
|
|
[13:21:23.709] 243-4/352 :
|
|
befor : 155.000000 151.000000 after : 154.459030 151.110809 TRUE 0.304927
|
|
[13:21:23.709] 243-5/352 :
|
|
befor : 255.000000 159.000000 after : 250.839310 153.053391 TRUE 52.673508
|
|
[13:21:23.709] 243-6/352 :
|
|
befor : 387.000000 151.000000 after : 388.871155 148.995987 TRUE 7.517289
|
|
[13:21:23.709] 243-7/352 :
|
|
befor : 341.000000 331.000000 after : 336.366425 331.579498 FALSE 21.805840
|
|
[13:21:23.709] 243-8/352 :
|
|
befor : 335.000000 397.000000 after : 335.424805 395.963165 TRUE 1.255485
|
|
[13:21:23.709] 243-9/352 :
|
|
befor : 371.000000 431.000000 after : 370.981110 431.076630 TRUE 0.006229
|
|
[13:21:23.709] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000041 ,z=-0.000061,angle between two frames:0.000016
|
|
[13:21:23.709] n deleted obs = 2 n obs with reprojection error less than 0.5 px =6 error init =0.418618 error end=0.375606
|
|
[13:21:23.709] After pose optimization, distance between ekf and vo x:-0.080513 ,z=-0.242006,angle between two frames:0.053256
|
|
[13:21:23.709] frame process finished the id is: 236 the obs is:10
|
|
[13:21:23.789] Odometry x=0.063953, y=1.384048, theta=0.054053
|
|
[13:21:23.816] 244-1/352 :
|
|
befor : 255.000000 59.000000 after : 243.422928 64.792244 TRUE 167.578689
|
|
[13:21:23.816] 244-2/352 :
|
|
befor : 153.000000 160.000000 after : 152.497696 160.128159 TRUE 0.268734
|
|
[13:21:23.816] 244-3/352 :
|
|
befor : 228.000000 152.000000 after : 228.402756 152.018295 TRUE 0.162547
|
|
[13:21:23.816] 244-4/352 :
|
|
befor : 255.000000 155.000000 after : 254.221329 155.027588 TRUE 0.607090
|
|
[13:21:23.816] 244-5/352 :
|
|
befor : 389.000000 167.000000 after : 395.201172 170.263702 TRUE 49.106286
|
|
[13:21:23.816] 244-6/352 :
|
|
befor : 328.000000 304.000000 after : 327.406799 303.902679 TRUE 0.361358
|
|
[13:21:23.817] 244-7/352 :
|
|
befor : 620.000000 315.000000 after : 606.629395 322.456055 TRUE 234.365842
|
|
[13:21:23.817] 244-8/352 :
|
|
befor : 336.000000 394.000000 after : 336.953094 393.861603 TRUE 0.927543
|
|
[13:21:23.817] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:8 ,distance between ekf and vo x:-0.000025 ,z=-0.000081,angle between two frames:0.000008
|
|
[13:21:23.817] n deleted obs = 1 n obs with reprojection error less than 0.5 px =7 error init =0.303096 error end=0.303096
|
|
[13:21:23.817] After pose optimization, distance between ekf and vo x:-0.000025 ,z=-0.000081,angle between two frames:0.000008
|
|
[13:21:23.817] frame process finished the id is: 236 the obs is:10
|
|
[13:21:23.889] Odometry x=0.064201, y=1.389540, theta=0.045326
|
|
[13:21:23.924] 245-1/352 :
|
|
befor : 253.000000 57.000000 after : 241.547348 62.531746 TRUE 161.763450
|
|
[13:21:23.924] 245-2/352 :
|
|
befor : 255.000000 61.000000 after : 252.755081 62.278721 TRUE 6.674788
|
|
[13:21:23.924] 245-3/352 :
|
|
befor : 149.000000 158.000000 after : 148.764832 157.786575 TRUE 0.100854
|
|
[13:21:23.924] 245-4/352 :
|
|
befor : 150.000000 151.000000 after : 150.828079 150.973969 TRUE 0.686393
|
|
[13:21:23.924] 245-5/352 :
|
|
befor : 244.000000 167.000000 after : 245.719650 165.258347 FALSE 5.990554
|
|
[13:21:23.924] 245-6/352 :
|
|
befor : 202.000000 210.000000 after : 201.997223 210.014572 TRUE 0.000220
|
|
[13:21:23.924] 245-7/352 :
|
|
befor : 142.000000 294.000000 after : 142.141098 294.131805 TRUE 0.037281
|
|
[13:21:23.924] 245-8/352 :
|
|
befor : 150.000000 325.000000 after : 133.109894 334.625275 TRUE 377.921600
|
|
[13:21:23.924] 245-9/352 :
|
|
befor : 334.000000 393.000000 after : 334.569824 392.894470 TRUE 0.335836
|
|
[13:21:23.924] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:0.000038 ,z=-0.000381,angle between two frames:0.000006
|
|
[13:21:23.924] n deleted obs = 0 n obs with reprojection error less than 0.5 px =8 error init =0.263105 error end=0.263105
|
|
[13:21:23.924] After pose optimization, distance between ekf and vo x:0.000038 ,z=-0.000381,angle between two frames:0.000006
|
|
[13:21:23.924] frame process finished the id is: 236 the obs is:10
|
|
[13:21:23.992] Odometry x=0.064081, y=1.395249, theta=0.043937
|
|
[13:21:24.019] 246-1/352 :
|
|
befor : 253.000000 62.000000 after : 249.679626 63.515694 TRUE 13.322208
|
|
[13:21:24.019] 246-2/352 :
|
|
befor : 148.000000 140.000000 after : 149.311035 139.535721 TRUE 1.934368
|
|
[13:21:24.019] 246-3/352 :
|
|
befor : 146.000000 158.000000 after : 148.353348 154.230988 TRUE 19.743701
|
|
[13:21:24.019] 246-4/352 :
|
|
befor : 248.000000 154.000000 after : 247.631485 154.143951 TRUE 0.156525
|
|
[13:21:24.020] 246-5/352 :
|
|
befor : 156.000000 196.000000 after : 156.158920 196.069336 TRUE 0.030063
|
|
[13:21:24.020] 246-6/352 :
|
|
befor : 386.000000 188.000000 after : 404.344818 172.559341 FALSE 574.946289
|
|
[13:21:24.020] 246-7/352 :
|
|
befor : 537.000000 342.000000 after : 561.676086 356.231018 FALSE 811.431116
|
|
[13:21:24.020] 246-8/352 :
|
|
befor : 328.000000 394.000000 after : 328.035706 392.147522 TRUE 3.432950
|
|
[13:21:24.020] 246-9/352 :
|
|
befor : 534.000000 418.000000 after : 533.191162 417.526581 TRUE 0.878344
|
|
[13:21:24.020] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:0.000028 ,z=-0.000142,angle between two frames:0.000012
|
|
[13:21:24.020] n deleted obs = 1 n obs with reprojection error less than 0.5 px =6 error init =0.323302 error end=0.323302
|
|
[13:21:24.020] After pose optimization, distance between ekf and vo x:0.000028 ,z=-0.000142,angle between two frames:0.000012
|
|
[13:21:24.020] frame process finished the id is: 236 the obs is:10
|
|
[13:21:24.090] Odometry x=0.063999, y=1.401742, theta=0.050256
|
|
[13:21:24.108] 247-1/352 :
|
|
befor : 251.000000 59.000000 after : 269.615387 82.257103 TRUE 887.425470
|
|
[13:21:24.108] 247-2/352 :
|
|
befor : 250.000000 60.000000 after : 248.713547 60.339062 TRUE 1.769925
|
|
[13:21:24.108] 247-3/352 :
|
|
befor : 144.000000 154.000000 after : 144.665161 154.014969 TRUE 0.442663
|
|
[13:21:24.108] 247-4/352 :
|
|
befor : 232.000000 152.000000 after : 185.574982 162.259460 TRUE 2260.538854
|
|
[13:21:24.109] 247-5/352 :
|
|
befor : 240.000000 164.000000 after : 241.170624 161.009171 FALSE 10.315421
|
|
[13:21:24.109] 247-6/352 :
|
|
befor : 234.000000 240.000000 after : 233.939209 240.082031 TRUE 0.010425
|
|
[13:21:24.109] 247-7/352 :
|
|
befor : 322.000000 314.000000 after : 297.327576 331.179443 TRUE 903.861796
|
|
[13:21:24.109] 247-8/352 :
|
|
befor : 366.000000 305.000000 after : 365.343658 304.940857 TRUE 0.434282
|
|
[13:21:24.109] 247-9/352 :
|
|
befor : 391.000000 370.000000 after : 405.742950 378.960602 FALSE 297.646972
|
|
[13:21:24.109] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000070 ,z=0.000038,angle between two frames:0.000012
|
|
[13:21:24.109] n deleted obs = 1 n obs with reprojection error less than 0.5 px =6 error init =0.247721 error end=0.247721
|
|
[13:21:24.109] After pose optimization, distance between ekf and vo x:-0.000070 ,z=0.000038,angle between two frames:0.000012
|
|
[13:21:24.109] frame process finished the id is: 236 the obs is:10
|
|
[13:21:24.189] Odometry x=0.063837, y=1.407461, theta=0.056012
|
|
[13:21:24.211] 248-1/352 :
|
|
befor : 250.000000 54.000000 after : 248.433029 55.058964 TRUE 3.576802
|
|
[13:21:24.211] 248-2/352 :
|
|
befor : 146.000000 152.000000 after : 145.440002 152.131577 TRUE 0.330910
|
|
[13:21:24.211] 248-3/352 :
|
|
befor : 227.000000 151.000000 after : 228.901550 107.389076 FALSE 1905.528565
|
|
[13:21:24.211] 248-4/352 :
|
|
befor : 247.000000 150.000000 after : 247.237106 150.143982 TRUE 0.076950
|
|
[13:21:24.211] 248-5/352 :
|
|
befor : 144.000000 184.000000 after : 144.608017 183.928955 TRUE 0.374732
|
|
[13:21:24.211] 248-6/352 :
|
|
befor : 148.000000 323.000000 after : 130.237488 334.455750 TRUE 446.741037
|
|
[13:21:24.211] 248-7/352 :
|
|
befor : 395.000000 411.000000 after : 402.935669 423.583160 FALSE 221.310767
|
|
[13:21:24.211] 248-8/352 :
|
|
befor : 624.000000 404.000000 after : 624.000000 404.000000 FALSE 0.000000
|
|
[13:21:24.211] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000023 ,z=-0.000058,angle between two frames:0.000010
|
|
[13:21:24.211] n deleted obs = 0 n obs with reprojection error less than 0.5 px =5 error init =0.321079 error end=0.321079
|
|
[13:21:24.211] After pose optimization, distance between ekf and vo x:-0.000023 ,z=-0.000058,angle between two frames:0.000010
|
|
[13:21:24.211] frame process finished the id is: 236 the obs is:10
|
|
[13:21:24.296] Odometry x=0.063740, y=1.412733, theta=0.056638
|
|
[13:21:24.307] 249-1/352 :
|
|
befor : 228.000000 147.000000 after : 228.377197 146.603195 TRUE 0.299732
|
|
[13:21:24.307] 249-2/352 :
|
|
befor : 240.000000 144.000000 after : 244.636536 143.136871 TRUE 22.242454
|
|
[13:21:24.307] 249-3/352 :
|
|
befor : 230.000000 248.000000 after : 263.766632 221.967056 FALSE 1817.899601
|
|
[13:21:24.307] 249-4/352 :
|
|
befor : 628.000000 290.000000 after : 628.604980 290.110535 TRUE 0.378219
|
|
[13:21:24.307] 249-5/352 :
|
|
befor : 326.000000 308.000000 after : 326.101562 308.143158 TRUE 0.030809
|
|
[13:21:24.307] 249-6/352 :
|
|
befor : 371.000000 302.000000 after : 370.431885 301.757019 TRUE 0.381795
|
|
[13:21:24.307] 249-7/352 :
|
|
befor : 630.000000 315.000000 after : 632.312866 315.050110 TRUE 5.351861
|
|
[13:21:24.307] 249-8/352 :
|
|
befor : 335.000000 389.000000 after : 336.748962 388.331207 TRUE 3.506153
|
|
[13:21:24.307] 249-9/352 :
|
|
befor : 372.000000 426.000000 after : 371.918884 426.046722 TRUE 0.008763
|
|
[13:21:24.307] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000034 ,z=-0.000056,angle between two frames:0.000014
|
|
[13:21:24.307] n deleted obs = 3 n obs with reprojection error less than 0.5 px =5 error init =0.674606 error end=0.674606
|
|
[13:21:24.307] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000056,angle between two frames:0.000014
|
|
[13:21:24.307] frame process finished the id is: 236 the obs is:10
|
|
[13:21:24.386] Odometry x=0.063575, y=1.418652, theta=0.051798
|
|
[13:21:24.407] 250-1/352 :
|
|
befor : 255.000000 54.000000 after : 252.872223 55.206467 TRUE 5.982997
|
|
[13:21:24.407] 250-2/352 :
|
|
befor : 252.000000 60.000000 after : 251.914215 60.129890 TRUE 0.024231
|
|
[13:21:24.407] 250-3/352 :
|
|
befor : 137.000000 107.000000 after : 138.663483 108.041313 TRUE 3.851508
|
|
[13:21:24.407] 250-4/352 :
|
|
befor : 229.000000 148.000000 after : 229.351715 147.641907 TRUE 0.251934
|
|
[13:21:24.407] 250-5/352 :
|
|
befor : 149.000000 150.000000 after : 166.924438 122.713913 FALSE 1065.816040
|
|
[13:21:24.407] 250-6/352 :
|
|
befor : 330.000000 313.000000 after : 305.173096 330.892242 TRUE 936.507516
|
|
[13:21:24.407] 250-7/352 :
|
|
befor : 548.000000 312.000000 after : 547.761292 311.549896 TRUE 0.259575
|
|
[13:21:24.407] 250-8/352 :
|
|
befor : 140.000000 332.000000 after : 140.565231 332.144989 TRUE 0.340508
|
|
[13:21:24.407] 250-9/352 :
|
|
befor : 375.000000 428.000000 after : 372.915802 422.843323 FALSE 30.935202
|
|
[13:21:24.407] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000036 ,z=-0.000027,angle between two frames:0.000009
|
|
[13:21:24.407] n deleted obs = 1 n obs with reprojection error less than 0.5 px =6 error init =0.322209 error end=0.322209
|
|
[13:21:24.407] After pose optimization, distance between ekf and vo x:-0.000036 ,z=-0.000027,angle between two frames:0.000009
|
|
[13:21:24.407] frame process finished the id is: 236 the obs is:10
|
|
[13:21:24.491] Odometry x=0.063466, y=1.423661, theta=0.056581
|
|
[13:21:24.535] 251-1/352 :
|
|
befor : 139.000000 106.000000 after : 140.668762 107.037743 TRUE 3.861677
|
|
[13:21:24.535] 251-2/352 :
|
|
befor : 9.000000 143.000000 after : 9.000000 143.000000 FALSE 0.000000
|
|
[13:21:24.535] 251-3/352 :
|
|
befor : 151.000000 149.000000 after : 149.355362 148.827713 TRUE 2.734517
|
|
[13:21:24.535] 251-4/352 :
|
|
befor : 226.000000 142.000000 after : 226.305191 142.087875 TRUE 0.100864
|
|
[13:21:24.536] 251-5/352 :
|
|
befor : 150.000000 150.000000 after : 149.895615 149.637161 TRUE 0.142548
|
|
[13:21:24.536] 251-6/352 :
|
|
befor : 241.000000 151.000000 after : 240.971451 151.184326 TRUE 0.034791
|
|
[13:21:24.536] 251-7/352 :
|
|
befor : 240.000000 236.000000 after : 239.158844 235.557816 TRUE 0.903071
|
|
[13:21:24.536] 251-8/352 :
|
|
befor : 332.000000 312.000000 after : 315.587097 322.085968 TRUE 371.110130
|
|
[13:21:24.536] 251-9/352 :
|
|
befor : 166.000000 344.000000 after : 166.565552 343.719727 TRUE 0.398402
|
|
[13:21:24.536] 251-10/352 :
|
|
befor : 384.000000 461.000000 after : 376.568451 445.667511 FALSE 290.313141
|
|
[13:21:24.536] After Reprojection Map nPoint:10 ,nCell:10 ,nMatches:8 ,distance between ekf and vo x:-0.000031 ,z=-0.001158,angle between two frames:0.000077
|
|
[13:21:24.536] n deleted obs = 1 n obs with reprojection error less than 0.5 px =7 error init =0.280105 error end=0.280105
|
|
[13:21:24.536] After pose optimization, distance between ekf and vo x:-0.000031 ,z=-0.001158,angle between two frames:0.000077
|
|
[13:21:24.536] frame process finished the id is: 236 the obs is:10
|
|
[13:21:24.589] Odometry x=0.063304, y=1.429202, theta=0.057371
|
|
[13:21:24.614] 252-1/352 :
|
|
befor : 259.000000 54.000000 after : 257.087799 54.957489 TRUE 4.573298
|
|
[13:21:24.614] 252-2/352 :
|
|
befor : 392.000000 88.000000 after : 381.956573 91.588394 TRUE 113.746989
|
|
[13:21:24.614] 252-3/352 :
|
|
befor : 222.000000 143.000000 after : 239.232452 99.151192 FALSE 2219.675404
|
|
befor : 232.000000 144.000000 after : 232.198502 144.045197 TRUE 0.041446
|
|
[13:21:24.614] 252-4/352 :
|
|
befor : 152.000000 153.000000 after : 151.826828 152.662933 TRUE 0.143602
|
|
[13:21:24.614] 252-5/352 :
|
|
befor : 406.000000 223.000000 after : 425.073853 208.618347 FALSE 570.643789
|
|
[13:21:24.614] 252-6/352 :
|
|
befor : 168.000000 344.000000 after : 168.887970 343.986633 TRUE 0.788669
|
|
[13:21:24.614] 252-7/352 :
|
|
befor : 345.000000 395.000000 after : 345.631348 394.618927 TRUE 0.543816
|
|
[13:21:24.614] 252-8/352 :
|
|
befor : 384.000000 430.000000 after : 382.782471 427.853882 FALSE 6.088201
|
|
[13:21:24.614] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000019 ,z=-0.000034,angle between two frames:0.000003
|
|
[13:21:24.614] n deleted obs = 1 n obs with reprojection error less than 0.5 px =5 error init =0.302064 error end=0.302064
|
|
[13:21:24.614] After pose optimization, distance between ekf and vo x:-0.000019 ,z=-0.000034,angle between two frames:0.000003
|
|
[13:21:24.614] frame process finished the id is: 236 the obs is:10
|
|
[13:21:24.691] Odometry x=0.063154, y=1.434579, theta=0.053843
|
|
[13:21:24.709] 253-1/352 :
|
|
befor : 231.000000 144.000000 after : 278.201691 103.711952 TRUE 3851.126397
|
|
[13:21:24.709] 253-2/352 :
|
|
befor : 320.000000 140.000000 after : 314.644562 140.502121 TRUE 28.932844
|
|
[13:21:24.709] 253-3/352 :
|
|
befor : 154.000000 184.000000 after : 154.322098 184.084518 TRUE 0.110890
|
|
[13:21:24.709] 253-4/352 :
|
|
befor : 242.000000 248.000000 after : 241.526871 247.635757 TRUE 0.356524
|
|
[13:21:24.709] 253-5/352 :
|
|
befor : 346.000000 310.000000 after : 346.219238 310.051636 TRUE 0.050732
|
|
[13:21:24.709] 253-6/352 :
|
|
befor : 345.000000 390.000000 after : 348.554443 392.873871 TRUE 20.893201
|
|
[13:21:24.709] 253-7/352 :
|
|
befor : 385.000000 430.000000 after : 383.081421 424.132111 FALSE 38.113072
|
|
[13:21:24.710] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:-0.000015 ,z=-0.000046,angle between two frames:0.000006
|
|
[13:21:24.710] n deleted obs = 1 n obs with reprojection error less than 0.5 px =5 error init =0.227630 error end=0.227630
|
|
[13:21:24.710] After pose optimization, distance between ekf and vo x:-0.000015 ,z=-0.000046,angle between two frames:0.000006
|
|
[13:21:24.710] frame process finished the id is: 236 the obs is:10
|
|
[13:21:24.789] Odometry x=0.062949, y=1.442087, theta=0.043418
|
|
[13:21:24.808] 254-1/352 :
|
|
befor : 254.000000 48.000000 after : 254.116943 50.075661 TRUE 4.322043
|
|
[13:21:24.808] 254-2/352 :
|
|
befor : 152.000000 148.000000 after : 151.573166 147.981567 TRUE 0.182527
|
|
[13:21:24.808] 254-3/352 :
|
|
befor : 244.000000 144.000000 after : 231.647156 140.960510 FALSE 161.831259
|
|
[13:21:24.808] 254-4/352 :
|
|
befor : 243.000000 150.000000 after : 278.379333 123.838768 TRUE 1936.107298
|
|
[13:21:24.808] 254-5/352 :
|
|
befor : 246.000000 236.000000 after : 246.076828 235.973190 TRUE 0.006621
|
|
[13:21:24.808] 254-6/352 :
|
|
befor : 407.000000 214.000000 after : 426.184174 199.410400 FALSE 580.888933
|
|
[13:21:24.808] After Reprojection Map nPoint:9 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:-0.000044 ,z=-0.000015,angle between two frames:0.000011
|
|
[13:21:24.808] n deleted obs = 0 n obs with reprojection error less than 0.5 px =4 error init =0.150075 error end=0.129082
|
|
[13:21:24.808] After pose optimization, distance between ekf and vo x:0.005636 ,z=-0.181575,angle between two frames:0.030874
|
|
[13:21:24.808] frame process finished the id is: 236 the obs is:10
|
|
[13:21:24.890] Odometry x=0.062830, y=1.447123, theta=0.050320
|
|
[13:21:24.916] 255-1/352 :
|
|
befor : 255.000000 44.000000 after : 254.210831 44.205399 TRUE 0.664977
|
|
[13:21:24.916] 255-2/352 :
|
|
befor : 147.000000 141.000000 after : 147.539749 141.294022 TRUE 0.377778
|
|
[13:21:24.916] 255-3/352 :
|
|
befor : 231.000000 138.000000 after : 273.354736 86.585648 TRUE 4437.359324
|
|
[13:21:24.916] 255-4/352 :
|
|
befor : 244.000000 136.000000 after : 244.676407 135.926666 TRUE 0.462904
|
|
[13:21:24.916] 255-5/352 :
|
|
befor : 158.000000 182.000000 after : 158.017151 181.977356 TRUE 0.000807
|
|
[13:21:24.916] 255-6/352 :
|
|
befor : 240.000000 234.000000 after : 240.035721 233.947449 TRUE 0.004038
|
|
[13:21:24.916] 255-7/352 :
|
|
befor : 332.000000 306.000000 after : 307.007294 323.935699 TRUE 946.324683
|
|
[13:21:24.916] 255-8/352 :
|
|
befor : 352.000000 401.000000 after : 353.151703 403.112091 TRUE 5.787348
|
|
[13:21:24.917] 255-9/352 :
|
|
befor : 380.000000 426.000000 after : 377.697510 420.425385 FALSE 36.377799
|
|
[13:21:24.917] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000011 ,z=-0.000141,angle between two frames:0.000011
|
|
[13:21:24.917] n deleted obs = 1 n obs with reprojection error less than 0.5 px =7 error init =0.241663 error end=0.241663
|
|
[13:21:24.917] After pose optimization, distance between ekf and vo x:-0.000011 ,z=-0.000141,angle between two frames:0.000011
|
|
[13:21:24.917] frame process finished the id is: 236 the obs is:10
|
|
[13:21:24.988] Odometry x=0.062707, y=1.452769, theta=0.051649
|
|
[13:21:25.018] 256-1/352 :
|
|
befor : 255.000000 45.000000 after : 254.392899 45.182232 TRUE 0.401781
|
|
[13:21:25.018] 256-2/352 :
|
|
befor : 6.000000 137.000000 after : 6.000000 137.000000 FALSE 0.000000
|
|
[13:21:25.018] 256-3/352 :
|
|
befor : 236.000000 136.000000 after : 236.376938 136.133377 TRUE 0.159872
|
|
[13:21:25.018] 256-4/352 :
|
|
befor : 251.000000 142.000000 after : 250.821243 142.087799 TRUE 0.039663
|
|
[13:21:25.018] 256-5/352 :
|
|
befor : 144.000000 288.000000 after : 144.033066 287.949158 TRUE 0.003678
|
|
[13:21:25.018] 256-6/352 :
|
|
befor : 591.000000 314.000000 after : 573.939880 325.680023 FALSE 427.470624
|
|
[13:21:25.018] 256-7/352 :
|
|
befor : 588.000000 406.000000 after : 587.354553 405.655396 TRUE 0.535354
|
|
[13:21:25.018] 256-8/352 :
|
|
befor : 381.000000 429.000000 after : 378.307068 422.185486 FALSE 53.689487
|
|
[13:21:25.018] After Reprojection Map nPoint:9 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:0.000107 ,z=-0.000371,angle between two frames:0.000027
|
|
[13:21:25.018] n deleted obs = 1 n obs with reprojection error less than 0.5 px =4 error init =0.443453 error end=0.443453
|
|
[13:21:25.018] After pose optimization, distance between ekf and vo x:0.000107 ,z=-0.000371,angle between two frames:0.000027
|
|
[13:21:25.018] frame process finished the id is: 236 the obs is:10
|
|
[13:21:25.091] Odometry x=0.062547, y=1.458112, theta=0.047257
|
|
[13:21:25.117] 257-1/352 :
|
|
befor : 252.000000 117.000000 after : 251.151596 116.858215 TRUE 0.739892
|
|
[13:21:25.117] 257-2/352 :
|
|
befor : 228.000000 138.000000 after : 268.785950 100.296989 TRUE 3085.010699
|
|
[13:21:25.117] 257-3/352 :
|
|
befor : 248.000000 142.000000 after : 247.851486 142.003860 TRUE 0.022071
|
|
[13:21:25.117] 257-4/352 :
|
|
befor : 316.000000 136.000000 after : 315.428009 136.057800 TRUE 0.330515
|
|
[13:21:25.117] 257-5/352 :
|
|
befor : 336.000000 306.000000 after : 337.907898 305.988342 TRUE 3.640210
|
|
[13:21:25.117] 257-6/352 :
|
|
befor : 324.000000 343.000000 after : 303.528168 356.640320 TRUE 605.154242
|
|
[13:21:25.117] 257-7/352 :
|
|
befor : 306.000000 386.000000 after : 305.858246 386.131714 TRUE 0.037443
|
|
[13:21:25.117] 257-8/352 :
|
|
befor : 353.000000 397.000000 after : 353.403992 397.505676 TRUE 0.418918
|
|
[13:21:25.117] 257-9/352 :
|
|
befor : 384.000000 462.000000 after : 376.780701 448.638184 FALSE 230.656420
|
|
[13:21:25.118] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000001 ,z=-0.000083,angle between two frames:0.000002
|
|
[13:21:25.118] n deleted obs = 2 n obs with reprojection error less than 0.5 px =6 error init =0.284273 error end=0.284273
|
|
[13:21:25.118] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000083,angle between two frames:0.000002
|
|
[13:21:25.118] frame process finished the id is: 236 the obs is:10
|
|
[13:21:25.216] 258-1/352 :
|
|
befor : 251.000000 46.000000 after : 250.154221 46.138626 TRUE 0.734560
|
|
[13:21:25.216] 258-2/352 :
|
|
befor : 219.000000 135.000000 after : 231.414352 90.838341 FALSE 2104.368293
|
|
befor : 238.000000 144.000000 after : 237.965897 143.943832 TRUE 0.004318
|
|
[13:21:25.216] 258-3/352 :
|
|
befor : 240.000000 148.000000 after : 240.118515 148.047913 TRUE 0.016341
|
|
[13:21:25.216] 258-4/352 :
|
|
befor : 142.000000 324.000000 after : 142.853577 323.914429 TRUE 0.735916
|
|
[13:21:25.216] 258-5/352 :
|
|
befor : 321.000000 343.000000 after : 301.504333 357.051361 FALSE 577.521761
|
|
[13:21:25.216] 258-6/352 :
|
|
befor : 355.000000 397.000000 after : 355.189484 397.207184 TRUE 0.078829
|
|
[13:21:25.216] 258-7/352 :
|
|
befor : 592.000000 406.000000 after : 592.420715 406.109955 TRUE 0.189091
|
|
[13:21:25.216] 258-8/352 :
|
|
befor : 385.000000 466.000000 after : 375.532867 449.756042 FALSE 353.492755
|
|
[13:21:25.216] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000002 ,z=-0.000115,angle between two frames:0.000001
|
|
[13:21:25.216] n deleted obs = 2 n obs with reprojection error less than 0.5 px =4 error init =0.555803 error end=0.555803
|
|
[13:21:25.216] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000115,angle between two frames:0.000001
|
|
[13:21:25.217] frame process finished the id is: 236 the obs is:10
|
|
[13:21:25.315] 259-1/352 :
|
|
befor : 221.000000 134.000000 after : 262.158417 107.392197 TRUE 2401.990468
|
|
[13:21:25.315] 259-2/352 :
|
|
befor : 242.000000 138.000000 after : 241.823425 137.905762 TRUE 0.040059
|
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[13:21:25.315] 259-3/352 :
|
|
befor : 232.000000 180.000000 after : 232.060669 180.863403 TRUE 0.749146
|
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[13:21:25.315] 259-4/352 :
|
|
befor : 228.000000 228.000000 after : 228.439484 228.131424 TRUE 0.210418
|
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[13:21:25.315] 259-5/352 :
|
|
befor : 367.000000 298.000000 after : 366.747620 297.748596 TRUE 0.126900
|
|
[13:21:25.316] 259-6/352 :
|
|
befor : 318.000000 339.000000 after : 305.273438 346.314941 TRUE 215.473761
|
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[13:21:25.316] 259-7/352 :
|
|
befor : 373.000000 431.000000 after : 373.182159 430.937256 TRUE 0.037119
|
|
[13:21:25.316] 259-8/352 :
|
|
befor : 378.000000 463.000000 after : 372.140106 451.873199 TRUE 158.144046
|
|
[13:21:25.316] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:8 ,distance between ekf and vo x:0.000001 ,z=-0.000114,angle between two frames:0.000000
|
|
[13:21:25.316] n deleted obs = 1 n obs with reprojection error less than 0.5 px =7 error init =0.279964 error end=0.279836
|
|
[13:21:25.316] After pose optimization, distance between ekf and vo x:-0.008050 ,z=0.025779,angle between two frames:0.001958
|
|
[13:21:25.316] frame process finished the id is: 236 the obs is:10
|
|
[13:21:25.415] 260-1/352 :
|
|
befor : 209.000000 129.000000 after : 209.142136 128.426224 TRUE 0.349422
|
|
[13:21:25.415] 260-2/352 :
|
|
befor : 211.000000 130.000000 after : 230.982910 81.298080 FALSE 2771.193667
|
|
befor : 232.000000 136.000000 after : 231.819031 136.157867 TRUE 0.057672
|
|
[13:21:25.415] 260-3/352 :
|
|
befor : 304.000000 136.000000 after : 295.634338 137.768661 TRUE 73.112458
|
|
[13:21:25.415] 260-4/352 :
|
|
befor : 136.000000 328.000000 after : 137.077713 330.131165 TRUE 5.703328
|
|
[13:21:25.415] 260-5/352 :
|
|
befor : 322.000000 352.000000 after : 322.001617 351.922638 TRUE 0.005988
|
|
[13:21:25.415] 260-6/352 :
|
|
befor : 304.000000 374.000000 after : 304.435669 374.069061 TRUE 0.194577
|
|
[13:21:25.415] 260-7/352 :
|
|
befor : 377.000000 471.000000 after : 369.814423 457.310699 TRUE 239.029472
|
|
[13:21:25.415] After Reprojection Map nPoint:9 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000007 ,z=-0.000108,angle between two frames:0.000002
|
|
[13:21:25.415] n deleted obs = 0 n obs with reprojection error less than 0.5 px =7 error init =0.264918 error end=0.264918
|
|
[13:21:25.415] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000108,angle between two frames:0.000002
|
|
[13:21:25.415] frame process finished the id is: 236 the obs is:10
|
|
[13:21:25.510] 261-1/352 :
|
|
befor : 242.000000 50.000000 after : 241.206589 49.850983 TRUE 0.651708
|
|
[13:21:25.510] 261-2/352 :
|
|
befor : 208.000000 132.000000 after : 208.087021 113.406982 FALSE 345.707875
|
|
befor : 207.000000 135.000000 after : 224.138657 95.037239 FALSE 1890.755811
|
|
[13:21:25.510] 261-3/352 :
|
|
befor : 224.000000 140.000000 after : 214.391769 137.188126 FALSE 100.224733
|
|
[13:21:25.510] 261-4/352 :
|
|
befor : 229.000000 150.000000 after : 226.530685 142.663788 TRUE 59.917523
|
|
[13:21:25.510] 261-5/352 :
|
|
befor : 230.000000 182.000000 after : 229.995346 182.114197 TRUE 0.013063
|
|
[13:21:25.510] 261-6/352 :
|
|
befor : 124.000000 326.000000 after : 123.966949 325.901031 TRUE 0.010887
|
|
[13:21:25.510] 261-7/352 :
|
|
befor : 311.000000 348.000000 after : 297.901550 354.864990 TRUE 218.697476
|
|
[13:21:25.510] After Reprojection Map nPoint:9 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000023 ,z=-0.000062,angle between two frames:0.000007
|
|
[13:21:25.510] n deleted obs = 0 n obs with reprojection error less than 0.5 px =5 error init =0.257952 error end=0.231091
|
|
[13:21:25.510] After pose optimization, distance between ekf and vo x:-0.078738 ,z=0.008216,angle between two frames:0.169043
|
|
[13:21:25.510] frame process finished the id is: 236 the obs is:10
|
|
[13:21:25.608] 262-1/352 :
|
|
befor : 238.000000 50.000000 after : 234.431274 46.938251 TRUE 22.110106
|
|
[13:21:25.608] 262-2/352 :
|
|
befor : 201.000000 134.000000 after : 201.137253 133.432205 TRUE 0.341229
|
|
[13:21:25.608] 262-3/352 :
|
|
befor : 232.000000 144.000000 after : 231.841370 143.930801 TRUE 0.029952
|
|
[13:21:25.608] 262-4/352 :
|
|
befor : 224.000000 186.000000 after : 223.915680 186.142960 TRUE 0.027547
|
|
[13:21:25.608] 262-5/352 :
|
|
befor : 391.000000 210.000000 after : 414.948944 191.873398 FALSE 902.125629
|
|
[13:21:25.608] 262-6/352 :
|
|
befor : 288.000000 395.000000 after : 289.628265 398.527191 TRUE 15.092326
|
|
[13:21:25.608] 262-7/352 :
|
|
befor : 337.000000 407.000000 after : 337.580231 407.629913 TRUE 0.733458
|
|
[13:21:25.608] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:-0.000024 ,z=-0.000059,angle between two frames:0.000007
|
|
[13:21:25.608] n deleted obs = 1 n obs with reprojection error less than 0.5 px =5 error init =0.222350 error end=0.222350
|
|
[13:21:25.608] After pose optimization, distance between ekf and vo x:-0.000024 ,z=-0.000059,angle between two frames:0.000007
|
|
[13:21:25.608] frame process finished the id is: 236 the obs is:10
|
|
[13:21:25.711] 263-1/352 :
|
|
befor : 190.000000 129.000000 after : 209.375870 88.471191 FALSE 2018.008655
|
|
[13:21:25.711] 263-2/352 :
|
|
befor : 230.000000 142.000000 after : 229.950668 141.931625 TRUE 0.007109
|
|
[13:21:25.711] 263-3/352 :
|
|
befor : 296.000000 144.000000 after : 308.222595 144.869202 FALSE 150.147345
|
|
[13:21:25.711] 263-4/352 :
|
|
befor : 225.000000 151.000000 after : 223.903275 147.583817 TRUE 12.873116
|
|
[13:21:25.711] 263-5/352 :
|
|
befor : 224.000000 184.000000 after : 223.921494 184.122604 TRUE 0.021195
|
|
[13:21:25.711] 263-6/352 :
|
|
befor : 360.000000 296.000000 after : 361.868042 295.425751 TRUE 3.819343
|
|
[13:21:25.711] 263-7/352 :
|
|
befor : 356.000000 308.000000 after : 355.783478 307.787598 TRUE 0.091997
|
|
[13:21:25.711] 263-8/352 :
|
|
befor : 360.000000 300.000000 after : 360.382355 300.124115 TRUE 0.161600
|
|
[13:21:25.711] 263-9/352 :
|
|
befor : 306.000000 352.000000 after : 283.748474 367.061157 TRUE 721.968861
|
|
[13:21:25.711] 263-10/352 :
|
|
befor : 333.000000 401.000000 after : 333.690643 401.537476 TRUE 0.765868
|
|
[13:21:25.711] After Reprojection Map nPoint:10 ,nCell:10 ,nMatches:8 ,distance between ekf and vo x:-0.000024 ,z=-0.000059,angle between two frames:0.000007
|
|
[13:21:25.711] n deleted obs = 2 n obs with reprojection error less than 0.5 px =6 error init =0.295506 error end=0.295396
|
|
[13:21:25.711] After pose optimization, distance between ekf and vo x:-0.003634 ,z=0.007126,angle between two frames:0.000616
|
|
[13:21:25.711] frame process finished the id is: 236 the obs is:10
|
|
[13:21:25.809] 264-1/352 :
|
|
befor : 234.000000 46.000000 after : 231.959885 46.504311 TRUE 4.416400
|
|
[13:21:25.809] 264-2/352 :
|
|
befor : 376.000000 61.000000 after : 390.048309 48.059490 FALSE 364.811789
|
|
[13:21:25.809] 264-3/352 :
|
|
befor : 234.000000 105.000000 after : 250.770645 93.428848 TRUE 415.146091
|
|
[13:21:25.809] 264-4/352 :
|
|
befor : 125.000000 135.000000 after : 124.460938 134.875626 TRUE 0.306057
|
|
[13:21:25.809] 264-5/352 :
|
|
befor : 198.000000 131.000000 after : 198.157089 130.408615 TRUE 0.374413
|
|
[13:21:25.809] 264-6/352 :
|
|
befor : 224.000000 140.000000 after : 224.382339 140.124115 TRUE 0.161588
|
|
[13:21:25.809] 264-7/352 :
|
|
befor : 296.000000 376.000000 after : 297.456116 375.597778 TRUE 2.282055
|
|
[13:21:25.809] 264-8/352 :
|
|
befor : 360.000000 448.000000 after : 361.029541 448.961060 TRUE 1.983590
|
|
[13:21:25.809] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000025 ,z=-0.000059,angle between two frames:0.000008
|
|
[13:21:25.809] n deleted obs = 2 n obs with reprojection error less than 0.5 px =5 error init =0.325094 error end=0.324978
|
|
[13:21:25.809] After pose optimization, distance between ekf and vo x:-0.001255 ,z=-0.000913,angle between two frames:0.000430
|
|
[13:21:25.809] frame process finished the id is: 236 the obs is:10
|
|
[13:21:25.910] 265-1/352 :
|
|
befor : 124.000000 130.000000 after : 123.576393 129.839615 TRUE 0.205166
|
|
[13:21:25.910] 265-2/352 :
|
|
befor : 194.000000 127.000000 after : 194.117706 126.493668 TRUE 0.270227
|
|
[13:21:25.910] 265-3/352 :
|
|
befor : 222.000000 147.000000 after : 220.877121 143.489792 TRUE 13.582418
|
|
[13:21:25.910] 265-4/352 :
|
|
befor : 104.000000 284.000000 after : 101.576736 284.318390 TRUE 5.973578
|
|
[13:21:25.910] 265-5/352 :
|
|
befor : 530.000000 330.000000 after : 530.158142 330.045807 TRUE 0.027107
|
|
[13:21:25.910] 265-6/352 :
|
|
befor : 310.000000 360.000000 after : 309.976257 359.886536 TRUE 0.013438
|
|
[13:21:25.910] 265-7/352 :
|
|
befor : 360.000000 449.000000 after : 356.587372 442.115326 FALSE 59.044768
|
|
[13:21:25.910] After Reprojection Map nPoint:8 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:25.910] n deleted obs = 2 n obs with reprojection error less than 0.5 px =4 error init =0.450344 error end=0.450344
|
|
[13:21:25.910] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:25.910] frame process finished the id is: 236 the obs is:10
|
|
[13:21:26.008] 266-1/352 :
|
|
befor : 232.000000 44.000000 after : 229.863846 44.365215 TRUE 4.696537
|
|
[13:21:26.008] 266-2/352 :
|
|
befor : 121.000000 131.000000 after : 120.634781 130.736191 TRUE 0.202980
|
|
[13:21:26.008] 266-3/352 :
|
|
befor : 190.000000 125.000000 after : 190.115936 124.466660 TRUE 0.297893
|
|
[13:21:26.008] 266-4/352 :
|
|
befor : 221.000000 147.000000 after : 220.008743 143.826782 TRUE 11.051901
|
|
[13:21:26.008] 266-5/352 :
|
|
befor : 356.000000 296.000000 after : 352.981903 296.961212 TRUE 10.032838
|
|
[13:21:26.008] 266-6/352 :
|
|
befor : 122.000000 326.000000 after : 122.350731 326.024689 TRUE 0.123622
|
|
[13:21:26.008] 266-7/352 :
|
|
befor : 300.000000 351.000000 after : 279.004425 366.670319 TRUE 686.373053
|
|
[13:21:26.008] 266-8/352 :
|
|
befor : 612.000000 416.000000 after : 612.045227 415.847290 TRUE 0.025366
|
|
[13:21:26.008] 266-9/352 :
|
|
befor : 358.000000 448.000000 after : 359.023499 449.697144 FALSE 3.927845
|
|
[13:21:26.008] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.008] n deleted obs = 2 n obs with reprojection error less than 0.5 px =6 error init =0.443209 error end=0.443209
|
|
[13:21:26.008] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.008] frame process finished the id is: 236 the obs is:10
|
|
[13:21:26.108] 267-1/352 :
|
|
befor : 195.000000 128.000000 after : 217.925507 64.029030 FALSE 4617.863875
|
|
[13:21:26.108] 267-2/352 :
|
|
befor : 220.000000 136.000000 after : 220.382339 136.124115 TRUE 0.161588
|
|
[13:21:26.108] 267-3/352 :
|
|
befor : 296.000000 144.000000 after : 296.249603 131.426743 FALSE 158.149105
|
|
[13:21:26.108] 267-4/352 :
|
|
befor : 218.000000 180.000000 after : 217.959854 180.119415 TRUE 0.015872
|
|
[13:21:26.108] 267-5/352 :
|
|
befor : 300.000000 350.000000 after : 278.905762 365.509094 TRUE 685.498893
|
|
[13:21:26.108] 267-6/352 :
|
|
befor : 390.000000 374.000000 after : 389.610809 374.073669 TRUE 0.156897
|
|
[13:21:26.108] 267-7/352 :
|
|
befor : 358.000000 448.000000 after : 358.711487 448.944305 TRUE 1.397926
|
|
[13:21:26.108] 267-8/352 :
|
|
befor : 357.000000 456.000000 after : 356.766876 456.215179 TRUE 0.100649
|
|
[13:21:26.108] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.108] n deleted obs = 3 n obs with reprojection error less than 0.5 px =3 error init =0.427797 error end=0.427797
|
|
[13:21:26.108] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.108] frame process finished the id is: 236 the obs is:10
|
|
[13:21:26.208] 268-1/352 :
|
|
befor : 224.000000 44.000000 after : 225.897461 40.206268 TRUE 17.992758
|
|
[13:21:26.209] 268-2/352 :
|
|
befor : 376.000000 75.000000 after : 404.312744 52.272705 FALSE 1318.141415
|
|
[13:21:26.209] 268-3/352 :
|
|
befor : 121.000000 131.000000 after : 120.551811 130.816971 TRUE 0.234373
|
|
[13:21:26.209] 268-4/352 :
|
|
befor : 193.000000 127.000000 after : 215.684570 75.757576 FALSE 3140.375749
|
|
[13:21:26.209] 268-5/352 :
|
|
befor : 228.000000 131.000000 after : 227.112411 130.911453 TRUE 0.795654
|
|
[13:21:26.209] 268-6/352 :
|
|
befor : 114.000000 324.000000 after : 114.500534 323.911865 TRUE 0.258302
|
|
[13:21:26.209] 268-7/352 :
|
|
befor : 390.000000 374.000000 after : 389.644135 374.053558 TRUE 0.129509
|
|
[13:21:26.209] 268-8/352 :
|
|
befor : 358.000000 448.000000 after : 358.713562 448.911926 TRUE 1.340780
|
|
[13:21:26.209] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.209] n deleted obs = 3 n obs with reprojection error less than 0.5 px =3 error init =0.385604 error end=0.385604
|
|
[13:21:26.209] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.209] frame process finished the id is: 236 the obs is:10
|
|
[13:21:26.309] 269-1/352 :
|
|
befor : 122.000000 127.000000 after : 134.877640 109.733894 FALSE 463.952010
|
|
[13:21:26.309] 269-2/352 :
|
|
befor : 196.000000 124.000000 after : 196.400726 124.024254 TRUE 0.161170
|
|
[13:21:26.309] 269-3/352 :
|
|
befor : 220.000000 136.000000 after : 221.801666 135.695587 FALSE 3.338668
|
|
befor : 222.000000 144.000000 after : 221.849121 144.165283 TRUE 0.050083
|
|
[13:21:26.309] 269-4/352 :
|
|
befor : 296.000000 144.000000 after : 296.825745 143.565735 TRUE 0.870440
|
|
[13:21:26.309] 269-5/352 :
|
|
befor : 216.000000 184.000000 after : 216.063995 183.841232 TRUE 0.029303
|
|
[13:21:26.309] 269-6/352 :
|
|
befor : 300.000000 349.000000 after : 286.792084 356.026825 TRUE 223.825321
|
|
[13:21:26.309] 269-7/352 :
|
|
befor : 314.000000 397.000000 after : 315.032898 398.413574 TRUE 3.065070
|
|
[13:21:26.309] 269-8/352 :
|
|
befor : 360.000000 454.000000 after : 359.657501 454.010101 TRUE 0.117407
|
|
[13:21:26.309] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.309] n deleted obs = 2 n obs with reprojection error less than 0.5 px =5 error init =0.317599 error end=0.317599
|
|
[13:21:26.309] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.309] frame process finished the id is: 236 the obs is:10
|
|
[13:21:26.408] 270-1/352 :
|
|
befor : 121.000000 131.000000 after : 120.513779 130.826111 TRUE 0.266649
|
|
[13:21:26.408] 270-2/352 :
|
|
befor : 193.000000 127.000000 after : 193.149918 126.406708 TRUE 0.374471
|
|
[13:21:26.408] 270-3/352 :
|
|
befor : 220.000000 140.000000 after : 220.384186 140.114120 TRUE 0.160622
|
|
[13:21:26.408] 270-4/352 :
|
|
befor : 336.000000 312.000000 after : 335.323761 300.311707 FALSE 137.073503
|
|
[13:21:26.408] 270-5/352 :
|
|
befor : 300.000000 350.000000 after : 278.841187 364.498718 TRUE 657.908219
|
|
[13:21:26.408] 270-6/352 :
|
|
befor : 358.000000 448.000000 after : 358.643890 448.958099 TRUE 1.332549
|
|
[13:21:26.408] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.409] n deleted obs = 2 n obs with reprojection error less than 0.5 px =3 error init =0.411386 error end=0.410590
|
|
[13:21:26.409] After pose optimization, distance between ekf and vo x:-0.009184 ,z=0.016535,angle between two frames:0.000015
|
|
[13:21:26.409] frame process finished the id is: 236 the obs is:10
|
|
[13:21:26.509] 271-1/352 :
|
|
befor : 232.000000 44.000000 after : 229.806778 44.415424 TRUE 4.982800
|
|
[13:21:26.509] 271-2/352 :
|
|
befor : 121.000000 131.000000 after : 120.584900 130.807312 TRUE 0.209437
|
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[13:21:26.509] 271-3/352 :
|
|
befor : 189.000000 125.000000 after : 189.125961 124.446823 TRUE 0.321871
|
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[13:21:26.509] 271-4/352 :
|
|
befor : 228.000000 132.000000 after : 267.106598 131.174774 FALSE 1530.006997
|
|
befor : 220.000000 140.000000 after : 220.385101 140.109131 TRUE 0.160213
|
|
[13:21:26.509] 271-5/352 :
|
|
befor : 385.000000 173.000000 after : 388.109344 169.149033 TRUE 24.497973
|
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[13:21:26.509] 271-6/352 :
|
|
befor : 392.000000 372.000000 after : 391.982178 371.874329 TRUE 0.016111
|
|
[13:21:26.509] 271-7/352 :
|
|
befor : 358.000000 448.000000 after : 358.822754 448.852051 TRUE 1.402915
|
|
[13:21:26.509] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.509] n deleted obs = 3 n obs with reprojection error less than 0.5 px =4 error init =0.368797 error end=0.368797
|
|
[13:21:26.509] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.509] frame process finished the id is: 236 the obs is:10
|
|
[13:21:26.617] 272-1/352 :
|
|
befor : 232.000000 44.000000 after : 229.646744 44.299313 TRUE 5.627403
|
|
[13:21:26.617] 272-2/352 :
|
|
befor : 191.000000 126.000000 after : 191.127289 125.440277 TRUE 0.329492
|
|
[13:21:26.617] 272-3/352 :
|
|
befor : 229.000000 122.000000 after : 247.809662 110.423622 TRUE 487.815904
|
|
[13:21:26.617] 272-4/352 :
|
|
befor : 218.000000 180.000000 after : 217.945404 180.131470 TRUE 0.020265
|
|
[13:21:26.617] 272-5/352 :
|
|
befor : 300.000000 350.000000 after : 286.728363 357.588898 TRUE 233.727716
|
|
[13:21:26.617] 272-6/352 :
|
|
befor : 392.000000 372.000000 after : 391.978394 371.882538 TRUE 0.014264
|
|
[13:21:26.617] 272-7/352 :
|
|
befor : 358.000000 448.000000 after : 358.875671 448.968414 TRUE 1.704627
|
|
[13:21:26.617] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.617] n deleted obs = 2 n obs with reprojection error less than 0.5 px =5 error init =0.286093 error end=0.286093
|
|
[13:21:26.617] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.617] frame process finished the id is: 236 the obs is:10
|
|
[13:21:26.709] 273-1/352 :
|
|
befor : 224.000000 44.000000 after : 224.087906 43.841183 TRUE 0.032950
|
|
[13:21:26.709] 273-2/352 :
|
|
befor : 380.000000 115.000000 after : 392.222687 103.215736 FALSE 288.262941
|
|
[13:21:26.709] 273-3/352 :
|
|
befor : 121.000000 131.000000 after : 120.525620 130.850616 TRUE 0.247352
|
|
[13:21:26.709] 273-4/352 :
|
|
befor : 193.000000 127.000000 after : 193.157333 126.376930 TRUE 0.412970
|
|
[13:21:26.709] 273-5/352 :
|
|
befor : 220.000000 146.000000 after : 218.966003 142.675339 TRUE 12.122521
|
|
[13:21:26.709] 273-6/352 :
|
|
befor : 120.000000 170.000000 after : 120.169594 170.023483 TRUE 0.029314
|
|
[13:21:26.709] 273-7/352 :
|
|
befor : 358.000000 448.000000 after : 358.219788 448.119690 FALSE 0.062632
|
|
[13:21:26.709] 273-8/352 :
|
|
befor : 358.000000 457.000000 after : 357.678955 457.102142 FALSE 0.113503
|
|
[13:21:26.709] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.709] n deleted obs = 1 n obs with reprojection error less than 0.5 px =4 error init =0.341413 error end=0.341413
|
|
[13:21:26.709] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.709] frame process finished the id is: 236 the obs is:10
|
|
[13:21:26.808] 274-1/352 :
|
|
befor : 124.000000 112.000000 after : 124.556381 112.150681 TRUE 0.332265
|
|
[13:21:26.808] 274-2/352 :
|
|
befor : 121.000000 131.000000 after : 120.549294 130.843353 TRUE 0.227675
|
|
[13:21:26.808] 274-3/352 :
|
|
befor : 191.000000 126.000000 after : 191.129791 125.460846 TRUE 0.307533
|
|
[13:21:26.808] 274-4/352 :
|
|
befor : 220.000000 147.000000 after : 218.979019 143.671509 TRUE 12.121256
|
|
[13:21:26.808] 274-5/352 :
|
|
befor : 160.000000 192.000000 after : 160.392441 192.052338 TRUE 0.156749
|
|
[13:21:26.808] 274-6/352 :
|
|
befor : 351.000000 308.000000 after : 378.845917 285.833130 FALSE 1266.765210
|
|
befor : 336.000000 312.000000 after : 333.253540 313.528198 TRUE 9.878432
|
|
[13:21:26.808] 274-7/352 :
|
|
befor : 300.000000 350.000000 after : 278.644257 365.063446 TRUE 682.975183
|
|
[13:21:26.808] 274-8/352 :
|
|
befor : 358.000000 448.000000 after : 359.124023 449.195343 TRUE 2.692274
|
|
[13:21:26.808] 274-9/352 :
|
|
befor : 358.000000 457.000000 after : 357.163849 456.326721 FALSE 1.152453
|
|
[13:21:26.808] After Reprojection Map nPoint:10 ,nCell:10 ,nMatches:8 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.808] n deleted obs = 3 n obs with reprojection error less than 0.5 px =5 error init =0.353779 error end=0.353779
|
|
[13:21:26.808] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.808] frame process finished the id is: 236 the obs is:10
|
|
[13:21:26.909] 275-1/352 :
|
|
befor : 197.000000 129.000000 after : 215.777328 80.526154 FALSE 2702.301854
|
|
befor : 184.000000 122.000000 after : 184.141785 121.777077 TRUE 0.069798
|
|
[13:21:26.909] 275-2/352 :
|
|
befor : 216.000000 132.000000 after : 217.385391 131.791550 TRUE 1.962760
|
|
[13:21:26.909] 275-3/352 :
|
|
befor : 296.000000 144.000000 after : 296.414581 144.009567 TRUE 0.171969
|
|
[13:21:26.909] 275-4/352 :
|
|
befor : 216.000000 180.000000 after : 216.004776 180.162430 TRUE 0.026406
|
|
[13:21:26.909] 275-5/352 :
|
|
befor : 300.000000 350.000000 after : 278.951599 364.865814 TRUE 664.027612
|
|
[13:21:26.909] 275-6/352 :
|
|
befor : 358.000000 448.000000 after : 358.611816 449.025391 TRUE 1.425745
|
|
[13:21:26.909] 275-7/352 :
|
|
befor : 358.000000 457.000000 after : 357.304047 456.162994 FALSE 1.184929
|
|
befor : 358.000000 456.000000 after : 357.702393 455.988922 TRUE 0.088693
|
|
[13:21:26.909] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:26.909] n deleted obs = 2 n obs with reprojection error less than 0.5 px =5 error init =0.371332 error end=0.321062
|
|
[13:21:26.909] After pose optimization, distance between ekf and vo x:-0.479736 ,z=1.652846,angle between two frames:0.005899
|
|
[13:21:26.909] frame process finished the id is: 236 the obs is:10
|
|
[13:21:27.009] 276-1/352 :
|
|
befor : 224.000000 44.000000 after : 224.064194 43.839813 TRUE 0.029781
|
|
[13:21:27.009] 276-2/352 :
|
|
befor : 124.000000 112.000000 after : 116.500816 115.243111 TRUE 66.755522
|
|
[13:21:27.009] 276-3/352 :
|
|
befor : 121.000000 131.000000 after : 120.544922 130.801895 TRUE 0.246342
|
|
[13:21:27.009] 276-4/352 :
|
|
befor : 229.000000 121.000000 after : 247.682571 109.374611 TRUE 484.188146
|
|
[13:21:27.009] 276-5/352 :
|
|
befor : 148.000000 188.000000 after : 148.333923 188.000870 TRUE 0.111506
|
|
[13:21:27.009] 276-6/352 :
|
|
befor : 300.000000 350.000000 after : 286.860870 357.031647 TRUE 222.080783
|
|
[13:21:27.009] 276-7/352 :
|
|
befor : 358.000000 448.000000 after : 358.801270 449.070435 TRUE 1.787863
|
|
[13:21:27.009] 276-8/352 :
|
|
befor : 358.000000 457.000000 after : 357.199707 456.086517 FALSE 1.474919
|
|
befor : 358.000000 456.000000 after : 357.706299 456.021851 TRUE 0.086738
|
|
[13:21:27.009] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.009] n deleted obs = 3 n obs with reprojection error less than 0.5 px =5 error init =0.391378 error end=0.391378
|
|
[13:21:27.009] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.009] frame process finished the id is: 236 the obs is:10
|
|
[13:21:27.108] 277-1/352 :
|
|
befor : 186.000000 124.000000 after : 206.777527 78.807663 FALSE 2474.052949
|
|
[13:21:27.108] 277-2/352 :
|
|
befor : 220.000000 147.000000 after : 219.013489 143.721771 TRUE 11.719988
|
|
[13:21:27.108] 277-3/352 :
|
|
befor : 160.000000 192.000000 after : 160.463989 192.085281 TRUE 0.222559
|
|
[13:21:27.108] 277-4/352 :
|
|
befor : 216.000000 180.000000 after : 216.010406 180.170532 TRUE 0.029190
|
|
[13:21:27.108] 277-5/352 :
|
|
befor : 210.000000 244.000000 after : 210.070419 243.833145 TRUE 0.032799
|
|
[13:21:27.108] 277-6/352 :
|
|
befor : 356.000000 296.000000 after : 352.049774 297.106171 TRUE 16.827898
|
|
[13:21:27.108] 277-7/352 :
|
|
befor : 300.000000 349.000000 after : 286.748962 355.934387 TRUE 223.675723
|
|
[13:21:27.108] 277-8/352 :
|
|
befor : 334.000000 407.000000 after : 334.512024 407.453888 TRUE 0.468183
|
|
[13:21:27.108] 277-9/352 :
|
|
befor : 358.000000 456.000000 after : 357.687317 455.848755 FALSE 0.120646
|
|
befor : 357.000000 456.000000 after : 356.806091 456.221466 TRUE 0.086648
|
|
[13:21:27.108] After Reprojection Map nPoint:10 ,nCell:10 ,nMatches:8 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.108] n deleted obs = 2 n obs with reprojection error less than 0.5 px =6 error init =0.280746 error end=0.280746
|
|
[13:21:27.108] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.108] frame process finished the id is: 236 the obs is:10
|
|
[13:21:27.208] 278-1/352 :
|
|
befor : 193.000000 127.000000 after : 193.144653 126.439751 TRUE 0.334804
|
|
[13:21:27.208] 278-2/352 :
|
|
befor : 220.000000 140.000000 after : 220.382339 140.124115 TRUE 0.161588
|
|
[13:21:27.208] 278-3/352 :
|
|
befor : 218.000000 180.000000 after : 217.980057 180.122147 TRUE 0.015318
|
|
[13:21:27.208] 278-4/352 :
|
|
befor : 336.000000 312.000000 after : 333.322815 313.640717 TRUE 9.859271
|
|
[13:21:27.208] 278-5/352 :
|
|
befor : 300.000000 350.000000 after : 278.176971 365.649445 TRUE 721.149691
|
|
[13:21:27.208] 278-6/352 :
|
|
befor : 288.000000 382.000000 after : 296.792664 374.342377 FALSE 135.950127
|
|
[13:21:27.208] 278-7/352 :
|
|
befor : 392.000000 372.000000 after : 391.941559 371.874023 TRUE 0.019285
|
|
[13:21:27.208] 278-8/352 :
|
|
befor : 358.000000 448.000000 after : 358.619049 448.524902 TRUE 0.658744
|
|
[13:21:27.209] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.209] n deleted obs = 2 n obs with reprojection error less than 0.5 px =5 error init =0.344391 error end=0.344243
|
|
[13:21:27.209] After pose optimization, distance between ekf and vo x:-0.004428 ,z=0.008096,angle between two frames:0.000395
|
|
[13:21:27.209] frame process finished the id is: 236 the obs is:10
|
|
[13:21:27.333] 279-1/352 :
|
|
befor : 124.000000 112.000000 after : 124.492477 112.116302 TRUE 0.256060
|
|
[13:21:27.333] 279-2/352 :
|
|
befor : 229.000000 122.000000 after : 247.975479 110.684715 TRUE 488.104477
|
|
[13:21:27.333] 279-3/352 :
|
|
befor : 126.000000 174.000000 after : 125.711914 174.212509 TRUE 0.128154
|
|
[13:21:27.333] 279-4/352 :
|
|
befor : 356.000000 296.000000 after : 352.931244 296.969818 TRUE 10.357811
|
|
[13:21:27.333] 279-5/352 :
|
|
befor : 312.000000 306.000000 after : 312.381409 305.327454 FALSE 0.597791
|
|
[13:21:27.333] 279-6/352 :
|
|
befor : 392.000000 372.000000 after : 407.577637 371.102142 FALSE 243.468914
|
|
[13:21:27.333] 279-7/352 :
|
|
befor : 358.000000 448.000000 after : 358.289337 448.422577 TRUE 0.262287
|
|
[13:21:27.333] 279-8/352 :
|
|
befor : 358.000000 456.000000 after : 357.711182 456.033112 TRUE 0.084512
|
|
[13:21:27.333] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.333] n deleted obs = 3 n obs with reprojection error less than 0.5 px =3 error init =0.458189 error end=0.458189
|
|
[13:21:27.333] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.333] frame process finished the id is: 236 the obs is:10
|
|
[13:21:27.409] 280-1/352 :
|
|
befor : 232.000000 44.000000 after : 229.483719 43.974991 TRUE 6.332296
|
|
[13:21:27.409] 280-2/352 :
|
|
befor : 121.000000 131.000000 after : 120.564407 130.818207 TRUE 0.222790
|
|
[13:21:27.409] 280-3/352 :
|
|
befor : 193.000000 127.000000 after : 193.148911 126.428879 TRUE 0.348354
|
|
[13:21:27.409] 280-4/352 :
|
|
befor : 220.000000 140.000000 after : 220.382339 140.124115 TRUE 0.161588
|
|
[13:21:27.409] 280-5/352 :
|
|
befor : 336.000000 312.000000 after : 334.218506 313.119324 TRUE 4.426607
|
|
[13:21:27.409] 280-6/352 :
|
|
befor : 300.000000 350.000000 after : 286.708191 356.847870 TRUE 223.565510
|
|
[13:21:27.409] 280-7/352 :
|
|
befor : 392.000000 372.000000 after : 391.952911 371.880127 TRUE 0.016587
|
|
[13:21:27.409] 280-8/352 :
|
|
befor : 332.000000 423.000000 after : 333.056244 424.210876 TRUE 2.581873
|
|
[13:21:27.409] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:8 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.409] n deleted obs = 3 n obs with reprojection error less than 0.5 px =5 error init =0.353847 error end=0.353833
|
|
[13:21:27.409] After pose optimization, distance between ekf and vo x:-0.001377 ,z=0.000292,angle between two frames:0.000469
|
|
[13:21:27.409] frame process finished the id is: 236 the obs is:10
|
|
[13:21:27.508] 281-1/352 :
|
|
befor : 228.000000 48.000000 after : 228.894653 42.904236 TRUE 26.767217
|
|
[13:21:27.508] 281-2/352 :
|
|
befor : 121.000000 131.000000 after : 120.567780 130.825150 TRUE 0.217387
|
|
[13:21:27.508] 281-3/352 :
|
|
befor : 193.000000 127.000000 after : 193.160309 126.396988 TRUE 0.389322
|
|
[13:21:27.508] 281-4/352 :
|
|
befor : 216.000000 136.000000 after : 216.382339 136.124115 TRUE 0.161588
|
|
[13:21:27.508] 281-5/352 :
|
|
befor : 300.000000 350.000000 after : 278.529907 364.785889 TRUE 679.587388
|
|
[13:21:27.508] 281-6/352 :
|
|
befor : 612.000000 414.000000 after : 612.013123 413.847595 TRUE 0.023399
|
|
[13:21:27.508] 281-7/352 :
|
|
befor : 358.000000 448.000000 after : 358.567657 448.561829 TRUE 0.637886
|
|
[13:21:27.508] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.508] n deleted obs = 3 n obs with reprojection error less than 0.5 px =4 error init =0.566416 error end=0.566416
|
|
[13:21:27.508] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.508] frame process finished the id is: 236 the obs is:10
|
|
[13:21:27.608] 282-1/352 :
|
|
befor : 24.000000 76.000000 after : 24.089611 75.839844 TRUE 0.033680
|
|
[13:21:27.608] 282-2/352 :
|
|
befor : 375.000000 66.000000 after : 393.306000 50.005627 FALSE 590.929605
|
|
[13:21:27.608] 282-3/352 :
|
|
befor : 191.000000 126.000000 after : 191.124756 125.460648 TRUE 0.306465
|
|
[13:21:27.608] 282-4/352 :
|
|
befor : 228.000000 132.000000 after : 267.359741 131.573227 FALSE 1549.371363
|
|
befor : 216.000000 136.000000 after : 216.382339 136.124115 TRUE 0.161588
|
|
[13:21:27.608] 282-5/352 :
|
|
befor : 222.000000 172.000000 after : 222.206497 172.068329 TRUE 0.047310
|
|
[13:21:27.608] 282-6/352 :
|
|
befor : 216.000000 180.000000 after : 215.381699 180.602402 TRUE 0.745184
|
|
[13:21:27.608] 282-7/352 :
|
|
befor : 358.000000 448.000000 after : 358.840149 448.373169 TRUE 0.845105
|
|
[13:21:27.608] 282-8/352 :
|
|
befor : 358.000000 457.000000 after : 357.370117 456.417755 FALSE 0.735761
|
|
[13:21:27.608] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.608] n deleted obs = 2 n obs with reprojection error less than 0.5 px =4 error init =0.468874 error end=0.448517
|
|
[13:21:27.608] After pose optimization, distance between ekf and vo x:-0.211965 ,z=0.146385,angle between two frames:0.065092
|
|
[13:21:27.608] frame process finished the id is: 236 the obs is:10
|
|
[13:21:27.708] 283-1/352 :
|
|
befor : 224.000000 44.000000 after : 225.748291 40.211086 TRUE 17.412389
|
|
[13:21:27.708] 283-2/352 :
|
|
befor : 193.000000 127.000000 after : 193.147491 126.426971 TRUE 0.350115
|
|
[13:21:27.708] 283-3/352 :
|
|
befor : 220.000000 140.000000 after : 220.383255 140.119110 TRUE 0.161072
|
|
[13:21:27.708] 283-4/352 :
|
|
befor : 218.000000 180.000000 after : 217.964890 180.116486 TRUE 0.014802
|
|
[13:21:27.708] 283-5/352 :
|
|
befor : 352.000000 307.000000 after : 378.963196 286.219788 FALSE 1158.831155
|
|
befor : 336.000000 312.000000 after : 332.434570 313.970367 TRUE 16.594637
|
|
[13:21:27.708] 283-6/352 :
|
|
befor : 300.000000 351.000000 after : 278.230682 366.177887 TRUE 704.271443
|
|
[13:21:27.708] 283-7/352 :
|
|
befor : 358.000000 448.000000 after : 358.260742 448.560791 TRUE 0.382473
|
|
[13:21:27.708] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000061,angle between two frames:0.000008
|
|
[13:21:27.708] n deleted obs = 1 n obs with reprojection error less than 0.5 px =6 error init =0.289188 error end=0.289130
|
|
[13:21:27.708] After pose optimization, distance between ekf and vo x:-0.000895 ,z=0.000001,angle between two frames:0.000417
|
|
[13:21:27.708] frame process finished the id is: 236 the obs is:10
|
|
[13:21:27.810] 284-1/352 :
|
|
befor : 224.000000 44.000000 after : 225.829575 40.080307 TRUE 18.711336
|
|
[13:21:27.810] 284-2/352 :
|
|
befor : 184.000000 120.000000 after : 184.053207 119.856903 TRUE 0.023308
|
|
[13:21:27.810] 284-3/352 :
|
|
befor : 228.000000 132.000000 after : 268.651367 131.910004 FALSE 1652.541754
|
|
befor : 220.000000 140.000000 after : 220.382339 140.124115 TRUE 0.161588
|
|
[13:21:27.810] 284-4/352 :
|
|
befor : 218.000000 180.000000 after : 217.960892 180.116837 TRUE 0.015180
|
|
[13:21:27.810] 284-5/352 :
|
|
befor : 388.000000 215.000000 after : 411.578186 197.131973 FALSE 875.197236
|
|
[13:21:27.810] 284-6/352 :
|
|
befor : 356.000000 296.000000 after : 353.003021 297.007751 TRUE 9.997445
|
|
[13:21:27.810] 284-7/352 :
|
|
befor : 358.000000 439.000000 after : 358.592010 439.177490 TRUE 0.381979
|
|
[13:21:27.810] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.810] n deleted obs = 1 n obs with reprojection error less than 0.5 px =5 error init =0.311896 error end=0.311850
|
|
[13:21:27.810] After pose optimization, distance between ekf and vo x:-0.000564 ,z=-0.000554,angle between two frames:0.000497
|
|
[13:21:27.810] frame process finished the id is: 236 the obs is:10
|
|
[13:21:27.909] 285-1/352 :
|
|
befor : 228.000000 48.000000 after : 228.075775 47.834747 TRUE 0.033050
|
|
[13:21:27.909] 285-2/352 :
|
|
befor : 375.000000 66.000000 after : 394.265564 49.319332 FALSE 649.406636
|
|
[13:21:27.909] 285-3/352 :
|
|
befor : 124.000000 112.000000 after : 124.937729 111.733246 TRUE 0.950493
|
|
[13:21:27.909] 285-4/352 :
|
|
befor : 198.000000 128.000000 after : 196.364441 108.174637 FALSE 395.720078
|
|
befor : 198.000000 129.000000 after : 215.911011 78.160782 FALSE 2905.430407
|
|
[13:21:27.909] 285-5/352 :
|
|
befor : 220.000000 147.000000 after : 219.012405 143.686127 TRUE 11.957099
|
|
[13:21:27.909] 285-6/352 :
|
|
befor : 222.000000 172.000000 after : 222.226624 172.061737 TRUE 0.055170
|
|
[13:21:27.909] 285-7/352 :
|
|
befor : 356.000000 296.000000 after : 351.981201 297.130341 TRUE 17.428414
|
|
[13:21:27.909] 285-8/352 :
|
|
befor : 312.000000 314.000000 after : 315.477936 316.263794 TRUE 17.220800
|
|
[13:21:27.909] 285-9/352 :
|
|
befor : 358.000000 448.000000 after : 357.788239 448.081970 TRUE 0.051562
|
|
[13:21:27.909] After Reprojection Map nPoint:10 ,nCell:10 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.909] n deleted obs = 1 n obs with reprojection error less than 0.5 px =6 error init =0.337040 error end=0.337040
|
|
[13:21:27.909] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:27.909] frame process finished the id is: 236 the obs is:10
|
|
[13:21:28.009] 286-1/352 :
|
|
befor : 200.000000 130.000000 after : 216.530807 78.273544 FALSE 2948.893815
|
|
[13:21:28.009] 286-2/352 :
|
|
befor : 225.000000 141.000000 after : 224.905731 140.920624 TRUE 0.015187
|
|
[13:21:28.009] 286-3/352 :
|
|
befor : 120.000000 168.000000 after : 119.729408 168.208023 TRUE 0.116493
|
|
[13:21:28.009] 286-4/352 :
|
|
befor : 306.000000 336.000000 after : 278.801422 353.595856 TRUE 1049.376777
|
|
[13:21:28.009] 286-5/352 :
|
|
befor : 314.000000 397.000000 after : 314.687531 398.133789 TRUE 1.758176
|
|
[13:21:28.009] 286-6/352 :
|
|
befor : 358.000000 448.000000 after : 357.752502 448.073578 TRUE 0.066669
|
|
[13:21:28.009] 286-7/352 :
|
|
befor : 358.000000 456.000000 after : 357.848267 456.145996 FALSE 0.044338
|
|
[13:21:28.009] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:28.009] n deleted obs = 2 n obs with reprojection error less than 0.5 px =3 error init =0.426536 error end=0.420307
|
|
[13:21:28.009] After pose optimization, distance between ekf and vo x:-0.224590 ,z=0.415877,angle between two frames:0.073909
|
|
[13:21:28.009] frame process finished the id is: 236 the obs is:10
|
|
[13:21:28.113] 287-1/352 :
|
|
befor : 224.000000 44.000000 after : 224.077118 43.846058 TRUE 0.029645
|
|
[13:21:28.113] 287-2/352 :
|
|
befor : 195.000000 128.000000 after : 218.311874 64.965179 FALSE 4516.832090
|
|
befor : 196.000000 124.000000 after : 196.392456 124.069191 TRUE 0.158809
|
|
[13:21:28.113] 287-3/352 :
|
|
befor : 220.000000 147.000000 after : 218.991196 143.654724 TRUE 12.208557
|
|
[13:21:28.113] 287-4/352 :
|
|
befor : 222.000000 174.000000 after : 222.034195 174.096207 TRUE 0.010425
|
|
[13:21:28.113] 287-5/352 :
|
|
befor : 212.000000 236.000000 after : 209.712112 236.676971 TRUE 5.692720
|
|
[13:21:28.113] 287-6/352 :
|
|
befor : 351.000000 308.000000 after : 350.764282 307.688232 TRUE 0.152762
|
|
[13:21:28.113] 287-7/352 :
|
|
befor : 300.000000 350.000000 after : 278.520264 364.772827 TRUE 679.615495
|
|
[13:21:28.113] 287-8/352 :
|
|
befor : 358.000000 439.000000 after : 358.688324 439.386505 TRUE 0.623176
|
|
[13:21:28.113] 287-9/352 :
|
|
befor : 358.000000 457.000000 after : 357.281097 456.187805 FALSE 1.176481
|
|
[13:21:28.113] After Reprojection Map nPoint:10 ,nCell:10 ,nMatches:8 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:28.113] n deleted obs = 1 n obs with reprojection error less than 0.5 px =7 error init =0.298504 error end=0.296298
|
|
[13:21:28.113] After pose optimization, distance between ekf and vo x:-0.053428 ,z=0.130551,angle between two frames:0.011013
|
|
[13:21:28.113] frame process finished the id is: 236 the obs is:10
|
|
[13:21:28.209] 288-1/352 :
|
|
befor : 189.000000 125.000000 after : 189.129150 124.449188 TRUE 0.320073
|
|
[13:21:28.209] 288-2/352 :
|
|
befor : 220.000000 147.000000 after : 219.001526 143.661438 TRUE 12.142947
|
|
[13:21:28.209] 288-3/352 :
|
|
befor : 120.000000 170.000000 after : 119.761452 170.175690 TRUE 0.087772
|
|
[13:21:28.209] 288-4/352 :
|
|
befor : 162.000000 192.000000 after : 162.322311 191.921417 TRUE 0.110060
|
|
[13:21:28.209] 288-5/352 :
|
|
befor : 216.000000 180.000000 after : 215.859451 180.650894 TRUE 0.443417
|
|
[13:21:28.209] 288-6/352 :
|
|
befor : 300.000000 351.000000 after : 278.960571 366.032715 TRUE 668.640076
|
|
[13:21:28.209] 288-7/352 :
|
|
befor : 614.000000 330.000000 after : 614.037598 329.866974 TRUE 0.019110
|
|
[13:21:28.209] 288-8/352 :
|
|
befor : 358.000000 448.000000 after : 358.665405 449.177002 TRUE 1.828098
|
|
[13:21:28.209] 288-9/352 :
|
|
befor : 358.000000 457.000000 after : 357.580200 456.903625 FALSE 0.185520
|
|
[13:21:28.209] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:28.209] n deleted obs = 2 n obs with reprojection error less than 0.5 px =6 error init =0.449344 error end=0.447694
|
|
[13:21:28.209] After pose optimization, distance between ekf and vo x:-0.059926 ,z=0.131466,angle between two frames:0.007592
|
|
[13:21:28.209] frame process finished the id is: 236 the obs is:10
|
|
[13:21:28.309] 289-1/352 :
|
|
befor : 188.000000 125.000000 after : 188.125305 124.420410 TRUE 0.351626
|
|
[13:21:28.309] 289-2/352 :
|
|
befor : 229.000000 122.000000 after : 247.520050 109.803780 TRUE 491.740046
|
|
[13:21:28.309] 289-3/352 :
|
|
befor : 122.000000 172.000000 after : 121.747269 172.198975 TRUE 0.103464
|
|
[13:21:28.309] 289-4/352 :
|
|
befor : 160.000000 192.000000 after : 160.357498 192.004913 TRUE 0.127829
|
|
[13:21:28.309] 289-5/352 :
|
|
befor : 212.000000 242.000000 after : 212.059052 241.841507 TRUE 0.028607
|
|
[13:21:28.309] 289-6/352 :
|
|
befor : 352.000000 300.000000 after : 351.350311 296.068207 FALSE 15.881093
|
|
[13:21:28.309] 289-7/352 :
|
|
befor : 300.000000 350.000000 after : 278.738892 365.015381 TRUE 677.496393
|
|
[13:21:28.309] 289-8/352 :
|
|
befor : 358.000000 448.000000 after : 358.734344 448.619537 TRUE 0.923088
|
|
[13:21:28.309] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:28.309] n deleted obs = 1 n obs with reprojection error less than 0.5 px =6 error init =0.301874 error end=0.301450
|
|
[13:21:28.309] After pose optimization, distance between ekf and vo x:-0.007364 ,z=0.013489,angle between two frames:0.000424
|
|
[13:21:28.309] frame process finished the id is: 236 the obs is:10
|
|
[13:21:28.409] 290-1/352 :
|
|
befor : 612.000000 40.000000 after : 612.067627 39.862713 TRUE 0.023421
|
|
[13:21:28.409] 290-2/352 :
|
|
befor : 121.000000 131.000000 after : 120.602638 130.839447 TRUE 0.183674
|
|
[13:21:28.409] 290-3/352 :
|
|
befor : 193.000000 127.000000 after : 193.150970 126.425934 TRUE 0.352344
|
|
[13:21:28.409] 290-4/352 :
|
|
befor : 220.000000 147.000000 after : 218.964615 143.629105 TRUE 12.434958
|
|
[13:21:28.409] 290-5/352 :
|
|
befor : 292.000000 140.000000 after : 292.382355 140.124115 TRUE 0.161600
|
|
[13:21:28.409] 290-6/352 :
|
|
befor : 216.000000 184.000000 after : 215.240723 183.586777 TRUE 0.747256
|
|
[13:21:28.409] 290-7/352 :
|
|
befor : 300.000000 349.000000 after : 286.810455 355.803314 TRUE 220.249173
|
|
[13:21:28.409] 290-8/352 :
|
|
befor : 358.000000 448.000000 after : 355.824554 443.988892 FALSE 20.821554
|
|
[13:21:28.409] 290-9/352 :
|
|
befor : 360.000000 450.000000 after : 358.939484 448.929810 TRUE 2.270003
|
|
[13:21:28.409] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:28.409] n deleted obs = 3 n obs with reprojection error less than 0.5 px =5 error init =0.526891 error end=0.526870
|
|
[13:21:28.409] After pose optimization, distance between ekf and vo x:-0.000469 ,z=0.000892,angle between two frames:0.000102
|
|
[13:21:28.409] frame process finished the id is: 236 the obs is:10
|
|
[13:21:28.509] 291-1/352 :
|
|
befor : 199.000000 130.000000 after : 217.517822 78.993660 FALSE 2944.556464
|
|
[13:21:28.509] 291-2/352 :
|
|
befor : 216.000000 140.000000 after : 217.432938 138.727875 TRUE 3.671613
|
|
[13:21:28.509] 291-3/352 :
|
|
befor : 292.000000 140.000000 after : 302.699738 142.665131 FALSE 121.587305
|
|
[13:21:28.509] 291-4/352 :
|
|
befor : 222.000000 172.000000 after : 222.193604 172.076019 TRUE 0.043261
|
|
[13:21:28.509] 291-5/352 :
|
|
befor : 216.000000 184.000000 after : 215.084991 183.485611 TRUE 1.101837
|
|
[13:21:28.509] 291-6/352 :
|
|
befor : 304.000000 302.000000 after : 278.776489 319.716675 TRUE 950.106060
|
|
[13:21:28.509] 291-7/352 :
|
|
befor : 122.000000 350.000000 after : 122.056030 349.841675 TRUE 0.028206
|
|
[13:21:28.509] 291-8/352 :
|
|
befor : 612.000000 414.000000 after : 612.086853 413.960632 TRUE 0.009093
|
|
[13:21:28.509] 291-9/352 :
|
|
befor : 358.000000 456.000000 after : 357.708649 456.052460 TRUE 0.087638
|
|
[13:21:28.509] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:28.509] n deleted obs = 3 n obs with reprojection error less than 0.5 px =4 error init =0.528538 error end=0.528538
|
|
[13:21:28.509] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:28.509] frame process finished the id is: 236 the obs is:10
|
|
[13:21:28.608] 292-1/352 :
|
|
befor : 191.000000 126.000000 after : 191.131149 125.452461 TRUE 0.316999
|
|
[13:21:28.608] 292-2/352 :
|
|
befor : 220.000000 147.000000 after : 219.019531 143.644760 TRUE 12.218954
|
|
[13:21:28.608] 292-3/352 :
|
|
befor : 132.000000 178.000000 after : 132.007034 177.865982 TRUE 0.018010
|
|
[13:21:28.608] 292-4/352 :
|
|
befor : 222.000000 172.000000 after : 222.206940 172.060867 TRUE 0.046529
|
|
[13:21:28.608] 292-5/352 :
|
|
befor : 218.000000 180.000000 after : 218.624237 179.933563 TRUE 0.394086
|
|
[13:21:28.608] 292-6/352 :
|
|
befor : 128.000000 292.000000 after : 129.308838 291.823120 TRUE 1.744343
|
|
[13:21:28.608] 292-7/352 :
|
|
befor : 143.000000 345.000000 after : 137.708374 347.916504 FALSE 36.507301
|
|
[13:21:28.608] 292-8/352 :
|
|
befor : 314.000000 397.000000 after : 314.919647 398.442139 TRUE 2.925515
|
|
[13:21:28.608] 292-9/352 :
|
|
befor : 358.000000 450.000000 after : 357.523163 450.073212 FALSE 0.232734
|
|
[13:21:28.608] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:28.608] n deleted obs = 1 n obs with reprojection error less than 0.5 px =6 error init =0.280839 error end=0.248478
|
|
[13:21:28.608] After pose optimization, distance between ekf and vo x:-0.290819 ,z=0.400758,angle between two frames:0.025847
|
|
[13:21:28.608] frame process finished the id is: 236 the obs is:10
|
|
[13:21:28.709] 293-1/352 :
|
|
befor : 193.000000 127.000000 after : 193.142242 126.416817 TRUE 0.360336
|
|
[13:21:28.709] 293-2/352 :
|
|
befor : 222.000000 146.000000 after : 222.043427 145.903076 TRUE 0.011280
|
|
[13:21:28.709] 293-3/352 :
|
|
befor : 356.000000 296.000000 after : 352.043182 297.223297 TRUE 17.152862
|
|
[13:21:28.709] 293-4/352 :
|
|
befor : 388.000000 375.000000 after : 393.382996 370.384094 TRUE 50.283228
|
|
[13:21:28.709] 293-5/352 :
|
|
befor : 358.000000 448.000000 after : 359.217346 449.307068 TRUE 3.190358
|
|
[13:21:28.709] 293-6/352 :
|
|
befor : 358.000000 457.000000 after : 357.574524 456.833130 FALSE 0.208876
|
|
[13:21:28.709] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:28.709] n deleted obs = 1 n obs with reprojection error less than 0.5 px =4 error init =0.330274 error end=0.330274
|
|
[13:21:28.709] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:28.709] frame process finished the id is: 236 the obs is:10
|
|
[13:21:28.808] 294-1/352 :
|
|
befor : 202.000000 132.000000 after : 218.291901 79.704399 FALSE 3000.255899
|
|
befor : 196.000000 124.000000 after : 182.118164 120.306824 FALSE 206.344920
|
|
[13:21:28.808] 294-2/352 :
|
|
befor : 216.000000 140.000000 after : 217.441650 138.686462 TRUE 3.803737
|
|
[13:21:28.808] 294-3/352 :
|
|
befor : 120.000000 168.000000 after : 119.695374 168.202316 TRUE 0.133729
|
|
[13:21:28.808] 294-4/352 :
|
|
befor : 174.000000 192.000000 after : 174.044128 191.868973 TRUE 0.019115
|
|
[13:21:28.808] 294-5/352 :
|
|
befor : 216.000000 184.000000 after : 217.220245 184.851868 TRUE 2.214677
|
|
[13:21:28.808] 294-6/352 :
|
|
befor : 352.000000 307.000000 after : 351.805908 306.712830 TRUE 0.120138
|
|
[13:21:28.808] 294-7/352 :
|
|
befor : 300.000000 350.000000 after : 278.642120 364.748047 TRUE 673.663909
|
|
[13:21:28.808] 294-8/352 :
|
|
befor : 288.000000 382.000000 after : 296.659332 374.235016 FALSE 135.279014
|
|
[13:21:28.808] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:28.808] n deleted obs = 1 n obs with reprojection error less than 0.5 px =5 error init =0.335367 error end=0.335367
|
|
[13:21:28.808] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:28.808] frame process finished the id is: 236 the obs is:10
|
|
[13:21:28.908] 295-1/352 :
|
|
befor : 228.000000 44.000000 after : 228.081772 43.844952 TRUE 0.030727
|
|
[13:21:28.908] 295-2/352 :
|
|
befor : 376.000000 75.000000 after : 383.777893 66.443443 FALSE 133.710283
|
|
[13:21:28.908] 295-3/352 :
|
|
befor : 191.000000 126.000000 after : 191.129654 125.439430 TRUE 0.331049
|
|
[13:21:28.908] 295-4/352 :
|
|
befor : 220.000000 144.000000 after : 221.237228 142.758026 TRUE 3.073233
|
|
[13:21:28.908] 295-5/352 :
|
|
befor : 296.000000 144.000000 after : 296.793274 143.571075 TRUE 0.813260
|
|
[13:21:28.908] 295-6/352 :
|
|
befor : 120.000000 170.000000 after : 119.763191 170.170471 TRUE 0.085139
|
|
[13:21:28.908] 295-7/352 :
|
|
befor : 358.000000 448.000000 after : 358.785828 448.663391 TRUE 1.057613
|
|
[13:21:28.908] 295-8/352 :
|
|
befor : 358.000000 457.000000 after : 357.097351 455.983795 FALSE 1.847447
|
|
[13:21:28.908] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:28.908] n deleted obs = 1 n obs with reprojection error less than 0.5 px =5 error init =0.395942 error end=0.395642
|
|
[13:21:28.908] After pose optimization, distance between ekf and vo x:-0.050472 ,z=0.070725,angle between two frames:0.000564
|
|
[13:21:28.908] frame process finished the id is: 236 the obs is:10
|
|
[13:21:29.010] 296-1/352 :
|
|
befor : 124.000000 112.000000 after : 124.478706 112.119820 TRUE 0.243517
|
|
[13:21:29.010] 296-2/352 :
|
|
befor : 191.000000 126.000000 after : 191.117615 125.456024 TRUE 0.309743
|
|
[13:21:29.010] 296-3/352 :
|
|
befor : 220.000000 147.000000 after : 218.983856 143.709427 TRUE 11.860420
|
|
[13:21:29.010] 296-4/352 :
|
|
befor : 222.000000 172.000000 after : 222.181076 172.076630 TRUE 0.038661
|
|
[13:21:29.010] 296-5/352 :
|
|
befor : 218.000000 180.000000 after : 218.647079 179.983597 TRUE 0.418981
|
|
[13:21:29.010] 296-6/352 :
|
|
befor : 204.000000 248.000000 after : 204.598770 246.338211 TRUE 3.120068
|
|
[13:21:29.010] 296-7/352 :
|
|
befor : 358.000000 448.000000 after : 359.172058 449.215302 TRUE 2.850678
|
|
[13:21:29.010] 296-8/352 :
|
|
befor : 358.000000 457.000000 after : 357.237427 456.280884 FALSE 1.098646
|
|
[13:21:29.010] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.010] n deleted obs = 2 n obs with reprojection error less than 0.5 px =5 error init =0.304250 error end=0.284294
|
|
[13:21:29.010] After pose optimization, distance between ekf and vo x:-0.244262 ,z=0.331627,angle between two frames:0.029941
|
|
[13:21:29.010] frame process finished the id is: 236 the obs is:10
|
|
[13:21:29.108] 297-1/352 :
|
|
befor : 228.000000 44.000000 after : 228.764069 42.063133 TRUE 4.335254
|
|
[13:21:29.108] 297-2/352 :
|
|
befor : 193.000000 127.000000 after : 193.144653 126.418648 TRUE 0.358895
|
|
[13:21:29.108] 297-3/352 :
|
|
befor : 220.000000 136.000000 after : 220.382339 136.124115 TRUE 0.161588
|
|
[13:21:29.108] 297-4/352 :
|
|
befor : 218.000000 180.000000 after : 217.973785 180.117996 TRUE 0.014610
|
|
[13:21:29.108] 297-5/352 :
|
|
befor : 393.000000 345.000000 after : 405.106354 335.248962 FALSE 241.646536
|
|
[13:21:29.108] 297-6/352 :
|
|
befor : 358.000000 448.000000 after : 358.793182 448.710754 TRUE 1.134310
|
|
[13:21:29.108] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.108] n deleted obs = 1 n obs with reprojection error less than 0.5 px =4 error init =0.309037 error end=0.308921
|
|
[13:21:29.108] After pose optimization, distance between ekf and vo x:-0.000092 ,z=-0.001462,angle between two frames:0.000415
|
|
[13:21:29.108] frame process finished the id is: 236 the obs is:10
|
|
[13:21:29.209] 298-1/352 :
|
|
befor : 228.000000 48.000000 after : 228.075317 47.830765 TRUE 0.034313
|
|
[13:21:29.209] 298-2/352 :
|
|
befor : 124.000000 114.000000 after : 132.671219 99.430962 FALSE 287.446916
|
|
befor : 124.000000 112.000000 after : 116.461861 115.287682 TRUE 67.632395
|
|
[13:21:29.209] 298-3/352 :
|
|
befor : 121.000000 131.000000 after : 120.561607 130.830887 TRUE 0.220787
|
|
[13:21:29.209] 298-4/352 :
|
|
befor : 200.000000 128.000000 after : 200.662308 127.253799 TRUE 0.995467
|
|
[13:21:29.209] 298-5/352 :
|
|
befor : 229.000000 122.000000 after : 247.484787 109.975395 TRUE 486.278470
|
|
[13:21:29.209] 298-6/352 :
|
|
befor : 614.000000 330.000000 after : 609.210693 332.381653 FALSE 28.609728
|
|
[13:21:29.209] 298-7/352 :
|
|
befor : 358.000000 439.000000 after : 358.644897 439.249420 TRUE 0.478103
|
|
[13:21:29.209] 298-8/352 :
|
|
befor : 357.000000 456.000000 after : 356.788849 456.151764 TRUE 0.067617
|
|
[13:21:29.209] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.209] n deleted obs = 3 n obs with reprojection error less than 0.5 px =4 error init =0.426938 error end=0.426938
|
|
[13:21:29.209] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.209] frame process finished the id is: 236 the obs is:10
|
|
[13:21:29.309] 299-1/352 :
|
|
befor : 234.000000 46.000000 after : 233.200256 45.912666 TRUE 0.647217
|
|
[13:21:29.309] 299-2/352 :
|
|
befor : 197.000000 129.000000 after : 215.656784 81.416542 FALSE 2612.261062
|
|
[13:21:29.309] 299-3/352 :
|
|
befor : 220.000000 142.000000 after : 222.094971 133.848343 FALSE 70.838416
|
|
befor : 220.000000 140.000000 after : 220.384186 140.114120 TRUE 0.160622
|
|
[13:21:29.309] 299-4/352 :
|
|
befor : 216.000000 182.000000 after : 215.942673 182.140198 TRUE 0.022942
|
|
[13:21:29.309] 299-5/352 :
|
|
befor : 387.000000 200.000000 after : 399.387970 189.853149 FALSE 256.420377
|
|
[13:21:29.309] 299-6/352 :
|
|
befor : 356.000000 296.000000 after : 353.002106 296.939423 TRUE 9.869885
|
|
[13:21:29.309] 299-7/352 :
|
|
befor : 614.000000 330.000000 after : 614.046082 329.854492 TRUE 0.023296
|
|
[13:21:29.310] 299-8/352 :
|
|
befor : 358.000000 448.000000 after : 358.953827 449.260681 TRUE 2.499103
|
|
[13:21:29.310] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.310] n deleted obs = 2 n obs with reprojection error less than 0.5 px =4 error init =0.566488 error end=0.566488
|
|
[13:21:29.310] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.310] frame process finished the id is: 236 the obs is:10
|
|
[13:21:29.410] 300-1/352 :
|
|
befor : 197.000000 129.000000 after : 215.558487 81.426697 FALSE 2607.636617
|
|
befor : 192.000000 124.000000 after : 163.633423 114.809662 TRUE 889.125014
|
|
[13:21:29.410] 300-2/352 :
|
|
befor : 216.000000 140.000000 after : 217.433929 138.753174 TRUE 3.610729
|
|
[13:21:29.410] 300-3/352 :
|
|
befor : 222.000000 172.000000 after : 222.210556 172.091873 TRUE 0.052775
|
|
[13:21:29.410] 300-4/352 :
|
|
befor : 300.000000 350.000000 after : 278.800201 364.859222 TRUE 670.227951
|
|
[13:21:29.410] 300-5/352 :
|
|
befor : 614.000000 330.000000 after : 614.018982 329.849854 TRUE 0.022904
|
|
[13:21:29.410] 300-6/352 :
|
|
befor : 392.000000 372.000000 after : 407.499329 374.239136 FALSE 245.242916
|
|
[13:21:29.410] 300-7/352 :
|
|
befor : 360.000000 439.000000 after : 360.142242 438.929688 TRUE 0.025177
|
|
[13:21:29.410] 300-8/352 :
|
|
befor : 358.000000 456.000000 after : 357.706696 455.996246 TRUE 0.086042
|
|
[13:21:29.410] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.410] n deleted obs = 3 n obs with reprojection error less than 0.5 px =4 error init =0.534272 error end=0.534272
|
|
[13:21:29.411] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.411] frame process finished the id is: 236 the obs is:10
|
|
[13:21:29.508] 301-1/352 :
|
|
befor : 375.000000 67.000000 after : 382.110046 58.533390 FALSE 122.236244
|
|
[13:21:29.508] 301-2/352 :
|
|
befor : 199.000000 130.000000 after : 217.564697 78.820183 FALSE 2964.021673
|
|
befor : 196.000000 124.000000 after : 196.389694 124.084167 TRUE 0.158946
|
|
[13:21:29.508] 301-3/352 :
|
|
befor : 220.000000 147.000000 after : 218.974396 143.634811 TRUE 12.376358
|
|
[13:21:29.508] 301-4/352 :
|
|
befor : 222.000000 172.000000 after : 222.229889 172.071213 TRUE 0.057920
|
|
[13:21:29.508] 301-5/352 :
|
|
befor : 288.000000 382.000000 after : 288.049896 381.851776 TRUE 0.024460
|
|
[13:21:29.508] 301-6/352 :
|
|
befor : 390.000000 374.000000 after : 404.180450 387.432190 FALSE 381.508901
|
|
[13:21:29.508] 301-7/352 :
|
|
befor : 270.000000 396.000000 after : 277.487610 397.708496 FALSE 58.983260
|
|
[13:21:29.508] 301-8/352 :
|
|
befor : 357.000000 456.000000 after : 356.826752 456.121063 TRUE 0.044671
|
|
[13:21:29.508] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:5 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.508] n deleted obs = 1 n obs with reprojection error less than 0.5 px =4 error init =0.313480 error end=0.313480
|
|
[13:21:29.508] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.508] frame process finished the id is: 236 the obs is:10
|
|
[13:21:29.608] 302-1/352 :
|
|
befor : 228.000000 48.000000 after : 229.204727 42.706131 TRUE 29.476417
|
|
[13:21:29.608] 302-2/352 :
|
|
befor : 121.000000 131.000000 after : 120.561760 130.823044 TRUE 0.223368
|
|
[13:21:29.608] 302-3/352 :
|
|
befor : 229.000000 122.000000 after : 248.054504 111.010628 TRUE 483.840440
|
|
[13:21:29.608] 302-4/352 :
|
|
befor : 148.000000 188.000000 after : 148.052551 187.810471 TRUE 0.038683
|
|
[13:21:29.608] 302-5/352 :
|
|
befor : 356.000000 296.000000 after : 352.985443 296.915405 TRUE 9.925520
|
|
[13:21:29.608] 302-6/352 :
|
|
befor : 114.000000 324.000000 after : 114.457512 323.927795 TRUE 0.214531
|
|
[13:21:29.608] 302-7/352 :
|
|
befor : 300.000000 350.000000 after : 278.911163 365.323547 TRUE 679.550136
|
|
[13:21:29.608] 302-8/352 :
|
|
befor : 334.000000 407.000000 after : 334.347565 407.428375 TRUE 0.304307
|
|
[13:21:29.609] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:8 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.609] n deleted obs = 2 n obs with reprojection error less than 0.5 px =6 error init =0.305058 error end=0.305058
|
|
[13:21:29.609] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.609] frame process finished the id is: 236 the obs is:10
|
|
[13:21:29.709] 303-1/352 :
|
|
befor : 230.000000 44.000000 after : 230.041946 44.849014 TRUE 0.722585
|
|
[13:21:29.709] 303-2/352 :
|
|
befor : 121.000000 131.000000 after : 120.571571 130.824310 TRUE 0.214418
|
|
[13:21:29.709] 303-3/352 :
|
|
befor : 193.000000 127.000000 after : 193.150009 126.436409 TRUE 0.340138
|
|
[13:21:29.709] 303-4/352 :
|
|
befor : 228.000000 132.000000 after : 267.786774 131.436035 FALSE 1583.305416
|
|
befor : 220.000000 136.000000 after : 220.382339 136.124115 TRUE 0.161588
|
|
[13:21:29.709] 303-5/352 :
|
|
befor : 336.000000 312.000000 after : 332.487701 314.005188 TRUE 16.357020
|
|
[13:21:29.710] 303-6/352 :
|
|
befor : 300.000000 350.000000 after : 286.874817 356.553711 TRUE 215.221559
|
|
[13:21:29.710] 303-7/352 :
|
|
befor : 358.000000 448.000000 after : 358.475342 448.567780 TRUE 0.548323
|
|
[13:21:29.710] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.710] n deleted obs = 2 n obs with reprojection error less than 0.5 px =5 error init =0.345222 error end=0.345131
|
|
[13:21:29.710] After pose optimization, distance between ekf and vo x:-0.001681 ,z=-0.000133,angle between two frames:0.000329
|
|
[13:21:29.710] frame process finished the id is: 236 the obs is:10
|
|
[13:21:29.808] 304-1/352 :
|
|
befor : 224.000000 44.000000 after : 224.100494 43.839970 TRUE 0.035709
|
|
[13:21:29.808] 304-2/352 :
|
|
befor : 374.000000 57.000000 after : 376.916656 52.010227 TRUE 33.404718
|
|
[13:21:29.808] 304-3/352 :
|
|
befor : 121.000000 131.000000 after : 120.536957 130.833954 TRUE 0.241980
|
|
[13:21:29.808] 304-4/352 :
|
|
befor : 192.000000 127.000000 after : 192.161346 126.373383 TRUE 0.418682
|
|
[13:21:29.808] 304-5/352 :
|
|
befor : 216.000000 140.000000 after : 217.415115 138.707108 TRUE 3.674122
|
|
[13:21:29.808] 304-6/352 :
|
|
befor : 356.000000 296.000000 after : 352.968201 296.878326 TRUE 9.963264
|
|
[13:21:29.808] 304-7/352 :
|
|
befor : 281.000000 394.000000 after : 282.514496 397.617310 TRUE 15.378626
|
|
[13:21:29.808] 304-8/352 :
|
|
befor : 332.000000 423.000000 after : 333.101074 423.999451 TRUE 2.211266
|
|
[13:21:29.808] 304-9/352 :
|
|
befor : 358.000000 457.000000 after : 357.121185 456.141235 FALSE 1.509792
|
|
[13:21:29.809] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.809] n deleted obs = 2 n obs with reprojection error less than 0.5 px =6 error init =0.346248 error end=0.344730
|
|
[13:21:29.809] After pose optimization, distance between ekf and vo x:-0.096498 ,z=0.134238,angle between two frames:0.002595
|
|
[13:21:29.809] frame process finished the id is: 236 the obs is:10
|
|
[13:21:29.908] 305-1/352 :
|
|
befor : 228.000000 48.000000 after : 228.923065 42.373791 TRUE 32.506280
|
|
[13:21:29.908] 305-2/352 :
|
|
befor : 124.000000 112.000000 after : 124.533112 112.081329 TRUE 0.290822
|
|
[13:21:29.908] 305-3/352 :
|
|
befor : 193.000000 127.000000 after : 193.151718 126.439034 TRUE 0.337702
|
|
[13:21:29.908] 305-4/352 :
|
|
befor : 228.000000 132.000000 after : 268.360779 131.674637 FALSE 1629.098327
|
|
befor : 216.000000 140.000000 after : 217.398880 138.795761 TRUE 3.407057
|
|
[13:21:29.908] 305-5/352 :
|
|
befor : 216.000000 180.000000 after : 215.973740 180.171356 TRUE 0.030053
|
|
[13:21:29.908] 305-6/352 :
|
|
befor : 389.000000 228.000000 after : 410.497711 211.684631 FALSE 728.342840
|
|
[13:21:29.908] 305-7/352 :
|
|
befor : 356.000000 296.000000 after : 351.980225 297.105225 TRUE 17.380116
|
|
[13:21:29.908] 305-8/352 :
|
|
befor : 334.000000 407.000000 after : 334.295746 407.437683 TRUE 0.279032
|
|
[13:21:29.908] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:29.908] n deleted obs = 2 n obs with reprojection error less than 0.5 px =5 error init =0.323625 error end=0.323480
|
|
[13:21:29.908] After pose optimization, distance between ekf and vo x:-0.000858 ,z=-0.000847,angle between two frames:0.000549
|
|
[13:21:29.908] frame process finished the id is: 236 the obs is:10
|
|
[13:21:30.009] 306-1/352 :
|
|
befor : 224.000000 44.000000 after : 224.086563 43.832504 TRUE 0.035548
|
|
[13:21:30.009] 306-2/352 :
|
|
befor : 374.000000 57.000000 after : 417.329163 24.003311 FALSE 2966.197806
|
|
[13:21:30.009] 306-3/352 :
|
|
befor : 193.000000 127.000000 after : 193.120483 126.448311 TRUE 0.318877
|
|
[13:21:30.009] 306-4/352 :
|
|
befor : 220.000000 147.000000 after : 219.022217 143.658752 TRUE 12.119995
|
|
[13:21:30.009] 306-5/352 :
|
|
befor : 122.000000 172.000000 after : 121.731918 172.194244 TRUE 0.109599
|
|
[13:21:30.009] 306-6/352 :
|
|
befor : 216.000000 180.000000 after : 217.903183 180.102188 TRUE 3.632548
|
|
[13:21:30.009] 306-7/352 :
|
|
befor : 353.000000 306.000000 after : 378.635620 284.997009 FALSE 1098.310638
|
|
[13:21:30.009] 306-8/352 :
|
|
befor : 360.000000 439.000000 after : 360.142883 439.062378 TRUE 0.024307
|
|
[13:21:30.009] 306-9/352 :
|
|
befor : 358.000000 457.000000 after : 357.693054 457.231995 FALSE 0.148037
|
|
[13:21:30.009] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:30.009] n deleted obs = 1 n obs with reprojection error less than 0.5 px =5 error init =0.368755 error end=0.360272
|
|
[13:21:30.009] After pose optimization, distance between ekf and vo x:-0.168735 ,z=0.278387,angle between two frames:0.001581
|
|
[13:21:30.009] frame process finished the id is: 236 the obs is:10
|
|
[13:21:30.112] 307-1/352 :
|
|
befor : 228.000000 48.000000 after : 228.084335 47.831783 TRUE 0.035409
|
|
[13:21:30.112] 307-2/352 :
|
|
befor : 122.000000 127.000000 after : 121.360474 126.654358 TRUE 0.528462
|
|
[13:21:30.112] 307-3/352 :
|
|
befor : 228.000000 131.000000 after : 265.417267 153.745316 FALSE 1917.401238
|
|
befor : 222.000000 146.000000 after : 222.001175 145.947388 TRUE 0.002769
|
|
[13:21:30.112] 307-4/352 :
|
|
befor : 216.000000 180.000000 after : 215.737625 180.675629 TRUE 0.525315
|
|
[13:21:30.112] 307-5/352 :
|
|
befor : 336.000000 312.000000 after : 336.382355 312.124115 TRUE 0.161600
|
|
[13:21:30.112] 307-6/352 :
|
|
befor : 358.000000 456.000000 after : 357.865601 456.159363 FALSE 0.043460
|
|
[13:21:30.112] 307-7/352 :
|
|
befor : 360.000000 450.000000 after : 358.874359 448.627258 TRUE 3.151487
|
|
[13:21:30.112] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:30.112] n deleted obs = 3 n obs with reprojection error less than 0.5 px =3 error init =0.402113 error end=0.401810
|
|
[13:21:30.112] After pose optimization, distance between ekf and vo x:-0.001482 ,z=0.000634,angle between two frames:0.000283
|
|
[13:21:30.112] frame process finished the id is: 236 the obs is:10
|
|
[13:21:30.211] 308-1/352 :
|
|
befor : 121.000000 131.000000 after : 120.586975 130.815994 TRUE 0.204448
|
|
[13:21:30.211] 308-2/352 :
|
|
befor : 193.000000 127.000000 after : 193.120071 126.467247 TRUE 0.298243
|
|
[13:21:30.211] 308-3/352 :
|
|
befor : 220.000000 147.000000 after : 219.013199 143.675613 TRUE 12.025323
|
|
[13:21:30.211] 308-4/352 :
|
|
befor : 296.000000 144.000000 after : 296.077637 143.837234 TRUE 0.032520
|
|
[13:21:30.211] 308-5/352 :
|
|
befor : 300.000000 350.000000 after : 278.838837 365.060791 TRUE 674.622259
|
|
[13:21:30.212] 308-6/352 :
|
|
befor : 358.000000 439.000000 after : 358.496552 439.119354 TRUE 0.260809
|
|
[13:21:30.212] 308-7/352 :
|
|
befor : 358.000000 457.000000 after : 357.782928 457.325012 FALSE 0.152753
|
|
[13:21:30.212] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:30.212] n deleted obs = 2 n obs with reprojection error less than 0.5 px =4 error init =0.328380 error end=0.328380
|
|
[13:21:30.212] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
|
|
[13:21:30.212] frame process finished the id is: 236 the obs is:10
|